User manual OMRON SMARTSTEP SERVO DRIVE DATASHEET

[. . . ] (at 500 VDC) Between power line terminals and case: 1, 500 VAC for 1 min at 50/60 Hz Between each control signal and case: 500 VAC for 1 min Built into panel (IP10). Approval obtained for UL, cUL, and EN (EMC directiveand low-voltage directive) Performance specifications Item 200 VAC input type 30 W 50 W 100 W 200 W R7D-APA3H R7D-APA5H R7D-AP01H R7D-AP02H 0. 42 0. 6 0. 89 2. 0 1. 3 1. 9 2. 8 6. 0 Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz (three-phase 200/230 VAC can be used with the 750 W model. ) All-digital servo 2, 000 pulses/revolution incremental encoder PWM method based on IGBT 11. 7 kHz 0. 8 0. 8 0. 8 0. 8 200 V 30 W 50 W 100 W 200 W 250 kHz A03030 A05030 A10030 A20030 AP10030 AP20030 400 W R7D-AP04H 2. 6 8. 0 750 W R7D-AP08H 4. 4 13. 9 Continuous output current (rms) Momentary maximum output current (rms) Control power supply Main-circuit power supply Control method Speed feedback Inverter method PWM frequency Weight Compatible motor voltage Compatible motor capacity Command pulse response Applicable servo motor (R7M-) 1. 1 400 W A40030 AP40030 1. 7 750 W A75030 AP75030 I/O specifications Terminal specifications Symbol L1 and L2 or L1, L2, and L3 Name Main-circuit power supply terminals DC reactor terminals Function These are the input terminals for the main-circuit power supply. +1 +2 - L1C L2C B1 and B2 or B1, B2, and B3 U V W Normally short-circuit between +1 and +2. If harmonic control measures are required, connect a DC reactor between +1 and +2. Main-circuit DC output Control circuit power supply terminals External regeneration resistance terminals Servo motor terminals Frame ground Do not connect anything to this terminal. [. . . ] Compare parameters in the servo drive with parameters in the parameter unit. RESET JOG JOG RUN RUN DATA READ DRIVER PR PR WRITE DRIVER R7A-PR02A Mode change specifications Power ON Parameter/monitor mode -PRM/MONBB Un000 = 3000r/min Un002 = 40% Un008 = 00100pulse Un00D = 10000000 -PRM/MONBB Pn000 = 0000 Un002 = 40% Un008 = 00100pulse Un00D = 10000000 MODE/SET MODE/SET Function mode MODE/SET BB Fn000 Fn001 Fn002 Fn003 -FUNCTION- BB Fn001 Fn002 Fn003 Fn005 -FUNCTION- Copy parameters mode BB 1: DRIVERPR 2: PRDRIVER 3: Verify 4: LIST -COPY- BB 1: DRIVERPR 2: PRDRIVER 3: Verify 4: LIST -COPY- Display alarms mode A. 70 2: A. 02 3: A. 10 4: A. 71 5: A. 72 -ALARM- 156 AC servo systems Operation Components Unit number switch Gain adjustment switch DIP switch · Resolution setting · Command pulse input setting · Dynamic brake setting Autotuning switch Charge indicator Alarm indicator Power indicator Main-circuit power terminals Communications connector (CN3) Monitor output connector (CN4) DC reactor terminals Control-circuit power terminals External regeneration Resistor terminals Control I/O connector (CN1) Servo motor power terminals Encoder input connector (CN2) Ground terminals for power supply and servo motor power Switch operations Gain adjustment switch Adjusts the motor's responsiveness. When this switch is set to 0, the unit will operate according to the settings in the internal parameters (Pn100, Pn101, Pn102, and Pn401). When this switch is set to 1 through F, the unit will operate according to the rotary switch's setting. Setting 0 1 2 3 4 5 6 7 8 9 A B C D E F Position loop Speed loop gain gain Speed loop integral constant Torque command filter time constant F01 2 Decrease the switch setting to lower the motor's responsiveness (i. e. , so that it moves more smoothly). Increase the switch setting to raise the motor's responsiveness (i. e. , so that it moves faster). Enables parameter settings (including settings other than gain settings). 15 15 4, 000 20 20 3, 500 30 30 3, 000 40 40 2, 000 60 60 1, 500 85 85 1, 000 120 120 800 160 160 600 200 200 500 250 250 400 250 250 400 250 250 400 250 250 400 250 250 400 250 250 400 250 200 150 100 70 50 30 20 15 10 10 10 10 10 10 SmartStep servo drive 157 Enable switch/parameter setting Pin 6 of the DIP switch selects whether the servo drive operates according to the DIP switch settings or parameter settings. Command pulse input setting Pin 3 selects the command pulse mode. Select "Forward pulse/reverse pulse: positive logic" or "feed pulses/direction signal: positive logic. " ON OFF Function Enables the DIP switch settings. Enables the parameter settings. ON OFF 6 5 4 3 2 1 (Default setting) Pin 6 OFF ON 6 5 4 3 2 1 (Default setting) Pin 3 OFF ON Command pulse mode Forward pulse/reverse pulse: positive logic Feed pulses/direction signal: positive logic Online autotuning setting The autotuning switch selects whether the gain will be adjusted automatically during operation. Dynamic brake setting Pin 2 enables or disables dynamic brake operation. If the dynamic brake is enabled, the motor can be brought to an emergency stop when the RUN command goes OFF or an alarm occurs. ON OFF Perform online autotuning. 1 ON OFF Complete online autotuning. The result is stored in the inertia ratio parameter (Pn103) and the servo drive runs. ON OFF 1 Resolution setting Pins 4 and 5 select the positioning resolution. If the resolution is set to 1, 000 (the default setting), the motor makes one revolution for every 1, 000 pulses input. ON OFF Pins 5 OFF OFF ON ON Resolution 4 OFF ON OFF ON 1, 000 pulses/revolution (0. 36°/step) 10, 000 pulses/revolution (0. 036°/step) 500 pulses/revolution (0. 72°/step) 5, 000 pulses/revolution (0. 072°/step) 6 5 4 3 2 1 (Default setting) Pin 2 OFF ON Dynamic brake mode Dynamic brake disabled. Dynamic brake enabled. 6 5 4 3 2 1 (Default setting) Alarm Table Display A. 04* A. 10* A. 30 A. 32 A. 40 A. 51 A. 70 A. 73 A. 74 ALM output Error detection function Parameter setting error Overcurrent Regeneration error Regeneration overload Overvoltage/undervoltage Overspeed Overload Dynamic brake overload Inrush resistance overload Display A. 7A A. bF* A. C1 A. C2* A. C3* A. d0 CPF00 CPF01 A. 91 A. 92 ALM output Error detection function Overheat System error Runaway detected Phase not detected Encoder disconnect detected Deviation counter overflow Parameter unit transmission error 1 Parameter unit transmission error 2 Overload warning Regeneration overload warning OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF --------- Note: 1. Parameter Pn110. 2 is valid when online. capacity when the temperature has risen to 120 °C. SN75175, MC3486 or equivalent 8 INP Positioning completed output Brake +24VIN 13 24 VDC 7 10 32 33 34 35 RUN command Alarm reset BKIR interlock output RUN 14 3. 3k RESET 18 3. 3k OGND Z ZCOM Max. output current: 50 mA (Phase-z output is 20 mA max. ) Phase Z Alarm output ALM ALMCOM Shell FG (frame ground) Connect the shield wire to the connector shell. Note: * A regeneration resistor can be connected across the B1 and B2 terminals with 400 W and 750 W servo drives. [. . . ] @N XW2B-40F5-P Cable to position control unit 1 m or 2 m (the cable length goes in the empty boxes. ) 0. 5 m or 1 m (the cable length goes in the empty boxes. ) G H Control cable Connector terminal block cable Connector terminal block 1 m or 2 m (the cable length goes in the empty boxes. ) --- Cable for CN3 Symbol Cable for CN4 Model R7A-CCA002P2 Symbol I Filters Symbol Name Computer monitor cable J Name Analog monitor cable Model R88A-CMW001S K Applicable servo drive R7D-APA3H, R7D-APA5H, R7D-AP01H, R7D-AP02H R7D-AP04H R7D-AP08H Filter model R88A-FIW104-E R88A-FIW107-E R88A-FIW115-E Rated current 4A 7A 15A Rated voltage 250 VAC single phase Connectors Specifications Control I/O connector (for CN1) SmartStep connectors kit. SmartStep encoder connector (for CN2) Hypertac power connector female Hypertac encoder connector female Hypertac power connector male (used in the motor) Hypertac encoder connector male (used in the motor) Model R88A-CNU01C R7A-CNA00K-DE Models included in kit R7A-CNA01R SPOC-06K-FSDN169 SPOC-17H-FRON169 SRUC-06J-MSCN236 SRUC-17G-MRWN087 External regeneration resistor Specification 220 W, 47 Model R88A-RR22047S Parameter unit & computer software Specifications Parameter copy unit (with cable) Configuration and monitoring software tool for servo drives and inverters. (CX-drive version 1. 11 or higher) Complete OMRON software package including CX-drive. [. . . ]