User manual OMRON ACCURAX G5

[. . . ] I571-E2-01 Accurax G5 servo system with Analogue/Pulse control Model: R88D-KT_ Servo Drives R88M-K_ Servomotors USER'S MANUAL Introduction Introduction Thank you for purchasing the Accurax G5. This user's manual explains how to install and wire the Accurax G5, set parameters needed to operate the G5, and remedies to be taken and inspection methods to be used should problems occur. Intended Readers This manual is intended for the following individuals. Those having electrical knowledge (certified electricians or individuals having equivalent or more knowledge) and also being qualified for one of the following: Those in charge of introducing FA equipment Those designing FA systems Those managing FA sites Notes This manual contains the information you need to know to correctly use the Accurax G5 and peripheral equipment. Before using the Accurax G5, read through this manual and gain a full understanding of the information provided herein. [. . . ] If gain 2 is switching to gain 3, Position Gain Switching Time (Pn119) is enabled. Take note that there will be a gain 3 region even when gain 2 is switched to gain 1 due to a parameter change and so forth. Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-33 6-9 Torque Limit 6-9 Torque Limit Outline of Operation The output torque by the Servomotor can be limited. - When the torque at startup and during deceleration should be suppressed to protect the mechanical system, etc. Various methods are available according to Torque Control Selection (Pn521). Parameters Requiring Settings Parameter number Parameter name Torque Limit Selection No. 2 Torque Limit Torque Limit Switching Rate 1 Torque Limit Switching Rate 2 Forward External Torque Limit Reverse External Torque Limit Analog Torque Limit Scale Analog Input 2 Offset Analog Input 2 Filter Time Constant Analog Input 3 Offset Analog Input 3 Filter Time Constant Explanation Select the torque limit based on the various parameters and input signals. Set the offset adjustment value for the voltage applied to analog input 2. Set the time constant of the first-order lag filter for the voltage applied to analog input 2. Set the offset adjustment value for the voltage applied to analog input 3. Set the time constant of the first-order lag filter for the voltage applied to analog input 3. Reference P. 8-55 P. 8-7 P. 8-55 P. 8-56 P. 8-56 P. 8-56 P. 8-56 P. 8-56 P. 8-40 P. 8-40 P. 8-41 P. 8-41 6 Applied Functions Pn521 Pn013 Pn522 Pn523 Pn524 Pn525 Pn526 Pn527 Pn425 Pn426 Pn428 Pn429 6-34 Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-9 Torque Limit Torque Limit in Position, Speed and Full Closing Controls Pn521 set value 0 1 2 Explanation Forward operation: Set by PCL (0 to 10 V) Reverse operation: Set by NCL (-10 to 0 V) Limit in both forward and reverse operation: Set by Pn013 Forward operation: Set by Pn013 Reverse operation: Set by Pn522 Switch the limit value using torque limit switching (TLSEL). When TLSEL is OFF Limit in both forward and reverse operation: Pn013 When TLSEL is ON Limit in both forward and reverse operation: Pn522 Forward operation: Set by PCL (0 to 10 V) Reverse operation: Set by NCL (0 to 10 V) Limit in both forward and reverse operation: Set by PCL (0 to 10 V) Switch the limit value using torque limit switching (TLSEL). When TLSEL is OFF Forward operation: Pn013 Reverse operation: Pn522 When TLSEL is ON Forward operation: Pn525 Reverse operation: Pn526 3 4 5 6 6 Applied Functions For the torque limit in torque control, always select No. The torque limit under torque feed-forward selection is enable only during speed control when the set value is 1 to 3. See chapter 3 for details about the conection. Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-35 6-9 Torque Limit Rate of Change Setting at Switching (Pn521 = 3) If 3 is set in Torque Limit Selection (Pn521), you can add fluctuate the change at the time of switching. This function is disabled in any other setting. How to Set Rate of Change (Fluctuate) Set the parameter according to the switching type. 1 torque limit: Pn524 The sign of the rate of change switches automatically inside the driver based on the magnitude correlation of the No. 1 Torque Limit (Pn013) Torque Limit Switching Setting 1 (Pn523) 6 Applied Functions No. 2 Torque Limit (Pn522) Torque Limit Switching Setting 2 (Pn524) If the setting of No. 2 Torque Limit (Pn522) is changed from the front panel or CX-Drive, the rate of change setting will be ignored and the new torque limit value will be applied immediately. Torque Limit Set Value for Each Servomotor The setting range for the torque limit selection is 0% to 300% and the standard default setting is 300% except for the following combinations of drivers and motors. Driver R88D-KT15x R88D-KT30x R88D-KT50x Applicable motor R88M-K90010x R88M-K2K010x R88M-K3K010x Maximum torque limit [%] 225 250 250 6-36 Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-10 Sequence I/O Signal 6-10 Sequence I/O Signal Outline of Operation You can set a sequence in various operating conditions. For the connection of I/O signals and processing of external signals, refer to "Control I/O Connector Specifications (CN1)" (P. 3-14). Input Signals You can allocate any function of input signals to the input pins for the control I/O connector (CN1). However, refer to "Input Signal Allocation Method" (P. 6-38) for more information because some signals have allocation limitations. If the G Series is being replaced, set the unit to the default setting before using it. Input Signal Default Setting The allocation of the default input signals is as follows. [. . . ] 8-4 Command Pulse Prohibition Input Read Setting (Pn519) 8-54 Command Pulse Prohibition Input Setting (Pn518) 8-53 Command Pulse Rotation Direction Switching Selection (Pn006) . 8-26 Communications connector specifications (CN3A) 3-52 Connection examples . 3-45 Alarm Generation Allowable Time Setting (Pn614) 8-60 Alarm list . 8-62 Disturbance Torque Compensation Gain (Pn623) 8-62 Drive Prohibition Input Selection (Pn504) . [. . . ]