User manual OMRON SMARTSTEP 2

[. . . ] I561-E1-02 USER'S MANUAL SMARTSTEP 2 SERIES R88M-G@ (Servomotors) R7D-BP@ (Servo Drives) SERVOMOTORS/SERVO DRIVES Trademarks and Copyrights · Product names and system names in this manual are trademarks or registered trademarks of their respective companies. © OMRON, 2008 All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. [. . . ] Not used. 0 --- 0 or 1 Yes 46 Set the pulse rate for command pulses and Servomotor travel distance. Electronic Gear Ratio Numerator 1 (Pn46) or x2 Electronic Gear Ratio Numerator 2 (Pn47) Electronic Gear Ratio Numerator Exponent (Pn4A) 10000 --- 1 to 10000 --- 47 10000 --- 1 to 10000 ----- --- Electronic Gear Ratio Denominator (Pn4B) 48 49 (Do not change setting. ) (Do not change setting. ) 0 0 ----- ----- 5-26 Operating Functions The Servomotor rotates in the opposite direction from the direction specified by the command pulse. 5-10 User Parameters Pn No. 4A Parameter name Electronic Gear Ratio Numerator Exponent Electronic Gear Ratio Denominator Position Command Filter Time Constant Setting Not used. Smoothing Filter Setting Explanation Set the pulse rate for command pulses and Servomotor travel distance. Electronic Gear Ratio Numerator 1 (Pn46) or x2 Electronic Gear Ratio Numerator 2 (Pn47) Electronic Gear Ratio Numerator Exponent (Pn4A) Default setting Unit Setting range Power OFF ON 0 --- 0 to 17 --- 4B 2500 --- Electronic Gear Ratio Denominator (Pn4B) 1 to 10000 --- 4C Set the time constant for the primary lag filter for the command pulse input. (Do not change setting. ) Select the FIR filter time constant used for the command pulse input. (Do not change setting. ) 0 --- 0 to 7 --- 4D 0 --- --- --- 5 4E 0 --- 0 to 31 Yes Operating Functions 4F Not used. 0 --- --- --- 5-27 5-10 User Parameters Internally Set Speed Control Parameters Pn No. 4 Internally Set Speed Jog Speed Soft Start Acceleration Time Soft Start Deceleration Time Not used. Explanation (Do not change setting. ) (Do not change setting. ) (Do not change setting. ) Set the No. Default setting 0 0 0 100 200 300 400 200 0 Unit ------r/min r/min r/min r/min r/min 2 ms Setting range -------20000 to 20000 -20000 to 20000 -20000 to 20000 -20000 to 20000 0 to 500 0 to 5000 0 to 5000 --------0 to 500 --Power OFF ON ------------------- 5 quired until 1, 000 r/min is reached. Set the time (setting × 2 ms) required until operation stops from 1000 r/min. (Do not change setting. ) (Do not change setting. ) (Do not change setting. ) (Do not change setting. ) Set the limit to the Servomotor's maximum torque. (Do not change setting. ) 0 0 0 0 300 0 --------% --0 2 ms 59 5A 5B 5C 5D 5E 5F --------------- 5-28 Operating Functions Set the acceleration time for internally set speed control. Set the time (setting × 2 ms) re- 5-10 User Parameters Sequence Parameters Pn No. Parameter name Positioning Completion Range Zero Speed Detection Rotation Speed for Servomotor Rotation Detection Deviation Counter Overflow Level Setting Explanation Default setting Unit Setting range 0 to 32767 0 to 20000 0 to 20000 Power OFF ON --- 60 Set the range for the Positioning Completed Output (INP). Set the rotation speed for the Warning Output for zero speed detection. Set the rotation speed for the Servomotor Rotation Speed Detection Output (TGON) for Internally Set Speed Control. Deviation Counter Overflow Alarm disabled. 25 Pulses 61 20 r/min --- 62 50 r/min --- 5 63 100 × 256 pulses 0 to 32767 --- Operating Functions 64 Deviation Counter Overflow Alarm Disabled 0 --- 0 or 1 --- 65 Not used. (Do not change setting. ) Set the operation used to decelerate to a stop after the Forward Drive Prohibit Input (POT) or Reverse Drive Prohibit Input (NOT) is turned ON. 0 The torque in the drive prohibit direction is disabled, and the dynamic brake is activated. 0 --- --- --- 66 Stop Selection for Drive Prohibit Input 1 0 The torque in the drive prohibit direction is disabled, and free-run deceleration is performed to stop. A servo lock stop is used in position control, and a zero-speed designation stop is used in Internally Set Speed Control. 0 --- 0 to 2 Yes 2 67 Not used. (Do not change setting. ) Set the operation to use during deceleration and after stopping when an alarm occurs. 0 During deceleration: Dynamic brake After stopping: Dynamic brake During deceleration: Free run After stopping: Dynamic brake During deceleration: Dynamic brake After stopping: Servo free During deceleration: Free run After stopping: Servo free --- --- --- 68 Stop Selection at Alarm 1 2 3 0 --- 0 to 3 --- 5-29 5-10 User Parameters Pn No. Parameter name Setting Explanation Default setting Unit Setting range Power OFF ON Set the operation to use during deceleration and after stopping and set the deviation counter status when the RUN Command Input (RUN) is turned OFF. 0 During deceleration: Dynamic brake After stopping: Dynamic brake Deviation counter: Cleared During deceleration: Free run After stopping: Dynamic brake Deviation counter: Cleared During deceleration: Dynamic brake After stopping: Servo free Deviation counter: Cleared During deceleration: Free run After stopping: Servo free Deviation counter: Cleared During deceleration: Dynamic brake After stopping: Dynamic brake Deviation counter: Hold During deceleration: Free run After stopping: Dynamic brake Deviation counter: Hold During deceleration: Dynamic brake After stopping: Servo free Deviation counter: Hold During deceleration: Free run After stopping: Servo free Deviation counter: Hold 0 --0 to 7 --- 1 2 Stop Selection with Servo OFF 5 69 3 4 5 6 7 6A Brake Timing When Stopped When the Servomotor is stopped and the RUN Command Input (RUN) is turned OFF, the Brake Interlock Signal (BKIR) will turn OFF, and the Servomotor will turn OFF after the time set for this parameter elapses (i. e. , setting × 2 ms). When the Servomotor is operating and the RUN Command Input (RUN) is turned OFF, the Servomotor will decelerate to reduce speed, and the Brake Interlock Signal (BKIR) will turn OFF after a set time (i. e. , setting × 2 ms) has elapsed. [. . . ] XW2Z-_J-A33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XW2Z-_J-A6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XW2Z-_J-A7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XW2Z-_J-B29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . [. . . ]