User manual OMRON R88M-G

[. . . ] Reliability is increased since the single-cable connection is much more rugged than a multiple-wiring solution. footprint 15 x 4 cm · Auto-tuning for easy and quick start-up · Built-in MECHATROLINK-II motion bus reduces cabling and allows remote servo configuration and diagnosis · High starting torque: 300% for 3 secs. · Positioning, speed or torque control · Separate power and control power supply · Fast and accurate positioning · Servomotor range from 50 W to 1. 5 kW · Incremental and absolute encoder available · Cylindrical and flat servo motors up to 3, 000 rpm · Compatible with SmartStep 2 servomotors · Vibration suppression Fast and simple auto-tuning The graphs show a move profile with a G-series servo in an application with an inertia ratio of 16:1. Tuning is possible via the easy to use CX-Drive, and takes just 1 minute to complete. [. . . ] (at rated speed) 0% at ±10% of rated voltage (at rated speed) 0 to 50ºC ±0. 1% max. (at rated speed) 1 kHz ±3% (at 20% to 100% of rated torque) 0 to 10 s (acceleration time and deceleration time can be set) MECHATROLINK-II commands (for sequence, motion, data setting/reference, monitor, adjustament and other commands) R88D-GN@ R88M-G@ 01H-ML2 05030@/10030@ 02H-ML2 20030@ 04H-ML2 40030@ 08H-ML2 75030@ 10H-ML2 G1K020T@ I/O signal Position/Speed/torque control mode Basic specifications Sequence input signal Sequence output signal Emergency stop, 3 external latch signals, forward/reverse torque limit, forward/reverse run prohibit, origin proximity, 3 general-purpose inputs It is possible to output three types of signals: positioning completed, speed coincidence, rotation speed detection, servo ready, current limit, speed limit, brake release and warning signal G-Series servo system 7 Servo drive type Applicable servomotor RS-232 communications R88D-GN@ R88M-G@ R88M-GP@ Interface Transmission rate Functions 01H-ML2 05030@/10030@ 02H-ML2 20030@ 04H-ML2 40030@ 08H-ML2 75030@ 10H-ML2 G1K020T@ 10030@ 20030@ 40030@ Personal computer From 2400 to 57600 bps Parameter setting, status display, alarm display (monitor, clear, history), servo drive data tracing function, test run/autotuning operations, real time trace, absolute encoder setting, default values function MECHATROLINK Communications protocol MECHATROLINK-II communications Transmission rate 10 Mbps Data length 17 bytes and 32 bytes Functions Parameter setting, status display, alarm display (monitor, clear, history), default values function Automatic load inertia detection Horizontal and vertical axis mode. Dynamic brake (DB) Operates when main power OFF, servo alarm, overtravel or servo OFF Regenerative processing Built-in regeneration resistor in models from 750 W to 1. 5 kW. External regeneration resistor optionally. Overtravel (OT) prevention function Dynamic brake, disables torque or emergency stop torque during POT and NOT operation Emergency stop (STOP) Emergency stop input Encoder divider function Optional division pulses possible Electronic gearing 0, 01<Numerator/Denominator<100 Internal speed setting function 8 internal speeds Protective functions Overvoltage, undervoltage, overcurrent, overload, regeneration overload, servo drive overheat Analog monitor Ouput The actual servomotor speed, command speed, torque and number of accumulated pulses can be measured using an oscilloscope or other device. Panel operator Display functions A 2-digit 7-segment LED display shows the servo drive status, alarm codes, parameters, etc. MECHATROLINK-II communications status LED indicator (COM) Switches Rotary switch for setting the MECHATROLINK-II node address Communications 15H-ML2 90010T@/1K030T@/ 1K5@0T@ - Servo drive part names Display area Rotary switches for ML-II node address AC SERVO DRIVE 01 Integrated functions ADR 78 23 9 01 23 X10 X1 COM ML-II comms status LED indicator RS-232 comms connector (CN3) ML-II comms connector (CN6A, CN6B) Analog monitor check pins (SP, IM, G) SP IM G Main-circuit power terminals (L1, L2, L3) Control-circuit power terminals (L1C, L2C) External regenerative resistor connection terminals (B1, B2, B3) Servomotor connection terminals (U, V, W) Protective ground terminals 8 456 Control I/O connector (CN1) Encoder connector (CN2) AC servo systems Dimensions Servo drives R88D-GN01H-ML2 / GN02H-ML2 (200 V, 100 to 200 W) 40 70 132 4 Two, M4 AC SERVO DRIVER 01 ADR 78 23 9 01 23 456 X10 X1 COM SP IM G 6 28±0. 5 40 R88D-GN04H-ML2 (200 V, 400 W) 55 70 132 4 Two, M4 AC SERVO DRIVER 01 ADR 9 78 23 01 23 X10 X1 COM SP IM G 6 43±0. 5 55 R88D-GN08H-ML2 (200 V, 750 W) 65 70 172 4 Two, M4 AC SERVO DRIVER 01 ADR 9 01 78 X10 X1 COM SP IM G 140±0. 5 150 150 140±0. 5 150 150 7. 5 50±0. 5 65 G-Series servo system 140±0. 5 150 150 456 23 456 23 9 R88D-GN10H-ML2 / GN15H-ML2 (200 V, 1 kW to 1, 5 kW ) 85 70 172 4 Two, M4 AC SERVO DRIVER 01 ADR 78 23 9 01 23 456 X10 X1 COM SP IM G 7. 5 70±0. 5 85 Servo motors type designation Servo motor R88M-GP10030H-BOS2 G-Series Servomotor Motor Type Blank: Cylinder type P: Flat type Shaft end specifications Blank Straigth shaft, no key Straigth, key, tapped S2 Oil seal specifications Blank No oil seal Oil seal O Capacity 050 100 200 400 750 900 1K0 1K5 50 W 100 W 200 W 400 W 750 W 900 W 1 kW 1. 5 kW Brake specifications Blank No brake Brake B Voltage and encoder specifications H: 230 V with incremental encoder T: 230 V with absolute encoder Rated Speed (r/min) 10 20 30 1000 2000 3000 10 AC servo systems 140±0. 5 150 150 Servo motor specifications Cylindrical servo motors 3000/2000/1000 r/min Ratings and specifications Applied voltage Servo motor model R88M-@ Rated output W Rated torque N·m Instantaneous peak torque N·m Rated current A (rms) Instantaneous max. speed Torque constant Rotor moment of inertia (JM) Allowable load moment of inertia (JL) Rated power rate Applicable Encoder Allowable radial load Allowable thrust load Approx. speed Torque constant Rotor moment of inertia (JM) Allowable load moment of inertia (JL) Rated power rate Applicable encoder Allowable radial load Allowable thrust load Approx. mass Brake specifications Rated voltage Holding brake moment of inertia J Power consumption (at 20°C) Current consumption (at 20°C) Static friction torque Rise time for holding torque Release time Rating Basic specifications Insulation grade Ambient operating/ storage temperature Ambient operating/ storage humidity Vibration class Insulation resistance Enclosure Vibration resistance Mounting kg·m2x10-4 W A N. m (minimum) ms (max. ) ms (max) Continuous Type B 0 to +40 °C/ -20 to 80°C 85% RH max. at 500 VDC between the power terminals and FG terminal Totally-enclosed, self-cooling, IP65 (excluding shaft opening and lead wire ends) Vibration acceleration 49 m/s2 Flange-mounted 0. 03 7 0. 29 0. 29 50 15 N N Kg (without brake) Kg (with brake) 68 58 0. 7 0. 9 1. 3 2 24VDC +/-10% 0. 09 10 0. 41 1. 27 60 W N·m N·m A (rms) A (rms) min-1 min-1 N·m/A (rms) kg·m2x10-4 Multiple of (JM) kW/s 10. 2 0. 34 0. 1 GP10030@ 100 0. 32 0. 86 1 3. 1 230 V GP20030@ 200 0. 64 1. 8 1. 6 4. 9 3000 5000 0. 42 0. 35 20 11. 5 Incremental (10000 pulses) Incremental /Absolute encoder(17 bits) 245 98 1. 8 2. 5 25. 5 0. 54 0. 64 GP40030@ 400 1. 3 3. 65 2. 5 7. 5 Torque-speed charecteristics R88M-GP10030H/T (100 W) R88M-GP20030H/T (200 W) R88M-GP40030H/T (400 W) (N·m) (N·m) (N·m) 1. 0 0. 86 0. 86 2. 0 1. 8 1. 8 (4500) 4. 0 3. 65 3. 65 (3600) 2. 0 0. 78 Repetitive usage 0. 5 0. 32 0. 32 0. 19 Repetitive usage 1. 0 0. 64 0. 64 Continuous usage 0 0. 38 Repetitive usage 2. 0 1. 3 1. 3 Continuous usage 0 Continuous usage 0 1000 2000 3000 4000 5000 (r/min) 1000 2000 3000 4000 5000 (r/min) 1000 2000 3000 4000 5000 (r/min) 12 AC servo systems Dimensions Servo motors Cylindrical type 3000 r/min (230 V, 50-100 W) Dimensions (mm) Model R88M-G05030@-@S2 R88M-G10030@-@S2 Without brake LL 72 92 With brake LL 102 122 26. 5 46. 5 LN Flange surface D 30h7 Shaft end S 8h6 B 3h9 0. 3 0. 5 Aprox. Mass (Kg) Without brake With brake 0. 5 0. 7 Encoder connector LL Brake connector Servomotor connector 25 6 3 (Dimensions of shaft end with key and tap) 230 14 12. 5 200 Two, 4. 3 dia. 32 LN S D 46 dia. M3 x 6L (Tap x Depth) Cylindrical type 3000 r/min (230 V, 200-750 W) Dimensions (mm) Model R88M-G20030@-@S2 R88M-G40030@-@S2 R88M-G75030@-@S2 Without brake LL 79. 5 99 112. 2 With brake LL 116 135. 5 149. 2 35 53 90 70h7 80 8 6 30 43 LR KL1 D1 70 Flange surface D2 50h7 C 60 G 6. 5 Z 4. 5 S 11h6 14h6 19h6 QK 18 22. 5 22 Shaft end B 4h9 5h9 6h9 H 4 5 6 T1 2. 5 3 3. 5 Aprox. Mass (Kg) Tap x depth Without brake With brake M4x8L M5x10L 0. 8 1. 2 2. 3 1. 3 1. 7 3. 1 Encoder connector LL Brake connector Servomotor connector LR 3 (Dimensions of shaft end with key and tap) G 220 200 Four, Z dia. C×C QK B H T1 KL1 D1 dia. S 3 G-Series servo system D2 1. 8 40 × 40 B Tap x Depth 13 Cylindrical type 3000, 2000 and 1000 r/min (230 V, 900 kW - 1. 5 kW) Dimensions (mm) Model R88M-G1K030T-@S2 R88M-G1K530T-@S2 R88M-G1K020T-@S2 R88M-G1K520T-@S2 R88M-G90010T-@S2 Without brake With brake LR KL1 LL 175 180 150 175 175 LL 200 205 175 200 200 70 55 98 D1 100 Flange surface D2 D3 C 90 G 7 F Z S QK 42 41 Shaft end B 6h9 8h9 H 6 7 T1 3. 5 4 Tap x depth M5x12L Aprox. Mass (Kg) Without brake 4. 5 5. 1 22h6 6. 8 8. 5 With brake 5. 1 6. 5 8. 7 10. 1 10 80h7 120 3 6. 6 19h6 9 6 103 115 95h7 135 100 10 118 145 110h7 165 130 12 Servomotor/brake connector Encoder connector G 84 F KL1 Four, Z dia. (Dimensions of shaft end with key and tap) LL LR C×C QK H B T1 S D2 D3 dia. D1 dia . Tap x Depth Flat type 3000 r/min (230 V, 100 W - 400 W) Dimensions (mm) Model R88M-GP10030H-@S2 R88M-GP10030T-@S2 R88M-GP20030H-@S2 R88M-GP20030T-@S2 R88M-GP40030H-@S2 R88M-GP40030T-@S2 Encoder connector Without brake LL 60. 5 87. 5 67. 5 94. 5 82. 5 109. 5 With brake LL 84. 5 111. 5 100 127 115 142 LR KL1 D1 Flange surface D2 C F 3 5 G 7 8 Z 4. 5 S 8h6 QK 12. 5 18 B Shaft end H 3 4 5 T1 1. 8 2. 5 3. 0 Aprox. Mass (Kg) Tap x depth Without brake With brake M3x6L M4x8L M5x10L 0. 7 1. 3 1. 8 0. 9 2 2. 5 25 30 43 53 70 90 50h7 60 70h7 80 3h9 4h9 5h9 5. 5 11h6 14h6 22. 5 Motor connector LL LR Brake connector (Dimensions of shaft end with key and tap) 220 (7) (7) 200 GF Four, Z dia. C×C QK B H T1 KL1 14 D2 D1 dia S . Tap x Depth AC servo systems Installation Single-phase, 230 VAC L1 L2 L3 N Thermal switch Contactor Noise filter L1 L3 CNA L1C L2C B1 CNB U V W Servo motor Single-Phase 200 to 230 VAC G-Series Servo drive Optical encoder Regeneration resistor *3 *2 B3 B2 CNB CN2 CN1 12 to 24 VDC Emergency Stop STOP 2 +24VIN 1 4. 7k 1k 4. 7k 15 /ALM Alarm Output 16 ALMCOM 36 OUTM1 General-purpose Output 1 External Latch 3 1k EXT3 3 4. 7k External Latch 2 35 OUTM1COM 29 OUTM2 General-purpose Output 2 1k EXT2 4 4. 7k External Latch 1 1k EXT1 5 30 OUTM2COM 31 OUTM3 General-purpose Output 3 4. 7k General-purpose Input 1 1k IN1 6 32 OUTM3COM 4. 7k Forword Torque Limit Input 1k PCL 7 4. 7k Reverse Torque Limit Input 1k NCL 8 4. 7k Forward run Prohibit Input 1k POT 19 4. 7k Reverse run Prohibit Input 1k NOT 20 4. 7k Origin Proximity Input 1k DEC 21 4. 7k General-purpose Input0 1k IN0 22 34 BAT 33 Backup Battery *1 BATCOM 4. 7k General-purpose Input 2 1k IN2 23 Shell FG *1 Connect when using an absolute encoder. [. . . ] To convert grams into ounces, multiply by 0. 03527. In the interest of product improvement, specifications are subject to change without notice. 18 AC servo systems OMRON EUROPE B. V. Wegalaan 67-69, NL-2132 JD, Hoofddorp, The Netherlands. [. . . ]