User manual OMRON R88D-GN

[. . . ] 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. [. . . ] output current Arms 3. 5 5. 3 7. 1 14. 1 21. 2 28. 3 Input power Main circuit For single-phase, 200 to 240 VAC +10 to -15% For single-phase/ three-phase, 200 to 240 VAC +10 to -15% (50/60 Hz) (50/60 Hz) Supply Control circuit For single-phase, 200 to 240 VAC +10 to -15% (50/60 Hz) Control method IGBT-driven PWM method Feedback Serial encoder (incremental/absolute) Usage/storage temperature 0 to +55 °C / -20 to 65 °C Usage/storage humidity 90% RH or less (non-condensing) Altitude 1000m or less above sea level Vibration/shock resistance 5. 88 m/s2 / 19. 6 m/s2 Configuration Approx. weight Kg Speed control range Speed Load variance variance Voltage variance Temperature variance Frequency characteristics Torque control accuracy (reproducibility) Soft start time setting MECHATROLINK Communication Command Input Performance Conditions Base mounted 0. 8 1. 1 1. 5 1. 7 1:5000 During 0 to 100% load ±0. 01 max. (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. 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. [. . . ] (CX-One version 3. 10 or higher) Model CX-drive CX-One 16 5 67 MECHATROLINK-II cables Position control unit CJ1W-NC_71 CS1W-NC_71 F CN1 Servo drive I/O signals Motion controller unit TJ1-MC04/16 CJ1W-MCH72 G H Terminal block for Servo drive I/O signals Flat type R88M-GP10030@ R88M-GP20030@ R88M-GP40030@ - 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 R88A-FIK102-RE 2. 4 A R88A-FIK104-RE 4. 1 A R88A-FIK107-RE 6. 6 A R88A-FIK114-RE 14. 2 A 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 AC servo systems Cylindrical servo motors 3000/2000/1000 r/min (50 - 1. 5 kW) Symbol Specifications Voltage Encoder and design 230 V Incremental encoder (10000 pulses) Straight shaft with key & tap With brake (50-750 W) Servo motor model Speed Design 3000 min-1 Without brake Rated torque 0. 16 Nm 0. 32 Nm 0. 64 Nm 1. 3 Nm 2. 4 Nm 0. 16 Nm 0. 32 Nm 0. 64 Nm 1. 3 Nm 2. 4 Nm 0. 16 Nm 0. 32 Nm 0. 64 Nm 1. 3 Nm 2. 4 Nm 3. 18 Nm 4. 77 Nm 0. 16 Nm 0. 32 Nm 0. 64 Nm 1. 3 Nm 2. 4 Nm 3. 18 Nm 4. 77 Nm 4. 8 Nm 7. 15 Nm 4. 8 N m 7. 15 Nm 8. 62 Nm Capacity 50 W 100 W 200 W 400 W 750 W 50 W 100 W 200 W 400 W 750 W 50 W 100 W 200 W 400 W 750 W 1 kW 1. 5 kW 50 W 100 W 200 W 400 W 750 W 1 kW 1. 5 kW 1 kW 1. 5 kW 1 kW 1. 5 kW 900 W R88M-G05030H-S2 R88M-G10030H-S2 R88M-G20030H-S2 R88M-G40030H-S2 R88M-G75030H-S2 R88M-G05030H-BS2 R88M-G10030H-BS2 R88M-G20030H-BS2 R88M-G40030H-BS2 R88M-G75030H-BS2 R88M-G05030T-S2 R88M-G10030T-S2 R88M-G20030T-S2 R88M-G40030T-S2 R88M-G75030T-S2 R88M-G1K030T-S2 R88M-G1K530T-S2 R88M-G05030T-BS2 R88M-G10030T-BS2 R88M-G20030T-BS2 R88M-G40030T-BS2 R88M-G75030T-BS2 R88M-G1K030T-BS2 R88M-G1K530T-BS2 R88M-G1K020T-S2 R88M-G1K520T-S2 R88M-G1K020T-BS2 R88M-G1K520T-BS2 R88M-G90010T-S2 R88M-G90010T-BS2 Compatible servo drives B R88D-GN01H-ML2 R88D-GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 R88D-GN08H-ML2 R88D-GN01H-ML2 R88D-GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 R88D-GN08H-ML2 R88D-GN01H-ML2 R88D-GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 R88D-GN08H-ML2 R88D-GN15H-ML2 R88D-GN15H-ML2 R88D-GN01H-ML2 R88D-GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 R88D-GN08H-ML2 R88D-GN15H-ML2 R88D-GN15H-ML2 R88D-GN10H-ML2 R88D-GN15H-ML2 R88D-GN10H-ML2 R88D-GN15H-ML2 R88D-GN15H-ML2 R88D-GN15H-ML2 A Absolute/ incremental encoder (17 bits) Straight shaft with key & tap Without brake With brake (900-1500 W) 2000 min-1 Without brake With brake 1000 min-1 Without brake With brake Flat type servo motors 3000 r/min (100 - 400 W) Symbol Specifications Voltage Encoder and design 230 V Incremental encoder (10000 pulses) Straight shaft with key & tap Servo motor model Without brake Rated torque 0. 32 Nm 0. 64 Nm 1. 3 Nm 0. 32 Nm 0. 64 Nm 1. 3 Nm 0. 32 Nm 0. 64 Nm 1. 3 Nm 0. 32 Nm 0. 64 Nm 1. 3 Nm Capacity 100 W 200 W 400 W 100 W 200 W 400 W 100 W 200 W 400 W 100 W 200 W 400 W R88M-GP10030H-S2 R88M-GP20030H-S2 R88M-GP40030H-S2 R88M-GP10030H-BS2 R88M-GP20030H-BS2 R88M-GP40030H-BS2 R88M-GP10030T-S2 R88M-GP20030T-S2 R88M-GP40030T-S2 R88M-GP10030T-BS2 R88M-GP20030T-BS2 R88M-GP40030T-BS2 Compatible servo drives B R88D-GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 R88D-GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 R88D-GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 R88D-GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 A With brake Absolute/ incremental encoder (17 bits) Straight shaft with key & tap Without brake With brake Encoder Cables Symbol C Specifications Encoder cable for absolute encoder (50-750 W) R88M-G(050/100/200/400/750)30T-@ R88M-GP(100/200/400)30T-@ Encoder cable for Incremental encoder (50-750 W) R88M-G(050/100/200/400/750)30H-@ R88M-GP(100/200/400)30H-@ Encoder cable for Absolute encoder (900-1500 W) R88M-G(1K0/1K5)30T-@ R88M-G(1K0/1K5)20T-@ R88M-G90010T-@ 1. 5 m 3m 5m 10 m 15 m 20 m 1. 5 m 3m 5m 10 m 15 m 20 m 1. 5 m 3m 5m 10 m 15 m 20 m Model R88A-CRGA001-5CR-E R88A-CRGA003CR-E R88A-CRGA005CR-E R88A-CRGA010CR-E R88A-CRGA015CR-E R88A-CRGA020CR-E R88A-CRGB001-5CR-E R88A-CRGB003CR-E R88A-CRGB005CR-E R88A-CRGB010CR-E R88A-CRGB015CR-E R88A-CRGB020CR-E R88A-CRGC001-5NR-E R88A-CRGC003NR-E R88A-CRGC005NR-E R88A-CRGC010NR-E R88A-CRGC015NR-E R88A-CRGC020NR-E Appearance G-Series servo system 17 Absolute Encoder Battery cable Symbol Specifications Absolute Encoder battery cable Model Battery not included 0. 3 m R88A-CRGD0R3C One R88A-BAT01G 0. 3 m R88A-CRGD0R3C-BS Battery included Absolute Encoder backup battery 2, 000 mA. h 3. 6V R88A-BAT01G Appearance C Battery holder Note: The absolute encoder battery cable is only an extension and must be used with an absolute encoder cable. Power cables Symbol Specifications For servomotors from 50 to 750W R88M-G(050/100/200/400/750)30@ R88M-GP(100/200/400)30@ For servomotors with brake, a separate cable (R88A-CAGA@BR-E) is needed Model 1. 5 m R88A-CAGA001-5SR-E 3m 5m 10 m 15 m 20 m R88A-CAGA003SR-E R88A-CAGA005SR-E R88A-CAGA010SR-E R88A-CAGA015SR-E R88A-CAGA020SR-E R88A-CAGB001-5SR-E R88A-CAGB003SR-E R88A-CAGB005SR-E R88A-CAGB010SR-E R88A-CAGB015SR-E R88A-CAGB020SR-E R88A-CAGB003BR-E R88A-CAGB005BR-E R88A-CAGB010BR-E R88A-CAGB015BR-E R88A-CAGB020BR-E Appearance D For servomotors from 900 to 1. 5 kW without brake 1. 5 m R88M-G(1K0/1K5)30T-S2 3m R88M-G(1K0/1K5)20T-S2 5m R88M-G90010T-S2 10 m 15 m 20 m For servomotors from 900 to 1. 5 kW with brake R88M-G(1K0/1K5)30T-BS2 R88M-G(1K0/1K5)20T-BS2 R88M-G90010T-BS2 3m 5m 10 m 15 m 20 m 1. 5 m R88A-CAGB001-5BR-E Brake cable (for 50-750W servomotors) Symbol Specifications Brake cable only. For servomotors from 50 to 750W with brake R88M-G(050/100/200/400/750)30@-BS2, R88M-GP(100/200/400)30@-BS2 3m 5m 10 m 15 m 20 m Model 1. 5 m R88A-CAGA001-5BR-E R88A-CAGA003BR-E R88A-CAGA005BR-E R88A-CAGA010BR-E R88A-CAGA015BR-E R88A-CAGA020BR-E Appearance E Connectors for power, encoder and brake cables Specifications Connectors for power cables Connectors for encoder cables Motor side Motor side Motor side Motor side Motor side Motor side Connector for brake cable Motor side Applicable Servomotor R88M-G(050/100/200/400/750)30@, R88M-GP(100/200/400)30@ R88M-G(1K0/1K5)30@-S2, R88M-G(1K0/1K5)20@-S2, R88M-G90010@-S2 (without brake) R88M-G(1K0/1K5)30@-BS2, R88M-G(1K0/1K5)20@-BS2, R88M-G90010@-BS2 (with brake) R88M-G(050/100/200/400/750)30T-@, R88M-GP(100/200/400)30T-@ (Absolute encoder) R88M-G(050/100/200/400/750)30H-@, R88M-GP(100/200/400)30H-@ (Incremental encoder) R88M-G(1K0/1K5)30T-@, R88M-G(1K0/1K5)20T-@, R88M-G90010T-@ R88M-G(050/100/200/400/750)30@-BS2, R88M-GP(100/200/400)30@-BS2 Model R88A-CNG01A MS3108E20-4S MS3108E20-18S R88A-CNW01R R88A-CNG01R R88A-CNG02R MS3108E20-29S R88A-CNG01B Drive side (CN2) - ALL DIMENSIONS SHOWN ARE IN MILLIMETERS. In the interest of product improvement, specifications are subject to change without notice. 18 AC servo systems OMRON EUROPE B. V. [. . . ]