User manual OMRON ACCURAX G5 SERVO DRIVES DATASHEET

[. . . ] number of slaves: 30) 10 Mbps 1, 2 & 4 ms 32 bytes Automatic motor parameter setting. DB stop, deceleration stop or coast to stop during P-OT, N-OT operation Optional division possible Overcurrent, overvoltage, undervoltage, overspeed, overload, encoder error, overheat. . . Analog monitor of motor speed, speed reference, torque reference, command following error, analog input. . . The monitoring signals to output and their scaling can be specified with parameters. [. . . ] Torque reference input: ±10 V/rated motor torque (input gain can be modified using a parameter). Speed limit input: ±10 V/rated motor speed (input gain can be modified using a parameter). Analog signal ground Torque reference input: ±10 V/rated motor torque (input gain can be modified using a parameter). Forward torque limit input: ±10 V/rated motor torque (input gain can be modified using a parameter). Reverse torque limit input: ±10 V/rated motor torque (input gain can be modified using a parameter). Analog signal ground Control power supply input for sequence signals: users must provide the +24 V power supply (12 to 24 V). Vibration filter switching 1 Enables vibration filter according parameter setting. Gain switching Electronic gear switching 1 Internal speed selection 3 Error counter reset input. Control mode switching Enables gain value according parameter setting. Input to select the desired speed setting during internally speed operation. The speed selecton is combining this input with VSEL1 and VSEL2 inputs. Input to select the desired speed setting during internally speed operation. The speed selecton is combining this input with VSEL1 and VSEL3 inputs. The error counter is reset when the alarm is reset. 15 16 18 17 7 29 26 27 28 30 31 32 Common RESET Position/ TVSEL Speed/Torque Position speed Position torque Torque speed Enables control mode switching 33 Position Speed Coomon IPG VSEL1 8 9 20 13 42 43 50 - 12 40 41 NOT POT SEN Position/ Speed/Torque SENGND Common BAT (+) BATGND (-) FG Frame ground TLSEL Torque limit switch DFSEL2 Vibration filter switching 2 GESEL2 Electronic gear switching 2 VZERO Zero speed VSIGN Speed command signal TSIGN Torque command signal E-STOP Emergency stop JSEL Inertia ratio switching Terminals not used. Internal speed selection 1 Input to select the desired speed setting during internally speed operation. The speed selecton is combining this input with VSEL2 and VSEL3 inputs. Reverse run prohibited Overtravel prohibited: stops servomotor when movable part travels beyond the allowable range of motion. Backup battery connection terminals when the absolute encoder power is interrupted. Do not connect when a absolute encoder battery cable for backup is used. The function of input signals allocated to pins 8, 9 and 26 to 33 can be changed with these options by parameters settings Accurax G5 servo drive 67 I/O signals (CN1) - output signals (for analog/pulse servo drives) Pin No. 21 22 48 49 23 24 19 25 11 10 35 34 37 36 39 39 38 Control mode Position/ Full close loop Signal name +A -A +B -B +Z -Z Z ZCOM BKIR BKIRCOM READY READYCOM /ALM ALMCOM TGON INP1 INP1COM INP2 P-CMD ZSP WARN1 WARN2 ALM-ATB VCMP V-CMD V-LIMIT T-LIMIT Function Encoder phase A+ Encoder phase AEncoder phase B+ Encoder phase BEncoder phase Z+ Encoder phase ZEncoder phase-Z output Encoder phase-Z common Brake release signal output Encoder signals (or external scale signals during full closing control) are output according Encoder Dividing Numerator parameter. Phase Z is output for encoder signals (or external scale signals during full closing control). [. . . ] Note: The input function of pins 8, 9 and 26 to 33, and output function of pins 10, 11, 34, 35, 38 and 39, can be changed via parameter settings. Accurax G5 servo drive 75 AC Servo systems Ordering information Accurax G5 series MECHATROLINK-II reference configuration C Accurax G5 series MECHATROLINK-II Servo Drive A Servo Motor 3000 rpm (50 W-5 kW) CN6 CN5 J MECHATROLINK-II G Analog monitor cable H MECHATROLINK-II cables I USB mini connector cable Personal computer: Software CX-One Motion controllers Filter B A Servo Motor 2000 rpm (400 W-5 kW) Cables L CN7 CN8 TJ1-MC04/16 External regenerative resistor CN1 D E Servo drive I/O signals connector CJ1W-MCH72 CJ1W-NCF71 K CN4 CN2 F Terminal block for Servo drive I/O signals Unit A Servo Motor 1000 rpm (900 W-3 kW) R88D-KNshow the recommended sequence to select the components in Accurax G5 servo system Servo motors, power & encoder cables Note: AB Refer to the Accurax G5 servo motor chapter for servomotor, motor cables or connectors selection Servo drives Symbol C Specifications 1 phase 230 VAC 100 W 200 W 400 W 750 W 1. 0 kW 1. 5 kW Servo drive model R88D-KN01H-ML2 R88D-KN02H-ML2 R88D-KN04H-ML2 R88D-KN08H-ML2 R88D-KN10H-ML2 R88D-KN15H-ML2 A 3 phase 400 VAC 600 W 1. 0 kW 1. 5 kW R88D-KN06F-ML2 R88D-KN10F-ML2 R88D-KN15F-ML2 2. 0 kW 3. 0 kW R88D-KN20F-ML2 R88D-KN30F-ML2 5. 0 kW R88D-KN50F-ML2 Compatible G5 series rotary servo motors R88M-K05030(H/T)-@ R88M-K10030(H/T)-@ R88M-K20030(H/T)-@ R88M-K40030(H/T)-@ R88M-K75030(H/T)-@ R88M-K1K020(H/T)-@ R88M-K1K030(H/T)-@ R88M-K1K530(H/T)-@ R88M-K1K520(H/T)-@ R88M-K90010(H/T)-@ R88M-K40020(F/C)-@ R88M-K60020(F/C)-@ R88M-K75030(F/C)-@ R88M-K1K020(F/C)-@ R88M-K1K030(F/C)-@ R88M-K1K530(F/C)-@ R88M-K1K520(F/C)-@ R88M-K90010(F/C)-@ R88M-K2K030(F/C)-@ R88M-K2K020(F/C)-@ R88M-K3K030(F/C)-@ R88M-K3K020(F/C)-@ R88M-K2K010(F/C)-@ R88M-K4K030(F/C)-@ R88M-K5K030(F/C)-@ R88M-K4K020(F/C)-@ R88M-K5K020(F/C)-@ R88M-K3K010(F/C)-@ 76 AC servo systems Control cables (for CN1) Symbol D E F Description I/O connector kit (26 pins) 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/round terminals) Connect to For I/O general purpose For I/O general purpose 1m 1m 2m - Model R88A-CNW01C R88A-CPKB001S-E XW2Z-100J-B34 XW2Z-200J-B34 XW2B-20G4 XW2B-20G5 XW2D-20G6 AC Servo systems Analog monitor (for CN5) Symbol MECHATROLINK-II Motion controllers 1m Model R88A-CMK001S Symbol G Name Analog monitor cable J MECHATROLINK-II cables (for CN6) Symbol H Specifications MECHATROLINK-II Terminator resistor MECHATROLINK-II cables Length 0. 5 m 1m 3m 5m 10 m 20 m 30 m Model JEPMC-W6022-E JEPMC-W6003-A5-E JEPMC-W6003-01-E JEPMC-W6003-03-E JEPMC-W6003-05-E JEPMC-W6003-10-E JEPMC-W6003-20-E JEPMC-W6003-30-E Name Model Trajexia stand-alone motion controller TJ1-MC04 (4 axes) TJ1-MC16 (16 axes) Trajexia-PLC motion controller CJ1W-MCH72 Position Controller Unit for CJ1 PLC CJ1W-NCF71 (16 axes) CJ1W-NC471 (4 axes) CJ1W-NC271 (2 axes) Position Controller Unit for CS1 PLC CS1W-NCF71 (16 axes) CS1W-NC471 (4 axes) CS1W-NC271 (2 axes) External regenerative resistor Symbol K USB personal computer cable (for CN7) Symbol I Name USB mini-connector cable 2m Model AX-CUSBM002-E 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 Cable for Safety Functions (for CN8) Symbol Description Safety connector with 3 m cable (with loose wires at one end) Model R88A-CSK003S-E Filters Symbol L Applicable servodrive R88D-KN01H-ML2, R88D-KN02H-ML2 R88D-KN04H-ML2 R88D-KN08H-ML2 R88D-KN10H-ML2, R88D-KN15H-ML2 R88D-KN06F-ML2, R88D-KN10F-ML2, R88D-KN15F-ML2 R88D-KN20F-ML2 R88D-KN30F-ML2, R88D-KN50F-ML2 Filter model R88A-FIK102-RE R88A-FIK104-RE R88A-FIK107-RE R88A-FIK114-RE R88A-FIK304-RE R88A-FIK306-RE R88A-FIK312-RE Rated current 2. 4 A 4. 1 A 6. 6 A 14. 2 A 4A 6A 12. 1 A Leakage current 3. 5 mA 3. 5 mA 3. 5 mA 3. 5 mA 0. 3 mA / 32 mA1 0. 3 mA / 32 mA1 0. 3 mA / 32 mA1 Rated voltage 250 VAC single-phase 400 VAC three-phase 1. Momentary peak leakage current for the filter at switch-on/off. Connectors Specifications External encoder connector (for CN4) Safety I/O signal connector (for CN8) Model R88A-CNK41L R88A-CNK81S Computer software Specifications Configuration and monitoring software tool for servo drives and inverters. (CX-drive version 1. 91 or higher) Model CX-drive Accurax G5 servo drive 77 Ordering information Accurax G5 series Analog/pulse Reference configuration C Accurax G5 series Analog/Pulse servo drive A CN5 Servo Motor 3000 rpm (50 W-5 kW) CN7 Filter N Analog monitor cable Personal computer: Software CX-One O USB mini connector cable D Motion control unit Q CN8 B Cables A External regenerative resistor CN1 E H Position control unit -High-speed type- F Terminal block for external signals Servo Motor 2000 rpm (400 W-5 kW) P J I General purpose cable G Position control unit CN4 CN2 R88D-KT@ K L M A Servo Motor 1000 rpm (900 W-3 kW) Terminal block for Servo drive I/O general purpose signals Note: The symbols ABCDE. . . [. . . ]