User manual OMRON SMARTSTEP2

[. . . ] SMARTSTEP 2 SERVO SYSTEM A new step in servodrive simplicity » Precise and cost-effective » U l t ra - c o m p a c t d e s i g n » Simple to use and set up SmartStep 2 ­ the right step forward. . . Omron knows that simplicity and precision are vital in your positioning application. Features at a glance: · · Pulse control servo drive Ultra-compact size Auto-tuning Vibration suppression Adaptive resonance suppression filter Two programmable torque limits Feedback pulse output Power range from 50 W to 750 W Cylindrical and flat servo motors Electronic gear 10, 000 steps per revolution The new SmartStep offers an ideal solution for point-to-point motion applications where simplicity is essential. SmartStep 2 keeps things simple whilst combining high performance in a cost-effective solution. · · · · · · · SmartStep 2 has a completely new compact design that gives a 50% space saving compared with the previous model. [. . . ] at 500 VDC between the power terminals and FG terminal 1, 500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal Any direction Type B Totally-enclosed, self-cooling IP65 (excluding the through-shaft portion) V-15 Flange-mounting Approval obtained for UL, cUL, and EN (EMC directive and low-voltage directive) Performance specifications Cylindric servo motors Item Rated output Rated torque Rated rotation speed Momentary maximum rotation speed Momentary maximum torque Rated current Momentary maximum current Rotor inertia Power rate Allowable radial load Allowable thrust load Weight Without brake With brake Encoder resolution Radiation shield dimensions Brake Brake inertia specifications Excitation voltage Power consumption (at 20 °C) Current consumption (at 20 °C) Static friction torque Attraction time Release time Backlash Rating Brake life Applicable servo driver Unit R88M-G05030H W 50 N·m 0. 16 r/min r/min N·m 0. 48 A (rms) A (rms) kg·m2 kW/s N N kg kg ----kg·m2 V W A N·m ms ms 2. 5 × 10-6 10. 4 68 58 0. 3 0. 5 R88M-G10030H 100 0. 32 R88M-G20030H 200 0. 64 3000 5000 1. 78 1. 6 4. 9 1. 4 × 10-5 30. 3 245 98 R88M-G40030H 400 1. 3 R88M-G75030H 750 2. 4 4500 7. 05 4 12. 1 8. 7× 10-5 66 392 147 2. 3 3. 1 25 × 10-6 10 0. 42 2. 45 min. 20 max. 0. 95 1. 1 3. 4 5. 1 × 10-6 20. 1 3. 60 2. 6 7. 9 2. 6× 10-5 62. 5 0. 5 0. 8 1. 2 0. 7 1. 3 1. 7 Phase A and B: 2, 500 pulses/rotation, Phase Z: 1 pulse/rotation 100 × 80 × t10 (Al) 130 × 120 × t12 (Al) 2. 0 × 10-7 7 0. 30 0. 29 min. R7D-BP02HH R7D-BP04H 7. 5 × 10-6 2. 0 × 10-7 R7D-BP01H R88D-GP08H Torque-speed characteristics R88M-G05030H (N·m) 0. 5 0. 4 0. 3 0. 2 0. 1 Repetitive usage 0. 48 R88M-G10030H (N·m) 1. 0 0. 8 0. 6 0. 4 0. 09 0. 2 Repetitive usage 0. 95 R88M-G20030H (N·m) 2. 0 1. 82 1. 5 Repetitive usage 1. 0 R88M-G40030H (N·m) 4. 0 3. 60 3. 0 Repetitive usage 2. 0 2. 1 1. 3 1. 0 0. 36 0 1. 3 0. 88 Continuous usage 1000 2000 3000 4000 5000 (r/min) R88M-G75030H (N·m) 3. 60 (3200) 8. 0 7. 05 7. 05 (3600) 1. 82 (4300) 1. 65 Repetitive usage 4. 0 2. 4 2. 4 4. 0 0. 16 0. 16 Continuous usage 0. 32 0. 32 0. 5 Continuous usage 0. 19 0. 64 0. 64 Continuous usage 0 Continuous usage 1. 0 0 1000 2000 3000 4000 5000 (r/min) 0 1000 2000 3000 4000 5000 (r/min) 1000 2000 3000 4000 5000 (r/min) 0 1000 2000 3000 4000 5000 (r/min 10 AC servo systems Flat servo motors Item Rated output Rated torque Rated rotation speed Momentary maximum rotation speed Momentary maximum torque Rated current Momentary maximum current Rotor inertia Power rate Allowable radial load Allowable thrust load Weight Without brake With brake Encoder resolution Radiation shield dimensions Brake Brake inertia specifications Excitation voltage Power consumption (at 20 °C) Current consumption (at 20 °C) Static friction torque Attraction time Release time Backlash Rating Brake life Applicable servo driver (R7D-) Unit W N·m r/min r/min N·m A (rms) A (rms) kg·m2 kW/s N N kg kg ----kg·m2 V W A N·m ms ms R88M-GP10030H 100 0. 32 R88M-G20030H 200 0. 64 3000 5000 1. 82 1. 6 6. 8 3. 4 × 10-5 R88M-G40030H 400 1. 3 0. 90 1. 0 4. 3 9. 0 × 10-6 3. 60 4. 4 18. 6 6. 4 × 10-5 11. 4 11. 8 25. 5 68 245 58 98 0. 7 1. 3 1. 8 0. 9 2. 0 2. 5 Phase A and B: 2, 500 pulses/rotation, Phase Z: 1 pulse/rotation 130 × 120 × t10 (Al) 170 × 160 × t12 (Al) 3. 0 × 10-6 9. 0 × 10-6 9. 0 × 10-6 24 VDC ±10% 7 0. 29 0. 29 min. BP02HH 10 0. 41 1. 27 min. BP01H BP04H Torque-speed characteristics R88M-GP10030H (N·m) 1. 0 0. 90 0. 8 0. 6 0. 4 0. 2 Repetitive usage 1. 0 0. 32 0. 32 0. 5 Continuous usage 0 0. 16 0 Continuous usage 0. 28 0 0. 64 0. 64 1. 0 Continuous usage 0. 64 0. 90 1. 5 Repetitive usage 2. 0 1. 3 1. 3 R88M-GP20030H (N·m) 2. 0 1. 82 R88M-GP40030H (N·m) 4. 0 3. 60 3. 0 Repetitive usage 2. 0 1. 82 (4700) 1. 75 3. 60 (3600) 1000 2000 3000 4000 5000 (r/min) 1000 2000 3000 4000 5000 (r/min) 1000 2000 3000 4000 5000 (r/min) SmartStep 2 servo system 11 Dimensions Servo drives R7D-BP01H 35 15 5 5 20 dia . Mass (Kg) Tap x Without brake depth M3x6 0. 7 M4x8 1. 3 M5x10 1. 8 With brake 0. 9 2 2. 5 8 12. 5 3h9 11 18 4h9 14 22. 5 5h9 connector LL Servomotor connector LR Break connector 220 (7) (7) 200 G F S dia. , height: 6 Four, Z-dia. CxC (Straight shaft with key) QK h d D1 ia. KL1 D2 dia. , height: 7 b t1 Tap x Depth SmartStep 2 servo system 13 Installation Single-phase, 230 VAC L1 L2 L3 N Thermal switch Contactor Noise filter L1 L3 CNB U V W Servo motor CNA P Regeneration resistor *1 SMARTSTEP2 Servo drive (100-400 W) CN2 Optical encoder B1 CN1 Reverse pulse +CW 22 -CW 23 220 +CCW 24 -CCW 25 220 4. 7 k 9 /ALM Alarm Output Forward pulse 10 INP Positioning Completed Output 11 BKIR Brake Interlock 12 to 24 VDC 24VIN 1 4. 7 k . 12 WARN Warning Output 13 4. 7 k 21 OGND Z-phase Output (open collector output) GND Z Maximum operating voltage: 30 VDC Maximum Output Current: 50 mA DC RUN Command Input RUN 2 Alarm Reset Input RESET 3 4. 7 k 14 Deviation Counter Reset Input ECRST 4 4. 7 k Gain Switch Input 15 +A GSEL 5 4. 7 k 18 +B Electronic Gear Switch Input GESEL 6 4. 7 k Reverse Drive Prohibit Input Encoder B-phase 17 -B Output 19 +Z Encoder Z-phase 20 -Z Output 4. 7 k Forward Drive Prohibit Input Encoder A-phase 16 -A Output Line driver output Conforms to EIA RS-422A (Load resistance: 220 min. ) NOT 7 POT 8 Shell, 26 FG Frame ground *1. Connect this resistor if the regenerative energy exceeds regeneration absorption capacity in the Servo Drive. Note: 1. The dynamic brake operates when the main circuit power supply or the control circuit power supply is turned OFF. Note: 2. When turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN) signal at the same time. 14 AC servo systems L1 L2 L3 N B1 Thermal switch *1 B3 B2 Servo motor CNB U V W Contactor Noise filter L1 L3 SMARTSTEP2 Servo drive (750W) CNA CN2 Optical encoder Single-Phase 200 to 230 VAC L1C L2C +24 VCW 1 2. 2 k Reverse pulse 500 kpps max. +CW 3 CN1 11 BKIR -CW 4 220 +24 VCCW 2 2. 2 k Brake release signal output 10 BKIRCOM 35 READY Servo ready output 34 READYCOM 37 /ALM Alarm output 36 ALMCOM 39 INP Positioning completed output 38 INPCOM 12 OUTM1 General-purpose output 1 *3 40 OUTM2 External power supply 12 to 24 VDC Maximum service voltage: 30 VDC Maximum output current: 50 mADC Forward pulse Position reference Reverse pulse 2 Mpps max. Forward pulse +CCW 5 -CCW 6 220 +CWLD 44 3 k 43 k -CWLD 45 110 3k 43 k +CCWLD 46 3k 43 k -CCWLD 47 110 3 k 43 k 12 to 24 VDC +24 VIN 7 4. 7 k Servo ON RUN 29 4. 7 k 41 COM19 Z DFSEL 26 4. 7 k 25 ZCOM General-purpose output 2 *3 Vibration filter switching Phase-Z output (open collector output) Gain switching GSEL 27 4. 7 k Electronic gear switching 21 +A Encoder phase-A output 22 -A GESEL 28 4. 7 k Deviation counter reset ECRST 30 4. 7 k 24 -Z Alarm reset RESET 31 4. 7 k 100 20 Control mode switching TVSEL 32 4. 7 k Pulse prohibition IPG 33 4. 7 k Reverse run prohibited 43 BATGND 4. 7 k 13 42 SEN Sensor ON 48 -B 23 +Z Encoder phase-Z output 49 +B Encoder phase-B output Line-driver output corresponding with the EIA RS-422A communications method (load resistance 120 W min. ) 1 µF SENGND BAT Backup battery *2 (3. 6 V) NOT 8 4. 7 k Forward run prohibited POT 9 50 Shell *1 B3-B2 are short-circuited. If the internal regenerative resistor is insufficient, remove the wire between B2 and B3 and connect an external regenerative resistor between B1 and B2. If a backup battery is connected, an encoder cable with a battery is not required. *3 The default values are ZSP (zero-speed detection) for OUTM1 and T-LIMIT (at torque limit) for OUTM2. SmartStep 2 servo system 15 Ordering information SmartStep2 Servo Drive Configuration (100-400 W) (Refer to chapter SmartStep servo motors) E SmartStep 2 Servo Drive (100-400W models) Personal computer software: CX-One SmartStep 2 Servo Motor O Position control unit -High-speed type- A D Encoder cable K B C Power cable Brake cable Position control unit F I L M N J G K H Position control unit P Filter Terminal block General purpose signals (with pulse output) Note: The symbols ABCDE. . . show the recommended sequence to select the components in a SmartStep 2 servo system Servo motor Cylindrical servo motors (3, 000-r/min) Symbol Specifications Design Straight shaft with key and tap Servo motor model Without brake Rated torque 0. 16 Nm 0. 32 Nm 0. 64 Nm 1. 3 Nm 0. 16 Nm 0. 32 Nm 0. 64 Nm 1. 3 Nm Capacity 50 W 100 W 200 W 400 W 50 W 100 W 200 W 400 W R88M-G05030H-S2 R88M-G10030H-S2 R88M-G20030H-S2 R88M-G40030H-S2 R88M-G05030H-BS2 R88M-G10030H-BS2 R88M-G20030H-BS2 R88M-G40030H-BS2 Compatible servo drives SmartStep 2 R7D-BP01H R7D-BP02HH R7D-BP04H R7D-BP01H R7D-BP02HH R7D-BP04H E A With brake Flat servo motors (3, 000-r/min) Symbol A Specifications Design Straight shaft with key and 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 Capacity 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 With brake Compatible servo drives SmartStep 2 R7D-BP01H R7D-BP02HH R7D-BP04H R7D-BP01H R7D-BP02HH R7D-BP04H E Servo drives Symbol Specifications SmartStep 2 drive model 100 W 200 W 400 W R7D-BP01H R7D-BP02HH R7D-BP04H Compatible servo motors A Cylindrical type Flat type R88M-G05030H-@ R88M-G10030H-@ R88M-GP10030H-@ R88M-G20030H-@ R88M-GP20030H-@ R88M-G40030H-@ R88M-GP40030H-@ E 200 VAC Power Supply cables (for CNA) Symbol Specifications Power Supply Input Cable for Single-Phase Power (connectors atE tached) Model R7A-CLB002S2 Appearance 16 AC servo systems Servo motor cables Power cables (for CNB) Symbol Specifications Power cables for SmartStep 2 Servo motors Model R7A-CAB001-5SR-E R7A-CAB003SR-E R7A-CAB005SR-E R7A-CAB010SR-E R7A-CAB015SR-E R7A-CAB020SR-E Appearance B 1. 5 m 3m 5m 10 m 15 m 20 m Brake cables Symbol Specifications Brake cables for SmartStep 2 Servo motors C 1. 5 m 3m 5m 10 m 15 m 20 m Model R88A-CAGA001-5BR-E R88A-CAGA003BR-E R88A-CAGA005BR-E R88A-CAGA010BR-E R88A-CAGA015BR-E R88A-CAGA020BR-E Appearance Encoder cables (for CN2) Symbol Specifications Encoder cables for SmartStep 2 Servo motors D 1. 5 3m 5m 10 m 15 m 20 m Model R88A-CRGB001-5CR-E R88A-CRGB003CR-E R88A-CRGB005CR-E R88A-CRGB010CR-E R88A-CRGB015CR-E R88A-CRGB020CR-E Appearance Note: B, D Flexible and shielded cable C Flexible cable Control cables (for CN1) Symbol Description Control cable F (line-driver output for 1 axis) Control cable (open-collector output for 1 axis) Control cable (line-driver output for 2 axis) Control cable (open-collector output for 2 axis) Connect to Position control unit (high-speed type) CJ1W-NC234 CJ1W-NC434 Position control unit (high-speed type) CJ1W-NC214 CJ1W-NC414 Position control unit (high-speed type) CJ1W-NC234 CJ1W-NC434 Position control unit (high-speed type) CJ1W-NC214 CJ1W-NC414 Position control units (high-speed type) CJ1W-NC234 CJ1W-NC434 CJ1W-NC214 CJ1W-NC414 1m 5m 10 m 1m 3m 1m 5m 10 m 1m 3m 0. 5 m 1m 2m 3m 5m 10 m 1m 2m 1m 2m Model XW2Z-100J-G12 XW2Z-500J-G12 XW2Z-10MJ-G12 XW2Z-100J-G16 XW2Z-300J-G16 XW2Z-100J-G4 XW2Z-500J-G4 XW2Z-10MJ-G4 XW2Z-100J-G8 XW2Z-300J-G8 XW2Z-C50X XW2Z-100X XW2Z-200X XW2Z-300X XW2Z-500X XW2Z-010X XW2B-20G4 XW2B-20G5 XW2D-20G6 XW2Z-100J-B29 XW2Z-200J-B29 XW2Z-100J-B32 XW2Z-200J-B32 XW2B-20J6-1B (1 axis) XW2B-40J6-2B (2 axes) XW2B-20J6-3B (1 axis) XW2B-20J6-8A (1 axis) XW2B-40J6-9A (2 axes) G Terminal block cable for external signals (for input common, forward/reverse run prohibited inputs, emergency stop input, origin proximity input and interrupt input) H I Terminal block for external signals ( with M3 screw and for pin terminals) Terminal block ext. 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