User manual OMRON SMARTSTEP2

[. . . ] SmartStep 2 is fully supported with a wide range of features making the servo drive set-up easier and faster than ever: · Auto-tuning · Parameter editing and monitoring · Speed and position diagrams · I/O status and alarms · Real-time data trace Real-time data trace Frequency analysis A compact design that's easy to connect Although it has more functionality than previous models, SmartStep 2 has a compact design with an ultra-small footprint that saves considerable space. In addition, SmartStep 2 can be easily integrated with other automation devices such as the CP1L compact machine controller and NS operator terminals, helping to make an efficient and cost-effective machine design. Additional features: · · · · Position control via pulse input 500 kpps Rated speed 4, 000 rpm; peak 5, 000 rpm Wide range of pulse configurations Four internal speed settings switched by external signal for easy control Servomotors compatible with SmartStep · 130 mm 105 mm Command pulse 120 mm 160 mm AUTO Feedback pulse 35 mm 55 mm CP1H-Yxx Vibration Quickly suppression vibration Compact space-saving design SmartStep 2 has a footprint 48% smaller than that of previous models and the volume is 39% smaller, saving cabinet space and costs. Feedback pulse output Enables servo position feedback to the controller for close control position loop and monitor real positioning; it can be also used to synchronise with another axis. Adjustment-free operation Depending on load variations, the real-time auto-tuning function automatically calculates and adjusts the optimum gain values for the machine. Vibration suppression An adaptive filter ensures that resonant frequency changes are automatically followed to reduce the effect of vibration due to low mechanical rigidity. A further filter minimises vibration for better positioning when stopping the load. R7D-BP@, R88D-GP@, R88M-G@ SmartStep 2 servo system Another step forward in drive simplicity · On-line Auto-tuning and Easy set up · Ultra-compact size. [. . . ] in the X, Y, and Z directions Acceleration of 98 m/s2 max. 3 times each in the X, Y, and Z directions 20 M min. at 500 VDC between the power terminals and FG terminal 1, 500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal Any direction Type B Totally-enclosed, self-cooling IP65 (excluding the through-shaft portion) V-15 Flange-mounting Approval obtained for UL, cUL, and EN (EMC directive and low-voltage directive) Performance specifications Cylindric servo motors Item Rated output Rated torque Rated rotation speed Momentary maximum rotation speed Momentary maximum torque Rated current Momentary maximum current Rotor inertia Power rate Allowable radial load Allowable thrust load Weight Without brake With brake Encoder resolution Radiation shield dimensions Brake Brake inertia specifications Excitation voltage Power consumption (at 20 °C) Current consumption (at 20 °C) Static friction torque Attraction time Release time Backlash Rating Brake life Applicable servo driver Unit R88M-G05030H W 50 N·m 0. 16 r/min r/min N·m 0. 48 A (rms) A (rms) kg·m2 kW/s N N kg kg ----kg·m2 V W A N·m ms ms 2. 5 × 10-6 10. 4 68 58 0. 3 0. 5 R88M-G10030H 100 0. 32 R88M-G20030H 200 0. 64 3000 5000 1. 78 1. 6 4. 9 1. 4 × 10-5 30. 3 245 98 R88M-G40030H 400 1. 3 R88M-G75030H 750 2. 4 4500 7. 05 4 12. 1 8. 7× 10-5 66 392 147 2. 3 3. 1 25 × 10-6 10 0. 42 2. 45 min. 20 max. 0. 95 1. 1 3. 4 5. 1 × 10-6 20. 1 3. 60 2. 6 7. 9 2. 6× 10-5 62. 5 0. 5 0. 8 1. 2 0. 7 1. 3 1. 7 Phase A and B: 2, 500 pulses/rotation, Phase Z: 1 pulse/rotation 100 × 80 × t10 (Al) 130 × 120 × t12 (Al) 2. 0 × 10-7 7 0. 30 0. 29 min. 1. 8 × 10-6 24 VDC ±10% 9 0. 36 1. 27 min. R7D-BP02HH R7D-BP04H 7. 5 × 10-6 2. 0 × 10-7 R7D-BP01H R88D-GP08H Torque-speed characteristics R88M-G05030H (N·m) 0. 5 0. 4 0. 3 0. 2 0. 1 Repetitive usage 0. 48 R88M-G10030H (N·m) 1. 0 0. 8 0. 6 0. 4 0. 09 0. 2 Repetitive usage 0. 95 R88M-G20030H (N·m) 2. 0 1. 82 1. 5 Repetitive usage 1. 0 R88M-G40030H (N·m) 4. 0 3. 60 3. 0 Repetitive usage 2. 0 2. 1 1. 3 1. 0 0. 36 0 1. 3 0. 88 Continuous usage 1000 2000 3000 4000 5000 (r/min) R88M-G75030H (N·m) 3. 60 (3200) 8. 0 7. 05 7. 05 (3600) 1. 82 (4300) 1. 65 Repetitive usage 4. 0 2. 4 2. 4 4. 0 0. 16 0. 16 Continuous usage 0. 32 0. 32 0. 5 Continuous usage 0. 19 0. 64 0. 64 Continuous usage 0 Continuous usage 1. 0 0 1000 2000 3000 4000 5000 (r/min) 0 1000 2000 3000 4000 5000 (r/min) 1000 2000 3000 4000 5000 (r/min) 0 1000 2000 3000 4000 5000 (r/min 10 AC servo systems Flat servo motors Item Rated output Rated torque Rated rotation speed Momentary maximum rotation speed Momentary maximum torque Rated current Momentary maximum current Rotor inertia Power rate Allowable radial load Allowable thrust load Weight Without brake With brake Encoder resolution Radiation shield dimensions Brake Brake inertia specifications Excitation voltage Power consumption (at 20 °C) Current consumption (at 20 °C) Static friction torque Attraction time Release time Backlash Rating Brake life Applicable servo driver (R7D-) Unit W N·m r/min r/min N·m A (rms) A (rms) kg·m2 kW/s N N kg kg ----kg·m2 V W A N·m ms ms R88M-GP10030H 100 0. 32 R88M-G20030H 200 0. 64 3000 5000 1. 82 1. 6 6. 8 3. 4 × 10-5 R88M-G40030H 400 1. 3 0. 90 1. 0 4. 3 9. 0 × 10-6 3. 60 4. 4 18. 6 6. 4 × 10-5 11. 4 11. 8 25. 5 68 245 58 98 0. 7 1. 3 1. 8 0. 9 2. 0 2. 5 Phase A and B: 2, 500 pulses/rotation, Phase Z: 1 pulse/rotation 130 × 120 × t10 (Al) 170 × 160 × t12 (Al) 3. 0 × 10-6 9. 0 × 10-6 9. 0 × 10-6 24 VDC ±10% 7 0. 29 0. 29 min. BP02HH 10 0. 41 1. 27 min. BP01H BP04H Torque-speed characteristics R88M-GP10030H (N·m) 1. 0 0. 90 0. 8 0. 6 0. 4 0. 2 Repetitive usage 1. 0 0. 32 0. 32 0. 5 Continuous usage 0 0. 16 0 Continuous usage 0. 28 0 0. 64 0. 64 1. 0 Continuous usage 0. 64 0. 90 1. 5 Repetitive usage 2. 0 1. 3 1. 3 R88M-GP20030H (N·m) 2. 0 1. 82 R88M-GP40030H (N·m) 4. 0 3. 60 3. 0 Repetitive usage 2. 0 1. 82 (4700) 1. 75 3. 60 (3600) 1000 2000 3000 4000 5000 (r/min) 1000 2000 3000 4000 5000 (r/min) 1000 2000 3000 4000 5000 (r/min) SmartStep 2 servo system 11 Dimensions Servo drives R7D-BP01H 35 15 5 5 20 dia . Mass (Kg) Tap x Without brake depth M3x6 0. 7 M4x8 1. 3 M5x10 1. 8 With brake 0. 9 2 2. 5 8 12. 5 3h9 11 18 4h9 14 22. 5 5h9 connector LL Servomotor connector LR Break connector 220 (7) (7) 200 G F S dia. , height: 6 Four, Z-dia. CxC (Straight shaft with key) QK h d D1 ia. KL1 D2 dia. , height: 7 b t1 Tap x Depth SmartStep 2 servo system 13 Installation Single-phase, 230 VAC L1 L2 L3 N Thermal switch Contactor Noise filter L1 L3 CNB U V W Servo motor CNA P Regeneration resistor *1 SMARTSTEP2 Servo drive (100-400 W) CN2 Optical encoder B1 CN1 Reverse pulse +CW 22 -CW 23 220 +CCW 24 -CCW 25 220 4. 7 k 9 /ALM Alarm Output Forward pulse 10 INP Positioning Completed Output 11 BKIR Brake Interlock 12 to 24 VDC 24VIN 1 4. 7 k . 12 WARN Warning Output 13 4. 7 k 21 OGND Z-phase Output (open collector output) GND Z Maximum operating voltage: 30 VDC Maximum Output Current: 50 mA DC RUN Command Input RUN 2 Alarm Reset Input RESET 3 4. 7 k 14 Deviation Counter Reset Input ECRST 4 4. 7 k Gain Switch Input 15 +A GSEL 5 4. 7 k 18 +B Electronic Gear Switch Input GESEL 6 4. 7 k Reverse Drive Prohibit Input Encoder B-phase 17 -B Output 19 +Z Encoder Z-phase 20 -Z Output 4. 7 k Forward Drive Prohibit Input Encoder A-phase 16 -A Output Line driver output Conforms to EIA RS-422A (Load resistance: 220 min. ) NOT 7 POT 8 Shell, 26 FG Frame ground *1. An External Regeneration Resistor can be connected. Connect this resistor if the regenerative energy exceeds regeneration absorption capacity in the Servo Drive. Note: 1. The dynamic brake operates when the main circuit power supply or the control circuit power supply is turned OFF. Note: 2. When turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN) signal at the same time. 14 AC servo systems L1 L2 L3 N B1 Thermal switch *1 B3 B2 Servo motor CNB U V W Contactor Noise filter L1 L3 SMARTSTEP2 Servo drive (750W) CNA CN2 Optical encoder Single-Phase 200 to 230 VAC L1C L2C +24 VCW 1 2. 2 k Reverse pulse 500 kpps max. +CW 3 CN1 11 BKIR -CW 4 220 +24 VCCW 2 2. 2 k Brake release signal output 10 BKIRCOM 35 READY Servo ready output 34 READYCOM 37 /ALM Alarm output 36 ALMCOM 39 INP Positioning completed output 38 INPCOM 12 OUTM1 General-purpose output 1 *3 40 OUTM2 External power supply 12 to 24 VDC Maximum service voltage: 30 VDC Maximum output current: 50 mADC Forward pulse Position reference Reverse pulse 2 Mpps max. Forward pulse +CCW 5 -CCW 6 220 +CWLD 44 3 k 43 k -CWLD 45 110 3k 43 k +CCWLD 46 3k 43 k -CCWLD 47 110 3 k 43 k 12 to 24 VDC +24 VIN 7 4. 7 k Servo ON RUN 29 4. 7 k 41 COM19 Z DFSEL 26 4. 7 k 25 ZCOM General-purpose output 2 *3 Vibration filter switching Phase-Z output (open collector output) Gain switching GSEL 27 4. 7 k Electronic gear switching 21 +A Encoder phase-A output 22 -A GESEL 28 4. 7 k Deviation counter reset ECRST 30 4. 7 k 24 -Z Alarm reset RESET 31 4. 7 k 100 20 Control mode switching TVSEL 32 4. 7 k Pulse prohibition IPG 33 4. 7 k Reverse run prohibited 43 BATGND 4. 7 k 13 42 SEN Sensor ON 48 -B 23 +Z Encoder phase-Z output 49 +B Encoder phase-B output Line-driver output corresponding with the EIA RS-422A communications method (load resistance 120 W min. ) 1 µF SENGND BAT Backup battery *2 (3. 6 V) NOT 8 4. 7 k Forward run prohibited POT 9 50 Shell *1 B3-B2 are short-circuited. If the internal regenerative resistor is insufficient, remove the wire between B2 and B3 and connect an external regenerative resistor between B1 and B2. If a backup battery is connected, an encoder cable with a battery is not required. [. . . ] signals(M3. 5 screw, fork/round terminals) Terminal block ext. signals(M3 screw, fork/round terminals) Cable from servo relay unit to servo drive CS1W-NC1@3, CJ1W-NC1@3, C200HW-NC113/213/413, 1 m CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3 or 2m CQM1H-PLB21 CJ1M-CPU21/22/23 1m 2m Servo relay unit CS1W-NC1@3, CJ1W-NC1@3 or C200HW-NC113 position control unit CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3 or C200HW-NC213/413 position control unit CQM1H-PLB21 CJ1M-CPU21/22/23 Position control unit connecting cable CQM1H-PLB21 CS1W-NC113 or C200HW-NC113 CS1W-NC213/413 or C200HW-NC213/413 CS1W-NC133 CS1W-NC233/433 CJ1W-NC113 CJ1W-NC213/413 CJ1W-NC133 CJ1W-NC233/433 CJ1M-CPU21/22/23 0. 5 m 1m 0. 5 m 1m 0. 5 m 1m 0. 5 m 1m 0. 5 m 1m 0. 5 m 1m 0. 5 m 1m 0. 5 m 1m 0. 5 m 1m 0. 5 m 1m 1m 2m 1m 2m - Description Terminal block cable for external signals (for input common, forward/reverse run prohibited inputs, emergency stop input, origin proximity input and interrupt input) Connect to Position control units (high-speed type) CJ1W-NC234 CJ1W-NC434 CJ1W-NC214 CJ1W-NC414 Model XW2Z-C50X XW2Z-100X XW2Z-200X XW2Z-300X XW2Z-500X XW2Z-010X XW2B-20G4 XW2B-20G5 XW2D-20G6 XW2Z-100J-B25 XW2Z-200J-B25 XW2Z-100J-B31 XW2Z-200J-B31 XW2B-20J6-1B (1 axis) XW2B-40J6-2B (2 axes) XW2B-20J6-3B (1 axis) XW2B-20J6-8A (1 axis) XW2B-40J6-9A (2 axes) XW2Z-050J-A3 XW2Z-100J-A3 XW2Z-050J-A6 XW2Z-100J-A6 XW2Z-050J-A7 XW2Z-100J-A7 XW2Z-050J-A10 XW2Z-100J-A10 XW2Z-050J-A11 XW2Z-100J-A11 XW2Z-050J-A14 XW2Z-100J-A14 XW2Z-050J-A15 XW2Z-100J-A15 XW2Z-050J-A18 XW2Z-100J-A18 XW2Z-050J-A19 XW2Z-100J-A19 XW2Z-050J-A33 XW2Z-100J-A33 R88A-CPG001S R88A-CPG002S XW2Z-100J-B24 XW2Z-200J-B24 XW2B-50G4 XW2B-50G5 XW2D-50G6 K L M N General purpose cable Terminal block cable Terminal block (M3 screw and for pin terminals) Terminal block (M3. 5 screw and for fork/round terminals) Terminal block (M3 screw and for fork/found terminals) For general purpose controllers For general purpose controllers Computer cable (for CN3) Symbol Connectors 2m Model R88A-CCG002P2 Specifications I/O connector kit -50 pins- (for CN1) Power cable connector (motor side) Encoder connector (Servo drive side CN2) Incremental encoder cable connector (motor side) Model R88A-CNU11C R88A-CNG01A R88A-CNW01R R88A-CNG02R O Filter Symbol Name Computer cable RS232 Applicable servodrive R88D-GP08H P Rated Leak- Rated current age voltage current R88A-FIK107-RE 6. 6 A 3. 5 mA 250 VAC singlephase Filter model Computer software Specifications Model Configuration and monitoring software tool for servo drives CX-Drive and inverters (CX-drive version 1. 91 or higher). External regenerative resistor Symbol Q Regenerative resistor unit model R88A-RR08050S R88A-RR080100S R88A-RR22047S R88A-RR50020S Specifications 50 , 80 W 100 , 80 W 47 , 220 W 20 , 500 W 20 AC servo systems OMRON EUROPE B. V. Wegalaan 67-69, NL-2132 JD, Hoofddorp, The Netherlands. [. . . ]