R88D-WN02L-ML2 [OMRON]
SERVO DRIVER 2.1A 115V LOAD;
| 型号： | R88D-WN02L-ML2 |
| 厂家： | 
OMRON ELECTRONICS LLC |
| 描述： | SERVO DRIVER 2.1A 115V LOAD 驱动 |
| 文件： | 总414页 (文件大小：6029K) |
| 中文： | 中文翻译 | 下载： | 下载PDF数据表文档文件 |
Cat. No. I544-E1-06
USER’S MANUAL
OMNUC WSERIES
MODELS R88M-W@
(AC Servomotors)
MODELS R88D-WN@-ML2
(AC Servo Drivers)
AC SERVOMOTORS/SERVO DRIVERS
WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS
Thank you for choosing this OMNUC W-series product. Proper use and handling of the prod-
uct will ensure proper product performance, will length product life, and may prevent possible
accidents.
Please read this manual thoroughly and handle and operate the product with care.
1.To ensure safe and proper use of your OMRON Servomotors and Servo Drivers, please read this manual
(Cat. No. I544-E1) to gain sufficient knowledge of the products, safety information, and precautions before
actual use.
2.The products are illustrated without covers and shieldings to enable showing better detail in this manual.
For actual use of the products, make sure to use the covers and shieldings as specified.
3.Copies of this manual and other related manuals must be delivered to the actual end users of the products.
4.Please keep a copy of this manual close at hand for future reference.
5.If a product has been left unused for a long time, please consult with your OMRON sales representative.
NOTICE
1.This manual describes the functions of the product and relations with other products. You
should assume that anything not described in this manual is not possible.
2.Although care has been given in documenting the product, please contact your
OMRON representative if you have any suggestions on improving this manual.
3.The product contains dangerous high voltages inside. Turn OFF the power and wait for at least
five minutes to allow power to discharge before handling or working with the product. Never
attempt to disassemble the product.
4.We recommend that you add the following precautions to any instruction manuals you prepare
for the system into which the product is being installed.
• Precautions on the dangers of high-voltage equipment.
• Precautions on touching the terminals of the product even after power has been turned
OFF. (These terminals are live even with the power turned OFF.)
5.Specifications and functions may be changed without notice in order to improve product per-
formance.
6.Positive and negative rotation of AC Servomotors described in this manual are defined as look-
ing at the end of the output shaft of the motor as follows: counterclockwise rotation is positive
and clockwise rotation is negative.
7.Do not perform withstand-voltage or other megameter tests on the product. Doing so may
damage internal components.
8.Servomotors and Servo Drivers have a finite service life. Be sure to keep replacement prod-
ucts on hand and to consider the operating environment and other conditions affecting the ser-
vice life.
9.The OMNUC W Series can control both incremental and absolute encoders. Differences in
functions or specifications according to the encoder type are indicated in this manual. Be sure
to check the model that is being used, and follow the relevant specifications.
• Servomotors with incremental encoders:
• Servomotors with absolute encoders:
R88M-W@H-@
R88M-W@T-@
Items to Check After Unpacking
1.Check the following items after removing the product from the package:
• Has the correct product been delivered (i.e., the correct model number and specifications)?
• Has the product been damaged in shipping?
• Are any screws or bolts loose?
USER’S MANUAL
OMNUC WSERIES
MODELS R88M-W@
(AC Servomotors)
MODELS R88D-WN@-ML2
(AC Servo Drivers)
AC SERVOMOTORS/SERVO DRIVERS
WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS
Notice:
OMRON products are manufactured for use according to proper procedures by a qualified operator
and only for the purposes described in this manual.
The following conventions are used to indicate and classify precautions in this manual. Always heed
the information provided with them. Failure to heed precautions can result in injury to people or dam-
age to property.
!DANGER Indicates an imminently hazardous situation which, if not avoided, will result in
death or serious injury. Additionally, there may be severe property damage.
!WARNING Indicates a potentially hazardous situation which, if not avoided, could result in
death or serious injury. Additionally, there may be severe property damage.
!Caution
Indicates a potentially hazardous situation which, if not avoided, may result in
minor or moderate injury, or property damage.
OMRON Product References
All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to
an OMRON product, regardless of whether or not it appears in the proper name of the product.
The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means
“word” and is abbreviated “Wd” in documentation in this sense.
The abbreviation “PC” means Programmable Controller and is not used as an abbreviation for anything
else.
Visual Aids
The following headings appear in the left column of the manual to help you locate different types of
information.
Note Indicates information of particular interest for efficient and convenient operation of the product.
OMRON, 2004
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 con-
stantly striving to improve its high-quality products, the information contained in this manual is subject to change without
notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility
for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in
this publication.
General Warnings
Observe the following warnings when using the OMNUC Servomotor and Servo Driver and all con-
nected or peripheral devices.
This manual may include illustrations of the product with protective covers removed in order to
describe the components of the product in detail. Make sure that these protective covers are on the
product before use.
Consult your OMRON representative when using the product after a long period of storage.
!WARNING Always connect the frame ground terminals of the Servo Driver and the Servomo-
tor to a class-3 ground (to 100 Ω or less). Not connecting to a class-3 ground may
result in electric shock.
!WARNING Do not touch the inside of the Servo Driver. Doing so may result in electric shock.
!WARNING Do not remove the front cover, terminal covers, cables, Parameter Units, or
optional items while the power is being supplied. Doing so may result in electric
shock.
!WARNING Installation, operation, maintenance, or inspection must be performed by autho-
rized personnel. Not doing so may result in electric shock or injury.
!WARNING Wiring or inspection must not be performed for at least five minutes after turning
OFF the power supply. Doing so may result in electric shock.
!WARNING Do not damage, press, or put excessive stress or heavy objects on the cables.
Doing so may result in electric shock.
!WARNING Do not touch the rotating parts of the Servomotor in operation. Doing so may
result in injury.
!WARNING Do not modify the product. Doing so may result in injury or damage to the product.
!WARNING Provide an appropriate stopping device on the machine side to secure safety. (A
holding brake is not a stopping device for securing safety.) Not doing so may result
in injury.
!WARNING Provide an external emergency stopping device that allows an instantaneous stop
of operation and power interruption. Not doing so may result in injury.
!WARNING Do not come close to the machine immediately after resetting momentary power
interruption to avoid an unexpected restart. (Take appropriate measures to secure
safety against an unexpected restart.) Doing so may result in injury.
!Caution
Use the Servomotors and Servo Drivers in a specified combination. Using them
incorrectly may result in fire or damage to the products.
!Caution
Do not store or install the product in the following places. Doing so may result in
fire, electric shock, or damage to the product.
• Locations subject to direct sunlight.
• Locations subject to temperatures or humidity outside the range specified in the specifi-
cations.
• Locations subject to condensation as the result of severe changes in temperature.
• Locations subject to corrosive or flammable gases.
• Locations subject to dust (especially iron dust) or salts.
• Locations subject to shock or vibration.
• Locations subject to exposure to water, oil, or chemicals.
!Caution
Do not touch the Servo Driver radiator, regeneration resistor, or Servomotor while
the power is being supplied or soon after the power is turned OFF. Doing so may
result in a skin burn due to the hot surfaces.
Storage and Transportation Precautions
!Caution
!Caution
!Caution
Do not hold the product by the cables or motor shaft while transporting it. Doing so
may result in injury or malfunction.
Do not place any load exceeding the figure indicated on the product. Doing so
may result in injury or malfunction.
Use the motor eye-bolts only for transporting the Motor. Using them for transport-
ing the machinery may result in injury or malfunction.
Installation and Wiring Precautions
!Caution
!Caution
!Caution
!Caution
!Caution
Do not step on or place a heavy object on the product. Doing so may result in
injury.
Do not cover the inlet or outlet ports and prevent any foreign objects from entering
the product. Doing so may result in fire.
Be sure to install the product in the correct direction. Not doing so may result in
malfunction.
Provide the specified clearances between the Servo Driver and the control panel
or with other devices. Not doing so may result in fire or malfunction.
Do not apply any strong impact. Doing so may result in malfunction.
!Caution
!Caution
Be sure to wire correctly and securely. Not doing so may result in motor runaway,
injury, or malfunction.
Be sure that all the mounting screws, terminal screws, and cable connector
screws are tightened to the torque specified in the relevant manuals. Incorrect
tightening torque may result in malfunction.
!Caution
!Caution
!Caution
Use crimp terminals for wiring. Do not connect bare stranded wires directly to ter-
minals. Connection of bare stranded wires may result in burning.
Always use the power supply voltage specified in the User's Manual. An incorrect
voltage may result in malfunction or burning.
Take appropriate measures to ensure that the specified power with the rated volt-
age and frequency is supplied. Be particularly careful in places where the power
supply is unstable. An incorrect power supply may result in malfunction.
!Caution
!Caution
Install external breakers and take other safety measures against short-circuiting in
external wiring. Insufficient safety measures against short-circuiting may result in
burning.
Take appropriate and sufficient countermeasures when installing systems in the
following locations:
• Locations subject to static electricity or other forms of noise.
• Locations subject to strong electromagnetic fields and magnetic fields.
• Locations subject to possible exposure to radioactivity.
• Locations close to power supplies.
!Caution
Do not reverse the polarity of the battery when connecting it. Reversing the polar-
ity may damage the battery or cause it to explode.
Operation and Adjustment Precautions
!Caution
!Caution
!Caution
!Caution
Confirm that no adverse effects will occur in the system before performing the test
operation. Not doing so may result in equipment damage.
Check the newly set parameters for proper execution before actually running
them. Not doing so may result in equipment damage.
Do not make any extreme adjustments or setting changes. Doing so may result in
unstable operation and injury.
Separate the Servomotor from the machine, check for proper operation, and then
connect to the machine. Not doing so may cause injury.
!Caution
!Caution
When an alarm occurs, remove the cause, reset the alarm after confirming safety,
and then resume operation. Not doing so may result in injury.
Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may
result in malfunction.
Maintenance and Inspection Precautions
!Caution
Resume operation only after transferring to the new Unit the contents of the data
required for operation. Not doing so may result in an unexpected operation.
!Caution
Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so
may result in malfunction, fire, or electric shock.
Warning Labels
Warning labels are pasted on the product as shown in the following illustration. Be sure to follow the
instructions given there.
Warning label
Precautions for Safe Use
Dispose of the product and batteries according to local ordinances as they apply.
Have qualified specialists properly dispose of used batteries as industrial waste.
Read and Understand this Manual
Please read and understand this manual before using the product. Please consult your OMRON
representative if you have any questions or comments.
Warranty and Limitations of Liability
WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a
period of one year (or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON-
INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE
PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS
DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR
INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.
LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES,
LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS,
WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT
LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which
liability is asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS
REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS
WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO
CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.
Application Considerations
SUITABILITY FOR USE
OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the
combination of products in the customer's application or use of the products.
At the customer's request, OMRON will provide applicable third party certification documents identifying
ratings and limitations of use that apply to the products. This information by itself is not sufficient for a
complete determination of the suitability of the products in combination with the end product, machine,
system, or other application or use.
The following are some examples of applications for which particular attention must be given. This is not
intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses
listed may be suitable for the products:
• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or
uses not described in this manual.
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical
equipment, amusement machines, vehicles, safety equipment, and installations subject to separate
industry or government regulations.
• Systems, machines, and equipment that could present a risk to life or property.
Please know and observe all prohibitions of use applicable to the products.
NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
PROGRAMMABLE PRODUCTS
OMRON shall not be responsible for the user's programming of a programmable product, or any
consequence thereof.
Disclaimers
CHANGE IN SPECIFICATIONS
Product specifications and accessories may be changed at any time based on improvements and other
reasons.
It is our practice to change model numbers when published ratings or features are changed, or when
significant construction changes are made. However, some specifications of the products may be changed
without any notice. When in doubt, special model numbers may be assigned to fix or establish key
specifications for your application on your request. Please consult with your OMRON representative at any
time to confirm actual specifications of purchased products.
DIMENSIONS AND WEIGHTS
Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when
tolerances are shown.
PERFORMANCE DATA
Performance data given in this manual is provided as a guide for the user in determining suitability and does
not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must
correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and
Limitations of Liability.
ERRORS AND OMISSIONS
The information in this manual has been carefully checked and is believed to be accurate; however, no
responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.
Table of Contents
Chapter 1. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-1
1-1 Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-2 System Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-3 Servo Driver Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-4 Applicable Standards and Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-5 System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-2
1-4
1-5
1-6
1-7
Chapter 2. Standard Models and Specifications. . . . . . . . . . . . . . . .
2-1
2-1 Standard Models. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2 Servo Driver and Servomotor Combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3 External and Mounted Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-4 Servo Driver Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-5 Servomotor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-6 Cable and Connector Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2
2-16
2-18
2-50
2-71
2-93
2-7 External Regeneration Resistor Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-121
2-8 Absolute Encoder Backup Battery Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-122
2-9 Reactor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-124
2-10 MECHATROLINK-II Repeater Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-126
Chapter 3. System Design and Installation . . . . . . . . . . . . . . . . . . . .
3-1
3-1 Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-2 Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3 Regenerative Energy Absorption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-4 Adjustments and Dynamic Braking When Load Inertia Is Large . . . . . . . . . . . . . . . . . . . . .
3-3
3-8
3-32
3-39
Chapter 4. Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1
4-1 Operational Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-2 Preparing for Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-3 User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-4 Operation Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-5 Trial Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-6 Making Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-3
4-4
4-8
4-75
4-96
4-98
4-7 Advanced Adjustment Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-103
4-8 Using Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-130
4-9 Using Monitor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-132
Chapter 5. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1
5-1 Measures when Trouble Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-4 Overload Characteristics (Electronic Thermal Characteristics) . . . . . . . . . . . . . . . . . . . . . . .
5-5 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-6 Replacing the Absolute Encoder Battery (ABS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2
5-6
5-12
5-43
5-45
5-47
Table of Contents
Chapter 6. Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6-1 Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-2 Parameter Setting Tables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-3 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-2
6-3
6-21
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I-1
Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . R-1
Chapter 1
Introduction
1-1 Features
1-2 System Configuration
1-3 Servo Driver Nomenclature
1-4 Applicable Standards and Models
1-5 System Block Diagrams
Introduction
Chapter 1
1-1 Features
OMNUC W-series AC Servo Drivers with built-in MECHATROLINK-II Communications
are designed specifically for use with the MECHATROLINK-II high-speed motion field
network.
Combining these Servo Drivers with MECHATROLINK-II-compatible Motion Control
Units (CS1W-MCH71 or CJ1W-MCH71) or Position Control Units (CJ1W-NCF71) is an
easy way to create a high-speed servo control system with a communications link
between the Servo Drivers and the Controllers.
■ Data Transfer by MECHATROLINK-II Communications
When a Servo Driver is combined with a MECHATROLINK-II-compatible Motion Control Unit (CS1W-
MCH71 or CJ1W-MCH71) or Position Control Unit (CJ1W-NCF71), all control data is transferred
between the Servo Driver and the Controller by means of data communications.
Control commands are transferred by means of data communications, so Servomotor performance is
not limited by control interface specifications, such as response frequencies for input pulses and
encoder feedback pulses. This allows the Servomotor to perform to its fullest capacity.
Moreover, system data control is simplified by having all Servo Driver parameters and monitor data
managed by the host controller.
■ Built-in Communications Interface
The MECHATROLINK-II communications interface has been built into the Servo Driver. In compari-
son with earlier W-series Servo Drivers, in which the MECHATROLINK-II Application Module is
installed, only 60% of the installation surface area is required. (for 200-V/100-W Servo Drivers). This
allows a great saving of space in the control panel.
■ W-series Servomotor Compatibility
A W-series Servomotor can be used as is, including the encoder cable and power cable, so the sys-
tem can be upgraded without changing the structural design.
The W-series product line offers 3,000-r/min Servomotors (Cylinder-style: 50-W to 3-kW; Flat-style:
100-W to 1.5-kw), 1,000-r/min Servomotors (300-W to 2-kW), and 1,500-r/min Servomotors (450-W
to 1.8-kW). Also, IP67 (waterproof) Servomotors can be connected in the same way.
■ High-speed, High-precision Motion Control Capability
A less-deviation control function and a predictive control function are provided to shorten the Servo-
motor's settling time and achieving high tracking capability.
The W-series Servomotors handle motion control with increased speed and precision, including syn-
chronous control in combination with CS1W-MCH71 or CJ1W-MCH71 Motion Control Units.
1-2
Introduction
Chapter 1
■ Regenerative Power Processing
In addition to the built-in regenerative power processing function using regeneration resistance,
external regeneration resistance can also be connected, allowing the W Series to be used for appli-
cations with high regenerative energy on vertical axes.
■ Conformity to Standards
The W Series conforms to EC Directives (both low-voltage and EMC) as well as to UL and cUL
requirements, thereby assisting the user in meeting required standards.
■ High-frequency Current Countermeasures
On Servo Drivers of 1 kW and above, a current reactor connection terminal is provided to assist the
user in controlling high-frequency current.
1-3
Introduction
Chapter 1
1-2 System Configuration
Controller (MECHATROLINK-II Type)
NCF71
MLK
RUN
ERC
ERH
ERM
B
A
UNIT
No.
E
0
8
F
1
7
3 2
6
MLK
MECHATRO
LINK-II
PA205R
POWER
SYSMAC
RUN
ERR/ALM
CJ1G-CPU44
CJ1W-NCF71
INH
PRPHL
PROGRAMMABLE
CONTROLLER
COMM
OPEN
MCPWR
BUSY
L1
Position Control Unit
AC100-24
0V
INPUT
L2/N
PERIPH
ERAL
RUN
OUTPUT
AC240V
DC24V
PORT
MCH71
R88D-WN@@@-ML2
OMNUC W-series AC
Servo Driver with built-
in MECHATROLINK-II
Communications
B
A
D
E
0
8
F
1
7
4 3 2
6
SYSMAC CJ1
Programmable Controller
CJ1W-MCH71
Motion Control Unit
MECHATRO
LINK-II
Controller (MECHATROLINK-II Type)
MCH71
RU
N
ERC
ER1
ER2
SSI
ERH
ER3
ER4
MLK
UNIT
No.
T.B.
SSI
INC
ABS
I/O
MLK
R88M-W@
OMNUC W-series
AC Servomotor
SYSMAC CS1
Programmable Controller
CS1W-MCH71
Motion Control Unit
1-4
Introduction
Chapter 1
1-3 Servo Driver Nomenclature
With Top Cover Open
Analog Monitor Connector (CN5)
Motor rotation speeds, torque
command values, etc., can be
monitored using a special cable.
Panel Display
ON
Displays Servomotor status with
a 7-segment LED display.
1
2
3
4
DIP Switch
Used for MECHATROLINK-II
communications settings.
POWER
COM
Power Indicator (POWER)
Lit when the control power is
being supplied.
Model Number
Communications Indicator (COM)
Lit when MECHATROLINK-II
communications are in progress.
200V
R88D-WN01H-ML2
Rotary Switch (SW1)
AC SERVO DRIVER
POWER
COM
Used for setting MECHATROLINK-II
node address.
100W
Input voltage
Charge Indicator
SW1
Lit when the main-circuit is powered.
Also, for Servo Drivers of 1 kW or less,
the indicator lights dimly when only the
control power supply is ON. Even after
the power is turned OFF, it remains lit
as long as an electric charge remains in
the main-circuit capacitor, so do not
touch the Servo Driver's terminals
during this period.
C
N
6
Top cover
CHARGE
A/B
MECHATROLINK-II Communications
Connectors (CN6A, CN6B)
Connect either a special cable for
a MECHATROLINK-II system or
a Terminating Resister.
Main-circuit Power Terminals
These are the input terminals for
the main-circuit power supply.
C
N
3
Control Power Terminals
These are input terminals for the
control power supply.
Personal Computer Connector (CN3)
This is the connector for
communications with a personal
computer.
Regenerative Resistance Terminals
These are terminals for external
regenerative resistance.
I/O Signal Connector (CN1)
C
N
1
This is the connector for
command input signals and
sequence I/O signals.
U
V
Nameplate (Side Panel)
The nameplate shows the Servo
Driver model number and ratings.
W
Servomotor Connector Terminals
These are connector terminals
for Servomotor power line.
C
N
2
Encoder Connector (CN2)
This is the connector for the
encoder provided for the
Servomotor.
C
N
4
Ground Terminals
Expansion Connector (CN4)
This is a supplementary
connector for future expansion. It
cannot presently be used, so do
not connect anything to it.
These are ground terminals for
preventing electrical shock.
Connect to 100 Ω or less.
1-5
Introduction
Chapter 1
1-4 Applicable Standards and Models
■ EC Directives
EC Directive
Product
Applicable standard
Remarks
Low Voltage AC Servo Drivers EN50178
Safety requirements for electrical equipment for
measurement, control, and laboratory use.
AC Servomotors IEC60034-8
Rotating electrical machines.
EN60034-1, -5, -9
EMC
AC Servo Drivers EN55011 class A group 1 Limits and methods for measuring radio distur-
and AC Servo-
motors
bance characteristics of industrial, scientific, and
medical (ISM) radio-frequency equipment.
EN61000-6-2
Electromagnetic compatibility generic immunity
standard in industrial environments
Note Installation under the conditions specified in 3-2-5 Wiring for Conformity to EMC Directives is
required to conform to EMC Directives.
■ UL/cUL Standards
Standards
UL
Product
AC Servo Drivers UL508C
AC Servomotors UL1004
AC Servo Drivers cUL C22.2 No. 14
AC Servomotors cUL C22.2 No. 100
Applicable standard
File No.
E179149
Remarks
Power conversion equipment
Electric motors
E179189
E179149
E179189
cUL
Industrial control equipment
Motors and generators
1-6
Introduction
Chapter 1
1-5 System Block Diagrams
■ 100 V AC: R88D-WNA5L-ML2/WN01L-ML2/-WL02L-ML2/-WN04L-ML2
Single-phase 100 to 115 V
+10%/−15% (50/60 Hz)
B1/
B2
Noise
filter
Servomotor
M
1KM
Varistor
L1
L2
U
V
CHARGE
W
Dynamic
brake circuit
Temperature
detection
Gate drive over-
current protection
Current
detection
Voltage
detection
Gate
drive
Voltage
detection
Relay
drive
CN2
PG
CN10
Varistor
L1C
L2C
CN5
CN1
5 V
Analog monitor
output
Control
power
supply
Analog voltage
conversion
15 V
ASIC (PWM
control, etc.)
Encoder output
5 V
12 V
Power Power Open for
OFF ON servo alarm
Control I/O
I/O
I/F
1KM
CPU (position,
speed calculations,
etc.)
CN6A
CN6B
1Ry
1KM
Surge
protector
Status indicator
MECHATROLINK-II
CN3
Personal computer
■ 200 V AC: R88D-WNA5H-ML2/WN01H-ML2/-WL02H-ML2/-WN04H-ML2
Single-phase 200 to 230 V
+10%/−15% (50/60 Hz)
B1/
B2
Noise
filter
Servomotor
M
1KM
Varistor
L1
L2
U
V
CHARGE
W
Dynamic
brake circuit
Current
detection
Temperature
detection
Gate drive over-
current protection
Voltage
detection
Voltage
detection
Gate
drive
Relay
drive
CN2
PG
CN10
Varistor
L1C
L2C
CN5
CN1
Control
power
supply
5 V
Analog voltage
conversion
Analog monitor
output
15 V
ASIC (PWM
control, etc.)
Encoder output
5 V
12 V
Power Power Open for
OFF ON servo alarm
I/O
I/F
Control I/O
1KM
CPU (position,
speed calculations,
etc.)
CN6A
CN6B
1Ry
1KM
Surge
Status indicator
protector
MECHATROLINK-II
CN3
Personal computer
1-7
Introduction
Chapter 1
■ 200 V AC: R88D-WN05H-ML2/WN10H-ML2
Three-phase 200 to 230 V
+10%/−15% (50/60 Hz)
B1/
B2 B3
Noise
filter
Servomotor
U
1KM
Varistor
L1
L2
L3
V
CHARGE
M
W
Dynamic
brake circuit
1
2
Current
detection
Gate
drive
Voltage
detection
Voltage
detection
Temperature
detection
Relay
drive
Gate drive over-
current protection
CN2
PG
CN10
Varistor
L1C
L2C
CN5
CN1
5 V
Control
power
supply
Analog voltage
conversion
Analog monitor
output
ASIC (PWM
control, etc.)
15 V
Encoder output
5 V
12 V
Power Power Open for
OFF ON servo alarm
CPU (position,
speed calculations,
etc.)
Control I/O
I/O
I/F
1KM
CN6A
CN6B
1Ry
1KM
Surge
protector
Status indicator
MECHATROLINK-II
CN3
Personal computer
■ 200 V AC: R88D-WN08H-ML2
Single-phase 200 to 230 V
+10%/−15% (50/60 Hz)
B1/
B2 B3
Noise
filter
1KM
Servomotor
M
Varistor
L1
L2
L3
U
V
CHARGE
W
1
2
Dynamic
brake circuit
Current
detection
Gate
drive
Temperature
detection
Voltage
detection
Relay
drive
Voltage
detection
Gate drive over-
current protection
CN2
PG
CN10
Varistor
L1C
L2C
CN5
CN1
Control
power
supply
5 V
Analog voltage
conversion
Analog monitor
output
15 V
ASIC (PWM
control, etc.)
Encoder output
5 V
12 V
Power Power Open for
OFF ON servo alarm
Control I/O
I/O
I/F
1KM
CPU (position,
speed calculations,
etc.)
CN6A
CN6B
1Ry
1KM
Surge
protector
Status indicator
MECHATROLINK-II
CN3
Personal computer
1-8
Introduction
Chapter 1
■ 200 V AC: R88D-WN15H-ML2/-WN20H-ML2/-WN30H-ML2
Three-phase 200 to 230 V
+10%/−15% (50/60 Hz)
B1/
B2 B3
Noise
filter
Servomotor
U
1KM
Varistor
L1
L2
L3
V
CHARGE
M
W
Dynamic
brake circuit
1
2
Gate drive over-
current protection
Current
detection
Gate
drive
Voltage
detection
Voltage
detection
Relay
drive
CN2
PG
CN10
Varistor
L1C
L2C
CN5
5 V
Analog voltage
conversion
Analog monitor
Control
power
supply
15 V
ASIC (PWM
control, etc.)
output
CN1
Encoder output
5 V
12 V
Power Power Open for
OFF ON servo alarm
Control I/O
CN6A
I/O
I/F
CPU (position,
speed calculations,
etc.)
1KM
1Ry
1KM
Surge
protector
Status indicator
MECHATROLINK-II
CN6B
CN3
Personal computer
1-9
Introduction
Chapter 1
1-10
Chapter 2
Standard Models and
Specifications
2-1 Standard Models
2-2 Servo Driver and Servomotor Combinations
2-3 External and Mounted Dimensions
2-4 Servo Driver Specifications
2-5 Servomotor Specifications
2-6 Cable and Connector Specifications
2-7 External Regeneration Resistor Specifications
2-8 Absolute Encoder Backup Battery Specifications
2-9 Reactor Specifications
2-10 MECHATROLINK-II Repeater Specifications
Standard Models and Specifications
Chapter 2
2-1 Standard Models
Note Required when using a Servomotor with
an absolute encoder. The cable and con-
nector are included.
■ Servo Drivers
Specifications
Model
Single-phase 50 W
R88D-WNA5L-ML2
100 V AC
100 W R88D-WN01L-ML2
200 W R88D-WN02L-ML2
400 W R88D-WN04L-ML2
■ Reactors
Specifications
Model
For R88D-WNA5L-ML2/01L-ML2/ R88A-PX5053
02H-ML2
Single-phase
200 V AC
50 W
R88D-WNA5H-ML2
100 W R88D-WN01H-ML2
200 W R88D-WN02H-ML2
400 W R88D-WN04H-ML2
750 W R88D-WN08H-ML2
500 W R88D-WN05H-ML2
1.0 kW R88D-WN10H-ML2
1.5 kW R88D-WN15H-ML2
2.0 kW R88D-WN20H-ML2
3.0 kW R88D-WN30H-ML2
For R88D-WN02L-ML2/04H-ML2
For R88D-WN04L-ML2/08H-ML2
R88A-PX5054
R88A-PX5056
For R88D-WNA5H-ML2/01H-ML2 R88A-PX5052
For R88D-WT04H-ML2 R88A-PX5069
Three-phase
200 V AC
For R88D-WN05H-ML2/10H-ML2 R88A-PX5061
For R88D-WN15H-ML2/20H-ML2 R88A-PX5060
For R88D-WN30H-ML2
R88A-PX5059
■ Front-panel Brackets
Specifications
Model
■ Peripheral Cables and
Connectors
For R88D-WNA5L-ML2 to 04L-
ML2
R88A-TK05W
Specifications
Model
1 m R88A-CMW001S
For R88D-WNA5H-ML2 to 10H-
ML2
R88A-TK05W
R88A-TK06W
Analog Monitor Cable
(CN5)
For R88D-WN15H-ML2
Computer Moni- DOS/V 2 m R88A-CCW002P2
tor Cable (CN3)
For R88D-WN20H-ML2/30H-ML2 R88A-TK07W
Control I/O Connector (CN1)
Encoder Connector (CN2)
R88A-CNW01C
R88A-CNW01R
Note Required when mounting a Servo Driver
from the front panel.
Encoder Connector for Motor R88A-CNW02R
End
Absolute Encoder Battery
Cable (with Battery)
R88A-CRWC0R3C
Note In order to use a personal computer to
monitor a Servo Driver and set its parame-
ters, Computer Monitor Cable and Com-
puter Monitor Software are required.
Please ask an OMRON representative for
details.
■ Absolute Encoder Backup
Battery
Specifications
Model
R88A-BAT01W
1,000 mA·h, 3.6 V
2-2
Standard Models and Specifications
Chapter 2
■ Standard Encoder Cables (for
Incremental and Absolute
Encoders)
■ Standard Power Cable
● Power Cable for 3,000-r/min
Servomotors
Specifications
Model
Specifications
Model
Without brake
For 3,000-r/
30 to
min Servomo- 750 W
tors
3 m R88A-CRWA003C
5 m R88A-CRWA005C
10 m R88A-CRWA010C
15 m R88A-CRWA015C
20 m R88A-CRWA020C
30 m R88A-CRWA030C
40 m R88A-CRWA040C
50 m R88A-CRWA050C
3 m R88A-CRWB003N
5 m R88A-CRWB005N
10 m R88A-CRWB010N
15 m R88A-CRWB015N
20 m R88A-CRWB020N
30 m R88A-CRWB030N
40 m R88A-CRWB040N
50 m R88A-CRWB050N
With brake
30 to
750 W
3 m
5 m
R88A-CAWA003S R88A-CAWA003B
R88A-CAWA005S R88A-CAWA005B
10 m R88A-CAWA010S R88A-CAWA010B
15 m R88A-CAWA015S R88A-CAWA015B
20 m R88A-CAWA020S R88A-CAWA020B
30 m R88A-CAWA030S R88A-CAWA030B
40 m R88A-CAWA040S R88A-CAWA040B
50 m R88A-CAWA050S R88A-CAWA050B
1 to
3 kW
1 to
2 kW
3 m
5 m
R88A-CAWC003S R88A-CAWC003B
R88A-CAWC005S R88A-CAWC005B
10 m R88A-CAWC010S R88A-CAWC010B
15 m R88A-CAWC015S R88A-CAWC015B
20 m R88A-CAWC020S R88A-CAWC020B
30 m R88A-CAWC030S R88A-CAWC030B
40 m R88A-CAWC040S R88A-CAWC040B
50 m R88A-CAWC050S R88A-CAWC050B
For 3,000-r/
min Flat-style to
Servomotors
100 W 3 m R88A-CRWA003C
3 kW
3 m
5 m
R88A-CAWD003S R88A-CAWD003B
R88A-CAWD005S R88A-CAWD005B
5 m R88A-CRWA005C
10 m R88A-CRWA010C
15 m R88A-CRWA015C
20 m R88A-CRWA020C
30 m R88A-CRWA030C
40 m R88A-CRWA040C
50 m R88A-CRWA050C
300 W 3 m R88A-CRWB003N
1.5 kW
10 m R88A-CAWD010S R88A-CAWD010B
15 m R88A-CAWD015S R88A-CAWD015B
20 m R88A-CAWD020S R88A-CAWD020B
30 m R88A-CAWD030S R88A-CAWD030B
40 m R88A-CAWD040S R88A-CAWD040B
50 m R88A-CAWD050S R88A-CAWD050B
For 1,000-r/
min Servomo- to
tors
5 m R88A-CRWB005N
10 m R88A-CRWB010N
15 m R88A-CRWB015N
● Power Cable for 3,000-r/min Flat-style
2.0 kW
Servomotors
For 1,500-r/
min Servomo- to
tors
450 W
Specifications
Model
Without brake
1.8 kW 20 m R88A-CRWB020N
30 m R88A-CRWB030N
40 m R88A-CRWB040N
50 m R88A-CRWB050N
With brake
100 to
750 W
3 m
5 m
R88A-CAWA003S R88A-CAWA003B
R88A-CAWA005S R88A-CAWA005B
10 m R88A-CAWA010S R88A-CAWA010B
15 m R88A-CAWA015S R88A-CAWA015B
20 m R88A-CAWA020S R88A-CAWA020B
30 m R88A-CAWA030S R88A-CAWA030B
40 m R88A-CAWA040S R88A-CAWA040B
50 m R88A-CAWA050S R88A-CAWA050B
2-3
Standard Models and Specifications
Chapter 2
● Power Cable for 1,500-r/min
Specifications
Model
Without brake
Servomotors
With brake
1.5 kW
3 m
5 m
R88A-CAWB003S R88A-CAWB003B
R88A-CAWB005S R88A-CAWB005B
Specifications
Model
Without brake
With brake
10 m R88A-CAWB010S R88A-CAWB010B
15 m R88A-CAWB015S R88A-CAWB015B
20 m R88A-CAWB020S R88A-CAWB020B
30 m R88A-CAWB030S R88A-CAWB030B
40 m R88A-CAWB040S R88A-CAWB040B
50 m R88A-CAWB050S R88A-CAWB050B
450 to
3 m
5 m
R88A-CAWC003S R88A-CAWC003B
R88A-CAWC005S R88A-CAWC005B
1.3 kW
10 m R88A-CAWC010S R88A-CAWC010B
15 m R88A-CAWC015S R88A-CAWC015B
20 m R88A-CAWC020S R88A-CAWC020B
30 m R88A-CAWC030S R88A-CAWC030B
40 m R88A-CAWC040S R88A-CAWC040B
50 m R88A-CAWC050S R88A-CAWC050B
● Power Cable for 1,000-r/min
1.8 kW
3 m
5 m
R88A-CAWD003S R88A-CAWD003B
R88A-CAWD005S R88A-CAWD005B
Servomotors
Specifications
Model
Without brake
10 m R88A-CAWD010S R88A-CAWD010B
15 m R88A-CAWD015S R88A-CAWD015B
20 m R88A-CAWD020S R88A-CAWD020B
30 m R88A-CAWD030S R88A-CAWD030B
40 m R88A-CAWD040S R88A-CAWD040B
50 m R88A-CAWD050S R88A-CAWD050B
With brake
300 to
900 W
3 m
5 m
R88A-CAWC003S R88A-CAWC003B
R88A-CAWC005S R88A-CAWC005B
10 m R88A-CAWC010S R88A-CAWC010B
15 m R88A-CAWC015S R88A-CAWC015B
20 m R88A-CAWC020S R88A-CAWC020B
30 m R88A-CAWC030S R88A-CAWC030B
40 m R88A-CAWC040S R88A-CAWC040B
50 m R88A-CAWC050S R88A-CAWC050B
■ Encoder Cables for Robot
Cables (for Incremental and
Absolute Encoders)
1.2 to
2 kW
3 m
5 m
R88A-CAWD003S R88A-CAWD003B
R88A-CAWD005S R88A-CAWD005B
10 m R88A-CAWD010S R88A-CAWD010B
15 m R88A-CAWD015S R88A-CAWD015B
20 m R88A-CAWD020S R88A-CAWD020B
30 m R88A-CAWD030S R88A-CAWD030B
40 m R88A-CAWD040S R88A-CAWD040B
50 m R88A-CAWD050S R88A-CAWD050B
Specifications
Model
For 3,000-r/
30 to
min Servomo- 750 W
tors
3 m R88A-CRWA003CR
5 m R88A-CRWA005CR
10 m R88A-CRWA010CR
15 m R88A-CRWA015CR
20 m R88A-CRWA020CR
30 m R88A-CRWA030CR
40 m R88A-CRWA040CR
50 m R88A-CRWA050CR
3 m R88A-CRWB003NR
5 m R88A-CRWB005NR
10 m R88A-CRWB010NR
15 m R88A-CRWB015NR
20 m R88A-CRWB020NR
30 m R88A-CRWB030NR
40 m R88A-CRWB040NR
50 m R88A-CRWB050NR
1 to
3 kW
2-4
Standard Models and Specifications
Chapter 2
Specifications
3 kW
Model
Without brake
Specifications
Model
With brake
For 3,000-r/ 100 W 3 m R88A-CRWA003CR
min Flat-style to
Servomotors 1.5 kW
3 m R88A-CAWD003SR R88A-CAWD003BR
5 m R88A-CAWD005SR R88A-CAWD005BR
10 m R88A-CAWD010SR R88A-CAWD010BR
15 m R88A-CAWD015SR R88A-CAWD015BR
20 m R88A-CAWD020SR R88A-CAWD020BR
30 m R88A-CAWD030SR R88A-CAWD030BR
40 m R88A-CAWD040SR R88A-CAWD040BR
50 m R88A-CAWD050SR R88A-CAWD050BR
5 m R88A-CRWA005CR
10 m R88A-CRWA010CR
15 m R88A-CRWA015CR
20 m R88A-CRWA020CR
30 m R88A-CRWA030CR
40 m R88A-CRWA040CR
50 m R88A-CRWA050CR
For 1,000-r/
300 W 3 m R88A-CRWB003NR
min Servomo- to
5 m R88A-CRWB005NR
10 m R88A-CRWB010NR
15 m R88A-CRWB015NR
● Power Cable for 3,000-r/min Flat-style
tors
2.0 kW
450 W
Servomotors
For 1,500-r/
min Servomo- to
tors
Specifications
Model
Without brake
1.8 kW 20 m R88A-CRWB020NR
30 m R88A-CRWB030NR
40 m R88A-CRWB040NR
50 m R88A-CRWB050NR
With brake
100 to
750 W
3 m R88A-CAWA003SR R88A-CAWA003BR
5 m R88A-CAWA005SR R88A-CAWA005BR
10 m R88A-CAWA010SR R88A-CAWA010BR
15 m R88A-CAWA015SR R88A-CAWA015BR
20 m R88A-CAWA020SR R88A-CAWA020BR
30 m R88A-CAWA030SR R88A-CAWA030BR
40 m R88A-CAWA040SR R88A-CAWA040BR
50 m R88A-CAWA050SR R88A-CAWA050BR
■ Power Cable for Robot Cables
● Power Cable for 3,000-r/min
Servomotors
1.5 kW 3 m R88A-CAWB003SR R88A-CAWB003BR
5 m R88A-CAWB005SR R88A-CAWB005BR
10 m R88A-CAWB010SR R88A-CAWB010BR
15 m R88A-CAWB015SR R88A-CAWB015BR
20 m R88A-CAWB020SR R88A-CAWB020BR
30 m R88A-CAWB030SR R88A-CAWB030BR
40 m R88A-CAWB040SR R88A-CAWB040BR
50 m R88A-CAWB050SR R88A-CAWB050BR
Specifications
Model
Without brake
With brake
30 to
3 m R88A-CAWA003SR R88A-CAWA003BR
5 m R88A-CAWA005SR R88A-CAWA005BR
10 m R88A-CAWA010SR R88A-CAWA010BR
15 m R88A-CAWA015SR R88A-CAWA015BR
20 m R88A-CAWA020SR R88A-CAWA020BR
30 m R88A-CAWA030SR R88A-CAWA030BR
40 m R88A-CAWA040SR R88A-CAWA040BR
50 m R88A-CAWA050SR R88A-CAWA050BR
3 m R88A-CAWC003SR R88A-CAWC003BR
5 m R88A-CAWC005SR R88A-CAWC005BR
10 m R88A-CAWC010SR R88A-CAWC010BR
15 m R88A-CAWC015SR R88A-CAWC015BR
20 m R88A-CAWC020SR R88A-CAWC020BR
30 m R88A-CAWC030SR R88A-CAWC030BR
40 m R88A-CAWC040SR R88A-CAWC040BR
50 m R88A-CAWC050SR R88A-CAWC050BR
750 W
● Power Cable for 1,000-r/min
Servomotors
1 to
2 kW
Specifications
Model
Without brake
With brake
300 to
900 W
3 m R88A-CAWC003SR R88A-CAWC003BR
5 m R88A-CAWC005SR R88A-CAWC005BR
10 m R88A-CAWC010SR R88A-CAWC010BR
15 m R88A-CAWC015SR R88A-CAWC015BR
20 m R88A-CAWC020SR R88A-CAWC020BR
30 m R88A-CAWC030SR R88A-CAWC030BR
40 m R88A-CAWC040SR R88A-CAWC040BR
50 m R88A-CAWC050SR R88A-CAWC050BR
2-5
Standard Models and Specifications
Chapter 2
Specifications
Model
Without brake
With brake
1.2 to
2 kW
3 m R88A-CAWD003SR R88A-CAWD003BR
5 m R88A-CAWD005SR R88A-CAWD005BR
10 m R88A-CAWD010SR R88A-CAWD010BR
15 m R88A-CAWD015SR R88A-CAWD015BR
20 m R88A-CAWD020SR R88A-CAWD020BR
30 m R88A-CAWD030SR R88A-CAWD030BR
40 m R88A-CAWD040SR R88A-CAWD040BR
50 m R88A-CAWD050SR R88A-CAWD050BR
● Power Cable for 1,500-r/min
Servomotors
Specifications
Model
Without brake
With brake
450 to
1.3 kW
3 m R88A-CAWC003SR R88A-CAWC003BR
5 m R88A-CAWC005SR R88A-CAWC005BR
10 m R88A-CAWC010SR R88A-CAWC010BR
15 m R88A-CAWC015SR R88A-CAWC015BR
20 m R88A-CAWC020SR R88A-CAWC020BR
30 m R88A-CAWC030SR R88A-CAWC030BR
40 m R88A-CAWC040SR R88A-CAWC040BR
50 m R88A-CAWC050SR R88A-CAWC050BR
1.8 kW 3 m R88A-CAWD003SR R88A-CAWD003BR
5 m R88A-CAWD005SR R88A-CAWD005BR
10 m R88A-CAWD010SR R88A-CAWD010BR
15 m R88A-CAWD015SR R88A-CAWD015BR
20 m R88A-CAWD020SR R88A-CAWD020BR
30 m R88A-CAWD030SR R88A-CAWD030BR
40 m R88A-CAWD040SR R88A-CAWD040BR
50 m R88A-CAWD050SR R88A-CAWD050BR
2-6
Standard Models and Specifications
Chapter 2
■ Servomotors
Specifications
Model
With incremental encoder
With absolute encoder
Straight shaft without
key
Straight shaft with key
Straight shaft without
Straight shaft with key
key
● 3,000-r/min Servomotors
Without 200 V 50 W
brake
R88M-W05030H
R88M-W05030H-S1
R88M-W10030H-S1
R88M-W20030H-S1
R88M-W40030H-S1
R88M-W75030H-S1
R88M-W1K030H-S2
R88M-W1K530H-S2
R88M-W2K030H-S2
R88M-W3K030H-S2
R88M-W05030H-BS1
R88M-W10030H-BS1
R88M-W20030H-BS1
R88M-W40030H-BS1
R88M-W75030H-BS1
R88M-W1K030H-BS2
R88M-W1K530H-BS2
R88M-W2K030H-BS2
R88M-W3K030H-BS2
R88M-W05030T
R88M-W10030T
R88M-W20030T
R88M-W40030T
R88M-W75030T
R88M-W1K030T
R88M-W1K530T
R88M-W2K030T
R88M-W3K030T
R88M-W05030T-B
R88M-W10030T-B
R88M-W20030T-B
R88M-W40030T-B
R88M-W75030T-B
R88M-W1K030T-B
R88M-W1K530T-B
R88M-W2K030T-B
R88M-W3K030T-B
R88M-W05030T-S1
R88M-W10030T-S1
R88M-W20030T-S1
R88M-W40030T-S1
R88M-W75030T-S1
R88M-W1K030T-S2
R88M-W1K530T-S2
R88M-W2K030T-S2
R88M-W3K030T-S2
R88M-W05030T-BS1
R88M-W10030T-BS1
R88M-W20030T-BS1
R88M-W40030T-BS1
R88M-W75030T-BS1
R88M-W1K030T-BS2
R88M-W1K530T-BS2
R88M-W2K030T-BS2
R88M-W3K030T-BS2
100 W R88M-W10030H
200 W R88M-W20030H
400 W R88M-W40030H
750 W R88M-W75030H
1 kW
R88M-W1K030H
1.5 kW R88M-W1K530H
2 kW
3 kW
R88M-W2K030H
R88M-W3K030H
R88M-W05030H-B
With
brake
200 V 50 W
100 W R88M-W10030H-B
200 W R88M-W20030H-B
400 W R88M-W40030H-B
750 W R88M-W75030H-B
1 kW
R88M-W1K030H-B
1.5 kW R88M-W1K530H-B
2 kW
3 kW
R88M-W2K030H-B
R88M-W3K030H-B
● 3,000-r/min Flat-style Servomotors
Without 200 V 100 W R88M-WP10030H
R88M-WP10030H-S1
R88M-WP10030T
R88M-WP20030T
R88M-WP40030T
R88M-WP75030T
R88M-WP1K530T
R88M-WP10030T-B
R88M-WP20030T-B
R88M-WP40030T-B
R88M-WP75030T-B
R88M-WP1K530T-B
R88M-WP10030T-S1
R88M-WP20030T-S1
R88M-WP40030T-S1
R88M-WP75030T-S1
R88M-WP1K530T-S1
R88M-WP10030T-BS1
R88M-WP20030T-BS1
R88M-WP40030T-BS1
R88M-WP75030T-BS1
R88M-WP1K530T-BS1
brake
200 W R88M-WP20030H
R88M-WP20030H-S1
R88M-WP40030H-S1
R88M-WP75030H-S1
R88M-WP1K530H-S1
R88M-WP10030H-BS1
R88M-WP20030H-BS1
R88M-WP40030H-BS1
R88M-WP75030H-BS1
R88M-WP1K530H-BS1
400 W R88M-WP40030H
750 W R88M-WP75030H
1.5 kW R88M-WP1K530H
With
brake
200 V 100 W R88M-WP10030H-B
200 W R88M-WP20030H-B
400 W R88M-WP40030H-B
750 W R88M-WP75030H-B
1.5 kW R88M-WP1K530H-B
● 1,000-r/min Servomotors
Without 200 V 300 W R88M-W30010H
R88M-W30010H-S2
R88M-W60010H-S2
R88M-W90010H-S2
R88M-W1K210H-S2
R88M-W2K010H-S2
R88M-W30010H-BS2
R88M-W60010H-BS2
R88M-W90010H-BS2
R88M-W1K210H-BS2
R88M-W2K010H-BS2
R88M-W30010T
R88M-W60010T
R88M-W90010T
R88M-W1K210T
R88M-W2K010T
R88M-W30010T-B
R88M-W60010T-B
R88M-W90010T-B
R88M-W1K210T-B
R88M-W2K010T-B
R88M-W30010T-S2
R88M-W60010T-S2
R88M-W90010T-S2
R88M-W1K210T-S2
R88M-W2K010T-S2
R88M-W30010T-BS2
R88M-W60010T-BS2
R88M-W90010T-BS2
R88M-W1K210T-BS2
R88M-W2K010T-BS2
brake
600 W R88M-W60010H
900 W R88M-W90010H
1.2 kW R88M-W1K210H
2 kW
R88M-W2K010H
With
brake
200 V 300 W R88M-W30010H-B
600 W R88M-W60010H-B
900 W R88M-W90010H-B
1.2 kW R88M-W1K210H-B
2 kW
R88M-W2K010H-B
2-7
Standard Models and Specifications
Chapter 2
● 1,500-r/min Servomotors
Without 200 V 450 W ---
---
---
---
---
---
---
---
---
R88M-W45015T
R88M-W85015T
R88M-W1K315T
R88M-W1K815T
R88M-W45015T-B
R88M-W85015T-B
R88M-W1K315T-B
R88M-W1K815T-B
R88M-W45015T-S2
brake
850 W ---
R88M-W85015T-S2
R88M-W1K315T-S2
R88M-W1K815T-S2
R88M-W45015T-BS2
R88M-W85015T-BS2
R88M-W1K315T-BS2
R88M-W1K815T-BS2
1.3 kW ---
1.8 kW ---
With
brake
200 V 450 W ---
850 W ---
1.3 kW ---
1.8 kW ---
■ IP67 (Waterproof) Servomotors
Specifications
Model
With incremental encoder
With absolute encoder
Straight shaft without
key
Straight shaft with key
Straight shaft without
key
Straight shaft with key
● 3,000-r/min Servomotors
Without 200 V 1 kW
brake
R88M-W1K030H-O
R88M-W1K030H-OS2
R88M-W1K530H-OS2
R88M-W2K030H-OS2
R88M-W3K030H-OS2
R88M-W1K030H-BOS2
R88M-W1K530H-BOS2
R88M-W2K030H-BOS2
R88M-W3K030H-BOS2
R88M-W1K030T-O
R88M-W1K530T-O
R88M-W2K030T-O
R88M-W3K030T-O
R88M-W1K030T-BO
R88M-W1K530T-BO
R88M-W2K030T-BO
R88M-W3K030T-BO
R88M-W1K030T-OS2
R88M-W1K530T-OS2
R88M-W2K030T-OS2
R88M-W3K030T-OS2
R88M-W1K030T-BOS2
R88M-W1K530T-BOS2
R88M-W2K030T-BOS2
R88M-W3K030T-BOS2
1.5 kW R88M-W1K530H-O
2 kW
3 kW
R88M-W2K030H-O
R88M-W3K030H-O
R88M-W1K030H-BO
With
brake
200 V 1 kW
1.5 kW R88M-W1K530H-BO
2 kW
3 kW
R88M-W2K030H-BO
R88M-W3K030H-BO
● 3,000-r/min Flat-style Servomotors
Without 200 V 100 W R88M-WP10030H-W
R88M-WP10030H-WS1
R88M-WP10030T-W
R88M-WP20030T-W
R88M-WP40030T-W
R88M-WP75030T-W
R88M-WP10030T-WS1
R88M-WP20030T-WS1
R88M-WP40030T-WS1
R88M-WP75030T-WS1
R88M-WP1K530T-WS1
R88M-WP10030T-BWS1
R88M-WP20030T-BWS1
R88M-WP40030T-BWS1
R88M-WP75030T-BWS1
R88M-WP1K530T-BWS1
brake
200 W R88M-WP20030H-W
R88M-WP20030H-WS1
R88M-WP40030H-WS1
R88M-WP75030H-WS1
400 W R88M-WP40030H-W
750 W R88M-WP75030H-W
1.5 kW R88M-WP1K530H-W
R88M-WP1K530H-WS1 R88M-WP1K530T-W
R88M-WP10030H-BWS1 R88M-WP10030T-BW
R88M-WP20030H-BWS1 R88M-WP20030T-BW
R88M-WP40030H-BWS1 R88M-WP40030T-BW
R88M-WP75030H-BWS1 R88M-WP75030T-BW
R88M-WP1K530H-BWS1 R88M-WP1K530T-BW
With
brake
200 V 100 W R88M-WP10030H-BW
200 W R88M-WP20030H-BW
400 W R88M-WP40030H-BW
750 W R88M-WP75030H-BW
1.5 kW R88M-WP1K530H-BW
● 1,000-r/min Servomotors
Without 200 V 300 W R88M-W30010H-O
R88M-W30010H-OS2
R88M-W60010H-OS2
R88M-W90010H-OS2
R88M-W1K210H-OS2
R88M-W2K010H-OS2
R88M-W30010H-BOS2
R88M-W60010H-BOS2
R88M-W90010H-BOS2
R88M-W1K210H-BOS2
R88M-W2K010H-BOS2
R88M-W30010T-O
R88M-W60010T-O
R88M-W90010T-O
R88M-W1K210T-O
R88M-W2K010T-O
R88M-W30010T-BO
R88M-W60010T-BO
R88M-W90010T-BO
R88M-W1K210T-BO
R88M-W2K010T-BO
R88M-W30010T-OS2
R88M-W60010T-OS2
R88M-W90010T-OS2
R88M-W1K210T-OS2
R88M-W2K010T-OS2
R88M-W30010T-BOS2
R88M-W60010T-BOS2
R88M-W90010T-BOS2
R88M-W1K210T-BOS2
R88M-W2K010T-BOS2
brake
600 W R88M-W60010H-O
900 W R88M-W90010H-O
1.2 kW R88M-W1K210H-O
2 kW
R88M-W2K010H-O
With
brake
200 V 300 W R88M-W30010H-BO
600 W R88M-W60010H-BO
900 W R88M-W90010H-BO
1.2 kW R88M-W1K210H-BO
2 kW
R88M-W2K010H-BO
2-8
Standard Models and Specifications
Chapter 2
● 1,500-r/min Servomotors
Without 200 V 450 W ---
---
---
---
---
---
---
---
---
R88M-W45015TO
R88M-W85015TO
R88M-W1K315TO
R88M-W1K815TO
R88M-W45015T-BO
R88M-W85015T-BO
R88M-W1K315T-BO
R88M-W1K815T-BO
R88M-W45015T-OS2
R88M-W85015T-OS2
R88M-W1K315T-OS2
R88M-W1K815T-OS2
R88M-W45015T-BOS2
R88M-W85015T-BOS2
R88M-W1K315T-BOS2
R88M-W1K815T-BOS2
brake
850 W ---
1.3 kW ---
1.8 kW ---
With
brake
200 V 450 W ---
850 W ---
1.3 kW ---
1.8 kW ---
■ Servomotors with Gears
● Combination Table for Servomotors with Standard Gears
Standard Gears are highly accurate gears, with a maximum backlash of 3 degrees. The standard
shaft is a straight shaft with a key. (Models without keys can also be manufactured for 3,000-r/min
motors from 30 to 750 W and for 3,000-r/min flat-style motors. Models without keys have a suffix of -
G@@B.)
Note A check mark in a box indicates that the two models can be combined. If the box is unchecked,
then the models cannot be combined.
3,000-r/min Servomotors
Specifications
Basic model
Gear (deceleration rate)
1/5
1/9
1/11
1/20
1/21
1/29
1/33
1/45
-G05BJ
-G09BJ
-G11BJ
-G20BJ
-G21BJ
-G29BJ
-G33BJ
-G45BJ
200 V 50 W
R88M-W05030H/T
Yes
Yes
Yes
Yes
100 W R88M-W10030H/T
200 W R88M-W20030H/T
400 W R88M-W40030H/T
750 W R88M-W75030H/T
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
1 kW
R88M-W1K030H/T
Yes
Yes
Yes
Yes
Yes
Yes
Yes
1.5 kW R88M-W1K530H/T
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
2 kW
3 kW
R88M-W2K030H/T
R88M-W3K030H/T
3,000-r/min Flat-style Servomotors
Specifications
Basic model
Gear (deceleration rate)
1/5
1/9
-G09BJ
1/11
-G11BJ
Yes
1/20
1/21
1/29
-G29BJ
1/33
-G33BJ
Yes
1/45
-G45BJ
-G05BJ
-G20BJ
-G21BJ
200 V 100 W R88M-WP10030H/T
200 W R88M-WP20030H/T
400 W R88M-WP40030H/T
750 W R88M-WP75030H/T
1.5 kW R88M-WP1K530H/T
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
2-9
Standard Models and Specifications
Chapter 2
1,000-r/min Servomotors
Specifications
Basic model
Gear (deceleration rate)
1/5
1/9
1/11
1/20
1/21
1/29
1/33
1/45
-G05BJ
-G09BJ
-G11BJ
-G20BJ
-G21BJ
-G29BJ
-G33BJ
-G45BJ
200 V 300 W R88M-W30010H/T
600 W R88M-W60010H/T
900 W R88M-W90010H/T
1.2 kW R88M-W1K210H/T
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
2 kW
R88M-W2K010H/T
1,500-r/min Servomotors
Specifications
Basic model
Gear (deceleration rate)
1/5
-G05BJ
Yes
1/9
-G09BJ
Yes
1/11
1/20
1/21
1/29
-G29BJ
Yes
1/33
1/45
-G45BJ
Yes
-G11BJ
-G20BJ
-G21BJ
-G33BJ
200 V 450 W R88M-W45015T
850 W R88M-W85015T
1.3 kW R88M-W1K315T
1.8 kW R88M-W1K815T
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
■ Combination Table for Servomotors with Economy Gears
Economy Gears are low-cost gears, with a maximum backlash of 45 degrees. The shaft is a straight
shaft with key. Models without keys are not available.
Note 1. The 1,000-r/min and 1,500-r/min Servomotors cannot be combined with Economy Gears.
Note 2. A check mark in a box indicates that the two models can be combined. If the box is un-
checked, then the models cannot be combined.
3,000-r/min Servomotors
Specifications
Basic model
Gear (deceleration rate)
1/5
1/9
1/15
1/25
-G05CJ
-G09CJ
-G15C
-G25CJ
200 V 50 W
R88M-W05030H/T
100 W R88M-W10030H/T
200 W R88M-W20030H/T
400 W R88M-W40030H/T
750 W R88M-W75030H/T
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
1 kW
R88M-W1K030H/T
1.5 kW R88M-W1K530H/T
2 kW
3 kW
R88M-W2K030H/T
R88M-W3K030H/T
2-10
Standard Models and Specifications
Chapter 2
3,000-r/min Flat-style Servomotors
Specifications
Basic model
Gear (deceleration rate)
1/5
1/9
1/15
1/25
-G05CJ
-G09CJ
-G15C
-G25CJ
200 V 100 W R88M-WP10030H/T
200 W R88M-WP20030H/T
400 W R88M-WP40030H/T
750 W R88M-WP75030H/T
1.5 kW R88M-WP1K530H/T
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
2-11
Standard Models and Specifications
Chapter 2
● Servomotors with Standard Gears (Straight Shaft with Key)
3,000-r/min Servomotors
Specifications
Model
With incremental encoder
Without brake With brake
With absolute encoder
Without brake
With brake
200 V 50 W
1/5
R88M-W05030H-G05BJ R88M-W05030H-BG05BJ R88M-W05030T-G05BJ
R88M-W05030H-G09BJ R88M-W05030H-BG09BJ R88M-W05030T-G09BJ
R88M-W05030H-G21BJ R88M-W05030H-BG21BJ R88M-W05030T-G21BJ
R88M-W05030H-G33BJ R88M-W05030H-BG33BJ R88M-W05030T-G33BJ
R88M-W10030H-G05BJ R88M-W10030H-BG05BJ R88M-W10030T-G05BJ
R88M-W10030H-G11BJ R88M-W10030H-BG11BJ R88M-W10030T-G11BJ
R88M-W10030H-G21BJ R88M-W10030H-BG21BJ R88M-W10030T-G21BJ
R88M-W10030H-G33BJ R88M-W10030H-BG33BJ R88M-W10030T-G33BJ
R88M-W20030H-G05BJ R88M-W20030H-BG05BJ R88M-W20030T-G05BJ
R88M-W20030H-G11BJ R88M-W20030H-BG11BJ R88M-W20030T-G11BJ
R88M-W20030H-G21BJ R88M-W20030H-BG21BJ R88M-W20030T-G21BJ
R88M-W20030H-G33BJ R88M-W20030H-BG33BJ R88M-W20030T-G33BJ
R88M-W40030H-G05BJ R88M-W40030H-BG05BJ R88M-W40030T-G05BJ
R88M-W40030H-G11BJ R88M-W40030H-BG11BJ R88M-W40030T-G11BJ
R88M-W40030H-G21BJ R88M-W40030H-BG21BJ R88M-W40030T-G21BJ
R88M-W40030H-G33BJ R88M-W40030H-BG33BJ R88M-W40030T-G33BJ
R88M-W75030H-G05BJ R88M-W75030H-BG05BJ R88M-W75030T-G05BJ
R88M-W75030H-G11BJ R88M-W75030H-BG11BJ R88M-W75030T-G11BJ
R88M-W75030H-G21BJ R88M-W75030H-BG21BJ R88M-W75030T-G21BJ
R88M-W75030H-G33BJ R88M-W75030H-BG33BJ R88M-W75030T-G33BJ
R88M-W05030T-BG05BJ
R88M-W05030T-BG09BJ
R88M-W05030T-BG21BJ
R88M-W05030T-BG33BJ
R88M-W10030T-BG05BJ
R88M-W10030T-BG11BJ
R88M-W10030T-BG21BJ
R88M-W10030T-BG33BJ
R88M-W20030T-BG05BJ
R88M-W20030T-BG11BJ
R88M-W20030T-BG21BJ
R88M-W20030T-BG33BJ
R88M-W40030T-BG05BJ
R88M-W40030T-BG11BJ
R88M-W40030T-BG21BJ
R88M-W40030T-BG33BJ
R88M-W75030T-BG05BJ
R88M-W75030T-BG11BJ
R88M-W75030T-BG21BJ
R88M-W75030T-BG33BJ
1/9
1/21
1/33
100 W 1/5
1/11
1/21
1/33
200 W 1/5
1/11
1/21
1/33
400 W 1/5
1/11
1/21
1/33
750 W 1/5
1/11
1/21
1/33
1/5
1 kW
R88M-W1K030H-G05BJ R88M-W1K030H-BG05BJ R88M-W1K030T-G05BJ R88M-W1K030T-BG05BJ
R88M-W1K030H-G09BJ R88M-W1K030H-BG09BJ R88M-W1K030T-G09BJ R88M-W1K030T-BG09BJ
R88M-W1K030H-G20BJ R88M-W1K030H-BG20BJ R88M-W1K030T-G20BJ R88M-W1K030T-BG20BJ
R88M-W1K030H-G29BJ R88M-W1K030H-BG29BJ R88M-W1K030T-G29BJ R88M-W1K030T-BG29BJ
R88M-W1K030H-G45BJ R88M-W1K030H-BG45BJ R88M-W1K030T-G45BJ R88M-W1K030T-BG45BJ
R88M-W1K530H-G05BJ R88M-W1K530H-BG05BJ R88M-W1K530T-G05BJ R88M-W1K530T-BG05BJ
R88M-W1K530H-G09BJ R88M-W1K530H-BG09BJ R88M-W1K530T-G09BJ R88M-W1K530T-BG09BJ
R88M-W1K530H-G20BJ R88M-W1K530H-BG20BJ R88M-W1K530T-G20BJ R88M-W1K530T-BG20BJ
R88M-W1K530H-G29BJ R88M-W1K530H-BG29BJ R88M-W1K530T-G29BJ R88M-W1K530T-BG29BJ
R88M-W1K530H-G45BJ R88M-W1K530H-BG45BJ R88M-W1K530T-G45BJ R88M-W1K530T-BG45BJ
R88M-W2K030H-G05BJ R88M-W2K030H-BG05BJ R88M-W2K030T-G05BJ R88M-W2K030T-BG05BJ
R88M-W2K030H-G09BJ R88M-W2K030H-BG09BJ R88M-W2K030T-G09BJ R88M-W2K030T-BG09BJ
R88M-W2K030H-G20BJ R88M-W2K030H-BG20BJ R88M-W2K030T-G20BJ R88M-W2K030T-BG20BJ
R88M-W2K030H-G29BJ R88M-W2K030H-BG29BJ R88M-W2K030T-G29BJ R88M-W2K030T-BG29BJ
R88M-W2K030H-G45BJ R88M-W2K030H-BG45BJ R88M-W2K030T-G45BJ R88M-W2K030T-BG45BJ
R88M-W3K030H-G05BJ R88M-W3K030H-BG05BJ R88M-W3K030T-G05BJ R88M-W3K030T-BG05BJ
R88M-W3K030H-G09BJ R88M-W3K030H-BG09BJ R88M-W3K030T-G09BJ R88M-W3K030T-BG09BJ
R88M-W3K030H-G20BJ R88M-W3K030H-BG20BJ R88M-W3K030T-G20BJ R88M-W3K030T-BG20BJ
R88M-W3K030H-G29BJ R88M-W3K030H-BG29BJ R88M-W3K030T-G29BJ R88M-W3K030T-BG29BJ
R88M-W3K030H-G45BJ R88M-W3K030H-BG45BJ R88M-W3K030T-G45BJ R88M-W3K030T-BG45BJ
1/9
1/20
1/29
1/45
1.5 kW 1/5
1/9
1/20
1/29
1/45
1/5
2 kW
3 kW
1/9
1/20
1/29
1/45
1/5
1/9
1/20
1/29
1/45
2-12
Standard Models and Specifications
Chapter 2
3,000-r/min Flat-style Servomotors
Specifications
Model
With incremental encoder
With absolute encoder
Without brake With brake
Without brake
With brake
200 V 100 W 1/5
1/11
R88M-WP10030H-G05BJ R88M-WP10030H-BG05BJ R88M-WP10030T-G05BJ R88M-WP10030T-BG05BJ
R88M-WP10030H-G11BJ R88M-WP10030H-BG11BJ R88M-WP10030T-G11BJ R88M-WP10030T-BG11BJ
R88M-WP10030H-G21BJ R88M-WP10030H-BG21BJ R88M-WP10030T-G21BJ R88M-WP10030T-BG21BJ
R88M-WP10030H-G33BJ R88M-WP10030H-BG33BJ R88M-WP10030T-G33BJ R88M-WP10030T-BG33BJ
R88M-WP20030H-G05BJ R88M-WP20030H-BG05BJ R88M-WP20030T-G05BJ R88M-WP20030T-BG05BJ
R88M-WP20030H-G11BJ R88M-WP20030H-BG11BJ R88M-WP20030T-G11BJ R88M-WP20030T-BG11BJ
R88M-WP20030H-G21BJ R88M-WP20030H-BG21BJ R88M-WP20030T-G21BJ R88M-WP20030T-BG21BJ
R88M-WP20030H-G33BJ R88M-WP20030H-BG33BJ R88M-WP20030T-G33BJ R88M-WP20030T-BG33BJ
R88M-WP40030H-G05BJ R88M-WP40030H-BG05BJ R88M-WP40030T-G05BJ R88M-WP40030T-BG05BJ
R88M-WP40030H-G11BJ R88M-WP40030H-BG11BJ R88M-WP40030T-G11BJ R88M-WP40030T-BG11BJ
R88M-WP40030H-G21BJ R88M-WP40030H-BG21BJ R88M-WP40030T-G21BJ R88M-WP40030T-BG21BJ
R88M-WP40030H-G33BJ R88M-WP40030H-BG33BJ R88M-WP40030T-G33BJ R88M-WP40030T-BG33BJ
R88M-WP75030H-G05BJ R88M-WP75030H-BG05BJ R88M-WP75030T-G05BJ R88M-WP75030T-BG05BJ
R88M-WP75030H-G11BJ R88M-WP75030H-BG11BJ R88M-WP75030T-G11BJ R88M-WP75030T-BG11BJ
R88M-WP75030H-G21BJ R88M-WP75030H-BG21BJ R88M-WP75030T-G21BJ R88M-WP75030T-BG21BJ
R88M-WP75030H-G33BJ R88M-WP75030H-BG33BJ R88M-WP75030T-G33BJ R88M-WP75030T-BG33BJ
1/21
1/33
200 W 1/5
1/11
1/21
1/33
400 W 1/5
1/11
1/21
1/33
750 W 1/5
1/11
1/21
1/33
1.5 kW 1/5
R88M-WP1K530H-
G05BJ
R88M-WP1K530H-
BG05BJ
R88M-WP1K530T-G05BJ R88M-WP1K530T-
BG05BJ
1/11
1/21
1/33
R88M-WP1K530H-
G11BJ
R88M-WP1K530H-
BG11BJ
R88M-WP1K530T-G11BJ R88M-WP1K530T-
BG11BJ
R88M-WP1K530H-
G21BJ
R88M-WP1K530H-
BG21BJ
R88M-WP1K530T-G21BJ R88M-WP1K530T-
BG21BJ
R88M-WP1K530H-
G33BJ
R88M-WP1K530H-
BG33BJ
R88M-WP1K530T-G33BJ R88M-WP1K530T-
BG33BJ
2-13
Standard Models and Specifications
Chapter 2
1,000-r/min Servomotors
Specifications
Model
With incremental encoder
With absolute encoder
Without brake
With brake
Without brake
With brake
200 V 300 W 1/5
1/9
R88M-W30010H-G05BJ R88M-W30010H-BG05BJ R88M-W30010T-G05BJ
R88M-W30010H-G09BJ R88M-W30010H-BG09BJ R88M-W30010T-G09BJ
R88M-W30010H-G20BJ R88M-W30010H-BG20BJ R88M-W30010T-G20BJ
R88M-W30010H-G29BJ R88M-W30010H-BG29BJ R88M-W30010T-G29BJ
R88M-W30010H-G45BJ R88M-W30010H-BG45BJ R88M-W30010T-G45BJ
R88M-W60010H-G05BJ R88M-W60010H-BG05BJ R88M-W60010T-G05BJ
R88M-W60010H-G09BJ R88M-W60010H-BG09BJ R88M-W60010T-G09BJ
R88M-W60010H-G20BJ R88M-W60010H-BG20BJ R88M-W60010T-G20BJ
R88M-W60010H-G29BJ R88M-W60010H-BG29BJ R88M-W60010T-G29BJ
R88M-W60010H-G45BJ R88M-W60010H-BG45BJ R88M-W60010T-G45BJ
R88M-W90010H-G05BJ R88M-W90010H-BG05BJ R88M-W90010T-G05BJ
R88M-W90010H-G09BJ R88M-W90010H-BG09BJ R88M-W90010T-G09BJ
R88M-W90010H-G20BJ R88M-W90010H-BG20BJ R88M-W90010T-G20BJ
R88M-W90010H-G29BJ R88M-W90010H-BG29BJ R88M-W90010T-G29BJ
R88M-W90010H-G45BJ R88M-W90010H-BG45BJ R88M-W90010T-G45BJ
R88M-W30010T-BG05BJ
R88M-W30010T-BG09BJ
R88M-W30010T-BG20BJ
R88M-W30010T-BG29BJ
R88M-W30010T-BG45BJ
R88M-W60010T-BG05BJ
R88M-W60010T-BG09BJ
R88M-W60010T-BG20BJ
R88M-W60010T-BG29BJ
R88M-W60010T-BG45BJ
R88M-W90010T-BG05BJ
R88M-W90010T-BG09BJ
R88M-W90010T-BG20BJ
R88M-W90010T-BG29BJ
R88M-W90010T-BG45BJ
1/20
1/29
1/45
600 W 1/5
1/9
1/20
1/29
1/45
900 W 1/5
1/9
1/20
1/29
1/45
1.2 kW 1/5
R88M-W1K210H-G05BJ R88M-W1K210H-BG05BJ R88M-W1K210T-G05BJ R88M-W1K210T-BG05BJ
R88M-W1K210H-G09BJ R88M-W1K210H-BG09BJ R88M-W1K210T-G09BJ R88M-W1K210T-BG09BJ
R88M-W1K210H-G20BJ R88M-W1K210H-BG20BJ R88M-W1K210T-G20BJ R88M-W1K210T-BG20BJ
R88M-W1K210H-G29BJ R88M-W1K210H-BG29BJ R88M-W1K210T-G29BJ R88M-W1K210T-BG29BJ
R88M-W1K210H-G45BJ R88M-W1K210H-BG45BJ R88M-W1K210T-G45BJ R88M-W1K210T-BG45BJ
R88M-W2K010H-G05BJ R88M-W2K010H-BG05BJ R88M-W2K010T-G05BJ R88M-W2K010T-BG05BJ
R88M-W2K010H-G09BJ R88M-W2K010H-BG09BJ R88M-W2K010T-G09BJ R88M-W2K010T-BG09BJ
R88M-W2K010H-G20BJ R88M-W2K010H-BG20BJ R88M-W2K010T-G20BJ R88M-W2K010T-BG20BJ
1/9
1/20
1/29
1/45
1/5
2 kW
1/9
1/20
1,500-r/min Servomotors
Specifications
Model
With incremental encoder
Without brake With brake
With absolute encoder
Without brake
With brake
200 V 450 W 1/5
1/9
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R88M-W45015T-G05BJ
R88M-W45015T-G09BJ
R88M-W45015T-G20BJ
R88M-W45015T-G29BJ
R88M-W45015T-G45BJ
R88M-W85015T-G05BJ
R88M-W85015T-G09BJ
R88M-W85015T-G20BJ
R88M-W85015T-G29BJ
R88M-W85015T-G45BJ
R88M-W45015T-BG05BJ
R88M-W45015T-BG09BJ
R88M-W45015T-BG20BJ
R88M-W45015T-BG29BJ
R88M-W45015T-BG45BJ
R88M-W85015T-BG05BJ
R88M-W85015T-BG09BJ
R88M-W85015T-BG20BJ
R88M-W85015T-BG29BJ
R88M-W85015T-BG45BJ
1/20
1/29
1/45
850 W 1/5
1/9
1/20
1/29
1/45
1.3 kW 1/5
R88M-W1K315T-G05BJ R88M-W1K315T-BG05BJ
R88M-W1K315T-G09BJ R88M-W1K315T-BG09BJ
R88M-W1K315T-G20BJ R88M-W1K315T-BG20BJ
R88M-W1K315T-G29BJ R88M-W1K315T-BG29BJ
R88M-W1K315T-G45BJ R88M-W1K315T-BG45BJ
R88M-W1K815T-G05BJ R88M-W1K815T-BG05BJ
R88M-W1K815T-G09BJ R88M-W1K815T-BG09BJ
R88M-W1K815T-G20BJ R88M-W1K815T-BG20BJ
R88M-W1K815T-G29BJ R88M-W1K815T-BG29BJ
1/9
1/20
1/29
1/45
1.8 kW 1/5
1/9
1/20
1/29
2-14
Standard Models and Specifications
● Servomotors with Economy Gears (Straight Shaft with Key)
3,000-r/min Servomotors
Chapter 2
Specifications
Model
With incremental encoder
Without brake With brake
With absolute encoder
Without brake
With brake
200 V 100 W 1/5
1/9
R88M-W10030H-G05CJ R88M-W10030H-BG05CJ R88M-W10030T-G05CJ
R88M-W10030H-G09CJ R88M-W10030H-BG09CJ R88M-W10030T-G09CJ
R88M-W10030H-G15CJ R88M-W10030H-BG15CJ R88M-W10030T-G15CJ
R88M-W10030H-G25CJ R88M-W10030H-BG25CJ R88M-W10030T-G25CJ
R88M-W20030H-G05CJ R88M-W20030H-BG05CJ R88M-W20030T-G05CJ
R88M-W20030H-G09CJ R88M-W20030H-BG09CJ R88M-W20030T-G09CJ
R88M-W20030H-G15CJ R88M-W20030H-BG15CJ R88M-W20030T-G15CJ
R88M-W20030H-G25CJ R88M-W20030H-BG25CJ R88M-W20030T-G25CJ
R88M-W40030H-G05CJ R88M-W40030H-BG05CJ R88M-W40030T-G05CJ
R88M-W40030H-G09CJ R88M-W40030H-BG09CJ R88M-W40030T-G09CJ
R88M-W40030H-G15CJ R88M-W40030H-BG15CJ R88M-W40030T-G15CJ
R88M-W40030H-G25CJ R88M-W40030H-BG25CJ R88M-W40030T-G25CJ
R88M-W75030H-G05CJ R88M-W75030H-BG05CJ R88M-W75030T-G05CJ
R88M-W75030H-G09CJ R88M-W75030H-BG09CJ R88M-W75030T-G09CJ
R88M-W75030H-G15CJ R88M-W75030H-BG15CJ R88M-W75030T-G15CJ
R88M-W75030H-G25CJ R88M-W75030H-BG25CJ R88M-W75030T-G25CJ
R88M-W10030T-BG05CJ
R88M-W10030T-BG09CJ
R88M-W10030T-BG15CJ
R88M-W10030T-BG25CJ
R88M-W20030T-BG05CJ
R88M-W20030T-BG09CJ
R88M-W20030T-BG15CJ
R88M-W20030T-BG25CJ
R88M-W40030T-BG05CJ
R88M-W40030T-BG09CJ
R88M-W40030T-BG15CJ
R88M-W40030T-BG25CJ
R88M-W75030T-BG05CJ
R88M-W75030T-BG09CJ
R88M-W75030T-BG15CJ
R88M-W75030T-BG25CJ
1/15
1/25
200 W 1/5
1/9
1/15
1/25
400 W 1/5
1/9
1/15
1/25
750 W 1/5
1/9
1/15
1/25
3,000-r/min Flat-style Servomotors
Specifications
Model
With incremental encoder
Without brake With brake
With absolute encoder
Without brake With brake
200 V 100 W 1/5
1/9
R88M-WP10030H-G05CJ R88M-WP10030H-BG05CJ R88M-WP10030T-G05CJ R88M-WP10030T-BG05CJ
R88M-WP10030H-G09CJ R88M-WP10030H-BG09CJ R88M-WP10030T-G09CJ R88M-WP10030T-BG09CJ
R88M-WP10030H-G15CJ R88M-WP10030H-BG15CJ R88M-WP10030T-G15CJ R88M-WP10030T-BG15CJ
R88M-WP10030H-G25CJ R88M-WP10030H-BG25CJ R88M-WP10030T-G25CJ R88M-WP10030T-BG25CJ
R88M-WP20030H-G05CJ R88M-WP20030H-BG05CJ R88M-WP20030T-G05CJ R88M-WP20030T-BG05CJ
R88M-WP20030H-G09CJ R88M-WP20030H-BG09CJ R88M-WP20030T-G09CJ R88M-WP20030T-BG09CJ
R88M-WP20030H-G15CJ R88M-WP20030H-BG15CJ R88M-WP20030T-G15CJ R88M-WP20030T-BG15CJ
R88M-WP20030H-G25CJ R88M-WP20030H-BG25CJ R88M-WP20030T-G25CJ R88M-WP20030T-BG25CJ
R88M-WP40030H-G05CJ R88M-WP40030H-BG05CJ R88M-WP40030T-G05CJ R88M-WP40030T-BG05CJ
R88M-WP40030H-G09CJ R88M-WP40030H-BG09CJ R88M-WP40030T-G09CJ R88M-WP40030T-BG09CJ
R88M-WP40030H-G15CJ R88M-WP40030H-BG15CJ R88M-WP40030T-G15CJ R88M-WP40030T-BG15CJ
R88M-WP40030H-G25CJ R88M-WP40030H-BG25CJ R88M-WP40030T-G25CJ R88M-WP40030T-BG25CJ
R88M-WP75030H-G05CJ R88M-WP75030H-BG05CJ R88M-WP75030T-G05CJ R88M-WP75030T-BG05CJ
R88M-WP75030H-G09CJ R88M-WP75030H-BG09CJ R88M-WP75030T-G09CJ R88M-WP75030T-BG09CJ
R88M-WP75030H-G15CJ R88M-WP75030H-BG15CJ R88M-WP75030T-G15CJ R88M-WP75030T-BG15CJ
R88M-WP75030H-G25CJ R88M-WP75030H-BG25CJ R88M-WP75030T-G25CJ R88M-WP75030T-BG25CJ
1/15
1/25
200 W 1/5
1/9
1/15
1/25
400 W 1/5
1/9
1/15
1/25
750 W 1/5
1/9
1/15
1/25
2-15
Standard Models and Specifications
Chapter 2
2-2 Servo Driver and Servomotor Combinations
The tables in this section show the possible combinations of OMNUC W-series Servo
Drivers (with built-in MECHATROLINK-II communications) and Servomotors. No other
combinations are possible.
Note The boxes (-@) at the ends of the model numbers are for options such as shaft type, brake,
waterproofing, decelerator, and so on.
■ 3,000-r/min Servomotors and Servo Drivers
Voltage
Servomotor
Servo Driver
Rated
output
With incremental
With absolute
encoder
encoder
200 V
50 W
R88M-W05030H-@
R88M-W05030T-@
R88M-W10030T-@
R88M-W20030T-@
R88M-W40030T-@
R88M-W75030T-@
R88M-W1K030T-@
R88M-W1K530T-@
R88M-W2K030T-@
R88M-W3K030T-@
R88D-WNA5H-ML2/A5L-M2
R88D-WN01H-ML2/01L-ML2
R88D-WN02H-ML2/02L-ML2
R88D-WN04H-ML2/04L-ML2
R88D-WN08H-ML2
100 W R88M-W10030H-@
200 W R88M-W20030H-@
400 W R88M-W40030H-@
750 W R88M-W75030H-@
1 kW
R88M-W1K030H-@
R88D-WN10H-ML2
1.5 kW R88M-W1K530H-@
2 kW
3 kW
R88D-WN15H-ML2
R88M-W2K030H-@
R88M-W3K030H-@
R88D-WN20H-ML2
R88D-WN30H-ML2
■ 3,000-r/min Flat-style Servomotors and Servo Drivers
Voltage
Servomotor
With incremental
encoder
Servo Driver
Rated
output
With absolute
encoder
200 V
100 W R88M-WP10030H-@
200 W R88M-WP20030H-@
400 W R88M-WP40030H-@
750 W R88M-WP75030H-@
R88M-WP10030T-@
R88M-WP20030T-@
R88M-WP40030T-@
R88M-WP75030T-@
R88D-WN01H-ML2/01L-ML2
R88D-WN02H-ML2/02L-ML2
R88D-WN04H-ML2/04L-ML2
R88D-WN08H-ML2
1.5 kW R88M-WP1K530H-@ R88M-WP1K530T-@
R88D-WN15H-ML2
■ 1,000-r/min Servomotors and Servo Drivers
Voltage
Servomotor
With incremental
encoder
Servo Driver
Rated
output
With absolute
encoder
200 V
300 W R88M-W30010H-@
600 W R88M-W60010H-@
900 W R88M-W90010H-@
1.2 kW R88M-W1K210H-@
R88M-W30010T-@
R88M-W60010T-@
R88M-W90010T-@
R88M-W1K210T-@
R88M-W2K010T-@
R88D-WN05H-ML2
R88D-WN10H-ML2
R88D-WN10H-ML2
R88D-WN15H-ML2
R88D-WN20H-ML2
2 kW
R88M-W2K010H-@
2-16
Standard Models and Specifications
Chapter 2
■ 1,500-r/min Servomotors and Servo Drivers
Voltage
Servomotor
With incremental
encoder
Servo Driver
Rated
output
With absolute
encoder
200 V
450 W ---
850 W ---
1.3 kW ---
1.8 kW ---
R88M-W45015T-@
R88M-W85015T-@
R88M-W1K315T-@
R88M-W1K815T-@
R88D-WN05H-ML2
R88D-WN10H-ML2
R88D-WN15H-ML2
R88D-WN20H-ML2
2-17
Standard Models and Specifications
Chapter 2
2-3 External and Mounted Dimensions
2-3-1 AC Servo Drivers
■ Single-phase 100 V: R88D-WNA5L-ML2/-WN01L-ML2/-WN02L-ML2
(50 to 200 W)
Single-phase 200 V: R88D-WNA5H-ML2/-WN01H-ML2/-WN02H-ML2
(50 to 200 W)
● Wall Mounting
External dimensions
Mounted dimensions
(6)
Mounting Holes
Two M-4 holes
(4.5)
SW1
C
N
6
CN6
CN3
CHARGE
A/B
L1
L2
C
N
3
L1C
L2C
B1/+
B2
Terminal
Block
CN1
C
N
1
U
V
W
C
N
2
CN2
CN4
C
N
4
Ground terminals
Two M4 screws
5
8
32 0.5
45
Nameplate
(Mounting
pitch)
(18)
45
(75)
130
2-18
Standard Models and Specifications
Chapter 2
● Front Panel Mounting (Using Mounting Brackets)
External dimensions
Mounted dimensions
(6)
22.5 2
105.5
Mounting Holes
Two M-4 holes
(7.5)
(25.5)
1.5
36
19.5
(4.5)
5 dia.
CN6
CN3
CN1
SW1
C
N
6
CHARGE
A/B
L1
L2
L1C
C
N
3
L2C
B1/+
B2
Terminal
Block
C
N
1
U
V
W
CN2
CN4
C
N
2
C
N
4
Ground
terminals
Two M4
screws
Nameplate
130
(18)
5
45
(25.5)
19.5
(75)
■ Single-phase 100 V: R88D-WN04L-ML2 (400 W)
● Wall Mounting
External dimensions
Mounted dimensions
Mounting Holes
Three M-4 holes
(6)
Air flow
(4)
CN6
Terminal
Block
C
N
6
SW1
CHARGE
A/B
CN3
L1
L2
Air flow
C
N
3
L1C
L2C
B1/
CN1
B2
C
N
1
CN2
U
C
N
CN4
2
V
W
C
N
4
Ground terminals
Two M4 screws
Nameplate
Cooling fan
180
6
58 0.5
(Mounting pitch)
70
(6)
Air flow
70
18
(75)
2-19
Standard Models and Specifications
Chapter 2
● Front Panel Mounting (Using Mounting Brackets)
External dimensions
Mounted dimensions
(6)
24.5
2
(15.5)
5 dia.
Mounting Holes
Two M-4 holes
18.5
36.5
36
(33.5)
(4)
Air flow
CN6
Terminal
Block
CN3
Air flow
CN1
CN2
CN4
Nameplate
Cooling fan
18
Air flow
5
(
75
)
180
36.5
(33.5)
Ground terminals
Two M4 screws
70
70
■ Single-phase 200 VAC: R88D-WN04H-ML2 (400 W)
● Wall Mounting
External dimensions
Mounted dimensions
Mounting Holes
Two M-4 holes
(6)
(4)
CN6
CN3
CN1
SW1
C
N
6
CHARGE
A/B
L1
L2
C
N
3
L1C
L2C
B1/+
B2
Terminal
Block
C
N
1
U
V
W
CN2
CN4
C
N
2
C
N
4
Ground terminals
Two M4 screws
(8)
10
47 0.5
Nameplate
65
(18)
(Mounting pitch)
(75)
130
2-20
Standard Models and Specifications
Chapter 2
● Front Panel Mounting (Using Mounting Brackets)
External dimensions
Mounted dimensions
Mounting Holes
Two M-4 holes
(7.5)
(25.5)
(6)
22.5 2
105.5
21.5
39.5
36
(4)
5 dia.
CN6
CN3
CN1
Terminal
Block
CN2
CN4
Nameplate
Ground
terminals
Two M4
screws
(18)
5
(25.5)
39.5
(75)
130
20
45
65
■ Single-phase 200 VAC: R88D-WN08HML2 (750 W)
Three-phase 200 VAC: R88D-WN05H-ML2/-WN10H-ML2 (500 W to 1 kW)
● Wall Mounting
External dimensions
Mounted dimensions
Mounting Holes
(6)
Air flow
Three M-4 holes
(4)
Terminal
Block
CN6
C
N
6
SW1
CHARGE
A/B
CN3
L1
L2
L2
Air flow
C
N
3
L1C
L2C
CN1
+
B1/
B2
B3
1
C
N
1
2
CN2
CN4
U
V
C
N
2
W
C
N
4
Nameplate
Cooling fan
180
Ground terminals
Two M4 screws
6
58 0.5
(Mounting pitch)
70
(6)
Air flow
18
(75)
70
2-21
Standard Models and Specifications
Chapter 2
● Front Panel Mounting (Using Mounting Brackets)
External dimensions
Mounted dimensions
(6)
24.5
2
Mounting Holes
Two M-4 holes
(15.5)
18.5
36.5
36
(33.5)
5 dia.
(4)
Air flow
CN6
Terminal
Block
CN3
Air flow
CN1
CN2
CN4
Nameplate
Cooling fan
18
Air flow
5
(75)
180
Ground terminals
Two M4 screws
(33.5)
36.5
70
70
■ Three-phase 200 V: R88D-WN15H-ML2 (1.5 kW)
● Wall Mounting
External dimensions
Mounted dimensions
Mounting Holes
(6)
Three M-4 holes
(4)
CHARGE
CN6
CN3
C
N
SW1
L1
6
Terminal
Block
A/B
L2
L1
L3
L1C
L2C
C
N
3
B1/
B2
B3
+
CN1
-
-
1
2
C
N
1
U
V
CN2
CN4
W
C
N
2
C
N
4
Ground terminals
Two M4 screws
Nameplate
(5)
5
80 0.5
(Mounting pitch)
90
18
(75)
90
180
2-22
Standard Models and Specifications
Chapter 2
● Front Panel Mounting (Using Mounting Brackets)
Mounted Dimensions
External Dimensions
Mounting Holes
Four M-4 holes
Air flow
(6)
Two, 5 dia.
CN6
CHARGE
C
SW1
N
6
L1
A/B
L2
CN3
CN1
L3
L1C
L2C
B1/+
B2
C
N
3
B3
Terminal
blocks
- 1
C
N
1
- 2
U
V
CN2
CN4
Ground terminals
Two M4 screws
W
C
N
2
C
N
4
Nameplate
2
5
(20)
(Mounting pitch)
20
50 0.5
18 24.5
Air flow
(20)
20
50
(75)
180
(5)
(2.2)
90
■ Three-phase 200 V: R88D-WN20H-ML2/-WN30H-ML2 (2 to 3 kW)
● Wall Mounting
External dimensions
Mounted dimensions
Mounting Holes
Four M-4 holes
(6)
(4)
CN6
CN3
CN1
CN2
CN4
Nameplate
Ground ter-
minals Two
M4 screws
Terminal Block
M4 screws
90 0.5
(5)
5
(Mounting pitch)
100
100
(75)
180
2-23
Standard Models and Specifications
Chapter 2
● Front Panel Mounting (Using Mounting Brackets)
Mounted dimensions
External dimensions
100
2.2
Mounting Holes
Four M-4 holes
25
50
Two, 5 dia.
(6)
24.5
2
Air flow
Terminal
Block
CHARGE
CN6
CN3
C
N
6
SW1
A/B
C
N
3
CN1
C
N
1
CN2
CN4
C
N
2
C
N
4
Nameplate
5
Air flow
50
(25)
27.2
50 0.5
(5)
(75)
2.2
25
180
Ground terminals
Two M4 screws
(Mounting pitch)
102.2
102.2
2-24
Standard Models and Specifications
2-3-2 AC Servomotors
Chapter 2
■ 3,000-r/min Servomotors without a Brake
● 200 V AC: 50 W/100 W
R88M-W05030H(-S1)/-W10030H(-S1) [Incremental]
R88M-W05030T(-S1)/-W10030T(-S1) [Absolute]
Dimensions (mm)
Model
300 30
LL
77
S
b
2
3
h
2
3
t1
M
l
R88M-W05030@-@
R88M-W10030@-@
6h6
8h6
1.2
1.8
M2.5
M3
5
6
94.5
Dimensions of shaft end with key (-S1)
h
6 dia.
19.5
7 dia.
20
21.5
Two, 4.3 dia.
5
300 30
14
t1
Dimensions of shaft end with key and tap (-S2)
h
M (effective depth: l)
5
2.5
25
40
LL
14
t1
■ 3,000-r/min Servomotors with a Brake
● 200 V AC: 50 W/100 W
R88M-W05030H-B(S1)/-W10030H-B(S1) [Incremental]
R88M-W05030T-B(S1)/-W10030T-B(S1) [Absolute]
Dimensions (mm)
Model
300 30
LL
S
b
h
2
3
t1
M
l
R88M-W05030@-B@
R88M-W10030@-B@
108.5
135
6h6
8h6
2
3
1.2
1.8
M2.5
M3
5
6
Dimensions of shaft end with key (-BS1)
h
6 dia.
19.5
7 dia.
27
300 30
21.5
Two, 4.3 dia.
5
14
t1
Dimensions of shaft end with key and
tap (-BS2)
M (effective
depth: l)
h
5
2.5
25
40
LL
14
t1
2-25
Standard Models and Specifications
Chapter 2
■ 3,000-r/min Servomotors without a Brake
● 200 V AC: 200 W/400 W/750 W
R88M-W20030H(-S1)/-W40030H(-S1)/-W75030H(-S1) [Incremental]
R88M-W20030T(-S1)/-W40030T(-S1)/-W75030T(-S1) [Absolute]
Dimensions (mm)
Model
300 30
LL
LR
30
C
D1
70
70
90
D2
G
6
6
8
Z
5.5
5.5
7
S
QK
20
20
30
R88M-W20030@-@
R88M-W40030@-@
R88M-W75030@-@
96.5
60
60
80
50h7
50h7
70h7
14h6
14h6
16h6
124.5 30
145 40
Dimensions of output section of
750-W Servomotors
6 dia.
13
7 dia.
20
21.5
300 30
Four, Z dia.
2
Dimensions of shaft end with key (-S1)
5
3
QK
Dimensions of shaft end with key
and tap (-S2)
G
3
C
LL
LR
5
M5
(effective depth: 8)
3
QK
2-26
Standard Models and Specifications
Chapter 2
■ 3,000-r/min Servomotors with a Brake
● 200 V AC: 200 W/400 W/750 W
R88M-W20030H-B(S1)/-W40030H-B(S1)/-W75030H-B(S1) [Incremental]
R88M-W20030T-B(S1)/-W40030T-B(S1)/-W75030T-B(S1) [Absolute]
Dimensions (mm)
Model
300 30
LL
LR
30
30
C
D1
70
70
90
D2
G
6
6
8
Z
5.5
5.5
7
S
QK
20
20
30
R88M-W20030@-B@
R88M-W40030@-B@
R88M-W75030@-B@
136
164
60
60
80
50h7
50h7
70h7
14h6
14h6
16h6
189.5 40
Dimensions of output section of
750-W Servomotors
6 dia.
13
7 dia.
300 30
27
21.5
Four, Z dia.
2
Dimensions of shaft end with key
(-BS1)
5
3
QK
G
3
C
Dimensions of shaft end with key
and tap (-BS2)
LL
LR
5
M5
(effective depth: 8)
3
QK
2-27
Standard Models and Specifications
Chapter 2
■ 3,000-r/min Servomotors without a Brake
● 200 V AC: 1 kW/1.5 kW/2 kW/3 kW
R88M-W1K030H(-S2)/-W1K5030H(-S2)/-W2K030H(-S2)/-W3K030H(-S2) [Incremental]
R88M-W1K030T(-S2)/-W1K5030T(-S2)/-W2K030T(-S2)/-W3K030T(-S2) [Absolute]
LL
LR
G
F
C
Four, Z dia.
2
KB1
KB2
Dimensions of shaft end with key (-S2)
M8
Dimensions (mm)
D1 D2
(effective depth: 16)
Model
LL
LR KB1 KB2 KL1 KL2
76 128
C
D3
F
3
6
G
Z
7
9
S
QK
R88M-W1K030@-@
R88M-W1K530@-@
R88M-W2K030@-@
R88M-W3K030@-@
149
175 45 102 154 96 88 100 115 95h7 130
198 125 177
199 63 124 178 114 88 130 145 110h7 165
10
12
24h6 32
28h6 50
QK
4
7
Note: The external dimensions are the same for IP67 (waterproof) models (-O@).
2-28
Standard Models and Specifications
■ 3,000-r/min Servomotors with a Brake
● 200 V AC: 1 kW/1.5 kW/2 kW/3 kW
Chapter 2
R88M-W1K030H-B(S2)/-W1K5030H-B(S2)/-W2K030H-B(S2)/-W3K030H-B(S2)
[Incremental]
R88M-W1K030T-B(S2)/-W1K5030T-B(S2)/-W2K030T-B(S2)/-W3K030T-B(S2)
[Absolute]
LL
LR
G
F
C
Four, Z dia.
2
KB1
KB2
Dimensions of shaft end with key (-BS2)
M8
Dimensions (mm)
D1 D2
(effective depth: 16)
Model
LL
LR KB1 KB2 KL1 KL2
67 171
C
D3
F
3
6
G
Z
7
9
S
QK
R88M-W1K030@-B@
R88M-W1K530@-B@
R88M-W2K030@-B@
R88M-W3K030@-B@
193
219 45 93 197 102 88 100 115 95h7 130
242 116 220
237 63 114 216 119 88 130 145 110h7 165
10
12
24h6 32
28h6 50
QK
4
7
Note: The external dimensions are the same for IP67 (waterproof) models (-BO@).
2-29
Standard Models and Specifications
Chapter 2
■ 3,000-r/min Flat-style Servomotors without a Brake
● 200 V AC: 100 W/200 W/400 W/750 W/1.5 kW
R88M-WP10030H(-S1)/-WP20030H(-S1)/-WP40030H(-S1)/-WP75030H(-S1)/
-WP1K530H(-S1) [Incremental]
R88M-WP10030T(-S1)/-WP20030T(-S1)/-WP40030T(-S1)/-WP75030T(-S1)/
-WP1K530T(-S1) [Absolute]
Model
Dimensions (mm)
With key (shaft
end dimensions)
Waterproof type
(flange dimensions)
Basic servomotor dimensions
Cable lead-in section
Tap
LL
62
LR
C
D1
D2
F
3
G
6
Z
S
QK
b
3
h
3
t1 W1 W2 DW1 DW2 A1 A2 A3 A4 A5
M
l
R88M-WP10030@-@
R88M-WP20030@-@
R88M-WP40030@-@
R88M-WP75030@-@
R88M-WP1K530@-@
25 60 70 50h7
5.5 8h6 14
1.8
1
4
39
22
M3
M5
M6
6
67
18
28
21 14
38 19
30 80 90 70h7
3
8
7
14h6 16
5
5
3
3.5
7
49
35
87
9
25
8
86.5
114.5
16h6
22
5
6
5
6
3
40 120 145 110h7 3.5 10 10
1.5
7
77
55
19h6
3.5
10
300 30
Dimensions of shaft end with
Dimensions of shaft end with key
key (-@S1)
and tap (-@S2)
h
h
M
(effective depth: l)
A3
A4
13
QK
t1
QK
t1
300 30
IP67 (-W@) flange dimensions
A5
G
F
C
Four, Z dia.
W1
W2
LL
LR
2-30
Standard Models and Specifications
Chapter 2
■ 3,000-r/min Flat-style Servomotors with a Brake
● 200 V AC: 100 W/200 W/400 W/750 W/1.5 kW
R88M-WP10030H-B(S1)/-WP20030H-B(S1)/-WP40030H-B(S1)/-WP75030H-B(S1)/
-WP1K530H-B(S1) [Incremental]
R88M-WP10030T-B(S1)/-WP20030T-B(S1)/-WP40030T-B(S1)/-WP75030T-B(S1)/
-WP1K530T-B(S1) [Absolute]
Model
Dimensions (mm)
With key (shaft
end dimensions)
Waterproof type
(flange dimensions)
Basic servomotor dimensions
Cable lead-in section
Tap
LL
91
LR
C
D1
D2
F
3
G
6
Z
S
QK
b
3
h
3
t1 W1 W2 DW1 DW2 A1 A2 A3 A4 A5
M
l
R88M-WP10030@-B@
R88M-WP20030@-B@
R88M-WP40030@-B@
R88M-WP75030@-B@
R88M-WP1K530@-B@
25 60 70 50h7
5.5 8h6 14
1.8
1
4
39
22
M3
M5
M6
6
98.5
118.5
120
148
18
28
21 23
38 26
30 80 90 70h7
3
8
7
14h6 16
5
5
3
3.5
7
49
35
9
25
8
16h6
22
5
6
5
6
3
40 120 145 110h7 3.5 10 10
1.5
7
77
55
19h6
3.5
10
300 30
Dimensions of shaft end with
Dimensions of shaft end with key
key (-B@S1)
and tap (-B@S2)
h
h
M
(effective depth: l)
A3
A4
QK
t1
QK
t1
13
300 30
IP67 (-BW@) flange dimensions
A5
G
F
C
Four, Z dia.
W1
W2
LL
LR
2-31
Standard Models and Specifications
■ 1,000-r/min Servomotors without a Brake
● 200 V AC: 300 W/600 W/900 W/1.2 kW/2.0 kW
Chapter 2
R88M-W30010H(-S2)/-W60010H(-S2)/-W90010H(-S2)/-W1K210H(-S2)/-W2K010H(-S2)
[Incremental]
R88M-W30010T(-S2)/-W60010T(-S2)/-W90010T(-S2)/-W1K210T(-S2)/-W2K010T(-S2)
[Absolute]
Dimensions of output section of
300-W to 900-W Servomotors
LL
LR
G
F
C
12
Dimensions of shaft end with
key (-S2)
M (Effective depth: l)
Four, Z dia.
KB1
QK
t1
h
KB2
Dimensions (mm)
Model (mm)
LL
LR
KB1 KB2 KL1
KL2
C
D1
D2
D3
F
G
Z
9
S
QK
25
b
h
5
6
8
t1
3
M
l
R88M-W30010@-@
R88M-W60010@-@
R88M-W90010@-@
R88M-W1K210@-@
R88M-W2K010@-@
138
161
185
166
192
65
88
117
140
164
144
170
19h6
5
6
58
79
109
140
88
88
130
145
110h7
165
6
12
M5
12
112
89
22h6
3.5
5
0
+0.01
0
180
200 114.3
230
3.2
18 13.5 35
60
10
M12
25
−0.025
115
Note: The external dimensions are the same for IP67 (waterproof) models (-O@).
2-32
Standard Models and Specifications
Chapter 2
■ 1,000-r/min Servomotors with a Brake
● 200 V AC: 300 W/600 W/900 W/1.2 kW/2.0 kW
R88M-W30010H-B(S2)/-W60010H-B(S2)/-W90010H-B(S2)/-W1K210H-B(S2)/
-W2K010H-B(S2) [Incremental]
R88M-W30010T-B(S2)/-W60010T-B(S2)/-W90010T-B(S2)/-W1K210T-B(S2)/
-W2K010T-B(S2) [Absolute]
Dimensions of output section of
300-W to 900-W Servomotors
LL
LR
G
F
C
12
Dimensions of shaft end with
key (-BS2)
M (Effective depth: l)
Four, Z dia.
QK
t1
h
KB1
KB2
Dimensions (mm)
Model (mm)
LL
LR
58
KB1 KB2 KL1
KL2
88
C
D1
D2
D3
F
G
Z
9
S
QK
25
b
5
h
5
6
8
t1
3
M
l
R88M-W30010@-B@
R88M-W60010@-B@
R88M-W90010@-B@
R88M-W1K210@-B@
R88M-W2K010@-B@
176
199
223
217
243
56
79
154
177
201
195
221
19h6
120
146
130
145
110h7
165
6
12
M5
12
103
79
22h6
6
3.5
5
0
+0.01
0
79
88
180
200 114.3
230
3.2
18 13.5 35
60
10
M12
25
−0.025
105
Note: The external dimensions are the same for IP67 (waterproof) models (-BO@).
2-33
Standard Models and Specifications
Chapter 2
■ 1,500-r/min Servomotors without a Brake
● 200 V AC: 450 W/850 W/1.3 kW/1.8 kW
R88M-W45015T(-S2)/-W85015T(-S2)/-W1K315T(-S2)/-W1K815T(-S2) [Absolute]
Dimensions of output section of
450-W to 1.3-kW Servomotors
LL
LR
G
F
C
12
Dimensions of shaft end with
key (-S2)
M (Effective depth: l)
Four, Z dia.
QK
t1
h
KB1
KB2
Dimensions (mm)
Model (mm)
LL
LR
KB1 KB2 KL1
KL2
C
D1
D2
D3
165
230
F
G
Z
9
S
QK
25
60
b
5
h
5
t1
3
M
l
R88M-W45015T-@
R88M-W85015T-@
R88M-W1K315T-@
R88M-W1K815T-@
138
161
185
166
65
88
117
140
164
144
19h6
58
109
140
88
88
130
145
110h7
0
6
12
M5
12
25
112
89
22h6
6
6
8
3.5
5
+0.01
0
79
180
200 114.3
3.2
18 13.5 35
10
M12
−0.025
Note: The external dimensions are the same for IP67 (waterproof) models (O@).
2-34
Standard Models and Specifications
■ 1,500-r/min Servomotors with a Brake
● 200 V AC: 450 W/850 W/1.3 kW/1.8 kW
Chapter 2
R88M-W45015T-B(S2)/-W85015T-B(S2)/-W1K315T-B(S2)/-W1K815T-B(S2) [Absolute]
Dimensions of output section of
450-W to 1.3-kW Servomotors
LL
LR
G
F
C
12
Dimensions of shaft end with
key (-BS2)
M (Effective depth: l)
Four, Z dia.
QK
t1
h
KB1
KB2
Dimensions (mm)
Model (mm)
LL
LR
58
79
KB1 KB2 KL1
KL2
88
C
D1
D2
D3
165
230
F
G
Z
9
S
QK
b
5
h
5
t1
3
M
l
R88M-W45015T-B@
R88M-W85015T-B@
R88M-W1K315T-B@
R88M-W1K815T-B@
176
199
223
217
56
79
154
177
201
195
19h6
120
146
130
180
145
110h7
0
6
12
25
60
M5
12
25
103
79
22h6
6
6
8
3.5
5
+0.01
0
88
200 114.3
3.2
18 13.5 35
10
M12
−0.025
Note: The external dimensions are the same for IP67 (waterproof) models (-BO@).
2-35
Standard Models and Specifications
Chapter 2
2-3-3 AC Servomotors with Gears
■ AC Servomotors with Standard Gears
● 3,000-r/min Servomotors (30 to 750 W) with Standard Gears
Model
Dia-
gram
No.
Dimensions (mm)
LL
LM
LR
C1
C2 D1
D2
D3
D4
D5
D6
WOB* WB*
50 W
1/5
1/9
R88M-W05030@-@G05BJ
R88M-W05030@-@G09BJ
1, 1-1
1, 1-2
77
108.5 28
108.5 29
55
60
40
80
70
56
55.5
64.5
64.5
64.5
64.5
64.5
84
40
---
77
60
70
40
40
40
40
40
40
40
60
60
60
60
60
60
60
60
80
80
80
80
95
80
80
80
80
80
65
50
40
40
40
40
59
59
59
59
59
59
59
59
59
84
59
59
84
84
---
8
1/21 R88M-W05030@-@G21BJ
1/33 R88M-W05030@-@G33BJ
77
108.5 46
108.5 46
60
70
(92)
(92)
(92)
(92)
65
77
60
70
65
8
100 W 1/5
R88M-W10030@-@G05BJ
94.5
94.5
94.5
94.5
96.5
96.5
96.5
96.5
135
135
135
135
136
136
136
136
29
46
55
55
38
55
63
63
38
63
71
71
60
70
65
8
1/11 R88M-W10030@-@G11BJ
1/21 R88M-W10030@-@G21BJ
1/33 R88M-W10030@-@G33BJ
60
70
65
8
74
90
(120) 105
(120) 105
(120) 105
(120) 105
(139) 120
(139) 120
(120) 105
(139) 120
(158) 135
(158) 135
(139) 120
(158) 135
(192) 165
(192) 165
85
9
74
90
85
84
9
200 W 1/5
R88M-W20030@-@G05BJ
1/11 R88M-W20030@-@G11BJ
1/21 R88M-W20030@-@G21BJ
1/33 R88M-W20030@-@G33BJ
2
2
2
74
90
85
84
9
74
90
85
84
9
84
105
105
90
100
100
85
96
12
12
9
84
96
400 W 1/5
R88M-W40030@-@G05BJ
1/11 R88M-W40030@-@G11BJ
1/21 R88M-W40030@-@G21BJ
1/33 R88M-W40030@-@G33BJ
124.5 164
124.5 164
124.5 164
124.5 164
74
84
84
105
120
120
105
120
145
145
100
115
115
100
115
140
140
96
12
14
14
12
14
16
16
105
105
84
112
114
96
750 W 1/5
R88M-W75030@-@G05BJ
1/11 R88M-W75030@-@G11BJ
1/21 R88M-W75030@-@G21BJ
1/33 R88M-W75030@-@G33BJ
145
145
145
145
189.5 42
189.5 71
189.5 78
189.5 78
105
142
142
112
134
134
Note The values in parentheses are reference values.
Diagram 1
Diagram 1-1
Four, Z dia.
Key dimensions
M (Effective depth: l)
t1
h
QK
G
F
C1 × C1
Diagram 1-2
Four, RD6
C1 × C1
T
E1
E2
LL
LM
LR
Four, Z dia.
2-36
Standard Models and Specifications
Chapter 2
Note WOB and WB mean “without brake” and “with brake” respectively.
Dimensions (mm)
Model
E1
E2
F
G
S
T
Z
Key dimensions
t1
QK
20
b
h
M
l
27
35
6
8
8
8
8
8
8
9
9
9
9
9
14
16
16
16
16
16
20
20
20
20
25
25
20
25
32
32
25
32
40
40
25
28
28
28
28
28
36
36
36
36
42
42
36
42
58
58
42
58
82
82
5.5
5
5
5
5
5
5
5
6
6
6
6
7
7
6
7
8
8
7
8
8
8
3
3
3
3
3
3
M4
8
R88M-W05030@-@G05BJ
R88M-W05030@-@G09BJ
R88M-W05030@-@G21BJ
R88M-W05030@-@G33BJ
R88M-W10030@-@G05BJ
R88M-W10030@-@G11BJ
R88M-W10030@-@G21BJ
R88M-W10030@-@G33BJ
R88M-W20030@-@G05BJ
R88M-W20030@-@G11BJ
R88M-W20030@-@G21BJ
R88M-W20030@-@G33BJ
R88M-W40030@-@G05BJ
R88M-W40030@-@G11BJ
R88M-W40030@-@G21BJ
R88M-W40030@-@G33BJ
R88M-W75030@-@G05BJ
R88M-W75030@-@G11BJ
R88M-W75030@-@G21BJ
R88M-W75030@-@G33BJ
1/5
50 W
30
30
30
30
30
38
38
38
38
44
44
38
44
60
60
44
60
85
85
38
39
39
39
39
48
48
48
48
55
55
48
55
72
72
55
72
102
102
6.6
6.6
6.6
6.6
6.6
9
25
25
25
25
25
32
32
32
32
36
36
32
36
50
50
36
50
70
70
5
M4
M4
M4
M4
M4
M5
M5
M5
M5
M6
M6
M5
M6
M8
M8
M6
M8
M10
M10
8
1/9
5
8
1/21
1/33
1/5
5
8
5
8
100 W
200 W
400 W
750 W
5
8
1/11
1/21
1/33
1/5
7.5
7.5
7.5
7.5
12
10
10
10
10
12
12
10
12
13
13
12
13
15
15
6
3.5
3.5
3.5
3.5
4
10
10
10
10
12
12
10
12
16
16
12
16
20
20
9
6
9
6
9
6
1/11
1/21
1/33
1/5
9
8
12
9
8
4
7.5
12
9
6
3.5
4
9
8
1/11
1/21
1/33
1/5
14
11
11
9
10
10
8
5
12.5
12
5
4
14
11
14
14
10
12
12
5
1/11
1/21
1/33
10
5
10
5
Diagram 2
Key dimensions
M (Effective depth: l)
t1
h
QK
G
F
C1 × C1
Four, RD6
T
E1
E2
Four, Z dia.
LL
LM
LR
2-37
Standard Models and Specifications
Chapter 2
● 3,000-r/min Servomotors (1 to 5 kW) with Standard Gears
Model
Dia-
gram
No.
Dimensions (mm)
LL
LM
LR
C1 C2 D1
D2
D3
D4
D5
WOB*
149
149
149
149
149
175
175
175
175
175
198
198
198
198
198
199
199
199
199
199
WB*
193
1 kW
1/5
1/9
R88M-W1K030@-@G05BJ
R88M-W1K030@-@G09BJ
1
154
100
140
140
---
100
185
185
245
245
245
185
245
245
245
310
185
245
245
310
310
245
245
310
310
310
160
130
94
91
193
193
193
193
219
219
219
219
219
242
242
242
242
242
237
237
237
237
237
166
207
207
217
154
203
207
207
238
154
203
207
228
238
201
228
253
253
263
100
140
140
140
100
140
140
140
160
100
140
140
160
160
140
140
160
160
160
100
100
100
100
100
100
100
100
100
100
100
100
100
100
130
130
130
130
130
160
220
220
220
160
220
220
220
280
160
220
220
280
280
220
220
280
280
280
130
190
190
190
130
190
190
190
240
130
190
190
240
240
190
190
240
240
240
94
91
1/20 R88M-W1K030@-@G20BJ
1/29 R88M-W1K030@-@G29BJ
1/45 R88M-W1K030@-@G45BJ
2
135
135
135
94
130
130
130
91
---
---
1.5 kW 1/5
1/9
R88M-W1K530@-@G05BJ
R88M-W1K530@-@G09BJ
1
2
140
---
135
135
135
186
94
130
130
130
182
91
1/20 R88M-W1K530@-@G20BJ
1/29 R88M-W1K530@-@G29BJ
1/45 R88M-W1K530@-@G45BJ
---
---
---
2 kW
3 kW
1/5
1/9
R88M-W2K030@-@G05BJ
R88M-W2K030@-@G09BJ
1
2
140
---
135
135
186
186
135
135
186
186
186
130
130
182
182
130
130
182
182
182
1/20 R88M-W2K030@-@G20BJ
1/29 R88M-W2K030@-@G29BJ
1/45 R88M-W2K030@-@G45BJ
---
---
---
1/5
1/9
R88M-W3K030@-@G05BJ
R88M-W3K030@-@G09BJ
2
---
---
1/20 R88M-W3K030@-@G20BJ
1/29 R88M-W3K030@-@G29BJ
1/45 R88M-W3K030@-@G45BJ
---
---
---
Diagram 1
Key dimensions
t1
QK
h
G
F
Four, Z dia.
T
E3
E1
LL
LM
LR
C1 × C1
2-38
Standard Models and Specifications
Chapter 2
Note WOB and WB mean “without brake” and “with brake” respectively.
Dimensions (mm)
Model
E1
E3
F
G
S
T
Z
IE
Key dimensions
QK
47
b
h
t1
57
20
3
3
5
5
5
3
5
5
5
5
3
5
5
5
5
5
5
5
5
5
12
35
35
50
50
50
35
50
50
50
60
35
50
50
60
60
50
50
60
60
60
55
55
75
75
75
55
75
75
75
90
55
75
75
90
90
75
75
90
90
90
12
12
12
12
12
12
12
12
12
14
12
12
12
14
14
12
12
14
14
14
---
---
10
10
14
14
14
10
14
14
14
18
10
14
14
18
18
14
14
18
18
18
8
5
5
R88M-W1K030@-@G05BJ
R88M-W1K030@-@G09BJ
R88M-W1K030@-@G20BJ
R88M-W1K030@-@G29BJ
R88M-W1K030@-@G45BJ
R88M-W1K530@-@G05BJ
R88M-W1K530@-@G09BJ
R88M-W1K530@-@G20BJ
R88M-W1K530@-@G29BJ
R88M-W1K530@-@G45BJ
R88M-W2K030@-@G05BJ
R88M-W2K030@-@G09BJ
R88M-W2K030@-@G20BJ
R88M-W2K030@-@G29BJ
R88M-W2K030@-@G45BJ
R88M-W3K030@-@G05BJ
R88M-W3K030@-@G09BJ
R88M-W3K030@-@G20BJ
R88M-W3K030@-@G29BJ
R88M-W3K030@-@G45BJ
1/5
1 kW
1.5 kW
2 kW
3 kW
57
77
77
77
57
77
77
77
92
57
77
77
92
92
77
77
92
92
92
20
33
33
33
20
33
33
33
38
20
33
33
38
38
33
33
38
38
38
12
15
15
15
12
15
15
15
18
12
15
15
18
18
15
15
18
18
18
47
65
65
65
47
65
65
65
78
47
65
65
78
78
65
65
78
78
78
8
1/9
137
137
137
---
9
5.5
5.5
5.5
5
1/20
1/29
1/45
1/5
9
9
8
137
137
137
171
---
9
5.5
5.5
5.5
7
1/9
9
1/20
1/29
1/45
1/5
9
11
8
5
137
137
171
171
137
137
171
171
171
9
5.5
5.5
7
1/9
9
1/20
1/29
1/45
1/5
11
11
9
7
5.5
5.5
7
9
1/9
11
11
11
1/20
1/29
1/45
7
7
Diagram 2
Key dimensions
QK
t1
h
G
F
Six, Z dia.
T
E3
E1
LL
LM
LR
2-39
Standard Models and Specifications
Chapter 2
● 3,000-r/min Flat-style Servomotors (100 W to 1.5 kW) with Standard Gears
Model
Dia-
gram
No.
Dimensions (mm)
LL
LM
LR
C1
C2
D1
D2
D3
D4
D5
D6
WOB* WB*
100 W 1/5
R88M-WP10030@-@G05BJ
1
62
91
46
60
70
60
(92)
(92)
80
80
65
64.5
64.5
84
40
8
8
9
9
9
9
1/11 R88M-WP10030@-@G11BJ
1/21 R88M-WP10030@-@G21BJ
1/33 R88M-WP10030@-@G33BJ
62
91
46
55
55
56
56
64
64
60
70
60
65
40
59
59
59
59
59
59
59
59
59
84
59
59
84
84
84
84
135
135
62
91
74
90
60
(120) 105
(120) 105
(120) 105
(120) 105
(139) 120
(139) 120
(120) 105
(139) 120
(158) 135
(158) 135
(139) 120
(158) 135
(192) 165
(192) 165
(158) 135
(192) 165
85
62
91
74
90
60
85
84
200 W 1/5
R88M-WP20030@-@G05BJ
1/11 R88M-WP20030@-@G11BJ
1/21 R88M-WP20030@-@G21BJ
1/33 R88M-WP20030@-@G33BJ
1
1
1
67
98.5
98.5
98.5
98.5
74
90
80
85
84
67
74
90
80
85
84
67
84
105
105
90
80
100
100
85
96
12
12
9
67
84
80
96
400 W 1/5
R88M-WP40030@-@G05BJ
1/11 R88M-WP40030@-@G11BJ
1/21 R88M-WP40030@-@G21BJ
1/33 R88M-WP40030@-@G33BJ
87
118.5 56
118.5 64
118.5 71
118.5 72
74
80
84
87
84
105
120
120
105
120
145
145
120
145
170
170
80
100
115
115
100
115
140
140
115
140
165
165
96
12
14
14
12
14
16
16
14
16
---
---
87
105
105
84
80
112
114
96
87
80
750 W 1/5
R88M-WP75030@-@G05BJ
1/11 R88M-WP75030@-@G11BJ
1/21 R88M-WP75030@-@G21BJ
1/33 R88M-WP75030@-@G33BJ
86.5
86.5
86.5
86.5
120
120
120
120
64
72
88
88
72
88
94
94
120
120
120
120
120
120
120
120
105
142
142
105
142
156
156
112
134
134
114
134
163
163
1.5 kW 1/5
R88M-WP1K530@-@G05BJ
1/11 R88M-WP1K530@-@G11BJ
1/21 R88M-WP1K530@-@G21BJ
1/33 R88M-WP1K530@-@G33BJ
1
2
114.5 148
114.5 148
114.5 148
114.5 148
215
215
190
190
Note The values in parentheses are reference values.
Diagram 1
Key dimensions
M (Effective depth: l)
QK
t1
h
G
F
C1 × C1
Four, RD6
T
Four, Z dia.
E1
E2
LL
LM
LR
2-40
Standard Models and Specifications
Chapter 2
Note WOB and WB mean “without brake” and “with brake” respectively.
Dimensions (mm)
Model
E1
E2
F
G
S
T
Z
Key dimensions
t1
QK
25
b
h
M
l
30
39
8
8
9
9
16
16
20
20
20
20
25
25
20
25
32
32
25
32
40
40
32
40
45
45
28
28
36
36
36
36
42
42
36
42
58
58
42
58
82
82
58
82
82
82
6.6
5
5
5
6
6
6
6
7
7
6
7
8
8
7
8
8
8
8
8
9
9
3
3
M4
8
R88M-WP10030@-@G05BJ 1/5
R88M-WP10030@-@G11BJ 1/11
R88M-WP10030@-@G21BJ 1/21
R88M-WP10030@-@G33BJ 1/33
R88M-WP20030@-@G05BJ 1/5
R88M-WP20030@-@G11BJ 1/11
R88M-WP20030@-@G21BJ 1/21
R88M-WP20030@-@G33BJ 1/33
R88M-WP40030@-@G05BJ 1/5
R88M-WP40030@-@G11BJ 1/11
R88M-WP40030@-@G21BJ 1/21
R88M-WP40030@-@G33BJ 1/33
R88M-WP75030@-@G05BJ 1/5
R88M-WP75030@-@G11BJ 1/11
R88M-WP75030@-@G21BJ 1/21
R88M-WP75030@-@G33BJ 1/33
R88M-WP1K530@-@G05BJ 1/5
R88M-WP1K530@-@G11BJ 1/11
R88M-WP1K530@-@G21BJ 1/21
R88M-WP1K530@-@G33BJ 1/33
100 W
200 W
400 W
750 W
1.5 kW
30
38
38
38
38
44
44
38
44
60
60
44
60
85
85
60
85
86
86
39
6.6
9
25
32
32
32
32
36
36
32
36
50
50
36
50
70
70
50
70
70
70
5
M4
M5
8
48
7.5
7.5
7.5
7.5
12
10
10
10
10
12
12
10
12
13
13
12
13
15
15
13
15
16
16
6
3.5
3.5
3.5
3.5
4
10
10
10
10
12
12
10
12
16
16
12
16
20
20
16
20
20
20
48
9
6
M5
48
9
6
M5
48
9
6
M5
55
9
8
M6
55
12
9
8
4
M6
48
7.5
12
9
6
3.5
4
M5
55
9
8
M6
72
14
11
11
9
10
10
8
5
M8
72
12.5
12
5
M8
55
4
M6
72
14
11
14
14
11
14
14
14
10
12
12
10
12
14
14
5
M8
102
102
72
10
5
M10
M10
M8
10
5
12.5
10
5
102
105
105
5
M10
M10
M10
16
5.5
5.5
16
Diagram 2
Key dimensions
M (Effective depth: l)
F
G
t1
h
QK
Four, Z dia.
T
E1
E2
LL
LM
LR
C1 × C1
2-41
Standard Models and Specifications
Chapter 2
● 1,000-r/min Servomotors (300 to 3 kW) with Standard Gears
Model
Dia-
gram
No.
Dimensions (mm)
LL
LM
LR
C1 C2 D1
D2
D3
D4
D5
WOB*
138
138
138
138
138
161
161
161
161
161
185
185
185
185
185
166
166
166
166
166
192
192
192
WB*
176
300 W 1/5
1/9
R88M-W30010@-@G05BJ
R88M-W30010@-@G09BJ
1
156
100
140
140
140
---
130
185
185
185
245
245
185
185
245
245
310
185
245
245
310
310
245
245
310
310
310
245
245
310
160
130
94
91
176
176
176
176
199
199
199
199
199
223
223
223
223
223
217
217
217
217
217
243
243
243
168
187
213
223
156
168
213
213
244
156
209
213
234
244
203
230
255
255
265
203
230
255
100
100
140
140
100
100
140
140
160
100
140
140
160
160
140
140
160
160
160
140
140
160
130
130
130
130
130
130
130
130
130
130
130
130
130
130
180
180
180
180
180
180
180
180
160
160
220
220
160
160
220
220
280
160
220
220
280
280
220
220
280
280
280
220
220
280
130
130
190
190
130
130
190
190
240
130
190
190
240
240
190
190
240
240
240
190
190
240
94
91
1/20 R88M-W30010@-@G20BJ
1/29 R88M-W30010@-@G29BJ
1/45 R88M-W30010@-@G45BJ
94
91
2
1
2
135
135
94
130
130
91
---
600 W 1/5
1/9
R88M-W60010@-@G05BJ
R88M-W60010@-@G09BJ
140
140
---
94
91
1/20 R88M-W60010@-@G20BJ
1/29 R88M-W60010@-@G29BJ
1/45 R88M-W60010@-@G45BJ
135
135
186
94
130
130
182
91
---
---
900 W 1/5
1/9
R88M-W90010@-@G05BJ
R88M-W90010@-@G09BJ
1
2
140
---
135
135
186
186
135
135
186
186
186
135
135
186
130
130
182
182
130
130
182
182
182
130
130
182
1/20 R88M-W90010@-@G20BJ
1/29 R88M-W90010@-@G29BJ
1/45 R88M-W90010@-@G45BJ
---
---
---
1.2 kW 1/5
1/9
R88M-W1K210@-@G05BJ
R88M-W1K210@-@G09BJ
2
2
---
---
1/20 R88M-W1K210@-@G20BJ
1/29 R88M-W1K210@-@G29BJ
1/45 R88M-W1K210@-@G45BJ
---
---
---
2 kW
1/5
1/9
R88M-W2K010@-@G05BJ
R88M-W2K010@-@G09BJ
---
---
1/20 R88M-W2K010@-@G20BJ
---
Diagram 1
Key dimensions
t1
QK
h
G
F
Four, Z dia.
T
E3
E1
LL
LM
LR
C1 × C1
2-42
Standard Models and Specifications
Chapter 2
Note WOB and WB mean “without brake” and “with brake” respectively.
Dimensions (mm)
Model
E1
E3
F
G
S
T
Z
IE
Key dimensions
QK
47
b
h
t1
57
20
3
3
3
5
5
3
3
5
5
5
3
5
5
5
5
5
5
5
5
5
5
5
5
12
35
35
35
50
50
35
35
50
50
60
35
50
50
60
60
50
50
60
60
60
50
50
60
55
55
55
75
75
55
55
75
75
90
55
75
75
90
90
75
75
90
90
90
75
75
90
12
12
12
12
12
12
12
12
12
14
12
12
12
14
14
12
12
14
14
14
12
12
14
---
---
---
10
10
10
14
14
10
10
14
14
18
10
14
14
18
18
14
14
18
18
18
14
14
18
8
5
5
5
R88M-W30010@-@G05BJ
R88M-W30010@-@G09BJ
R88M-W30010@-@G20BJ
R88M-W30010@-@G29BJ
R88M-W30010@-@G45BJ
R88M-W60010@-@G05BJ
R88M-W60010@-@G09BJ
R88M-W60010@-@G20BJ
R88M-W60010@-@G29BJ
R88M-W60010@-@G45BJ
R88M-W90010@-@G05BJ
R88M-W90010@-@G09BJ
R88M-W90010@-@G20BJ
R88M-W90010@-@G29BJ
R88M-W90010@-@G45BJ
R88M-W1K210@-@G05BJ
R88M-W1K210@-@G09BJ
R88M-W1K210@-@G20BJ
R88M-W1K210@-@G29BJ
R88M-W1K210@-@G45BJ
R88M-W2K010@-@G05BJ
R88M-W2K010@-@G09BJ
R88M-W2K010@-@G20BJ
1/5
300 W
600 W
900 W
1.2 kW
2 kW
57
57
77
77
57
57
77
77
92
57
77
77
92
92
77
77
92
92
92
77
77
92
20
20
33
33
20
20
33
33
38
20
33
33
38
38
33
33
38
38
38
33
33
38
12
12
15
15
12
12
15
15
18
12
15
15
18
18
15
15
18
18
18
15
15
18
47
47
65
65
47
47
65
65
78
47
65
65
78
78
65
65
78
78
78
65
65
78
8
1/9
8
1/20
1/29
1/45
1/5
137
137
---
9
5.5
5.5
5
9
8
---
8
5
1/9
137
137
171
---
9
5.5
5.5
7
1/20
1/29
1/45
1/5
9
11
8
5
137
137
171
171
137
137
171
171
171
137
137
171
9
5.5
5.5
7
1/9
9
1/20
1/29
1/45
1/5
11
11
9
7
5.5
5.5
7
9
1/9
11
11
11
9
1/20
1/29
1/45
1/5
7
7
5.5
5.5
7
9
1/9
11
1/20
Diagram 2
Key dimensions
QK
t1
h
G
F
Six, Z dia.
T
E3
E1
LL
LM
LR
2-43
Standard Models and Specifications
Chapter 2
● 1,500-r/min Servomotors (450 W to 4.4 kW) with Standard Gears
Model
Dia-
gram
No.
Dimensions (mm)
LL
LM
LR
C1 C2 D1
D2
D3
D4
D5
WOB*
138
138
138
138
138
161
161
161
161
161
185
185
185
185
185
166
166
166
166
WB*
176
450 W 1/5
1/9
R88M-W45015T-@G05BJ
R88M-W45015T-@G09BJ
1
156
100
140
140
---
130
185
185
245
245
245
185
185
245
245
310
245
245
245
310
310
245
245
310
310
160
130
94
91
176
176
176
176
199
199
199
199
199
223
223
223
223
223
217
217
217
217
168
213
213
223
156
168
213
213
244
182
209
213
234
244
203
230
255
255
100
140
140
140
100
100
140
140
160
140
140
140
160
160
140
140
160
160
130
130
130
130
130
130
130
130
130
130
130
130
130
130
180
180
180
180
160
220
220
220
160
160
220
220
280
220
220
220
280
280
220
220
280
280
130
190
190
190
130
130
190
190
240
190
190
190
240
240
190
190
240
240
94
91
1/20 R88M-W45015T-@G20BJ
1/29 R88M-W45015T-@G29BJ
1/45 R88M-W45015T-@G45BJ
2
135
135
135
94
130
130
130
91
---
---
850 W 1/5
1/9
R88M-W85015T-@G05BJ
R88M-W85015T-@G09BJ
1
2
140
140
---
94
91
1/20 R88M-W85015T-@G20BJ
1/29 R88M-W85015T-@G29BJ
1/45 R88M-W85015T-@G45BJ
135
135
186
135
135
135
186
186
135
135
186
186
130
130
182
130
130
130
182
182
130
130
182
182
---
---
1.3 kW 1/5
1/9
R88M-W1K315T-@G05BJ
R88M-W1K315T-@G09BJ
2
2
---
---
1/20 R88M-W1K315T-@G20BJ
1/29 R88M-W1K315T-@G29BJ
1/45 R88M-W1K315T-@G45BJ
---
---
---
1.8 kW 1/5
1/9
R88M-W1K815T-@G05BJ
R88M-W1K815T-@G09BJ
---
---
1/20 R88M-W1K815T-@G20BJ
1/29 R88M-W1K815T-@G29BJ
---
---
Diagram 1
Key dimensions
t1
QK
h
G
F
Four, Z dia.
T
E3
E1
LL
LM
LR
C1 × C1
2-44
Standard Models and Specifications
Chapter 2
Note WOB and WB mean “without brake” and “with brake” respectively.
Dimensions (mm)
Model
E1
E3
F
G
S
T
Z
IE
Key dimensions
QK
47
b
h
t1
57
20
3
3
5
5
5
3
3
5
5
5
5
5
5
5
5
5
5
5
5
12
35
35
50
50
50
35
35
50
50
60
50
50
50
60
60
50
50
60
60
55
55
75
75
75
55
55
75
75
90
75
75
75
90
90
75
75
90
90
12
12
12
12
12
12
12
12
12
14
12
12
12
14
14
12
12
14
14
---
---
10
10
14
14
14
10
10
14
14
18
14
14
14
18
18
14
14
18
18
8
5
5
R88M-W45015T-@G05BJ
R88M-W45015T-@G09BJ
R88M-W45015T-@G20BJ
R88M-W45015T-@G29BJ
R88M-W45015T-@G45BJ
R88M-W85015T-@G05BJ
R88M-W85015T-@G09BJ
R88M-W85015T-@G20BJ
R88M-W85015T-@G29BJ
R88M-W85015T-@G45BJ
R88M-W1K315T-@G05BJ
R88M-W1K315T-@G09BJ
R88M-W1K315T-@G20BJ
R88M-W1K315T-@G29BJ
R88M-W1K315T-@G45BJ
R88M-W1K815T-@G05BJ
R88M-W1K815T-@G09BJ
R88M-W1K815T-@G20BJ
R88M-W1K815T-@G29BJ
1/5
450 W
850 W
1.3 kW
1.8 kW
57
77
77
77
57
57
77
77
92
77
77
77
92
92
77
77
92
92
20
33
33
33
20
20
33
33
38
33
33
33
38
38
33
33
38
38
12
15
15
15
12
12
15
15
18
15
15
15
18
18
15
15
18
18
47
65
65
65
47
47
65
65
78
65
65
65
78
78
65
65
78
78
8
1/9
137
137
137
---
9
5.5
5.5
5.5
5
1/20
1/29
1/45
1/5
9
9
8
---
8
5
1/9
137
137
171
137
137
137
171
171
137
137
171
171
9
5.5
5.5
7
1/20
1/29
1/45
1/5
9
11
9
5.5
5.5
5.5
7
9
1/9
9
1/20
1/29
1/45
1/5
11
11
9
7
5.5
5.5
7
9
1/9
11
11
1/20
1/29
7
Diagram 2
Key dimensions
QK
t1
h
G
F
Six, Z dia.
T
E3
E1
LL
LM
LR
2-45
Standard Models and Specifications
Chapter 2
■ AC Servomotors with Economy Gears
● 3,000-r/min Servomotors (100 to 750 W) with Economy Reduction Gears
Model
Dia-
gram
No.
Dimensions (mm)
LL
LM
LR C1 C2
D2
D3
D4
WOB*
94.5
94.5
94.5
94.5
96.5
96.5
96.5
96.5
124.5
124.5
124.5
124.5
145
WB*
135
100 W 1/5
1/9
R88M-W10030@-@G05CJ
R88M-W10030@-@G09CJ
1
67.5
32
32
32
50
32
50
50
50
50
50
50
61
50
61
61
75
52
40
40
40
40
60
60
60
60
60
60
60
60
80
80
80
80
60
50
45
135
67.5
78
52
52
78
52
78
78
78
78
78
78
98
78
98
98
125
60
50
50
70
50
70
70
70
70
70
70
90
70
90
90
110
45
45
62
45
62
62
62
62
62
62
75
62
75
75
98
1/15 R88M-W10030@-@G15CJ
1/25 R88M-W10030@-@G25CJ
135
60
135
92
90
200 W 1/5
1/9
R88M-W20030@-@G05CJ
R88M-W20030@-@G09CJ
2
2
2
136
72.5
89.5
100
100
89.5
89.5
100
104
93.5
97.5
110
135
60
136
90
1/15 R88M-W20030@-@G15CJ
1/25 R88M-W20030@-@G25CJ
136
90
136
90
400 W 1/5
1/9
R88M-W40030@-@G05CJ
R88M-W40030@-@G09CJ
164
90
164
90
1/15 R88M-W40030@-@G15CJ
1/25 R88M-W40030@-@G25CJ
164
90
164
115
90
750 W 1/5
1/9
R88M-W75030@-@G05CJ
R88M-W75030@-@G09CJ
189.5
189.5
189.5
189.5
145
115
115
135
1/15 R88M-W75030@-@G15CJ
1/25 R88M-W75030@-@G25CJ
145
145
Model
Dimensions (mm)
E1
E3
F
S
T
Z
l
Key dimensions
QK
16
b
h
t1
2.5
100 W 1/5
1/9
R88M-W10030@-@G05CJ
R88M-W10030@-@G09CJ
22
22
22
33
22
33
33
33
33
33
33
43
33
43
43
58
10
3
3
3
3
3
3
3
3
3
3
3
5
3
5
5
5
12
12
12
19
12
19
19
19
19
19
19
24
19
24
24
32
20
20
20
30
20
30
30
30
30
30
30
40
30
40
40
55
M5
12
12
12
20
12
20
20
20
20
20
20
20
20
20
20
20
4
4
4
6
4
6
6
6
6
6
6
8
6
8
8
10
4
4
4
6
4
6
6
6
6
6
6
7
6
7
7
8
10
10
17
10
17
17
17
17
17
17
18
17
18
18
17
M5
M5
M6
M5
M6
M6
M6
M6
M6
M6
M8
M6
M8
M8
M10
16
16
22
16
22
22
22
22
22
22
30
22
30
30
45
2.5
2.5
3.5
2.5
3.5
3.5
3.5
3.5
3.5
3.5
4
1/15 R88M-W10030@-@G15CJ
1/25 R88M-W10030@-@G25CJ
200 W 1/5
1/9
R88M-W20030@-@G05CJ
R88M-W20030@-@G09CJ
1/15 R88M-W20030@-@G15CJ
1/25 R88M-W20030@-@G25CJ
400 W 1/5
1/9
R88M-W40030@-@G05CJ
R88M-W40030@-@G09CJ
1/15 R88M-W40030@-@G15CJ
1/25 R88M-W40030@-@G25CJ
750 W 1/5
1/9
R88M-W75030@-@G05CJ
R88M-W75030@-@G09CJ
3.5
4
1/15 R88M-W75030@-@G15CJ
1/25 R88M-W75030@-@G25CJ
4
5
Note WOB and WB mean “without brake” and “with brake” respectively.
2-46
Standard Models and Specifications
Chapter 2
Diagram 1
Key dimensions
QK
t1
h
E3
Four, Z dia.
F
(Effective depth: l)
T
E1
C1 × C1
LL
LM
LR
Diagram 2
Key dimensions
QK
t1
h
E3
Four, Z dia.
(Effective depth: l)
F
T
E1
C1 × C1
LL
LM
LR
2-47
Standard Models and Specifications
Chapter 2
● 3,000-r/min Flat-style Servomotors (100 to 750 W) with Economy Gears
Model
Dimensions (mm)
LL
LM
LR C1 C2
D2
D3
D4
WOB*
WB*
91
100 W 1/5
1/9
R88M-WP10030@-@G05CJ 62
R88M-WP10030@-@G09CJ 62
72.5
32
32
32
50
32
50
50
50
50
50
50
61
50
61
61
75
52
60
60
50
45
91
72.5
78
52
52
78
52
78
78
78
78
78
78
98
78
98
98
125
60
60
50
50
70
50
70
70
70
70
70
70
90
70
90
90
110
45
45
62
45
62
62
62
62
62
62
75
62
75
75
98
1/15 R88M-WP10030@-@G15CJ 62
1/25 R88M-WP10030@-@G25CJ 62
91
60
60
91
92
60
90
200 W 1/5
1/9
R88M-WP20030@-@G05CJ 67
R88M-WP20030@-@G09CJ 67
98.5
98.5
98.5
98.5
118.5
118.5
118.5
118.5
120
72.5
89.5
100
100
89.5
89.5
100
104
93.5
97.5
110
135
80
60
80
90
1/15 R88M-WP20030@-@G15CJ 67
1/25 R88M-WP20030@-@G25CJ 67
80
90
80
90
400 W 1/5
1/9
R88M-WP40030@-@G05CJ 87
R88M-WP40030@-@G09CJ 87
80
90
80
90
1/15 R88M-WP40030@-@G15CJ 87
1/25 R88M-WP40030@-@G25CJ 87
80
90
80
115
90
750 W 1/5
1/9
R88M-WP75030@-@G05CJ 86.5
R88M-WP75030@-@G09CJ 86.5
120
120
120
120
120
115
115
135
1/15 R88M-WP75030@-@G15CJ 86.5
1/25 R88M-WP75030@-@G25CJ 86.5
120
120
Model
Dimensions (mm)
E1
E3
F
S
T
Z
l
Key dimensions
QK
16
b
h
t1
100 W 1/5
1/9
R88M-WP10030@-@G05CJ 22
R88M-WP10030@-@G09CJ 22
10
3
3
3
3
3
3
3
3
3
3
3
5
3
5
5
5
12
12
12
19
12
19
19
19
19
19
19
24
19
24
24
32
20
20
20
30
20
30
30
30
30
30
30
40
30
40
40
55
M5
12
12
12
20
12
20
20
20
20
20
20
20
20
20
20
20
4
4
4
6
4
6
6
6
6
6
6
8
6
8
8
10
4
4
4
6
4
6
6
6
6
6
6
7
6
7
7
8
2.5
10
10
17
10
17
17
17
17
17
17
18
17
18
18
17
M5
M5
M6
M5
M6
M6
M6
M6
M6
M6
M8
M6
M8
M8
M10
16
16
22
16
22
22
22
22
22
22
30
22
30
30
45
2.5
2.5
3.5
2.5
3.5
3.5
3.5
3.5
3.5
3.5
4
1/15 R88M-WP10030@-@G15CJ 22
1/25 R88M-WP10030@-@G25CJ 33
200 W 1/5
1/9
R88M-WP20030@-@G05CJ 22
R88M-WP20030@-@G09CJ 33
1/15 R88M-WP20030@-@G15CJ 33
1/25 R88M-WP20030@-@G25CJ 33
400 W 1/5
1/9
R88M-WP40030@-@G05CJ 33
R88M-WP40030@-@G09CJ 33
1/15 R88M-WP40030@-@G15CJ 33
1/25 R88M-WP40030@-@G25CJ 43
750 W 1/5
1/9
R88M-WP75030@-@G05CJ 33
R88M-WP75030@-@G09CJ 43
3.5
4
1/15 R88M-WP75030@-@G15CJ 43
1/25 R88M-WP75030@-@G25CJ 58
4
5
Note WOB and WB mean “without brake” and “with brake” respectively.
2-48
Standard Models and Specifications
Chapter 2
Diagram
Key dimensions
QK
t1
h
E3
Four, Z dia.
(Effective depth: l)
F
T
E1
C1 × C1
LL
LM
LR
2-49
Standard Models and Specifications
Chapter 2
2-4 Servo Driver Specifications
■ R88D-WN@-ML2/OMNUC W-series AC Servo Drivers (with Built-in
MECHATROLINK-II Communications)
Referring to 2-2 Servo Driver and Servomotor Combinations, select a Servo Driver to match the Ser-
vomotor that is being used.
2-4-1 General Specifications
Item
Specifications
Ambient operating temperature 0° to 55°C
Ambient operating humidity
90% max. (with no condensation)
Ambient storage temperature −20° to 85°C
Ambient storage humidity
90% max. (with no condensation)
Storage and operating atmo-
sphere
No corrosive gasses.
Vibration resistance
10 to 55 Hz in X, Y, and Z directions with 0.1-mm double amplitude; acceler-
2
ation: 4.9 m/s max.
2
Impact resistance
Acceleration 19.6 m/s max., in X, Y, and Z directions, three times
Insulation resistance
Dielectric strength
Between power line terminals and case: 0.5 MΩ min. (at 500 V DC)
Between power line terminals and case: 1,500 V AC for 1 min at 50/60 Hz
Between each control signal and case: 500 V AC for 1 min
Built into panel (IP10).
Protective structure
EC directives EMC directive EN55011 class A group 1
EN61000-6-2
Low-voltage
directive
EN50178
UL standards
cUL standards
UL508C
cUL C22.2 No. 14
Note 1. The above items reflect individual evaluation testing. The results may differ under compound
conditions.
Note 2. Absolutely do not conduct a withstand voltage test with a Megger tester on the Servo Driver.
If such tests are conducted, internal elements may be damaged.
2-50
Standard Models and Specifications
Chapter 2
Note 3. Depending on the operating conditions, some Servo Driver parts will require maintenance.
Refer to 5-5 Periodic Maintenance for details.
Note 4. The service life of the Servo Driver is 50,000 hours at an average ambient temperature of
40°C at 80% of the rated torque.
2-4-2 Performance Specifications
■ Control Specifications
● 100-V AC Input Type
Item
Model R88D-
WNA5L-ML2 WN01L-ML2 WN02L-ML2 WN04L-ML2
Continuous output current (rms)
0.66 A
0.91 A
2.8 A
2.1 A
6.5 A
2.8 A
8.5 A
Momentary maximum output current (rms) 2.1 A
Input power Main circuits
Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz
Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz
supply
Control circuits
Heating
value
Main circuits
5.2 W
12 W
13 W
16.4 W
13 W
24 W
13 W
Control circuits
13 W
Control method
All-digital Servo
Inverter method
PWM method based on IGBT
10.667 kHz
PWM frequency
Weight
Approx. 0.7 kg Approx. 0.7 kg Approx. 0.7 kg Approx. 1.4 kg
Maximum applicable Servomotor wattage
50 W
100 W
W10030H
W10030T
WP10030H
WP10030T
---
200 W
W20030H
W20030T
WP20030H
WP20030T
---
400 W
W40030H
W40030T
WP40030H
WP40030T
---
Applicable
Servomotor
(R88M-)
3,000-r/min
[Incremental] W05030H
[Absolute] W05030T
[Incremental] ---
[Absolute] ---
[Incremental] ---
3,000-r/min
Flat-style
1,000-r/min
[Absolute]
[Absolute]
---
---
---
---
1,500-r/min
---
---
---
---
Performance Speed control range
Load fluctuation rate
1:5,000
0.01% max. at 0% to 100% (at rated rotation speed)
0% at rated voltage 10% (at rated rotation speed)
Voltage fluctuation rate
Temperature fluctuation rate 0.1% max. at 0 to 50°C (at rated rotation speed)
Frequency characteristics
600 Hz (at the same load as the rotor inertia)
Torque control repeatability
1%
2-51
Standard Models and Specifications
Chapter 2
● 200-V AC Input Type (Single-phase Input)
Item
Model R88D-
WNA5H-ML2 WN01H-ML2 WN02H-ML2 WN04H-ML2 WN08H-ML2
Continuous output current (rms)
0.66 A
2.1 A
0.91 A
2.8 A
2.1 A
6.5 A
2.8 A
8.5 A
5.5 A
Momentary maximum output cur-
rent (rms)
16.9 A
Input
power
supply
Main circuits
Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz
Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz
Control circuits
Heating
value
Main circuits
4.6 W
6.7 W
13 W
13.3 W
13 W
20 W
13 W
47 W
15 W
Control circuits
13 W
PWM frequency
Weight
10.667 kHz
Approx.
0.7 kg
Approx.
0.7 kg
Approx.
0.7 kg
Approx.
0.9 kg
Approx.
1.4 kg
Maximum applicable Servomotor
wattage
50 W
100 W
200 W
400 W
750 W
Applica-
ble Servo- min
motor
3,000-r/
[Incremen- W05030H
tal]
W10030H
W20030H
W40030H
W75030H
[Absolute] W05030T
W10030T
W20030T
W40030T
W75030T
(R88M-)
3,000-r/
min Flat-
style
[Incremen- ---
tal]
WP10030H WP20030H WP40030H WP75030H
WP10030T WP20030T WP40030T WP75030T
[Absolute] ---
1,000-r/
min
[Incremen- ---
tal]
---
---
---
---
[Absolute] ---
[Absolute] ---
---
---
---
---
---
---
---
---
1,500-r/
min
Control method
Inverter method
All-digital Servo
PWM method based on IGBT
1:5,000
Perfor-
mance
Speed control range
Load fluctuation rate
Voltage fluctuation rate 0% at rated voltage 10% (at rated rotation speed)
0.01% max. at 0% to 100% (at rated rotation speed)
Temperature fluctua-
tion rate
0.1% max. at 0 to 50°C (at rated rotation speed)
Frequency characteris- 600 Hz (at the same load as the rotor inertia)
tics
Torque control repeat-
ability
1%
2-52
Standard Models and Specifications
Chapter 2
● 200-V AC Input Type (Three-phase Input)
Item
Model R88D-
WN05H-ML2 WN10H-ML2 WN15H-ML2 WN20H-ML2 WN30H-ML2
Continuous output current (rms)
3.8 A
7.6 A
11.6 A
28.0 A
18.5 A
42.0 A
18.9 A
56.0 A
Momentary maximum output cur-
rent (rms)
11.0 A
17.0 A
Input
power
supply
Main circuits
Three-phase 200/230 V AC (170 to 253 V) 50/60 Hz
Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz
Control circuits
Heating
value
Main circuits
27 W
55 W
92 W
120 W
15 W
155 W
15 W
Control circuits
15 W
15 W
15 W
PWM frequency
Weight
10.667 kHz
8.000 kHz
4.000 kHz
Approx.
1.4 kg
Approx.
1.4 kg
Approx.
2.1 kg
Approx.
2.8 kg
Approx.
2.8 kg
Maximum applicable Servomotor
wattage
500 W
1 kW
1.5 kW
2 kW
3 kW
Applica-
ble Servo- min
motor
3,000-r/
[Incremen- ---
tal]
W1K030H
W1K530H
W2K030H
W3K030H
[Absolute] ---
W1K030T
---
W1K530T
W2K030T
W3K030T
---
(R88M-)
3,000-r/
min Flat-
type
[Incremen- ---
tal]
WP1K530H ---
WP1K530T ---
[Absolute] ---
---
---
---
1,000-r/
min
[Incremen- W30010H
tal]
W60010H
W90010H
W1K210H
W1K210T
W1K315T
W2K010H
[Absolute] W30010T
W60010T
W90010T
W2K010T
W1K815T
---
---
1,500-r/
min
[Absolute] W45015T
W85015T
Control method
Inverter method
All-digital Servo
PWM method based on IGBT
1:5,000
Perfor-
mance
Speed control range
Load fluctuation rate
Voltage fluctuation rate 0% at rated voltage 10% (at rated rotation speed)
0.01% max. at 0% to 100% (at rated rotation speed)
Temperature fluctua-
tion rate
0.1% max. at 0 to 50°C (at rated rotation speed)
Frequency characteris- 600 Hz (See note.)
tics
400 Hz (See note.)
Torque control repeat-
ability
1%
Note At a load inertia equivalent to the Servomotor's rotor inertia.
2-53
Standard Models and Specifications
Chapter 2
■ Protective and Diagnostic Functions
Error detection function
Contents
Parameter checksum error 1
Parameter format error 1
The Servo Driver's internal parameter data is abnormal.
The Servo Driver's internal parameter data is abnormal.
System parameter checksum The Servo Driver's internal parameter data is abnormal.
error 1
Parameter password error 1
Parameter checksum error 2
The Servo Driver's internal parameter data is abnormal.
The Servo Driver's internal parameter data is abnormal.
System parameter checksum The Servo Driver's internal parameter data is abnormal.
error 2
Main circuit detection error
Parameter setting error 1
Parameter setting error 2
There is an error in the detection data for the power supply circuit.
A parameter value exceeds the setting range.
A parameter value exceeds the setting range.
Dividing pulse output setting
error
The encoder divider rate setting is out of range or the set conditions are not
satisfied.
Parameter combination error
Combination error
A combination of multiple parameters is set out of range.
The combined capacity of the Servomotor and the Servo Driver is unsuit-
able.
Servo ON command invalid
alarm
After a function for executing Servo ON by means of Computer Monitor Soft-
ware was used, an attempt was made to execute Servo ON using a host
command.
Overcurrent or overheating of An overcurrent has occurred, or the Servo Driver's radiation shield has over-
radiation shield
heated.
Regeneration error
The regeneration resistor is disconnected or the regeneration transistor is
faulty.
Regeneration overload
The regenerative energy exceeds the regeneration resistance.
Main circuit power supply set- The method for providing power to the main circuit does not match the
ting error
Pn001 setting.
Overvoltage
Low voltage
Overspeed
The main-circuit DC voltage is abnormally high.
The main-circuit DC voltage is low.
The Servomotor's rotation speed is abnormally high.
Dividing pulse output over-
speed
The Servomotor rotation speed upper limit set for the encoder divider rate
setting (Pn212) was exceeded.
Vibration alarm
Abnormal vibration was detected in the Servomotor rotation speed.
The inertia ratio was in error during auto-tuning.
Auto-tuning alarm
Overload (momentary maxi-
mum load)
Operated for several seconds to several tens of seconds at a torque greatly
exceeding the rating.
Overload (continual maximum Operated continually at a torque exceeding the rating.
load)
DB overload
During DB (dynamic braking) operation, rotation energy exceeds the DB
capacity.
Inrush resistance overload
The main-circuit power supply has frequently and repeatedly been turned
ON and OFF.
Overheat
The Servo Driver's radiation shield overheated.
Encoder backup error
The encoder power supply was completely down, and position data was
cleared.
Encoder checksum error
Encoder battery error
Encoder data error
The encoder memory checksum results are in error.
The absolute encoder backup battery voltage has dropped.
The encoder's internal data is in error.
2-54
Standard Models and Specifications
Chapter 2
Error detection function
Contents
Encoder overspeed
The encoder rotated at high speed when the power was ON.
The encoder's internal temperature is too high.
The phase-U current detector is in error.
The phase-V current detector is in error.
The current detector is in error.
Encoder overheat
Current detection error 1
Current detection error 2
Current detection error 3
MECHATROLINK communica- The MECHATROLINK communications ASIC is in error.
tions ASIC error 1
MECHATROLINK communica- A fatal error occurred in the MECHATROLINK communications ASIC.
tions ASIC error 2
System alarm 0
System alarm 1
System alarm 2
System alarm 3
System alarm 4
Runaway detected
Multi-turn data error
Servo Driver internal program error 0 occurred.
Servo Driver internal program error 1 occurred.
Servo Driver internal program error 2 occurred.
Servo Driver internal program error 3 occurred.
Servo Driver internal program error 4 occurred.
Servomotor runaway occurred.
Absolute encoder multi-turn data was cleared or could not be set correctly.
Encoder communications error No communication possible between the encoder and Servo Driver.
Encoder communications posi- An error occurred in the encoder's position data calculations.
tion data error
Encoder communications timer An error occurred in the timer for communications between the encoder and
error
Servo Driver.
Encoder parameter error
Encoder echo-back error
Multi-turn limit discrepancy
Deviation counter overflow
Encoder parameters are corrupted.
The contents of communications with the encoder are wrong.
The multi-turn limits for the encoder and the Servo Driver do not match.
Position deviation pulses exceeded the level set for Pn520.
Deviation counter overflow
alarm at Servo ON
When Servo ON was executed, the accumulated number of position devia-
tion pulses reached or exceeded the number set for Pn526.
Deviation counter overflow
alarm by speed limit at Servo
ON
If Servo ON is executed with position deviation pulses accumulated, the
speed is limited by the setting in Pn529. A command pulse was input during
this period, without the limit being cleared, and the setting in Pn520 was
exceeded.
COM alarm 0
COM alarm 1
COM alarm 2
COM alarm 7
COM alarm 8
COM alarm 9
Servo Driver COM error 0 occurred.
Servo Driver COM error 1 occurred.
Servo Driver COM error 2 occurred.
Servo Driver COM error 7 occurred.
Servo Driver COM error 8 occurred.
Servo Driver COM error 9 occurred.
MECHATROLINK-II transmis- There is an error in the setting for the MECHATROLINK-II communications
sion cycle setting error transmission cycle.
MECHATROLINK-II synchroni- A synchronization error occurred during MECHATROLINK-II communica-
zation error tions.
MECHATROLINK-II synchroni- A synchronization failure occurred during MECHATROLINK-II communica-
zation failure tions.
MECHATROLINK-II communi- Communications errors occurred consecutively during MECHATROLINK-II
cations error communications.
MECHATROLINK-II transmis- An error occurred in the transmission cycle during MECHATROLINK-II com-
sion cycle error munications.
2-55
Standard Models and Specifications
Chapter 2
Error detection function
Contents
Servo Driver DRV error 0 occurred.
Servo Driver DRV error 1 occurred.
DRV alarm 0
DRV alarm 1
DRV alarm 2
Servo Driver DRV error 2 occurred.
Internal command error
Missing phase detected
A command error occurred in the Servo Driver.
One phase from the three-phase main circuit power supply is not connect-
ing.
2-4-3 Terminal Block Specifications
Symbol
Function
Condition
L1
Main circuits power
supply input
R88D-WN@H-ML2 (50 to 400 W):
Single-phase 200/230 VAC (170 to 253 V), 50/60 Hz (No L3 terminal)
L2
L3
R88D-WN08H-ML2 (750 W):
Single-phase 200/230 VAC (170 to 253 V), 50/60 Hz
Note: The L3 terminal is not used, so do not connect it.
R88D-WN@H-ML2 (500 W to 3.0 kW):
Single-phase 200/230 VAC (170 to 253 V), 50/60 Hz
R88D-WN@L-ML2 (50 to 400 W):
Single-phase 100/115 VAC (85 to 127 V), 50/60 Hz (No L3 terminal)
DC Reactor terminal
for power supply har- Normally short-circuit between −1 and −2.
monic control
R88D-WN@H-ML2 (500 W to 3.0 kW)
− 1
− 2
If harmonic control measures are required, connect a DC Reactor
between −1 and −2.
Main circuit positive
terminal
Used for DC power supply input.
The R88D-WN@H-ML2 (500 W to 3.0 kW) does not have a − terminal.
Use the −2 terminal.
B1/ +
Main circuit negative
terminal
−
L1C
L2C
Control circuits power R88D-WN@H-ML2: Single-phase 200/230 V AC (170 to 253 V AC)
supply input
50/60 Hz
R88D-WN@L-ML2: Single-phase 100/115 V AC (85 to 127 V AC)
50/60 Hz
External regeneration R88D-WN@H-ML2 (50 to 400 W)
resistance connection R88D-WN@L-ML2 (50 to 400 W)
B1/ +
B2
B3
terminal
This terminal does not normally need to be connected. If regenerative
energy is high, connect an External Regeneration Resistor between B1
and B2. (There is no B3 terminal.)
R88D-WN@H-ML2 (500 W to 3.0 kW)
Short-circuit between B2 and B3. If regenerative energy is high, remove
the short bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
U
V
Servomotor connec-
tion terminals
Red
These are the terminals for outputs to the Servomotor. Be
sure to wire these terminals correctly.
White
Blue
W
Green/
Yellow
Frame ground
This is the ground terminal. Ground to a minimum of 100 Ω (class-3).
2-56
Standard Models and Specifications
Chapter 2
2-4-4 Communications Specifications (CN6)
■ MECHATROLINK-II Communications Specifications
Item
Specifications
Communications specifications MECHATROLINK-II
Baud rate
10 Mbps
Maximum transmission dis-
tance
50 m (See note.)
Minimum distance between
nodes
0.5 m
Transmission medium
2-core shielded twisted-pair cable
Number of connected devices 30 Slaves max.
Topology
Bus
Transmission time
Communications method
Encoding
250 µs to 8 ms
Master/Slave total synchronization method
Manchester encoding
Data length
Either 17 or 32 bytes can be selected.
Note This is the total length of cable for connecting between devices. The maximum length will vary
depending on the number of devices connected. For details, refer to the section on wiring in 2-
6-1 MECHATROLINK-II Communications Cable Specifications.
The following table shows whether or not a Communications Repeater is required in various combi-
nations of numbers of connected MECHATROLINK-II devices and maximum transmission distances.
Maximum transmission distance
0 to 30 m
Repeater not required
Repeater not required
Repeater required
30 to 50 m
Repeater not required
Repeater required
Number of con-
nected devices
1 to 15
16
17 to 30
Repeater required
Maximum transmission
distance
OMRON model number
Yaskawa Electric model number
Communications Repeater FNY-REP2000
JEPMC-REP2000
■ System Configuration
The following diagram shows the basic system configuration. For details on the number of devices
that can be connected, refer to Transmission Time below.
2-57
Standard Models and Specifications
Chapter 2
● Connection Example: Connecting to a SYSMAC CS1W-MCH71, CJ1W-MCH71, or
CJ1W-NCF71
Host
Servo Driver
Servo Driver
M
M
Servomotor
Servomotor
■ MECHATROLINK-II Communications Setup
This section describes the required switch settings for MECHATROLINK-II communications.
● Communications Specifications
MECHATROLINK-II communications specifications are set using DIP switch SW2. The settings are
shown below. Changes to settings go into effect when the power is turned ON again.
Bit
Bit 1
Name
Setting
Contents
Default setting
Reserved for system. ON
Reserved for system. ON
Node address setting OFF
ON
---
---
ON
ON
Bit 2
Bit 3
Node address: 40H + SW1 OFF
Node address: 50H + SW1
Bit 4
Reserved for system. OFF
---
OFF
ON
OFF
1
2
3
4
SW2 (default setting)
4
5
3
2
6
1
7
0
8
F
9
A
E
D
B
C
SW1 (default setting)
● Transmission Time
The following table shows the transmission times that can be used with the Servo Driver, and the
number of nodes that can be connected.
2-58
Standard Models and Specifications
Chapter 2
Transmission time and number of connectable devices
Number of
connectable
devices
Transmission time
0.25 ms 0.5 ms 1.0 ms 1.5 ms 2.0 ms 2.5 ms 3.0 ms 3.5 ms 4.0 ms
(See
note 1.)
0
3
8
14
20
25
30
30
30
Note 1. When the transmission time is 0.25 ms, set a communications time that is a multiple of
0.5 ms.
Note 2. If the actual number of connected devices is less than the possible number, the extra words
can be used as communications retry words. The number of communication retries equals
the number of connectable devices minus the number of devices actually connected plus 1.
Note 3. When there are no communications retries, the number of connectable devices equals the
normal number of connectable devices plus 1.
Note 4. When a C2 Master is connected, the number of connectable devices equals the normal
number of connectable devices minus 1.
The node address is set as shown in the following table, using the rotary switch (SW1) and the DIP
switch (bit 3 of SW2). Changes in settings go into effect when the power is turned ON again. The
default setting for the node address is 41H (bit 3 of SW2: OFF; SW1: 1).
Node address settings
SW2 bit 3
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
SW1
Node address
Disabled
SW2 bit 3
ON
SW1
Node address
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
50H
51H
52H
53H
54H
55H
56H
57H
58H
59H
41H
42H
43H
44H
45H
46H
47H
48H
49H
4AH
4BH
4CH
4DH
4EH
4FH
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
5AH
5BH
5CH
5DH
5EH
5FH
ON
ON
ON
ON
ON
2-59
Standard Models and Specifications
Chapter 2
2-4-5 I/O Signal Specifications (CN1)
■ External Signal Processing
Servo Driver
3
4
ALM
3.3 k
6
7
24 VDC
Alarm output
ALMCOM
+24VIN
Forward rotation
drive prohibit
See note 4.
1
3.3 k
3.3 k
POT
NOT
SO1+
Maximum
operating
voltage:
Brake interlock
2
SO1−
30 V DC
Reverse rotation
drive prohibit
See note 4.
23
Maximum
output current:
50 mA
3.3 k
3.3 k
SO2+
8
24
SO2−
See note 4.
25
Origin return
deceleration switch
SO3+
3.3 k
3.3 k
DEC
9
26
SO3−
See note 4.
External latch signal 1
EXT1
3.3 k
3.3 k
17
18
20
19
21
22
+A
10
11
12
Encoder A
phase outputs
−A
Line driver
output
EIA-RS422A
conforming
(Load
resistance:
220 Ω min.)
External latch signal 2
EXT2
+B
3.3 k
3.3 k
Encoder B
phase outputs
−B
+Z
−Z
External latch signal 3
EXT3
Encoder Z
phase outputs
3.3 k
3.3 k
General-purpose
signal terminal
3.3 k
SI0 13
16 GND
Ground common
BAT
14
FG
Shell
15
Frame ground
BATGND
Backup battery
2.8 V to 4.5 V
Note 1. The inputs at pins 7 to 12 and the outputs at pins 1,2, and 23 to 26 can be changed by pa-
rameter settings. The settings in the diagram are the defaults.
Note 2. Connect pin Nos. 14 and 15 when providing an external backup power supply for the abso-
lute encoder.
Note 3. The general-purpose input at pin No. 13 can be monitored through MECHATROLINK-II.
Note 4. An automatic reset fuse is provided to protect output. If the fuse is activated for overcurrent,
it will automatically reset after a fixed period of time has lapsed without current flowing.
2-60
Standard Models and Specifications
■ Control I/O Signals
Chapter 2
● CN1 Control Inputs
Pin No.
Signal name
Function
Contents
This is the deceleration input for origin return.
Control
mode
7 to 9
DEC (9) [SI3]
Origin return
deceleration
switch signal
All
POT (7) [SI1]
NOT (8) [SI2)]
Forward drive pro- Forward rotation overtravel input.
hibit input
All
All
Reverse drive pro- Reverse rotation overtravel input.
hibit input
10 to 12 EXT1 (10) [SI4] External latch sig- This is the external signal input for latching the All
nal 1
present feedback pulse counter.
EXT2 (11) [SI5] External latch sig-
nal 2
EXT3 (12) [SI6] External latch sig-
nal 3
6
+24VIN
Sequence signal
control power sup- for sequence inputs (pin Nos. 7 to 13).
ply
This is the 24-VDC power supply input terminal All
14
15
BAT
Backup battery
inputs
These are the battery connection terminals for All [abso-
the absolute encoder power backup.
lute]
BATGND
Note: Connect the battery either to these termi-
nals or to the absolute encoder battery
cable.
13
(Not allocated) General-purpose This terminal can be monitored in the MECHA- All
[SI0] input TROLINK-II I/O monitor field.
Note 1. Input signal DEC, POT, and NOT functions can be allocated to pin Nos. 7 to 13 [SI0 to SI6]
by setting parameters Pn50A, Pn50B, and Pn511.
Note 2. Input signal EXT1, EXT2, and EXT3 functions can be allocated to pin Nos. 10 to 12 [SI4 to
SI6] by setting Pn511.
Note 3. The general-purpose input at pin No. 13 [SI0] can be monitored through MECHATROLINK-
II.
Note 4. The numbers in parentheses ( ) show the default pin number allocations. The terminal name
is shown in brackets [ ].
2-61
Standard Models and Specifications
Chapter 2
● CN1 Control Outputs
Pin No.
Signal name
Function
Contents
Control
mode
3
ALM
Alarm output
When an alarm is generated for the Servo
Driver, the output is OFF.
All
4
ALMCOM
INP1
1 to 2
23 to 26
Positioning com-
pleted output 1
ON when the position deviation is within the
positioning completed range (Pn500).
Position
Position
INP1COM
INP2
Positioning com-
pleted output 2
ON when the position deviation is within the
positioning completed range (Pn504).
INP2COM
VCMP
Speed conformity ON when the Servomotor speed error is within Speed
output
the speed conformity signal output range
(Pn503).
VCMPCOM
TGON
Servomotor rota-
tion detection out- exceeds the value set for the Servomotor rota-
put
ON when the Servomotor rotation speed
Speed
TGONCOM
tion detection speed (Pn502).
Note: TGON is always ON when the encoder of
the Servo Driver is not connected.
READY
Servo ready output ON if no errors are discovered after powering
the main circuits.
All
READYCOM
CLIMT
Current limit detec- ON if the output current is limited.
tion output
All
CLIMTCOM
VLIMT
Speed limit detec- ON if the speed is limited.
tion output
Torque
VLIMTCOM
BKIR (1) [SO1+] Brake interlock
Holding brake timing signals are output accord- All
ing to user parameters Pn506, Pn507, and
Pn508.
output
BKIRCOM (2)
[SO1−]
WARN
Warning output
outputs
ON when an overload warning or regeneration All
overload warning is detected.
WARNCOM
(Not allocated) General-purpose Allocations are set by the user parameters.
(23) [SO2+]
All
(Not allocated)
(24) [SO2−]
(Not allocated)
(25) [SO3+]
(Not allocated)
(26) [SO3−]
Shell
FG
Frame ground
Connection terminal for cable's shielded wire
and FG line.
All
Note 1. Output signal INP1, INP2, VCMP, TGON, READY, CLIMT, VLIMT, BKIR, and WARN func-
tions can be allocated to pin Nos. 1 to 2 or 23 to 26 [S01 to S03] by setting parameters
Pn50E to Pn510.
Note 2. The numbers in parentheses ( ) show the default pin number allocations. Terminal names
are shown in brackets [ ].
2-62
Standard Models and Specifications
Chapter 2
■ CN1: Pin Arrangement
Brake inter-
lock output
(See note 1.)
Backup bat-
tery + input
(See note 3.)
BAT
[absolute]
1
3
5
7
9
BKIR(SO1+)
ALM
14
16
18
20
22
24
26
Brake inter-
lock output
(See note 1.)
Backup bat-
tery − input
(See note 3.)
BKIRCOM
BATGND
[absolute]
2
4
6
8
15
17
19
21
23
25
(SO1−)
Ground
common
Servo alarm
output
GND
−A
Encoder
phase-A
+ output
Servo alarm
output
ALMCOM
+24VIN
+A
Encoder
phase-A
− output
(See note 2.)
Encoder
phase-B
− output
Sequence
signal control
power supply
−B
+Z
Encoder
phase-B
+ output
Forward drive
prohibit input
(See note 1.)
POT(SI1)
DEC(SI3)
+B
Encoder
phase-Z
+ output
Reverse drive
prohibit input
(See note 1.)
NOT(SI2)
Origin return
deceleration
switch signal
(See note 1.)
Encoder
phase-Z
− output
−Z
General-pur-
pose output
(See note 1.)
External latch
10 EXT1(SI4) signal 1 (See
note 1.)
SO2+
SO3+
External latch
signal 2 (See
note 1.)
General-pur-
pose output
(See note 1.)
11 EXT2(SI5)
SO2−
SO3−
External latch
12 EXT3(SI6) signal 3 (See
note 1.)
General-pur-
pose output
(See note 1.)
General-pur-
pose output
(See note 1.)
General-
purpose input
(See note 1.)
13
SI0
Note 1. Function allocations for pin 7 to 13 sequence inputs and pin 1, 2, and 23 to 26 sequence
outputs can be set by means of user parameters Pn50A Pn50B, Pn511, and Pn50E to
Pn510, respectively. The allocations shown in this table are the defaults.
Note 2. Do not wire the empty pins.
Note 3. When using an absolute encoder, connect a battery (2.8 to 4.5 V) either to the backup bat-
tery inputs at pin Nos. 14 and 15 or to the absolute encoder battery cable. (Do not connect
it to both of these locations.)
● CN1 Connectors (26P)
Servo Driver receptacle 10226-52A2JL (Sumitomo 3M)
Cable solder plug
Cable case
10126-3000VE (Sumitomo 3M)
10326-52A0-008 (Sumitomo 3M)
● Sequence Inputs
Servo Driver
3.3 k
+24VIN
6
External power supply:
24 V 1 V DC
Power supply capacity:
50 mA min. (per Unit)
Photocoupler input: 24 V DC, 7 mA
3.3 k
9
Min. ON time: 2 ms
To other input circuit GNDs
To other input circuits
Signal Levels ON level: Minimum (+24VIN−11) V
OFF level: Maximum (+24VIN−1) V
2-63
Standard Models and Specifications
Chapter 2
■ Control Output Circuits
● Position Feedback Output
Servo Driver
R = 220 to 470 Ω
+5 V
17 +A
+A
−A
2
16
3
Phase A
R
Phase A
18 −A
1
20 +B
+B
6
4
5
Output line driver
SN75ALS174NS
Phase B
R
Phase B
Phase Z
19 −B
−B
7
or equivalent
21 +Z
+Z
10
12
11
8
Phase Z
R
22 −Z
−Z
9
0 V
16 GND
GND
Applicable line receiver
SN75175/MC3486/
AM26LS32
0 V
0 V
FG
Shell FG
FG
● Sequence and Alarm Outputs
Servo Driver side
To other output circuits
+
X
External power
supply
24 V DC 1 V
Maximum operating voltage: 30 V DC
Maximum output current: 50 mA
Di
−
Di: Diode for preventing surge voltage
(Use speed diodes.)
See note.
Note An automatic reset fuse is provided to protect output. If the fuse is activated for overcurrent, it
will automatically reset after a fixed period of time has lapsed without current flowing.
■ Backup Battery + Input (14: BAT)
Backup Battery − Input (15: BATGND)
• These are the connection terminals for a backup battery for when power to the absolute encoder is
interrupted.
• Normally a Backup Battery Unit is used and the battery is connected to the battery holder for the
absolute encoder battery cable, so do not connect anything to these terminals. (Absolutely do not
connect to both of them, or it will cause damage.)
• The battery voltage is 2.8 to 4.5 V.
2-64
Standard Models and Specifications
Chapter 2
■ Forward Drive Prohibit (7: POT)
Reverse Drive Prohibit (8: NOT)
Note This is the default allocation. For either signal, the drive prohibition is normally disabled. This
setting can be changed by Pn50A.3/Pn50B.0.
• These two signals are the inputs for forward and reverse drive prohibit (overtravel).
• When they are input, driving is possible in the respective direction.
• When driving is prohibited, movement will stop according to the settings of Pn001.0 and Pn001.1.
Refer to the diagram below.)
• Alarm status will not be generated at the Servo Driver while driving is prohibited.
Stopping Methods when Forward/Reverse Drive Prohibit is OFF
Deceleration Method
Stopped Status
Servo unlocked
Pn001.0
"0" or "1"
Dynamic brake
Pn001.1
"0"
"2"
POT (NOT) is OFF
Free run
Pn001.1
"2"
Servo unlocked
"1" or "2"
Emergency stop torque (Pn406)
See note 1.
"1"
Servo locked
Note 1. The position loop will not operate for position control when stopping in this mode.
Note 2. When torque control is being used, the stopping method is determined by Pn001.0 setting.
(The Pn001.1 setting is irrelevant.)
Note 3. With a vertical load, the load may fall due to its own weight if it is left at a drive prohibit input.
We recommend that you set the stop method for the drive prohibit input (Pn001.1) for decel-
erating with the emergency stop torque, and then set stopping with the servo locked (SV: 1)
to prevent the load from falling.
■ Origin Return Deceleration Switch Signal (9: DEC)
Note This is the default allocation. The DEC signal is allocated in Pn511.0.
• This is the deceleration signal for origin search.
• When DEC is input (DEC: 1) during an origin search, the Servomotor speed is changed according
to the origin return approach speed 1 (Pn817). Then, when the signal is turned OFF (DEC: 0), the
Servo Driver is switched to latch operation.
2-65
Standard Models and Specifications
Chapter 2
Speed command
Origin return approach speed 1 (Pn817)
Origin return approach speed 2 (Pn818)
Origin return final travel distance (Pn819)
DEC
Latch signal
■ External latch signal 1 (10: EXT1)
External latch signal 2 (11: EXT2)
External latch signal 3 (12: EXT3)
Note This is the default allocation. The EXT1, EXT2, and EXT3 signals are allocated in Pn511.1,
Pn511.2, and Pn511.3 respectively.
• This is the signal for latching the present feedback pulse counter.
■ Encoder Output (17: Phase A +)
Encoder Output (18: Phase A −)
Encoder Output (20: Phase B +)
Encoder Output (19: Phase B −)
Encoder Output (21: Phase Z +)
Encoder Output (22: Phase Z −)
■ Alarm output (3: ALM)
Alarm output ground (4: ALMCOM)
• When the Servo Driver detects an error, outputs are turned OFF.
• This output is OFF at the time of powering up, and turns ON when the Servo Driver's initial process-
ing is completed.
■ Positioning Completed Outputs 1, 2 (INP1, INP2)
Note As the default setting, these INP signals are not allocated. The INP1 signal is allocated in
Pn50E.0, and the INP2 signal in PN510.0.
• The INP1 signal turns ON when the number of accumulated pulses in the deviation counter is less
than the value set in Pn522 (Positioning completed range 1). INP2 turns ON when the number is
less than Pn524 (Positioning completed range 2).
• When the speed command is a low speed and the set value for the positioning completed range is
large, the positioning completed outputs stay ON.
2-66
Standard Models and Specifications
Chapter 2
Note These outputs are always OFF when the control mode is any mode other than position control.
■ Speed Conformity Output (VCMP)
Note As the default setting, the VCMP signal is not allocated. It is allocated in Pn50E.1.
• The VCMP signal turns ON when the difference between the speed command and the Servomotor
rotation speed is equal to or less than the value set for Pn503 (Speed conformity signal output
range).
• For example, if the speed command is for 3,000 r/min and the set value is for 50 r/min, it turns ON
when the Servomotor rotation speed is between 2,950 and 3,050 r/min.
Note This output is always OFF when the control mode is any mode other than speed control.
■ Servomotor Rotation Detection Output (TGON)
Note As the default setting, the TGON signal is not allocated. It is allocated in Pn50E.2.
• The TGON signal turns ON when the Servomotor rotation speed exceeds the value set for Pn502
(Rotation speed for motor rotation detection).
Note TGON is always ON when the encoder of the Servo Driver is not connected.
■ Servo Ready Output (READY)
Note As the default setting, the READY signal is not allocated. It is allocated in Pn50E.3.
• The READY signal turns ON if no errors are detected after the main circuits are powered up.
■ Current Limit Detection Output (CLIMT)
Note As the default setting, the CLIMT signal is not allocated. It is allocated in Pn50F.0.
• The CLIMT signal is turned ON in any of the following four cases.
• The output torque reaches the limit value set in Pn402 (Forward torque limit) or Pn403 (Re-
verse torque limit).
• With the CJ1W-NCF71, the output torque reaches the limit value set in Pn404 (Forward rota-
tion external current limit) or Pn405 (Reverse rotation external current limit) while the torque
limit (forward/reverse rotation current limit designation) is ON.
• With the CJ1W-NCF71, the output torque reaches the torque limit value specified by option
command value 1 when Pn002.0 (Torque command input change) is set to 1.
• With the CJ1W-NCF71, the output torque reaches the torque limit value specified by option
command value 1 or 2 with the torque limit (forward/reverse rotation current limit designation)
set to ON when Pn002.0 (Torque command input change) is set to 3.
2-67
Standard Models and Specifications
Chapter 2
■ Speed Limit Detection Output (VLIMT)
Note As the default setting, the VLIMT signal is not allocated. It is allocated in Pn50F.1.
• The VLIMT signal is turned ON in either of the following two cases.
• The Servomotor rotation speed reaches the limit set in Pn407 (speed limit).
• With the CJ1W-NCF71, the Servomotor rotation speed reaches the speed limit specified by
option command value 1 when Pn002.1 (speed command input change) is set to 1.
Note This output is always OFF when the control mode is any mode other than torque control.
■ Brake Interlock Output (1: BKIR)
Brake Interlock Output Common (2: BKIRCOM)
Note This is the default allocation. The BKIR signal is allocated in Pn50F.2.
• External brake timing signals are output according to the settings in Pn506 (Brake timing 1), Pn507
(Brake command speed), and Pn508 (Brake timing 2).
Note For details on the brake interlock function, refer to 4-4-6 Brake Interlock (All Operating Modes).
■ Warning Output (WARN)
Note As the default setting, the WARN signal is not allocated. It is allocated in Pn50F.3.
• The WARN signal is turned ON in any of the following three cases.
• The Servomotor output torque (effective value) exceeds 115% of the rated torque.
• The regenerative energy exceeds the tolerance of the internal regeneration resistance.
• When external regeneration resistance is used, the regenerative energy exceeds the value set
for Pn600 (Regeneration resistance capacity).
2-4-6 Encoder Input Specifications (CN2)
Pin No.
Symbol
Signal name
Function/Interface
1
2
E5V
Encoder power supply
+5 V
Power supply outlet for encoder: 5 V, 180 mA
Note: An automatic reset fuse is provided to protect
output. If the fuse is activated due to overcurrent,
it will automatically reset after a fixed period of
time has lapsed without current flowing.
E0V
Encoder power supply
GND
3
4
BAT+
Battery + [absolute]
Backup power output for encoder
(3.6 V, 20 µA for backup or when stopped; 3 µA when
Servo Driver is being powered)
BAT−
Battery − [absolute]
5
6
S+
S−
FG
Encoder + phase-S input
Encoder − phase-S input
Shielded ground
Line driver input (conforming to EIA-RS422A)
(Input impedance: 120 Ω)
Shell
Cable shielded ground
2-68
Standard Models and Specifications
Chapter 2
● CN2 Connectors Used (6P)
Receptacle at Servo Driver 53460-0611 (Molex Japan Co., Ltd.)
Cable plug
55100-0670 (Molex Japan Co., Ltd.)
2-4-7 Personal Computer Monitor Connector Specifications
(CN3)
Pin No.
Symbol
TXD+
TXD−
RXD+
RXD−
PRMU
RT
Signal name
Transmission data +
Transmission data −
Reception data +
Reception data −
Unit switching
Function/Interface
1, 8
This is data transmitted to a personal computer.
Line receiver input
2, 9
3, 10
4, 6
5
This is data received from a personal computer.
Line receiver input
This is the terminal for switching the connection.
7
Termination resistance ter- This is the termination resistance terminal for the line
minal
receiver.
6-pin connection for RS-422 communications (final
Servo Driver only).
11, 12
13
---
(Not used.)
+5 V output
Ground
(Do not connect.)
+5V
GND
FG
This is the +5-V power supply output.
14
Shell
Shielded ground
Cable shielded ground
● CN3 Connectors Used (14P)
Receptacle at Servo Driver 10214-52AJL (Sumitomo 3M)
Cable plug with solder
Cable case
10114-3000VE (Sumitomo 3M)
10314-50A0-008 (Sumitomo 3M)
2-4-8 Analog Monitor Output Connector Specifications (CN5)
Pin No.
Symbol
Signal name
Function/Interface
1
2
NM
Analog Monitor 2
Default setting: Servomotor rotation speed, 1 V per
1,000 r/min (Can be changed by Pn007.)
AM
Analog Monitor 1
Default setting: Torque command: gravity compensation
torque, 1 V per 100% of rated torque (Can be changed
by Pn006.)
3
4
GND
GND
Analog Monitor Ground
Analog Monitor Ground
Grounds for analog monitors 1 and 2
● CN5 Connectors Used (4P)
Pin header at Servo Driver DF11-4DP-2DS (Hirose Electric)
Cable connector socket
Cable connector contact
DF11-4DS-2C (Hirose Electric)
DF11-2428SCF (Hirose Electric)
2-69
Standard Models and Specifications
Chapter 2
● Monitored Items and Scaling Changes
Monitored item
Monitor output specifications
Pn006, Pn007
setting
Servomotor rotation
speed
1 V per 1,000 r/min; forward rotation: − voltage; reverse rotation: + 00
voltage
Speed command
1 V per 1,000 r/min; forward command: − voltage; reverse com-
01
02
mand: + voltage
Torque command:
gravity compensation reverse acceleration: + voltage
torque (Pn422)
1 V per 100% of rated torque; forward acceleration: − voltage;
Position deviation*
Position amp error*
Position command
0.05 V / 1 command unit; plus error: − voltage; reverse error: + volt- 03
age
0.05 V per encoder pulse unit; plus error: − voltage; minus error: + 04
voltage
1 V per 1,000 r/min; forward rotation: − voltage; reverse rotation: + 05
speed (rotation speed voltage
calculated value)
Not used.
Not used.
---
---
06
07
08
Positioning completed Positioning completed: 5 V; positioning not completed: 0 V
Speed feed forward
Torque feed forward
Not used.
1 V per 1,000 r/min; forward rotation: − voltage; reverse rotation: + 09
voltage
1 V per 100% of rated torque; forward acceleration: − voltage;
reverse acceleration: + voltage
0A
---
0B to 1F
Note 1. The table shows the specifications with no offset adjustment or scaling changes.
Note 2. The maximum output voltage is 8 V. Normal outputs will not be possible if this value is ex-
ceeded.
Note 3. The output accuracy is approximately 15%.
Note 4. For items marked with an asterisk (*), the position deviation monitor signal is 0 when speed
control is in effect.
2-70
Standard Models and Specifications
Chapter 2
2-5 Servomotor Specifications
■ OMNUC W-series AC Servomotors (R88M-W@)
There are three kinds of OMNUC W-Series AC Servomotors, as follows:
• 3,000-r/min Servomotors
• 3,000-r/min Flat-style Servomotors
• 1,000-r/min Servomotors
• 1,500-r/min Servomotors
These Servomotors also have optional specifications, such as shaft type, with or without brake,
waterproofing, with or without reduction gears, and so on. Select the appropriate Servomotor for your
system according to the load conditions and installation environment.
2-5-1 General Specifications
Item
3,000-r/min Servomotors
3,000-r/min Flat-
style
Servomotors
1,000-r/min and
1,500-r/min
Servomotors
50 to 750 W 1 to 3 kW
Ambient operating tem-
perature
0° to 40°C
20% to 80% (with no condensation)
Ambient operating
humidity
Ambient storage temper- −20° to 60°C
ature
Ambient storage humidity 20% to 80% (with no condensation)
Storage and operating
atmosphere
No corrosive gasses.
Vibration resistance (See 10 to 2,500 Hz in
10 to 2,500 Hz in
X, Y, and Z direc-
10 to 2,500 Hz in
X, Y, and Z direc-
10 to 2,500 Hz in
X, Y, and Z direc-
note 1.)
X, Y, and Z direc-
tions with accelera- tions with accelera- tions with accelera- tions with accelera-
2
2
2
2
tion 49 m/s max. tion 24.5 m/s max. tion 49 m/s max. tion 24.5 m/s max.
Impact resistance
Acceleration
Acceleration
Acceleration
Acceleration
2
2
2
2
490 m/s max., in 490 m/s max., in 490 m/s max., in 490 m/s max., in
X, Y, and Z direc-
tions, two times
X, Y, and Z direc-
tions, two times
X, Y, and Z direc-
tions, two times
X, Y, and Z direc-
tions, two times
Insulation resistance
Dielectric strength
Between power line terminals and FG: 10 MΩ min. (at 500 V DC)
Between power line terminals and FG: 1,500 V AC for 1 min at 50/60 Hz
2-71
Standard Models and Specifications
Chapter 2
Item
3,000-r/min Servomotors
3,000-r/min Flat-
style
Servomotors
1,000-r/min and
1,500-r/min
Servomotors
50 to 750 W
1 to 3 kW
Run position
All directions
Type B
Insulation grade
Structure
Type F
Type B
Type F
Totally-enclosed self-cooling
V-15
Vibration grade
Mounting method
EC Direc- EMC Direc-
Flange-mounting
EN55011 class A group 1
EN61000-6-2
tives
tive
Low-voltage
Directive
IEC60034-8, EN60034-1, -5, -9
UL standards
cUL standards
UL1004
cUL C22.2 No. 100
Note 1. Vibration may be amplified due to sympathetic resonance of machinery, so use the Servo-
motor Driver under conditions which will not exceed 80% of the specification values over a
long period of time.
Note 2. Water-proof connectors must be used on the Power and Encoder Cables when used in en-
vironments subject to direct contact with water. Refer to 3-1-2 Servomotors for the recom-
mended connectors.
Note 3. The above items reflect individual evaluation testing. The results may differ under compound
conditions.
Note 4. The Servomotors cannot be used in misty environments.
■ Protective Structure
The protective structure depends on the type of Servomotor, as shown in the following tables. Servo-
motors are available with and without oil seals. The oils seals prevent oil and grease from penetrating
around the shaft. They do not prevent the penetration of water.
● 3,000-r/min Servomotors
30 to 750 W
1 to 5 kW
Without oil seal
With oil seal
IP55 (except for through-shaft parts) IP67 (except for through-shaft parts)*
IP55 (except for through-shaft parts) IP67 (including through-shaft parts)*
● 3,000-r/min Flat Servomotors
Without oil seal
With oil seal
IP55 (except for through-shaft parts)
IP55 (except for through-shaft parts)
With water-resistance processing IP67 (except for through-shaft parts)
● 1,000-r/min and 1,500-r/min Servomotors
Without oil seal
With oil seal
IP67 (except for through-shaft parts)*
IP67 (including through-shaft parts)*
Note The user can attach and remove oil seals for the Servomotors marked with an asterisk.
2-72
Standard Models and Specifications
2-5-2 Performance Specifications
■ 3,000-r/min Servomotors
Chapter 2
● Performance Specifications Table
200 V AC
W20030H
W20030T
Model (R88M-)
W05030H
W05030T
W10030H
W10030T
W40030H
W40030T
W75030H
W75030T
750
Item
Unit
W
Rated output*
Rated torque*
Rated rotation speed
50
100
200
400
N·m
r/min
0.159
3,000
5,000
0.318
0.637
1.27
2.39
Momentary maximum rota-
tion speed
r/min
Momentary maximum
torque*
N·m
0.477
0.955
1.91
3.82
7.16
Rated current*
A (rms) 0.64
A (rms) 2.0
0.91
2.8
2.1
6.5
2.8
8.5
4.4
Momentary maximum cur-
rent*
13.4
kg·m2
(GD2/4)
2.20 × 10-6
3.64 × 10-6
1.06 × 10-5
1.73 × 10-5
6.72 × 10-5
Rotor inertia
Torque constant*
N·m/A
kW/s
ms
ms
N
0.268
11.5
0.378
27.8
0.327
38.2
0.498
93.7
0.590
84.8
Power rate*
Mechanical time constant
Electrical time constant
Allowable radial load
Allowable thrust load
Weight Without brake
With brake
0.88
0.53
0.39
0.25
0.26
1.1
1.2
4.6
5.4
8.7
68
78
245
245
392
N
54
54
74
74
147
kg
Approx. 0.4
Approx. 0.7
Approx. 0.5
Approx. 0.8
Approx. 1.1
Approx. 1.6
Approx. 1.7
Approx. 2.2
Approx. 3.4
Approx. 4.3
kg
Radiation shield dimensions (material) t6 × @250 mm (AI)
Applicable load inertia
(See note 6.)
WNA5L-ML2
Applicable Servo Driver
(R88D-)
100 V
AC
WN01L-ML2
WN01H-ML2
WN02L-ML2
WN02H-ML2
WN04L-ML2
WN04H-ML2
---
200 V
AC
WNA5H-ML2
WN08H-ML2
kg·m2
8.5 × 10-7
8.5 × 10-7
5.8 × 10-6
5.8 × 10-6
1.4 × 10-5
Brake
specifi-
cations
Brake inertia
(GD2/4)
Excitation voltage
V
24 V DC 10%
6
Power consump-
tion (at 20°C)
W
6
6.9
6.9
7.7
Current consump-
tion (at 20°C)
A
0.25
0.25
0.29
0.29
0.32
Static friction
torque
N·m
ms
0.2 min.
30 max.
60 max.
0.34 min.
30 max.
60 max.
1.47 min.
60 max.
20 max.
1.47 min.
60 max.
20 max.
2.45 min.
80 max.
20 max.
Attraction time
(See note 3.)
Release time (See ms
note 3.)
Backlash
1° (reference value)
Continuous
Rating
---
---
Insulation grade
Type F
2-73
Standard Models and Specifications
Chapter 2
200 VAC
Model (R88M-)
W1K030H
W1K030T
W1K530H
W1K530T
W2K030H
W2K030T
W3K030H
W3K030T
3,000
Item
Unit
W
Rated output*
Rated torque*
Rated rotation speed
1,000
1,500
2,000
N·m
r/min
3.18
4.9
6.36
9.8
3,000
5,000
Momentary maximum rota-
tion speed
r/min
Momentary maximum
torque*
N·m
9.54
14.7
19.1
29.4
Rated current*
A (rms) 5.7
A (rms) 17
9.7
28
12.7
42
18.8
56
Momentary maximum cur-
rent*
kg·m2
(GD2/4)
1.74 × 10-4
2.47 × 10-4
3.19 × 10-4
7.00 × 10-4
Rotor inertia
Torque constant*
N·m/A
kW/s
ms
ms
N
0.64
0.56
0.54
0.57
Power rate*
57.9
97.2
127
137
Mechanical time constant
Electrical time constant
Allowable radial load
Allowable thrust load
Weight Without brake
With brake
0.87
0.74
0.62
0.74
7.1
7.7
8.3
13.0
686
686
686
980
N
196
196
196
392
kg
Approx. 4.6
Approx. 6.0
Approx. 5.8
Approx. 7.5
Approx. 7.0
Approx. 8.5
Approx. 11.0
Approx. 14.0
t20 × @400 mm (AI)
kg
Radiation shield dimensions (material) t12 × @300 mm (AI)
Applicable load inertia
(See note 6.)
---
Applicable Servo Driver
(R88D-)
100 V
AC
---
---
---
200 V
AC
WN10H-ML2
WN15H-ML2
WN20H-ML2
WN30H-ML2
kg·m2
3.25 × 10-5
3.25 × 10-5
3.25 × 10-5
2.1 × 10-4
Brake
specifi-
cations
Brake inertia
(GD2/4)
Excitation voltage
V
24 V DC 10%
7
Power consump-
tion (at 20°C)
W
7
7
9.8
Current consump-
tion (at 20°C)
A
0.29
0.29
0.29
0.41
Static friction
torque
N·m
ms
7.8 min.
180 max.
100 max.
7.8 min.
180 max.
100 max.
7.8 min.
180 max.
100 max.
20 min.
180 max.
100 max.
Attraction time
(See note 3.)
Release time (See ms
note 3.)
Backlash
1° (reference value)
Continuous
Rating
---
---
Insulation grade
Type F
Note 1. *The values for items marked by asterisks are the values at an armature winding tempera-
ture of 100°C (for models of 750 W or less) or 20°C (for models of 1 kW or more), combined
with the Servo Driver. Other values are at normal conditions (20°C, 65%). The momentary
maximum torque shown above indicates the standard value.
Note 2. The brakes are the non-excitation operation type (released when excitation voltage is ap-
plied).
Note 3. The operation time is the measured value (reference value) with a surge killer (CR50500, by
Okaya Electric Industries co. LTD) inserted.
Note 4. The allowable radial and thrust loads are the values determined for a service life of 20,000
hours at normal operating temperatures.
2-74
Standard Models and Specifications
Chapter 2
Note 5. The value indicated for the allowable radial load is for the positions shown in the following
diagrams.
Radial load
Radial load
Thrust load
End of Servomotor shaft
Thrust load
5 mm
(Models of 750 W or less)
(Models of 1 kW or more)
Note 6. Applicable Load Inertia
1) The drivable load inertia ratio (load inertia/rotor inertia) changes depending on the me-
chanical configuration being driven and its rigidity. Highly rigid machines can operate with
a large load inertia. Select a Servomotor and verify operation.
2) If the dynamic brake is used frequently with a large load inertia, it may lead to burnout of
the dynamic brake resistor. Do not repeatedly turn the Servo ON and OFF with the dy-
namic brake enabled.
● Torque and Rotation Speed Characteristics
3,000-r/min Servomotors (With a 100-VAC Servo Driver)
The following graphs show the characteristics with a 3-m standard cable and 100-V AC input.
R88M-W05030H/T (50 W)
R88M-W10030H/T (100 W)
R88M-W20030H/T (200 W)
•
•
•
(N m)
(N m)
(N m)
0.477
0.955
0.5
1.0
2.0
1.5
1.0
0.5
0
1.91
0.477
0.955
1.91
0.4
0.8
0.3
0.6
Repeated usage
Repeated usage
Repeated usage
0.2
0.4
0.159
0.159
0.318
0.318
0.637
0.637
0.1
0
0.2
0
0.09
0.19
0.39
Continuous usage
Continuous usage
Continuous usage
(r/min)
(r/min)
(r/min)
1000 2000 3000 4000 5000
1000 2000 3000 4000 5000
1000 2000 3000 4000 5000
R88M-W40030H/T (400 W)
•
(N m)
4.0
3.82
3.82
(3000)
3.0
2.0
1.0
0
Repeated usage
1.27
1.27
1.35
0.76
Continuous usage
(r/min)
1000 2000 3000 4000 5000
2-75
Standard Models and Specifications
Chapter 2
3,000-r/min Servomotors (With a 200-VAC Servo Driver)
The following graphs show the characteristics with a 3-m standard cable and 200-V AC input.
R88M-W05030H/T (50 W)
R88M-W10030H/T (100 W)
R88M-W20030H/T (200 W)
•
•
•
(N m)
0.5
(N m)
1.0
(N m)
2.0
0.477
0.955
1.91
0.477
0.955
1.91
0.4
0.3
0.2
0.1
0
0.8
0.6
0.4
0.2
0
1.5
1.0
0.5
0
Repeated usage
Repeated usage
Repeated usage
0.159
0.159
0.318
0.318
0.637
0.637
0.39
0.19
0.09
Continuous usage
Continuous usage
Continuous usage
(r/min)
(r/min)
(r/min)
1000 2000 3000 4000 5000
1000 2000 3000 4000 5000
1000 2000 3000 4000 5000
R88M-W40030H/T (400 W)
R88M-W75030H/T (750 W)
R88M-W1K030H/T (1 kW)
•
•
•
(N m)
4.0
(N m)
8.0
(N m)
10
9.54
3.82
3.82
7.16
7.16
8.67
(3500)
(3650)
(3000)
8
6
4
2
0
3.0
2.0
1.0
0
6.0
4.0
2.0
0
Repeated usage
Repeated usage
Repeated usage
4.53
1.5
1.27
1.27
3.18
3.18
2.39
2.39
0.76
1.46
1.7
Continuous usage
Continuous usage
Continuous usage
(r/min)
(r/min)
(r/min)
1000 2000 3000 4000 5000
1000 2000 3000 4000 5000
1000 2000 3000 4000 5000
R88M-W1K530H/T (1.5 kW)
(N m)
R88M-W2K030H/T (2 kW)
(N m)
R88M-W3K030H/T (3 kW)
(N m)
•
•
•
20
15
10
5
19.1
18.3
14.7
15
29.4
30
13.9
(3250)
27.6
(3000)
(3000)
10
20
Repeated usage
Repeated usage
Repeated usage
9.3
7.0
13.5
6.36
6.36
4.9
4.9
9.8
9.8
5
0
10
0
3.25
5.2
Continuous usage
Continuous usage
Continuous usage
2.4
(r/min)
0
(r/min)
(r/min)
1000 2000 3000 4000 5000
1000 2000 3000 4000 5000
1000 2000 3000 4000 5000
● Servomotor and Mechanical System Temperature Characteristics
• W-series AC Servomotors use rare earth magnets (neodymium-iron magnets). The temperature
coefficient for these magnets is approximately −0.13%/°C. As the temperature drops, the Servomo-
tor's momentary maximum torque increases, and as the temperature rises the Servomotor's
momentary maximum torque decreases. When the normal temperature of 20°C and −10°C are
compared, the momentary maximum torque increases by approximately 4%. Conversely, when the
magnet warms up to 80°C from the normal temperature of 20°C, the momentary maximum torque
decreases by approximately 8%.
2-76
Standard Models and Specifications
Chapter 2
• Generally, in a mechanical system, when the temperature drops the friction torque increases and
the load torque becomes larger. For that reason, overloading may occur at low temperatures. In
particular, in systems which use deceleration devices, the load torque at low temperatures may be
nearly twice the load torque at normal temperatures. Check with a current monitor to see whether
overloading is occurring at low temperatures, and how much the load torque is. Likewise, check to
see whether there abnormal Servomotor overheating or alarms are occurring at high temperatures.
• An increase in load friction torque visibly increases load inertia. Therefore, even if the Servo Driver
parameters are adjusted at a normal temperature, there may not be optimal operation at low tem-
peratures. Check to see whether there is optimal operation at low temperatures too.
!Caution
Do not use 2-kW Servomotors within the shaded portions of the following dia-
grams. If used in these regions, the Servomotor may heat, causing the encoder to
malfunction.
R88M-W2K030@ (2 kW)
•
Effective torque (N m)
6.36
5.74
0
10
20
30
40
Ambient temperature (°C)
■ 3,000-r/min Flat-style Servomotors
● Performance Specifications Table
200 V AC
WP40030H
WP40030T
Model (R88M-)
WP10030H
WP10030T
WP20030H
WP20030T
WP75030H
WP75030T
WP1K530H
WP1K530T
Item
Unit
W
Rated output*
Rated torque*
Rated rotation speed
100
200
400
750
1,500
N·m
r/min
0.318
3,000
5,000
0.637
1.27
2.39
4.77
Momentary maximum rota-
tion speed
r/min
Momentary maximum
torque*
N·m
0.955
1.91
3.82
7.16
14.3
Rated current*
A (rms) 0.89
A (rms) 2.8
2.0
6.0
2.6
8.0
4.1
7.5
Momentary maximum cur-
rent*
13.9
23.0
kg·m2
(GD2/4)
4.91 × 10-6
1.93 × 10-6
3.31 × 10-5
2.10 × 10-4
4.02 × 10-4
Rotor inertia
Torque constant*
N·m/A
kW/s
ms
0.392
20.6
0.53
3.7
0.349
21.0
0.54
7.4
0.535
49.0
0.36
8.6
0.641
27.1
0.66
18
0.687
56.7
0.46
22
Power rate*
Mechanical time constant
Electrical time constant
Allowable radial load
ms
N
78
245
245
392
490
2-77
Standard Models and Specifications
Chapter 2
200 V AC
WP40030H
WP40030T
Model (R88M-)
WP10030H
WP10030T
WP20030H
WP20030T
WP75030H
WP75030T
WP1K530H
WP1K530T
147
Item
Unit
N
Allowable thrust load
Weight Without brake
With brake
49
68
68
147
kg
Approx. 0.7
Approx. 0.9
Approx. 1.4
Approx. 1.9
Approx. 2.1
Approx. 2.6
Approx. 4.2
Approx. 5.7
Approx. 6.6
Approx. 8.1
kg
Radiation shield dimensions (material) t6 × @250 mm (AI)
t12 × @300 mm (AI)
Applicable load inertia
(See note 6.)
WN01L-ML2
Applicable Servo Driver
(R88D-)
100 V
AC
WN02L-ML2
WN02H-ML2
WN04L-ML2
WN04H-ML2
---
---
200 V
AC
WN01H-ML2
WN08H-ML2
WN15H-ML2
kg·m2
2.9 × 10-6
1.09 × 10-5
1.09 × 10-5
8.75 × 10-5
8.75 × 10-5
Brake
specifi-
cations
Brake inertia
(GD2/4)
Excitation voltage
V
24 V DC 10%
8.2
Power consump-
tion (at 20°C)
W
7.6
8.2
7.5
10
Current consump-
tion (at 20°C)
A
0.34
0.32
0.34
0.31
0.42
Static friction
torque
N·m
ms
0.4 min.
20 max.
40 max.
0.9 min.
20 max.
40 max.
1.9 min.
60 max.
20 max.
3.5 min.
20 max.
40 max.
7.1 min.
20 max.
40 max.
Attraction time
(See note 3.)
Release time (See ms
note 3.)
Backlash
1° (reference value)
Continuous
Rating
---
---
Insulation grade
Type F
Note 1. *The values for items marked by asterisks are the values at an armature winding tempera-
ture of 100°C, combined with the Servo Driver. Other values are at normal conditions (20°C,
65%). The momentary maximum torque shown above indicates the standard value.
Note 2. The brakes are the non-excitation operation type (released when excitation voltage is ap-
plied).
Note 3. The operation time is the measured value (reference value) with a surge killer (CR50500, by
Okaya Electric Industries co. LTD) inserted.
Note 4. The allowable radial and thrust loads are the values determined for a service life of 20,000
hours at normal operating temperatures.
Note 5. The value indicated for the allowable radial load is for the position shown in the following di-
agram.
Radial load
Thrust load
5 mm
Note 6. Applicable Load Inertia
1) The drivable load inertia ratio (load inertia/rotor inertia) changes depending on the me-
chanical configuration being driven and its rigidity. Highly rigid machines can operate with
a large load inertia. Select a Servomotor and verify operation.
2) If the dynamic brake is used frequently with a large load inertia, it may lead to burnout of
the dynamic brake resistor. Do not repeatedly turn the Servo ON and OFF with the dy-
namic brake enabled.
2-78
Standard Models and Specifications
Chapter 2
● Torque and Rotation Speed Characteristics
3,000-r/min Flat-style Servomotors (With a 100-VAC Servo Driver)
The following graphs show the characteristics with a 3-m standard cable and 100-V AC input.
R88M-WP10030H/T (100 W)
R88M-WP20030H/T (200 W)
R88M-WP40030H/T (400 W)
•
•
•
(N m)
1.0
(N m)
(N m)
4.0
2.0
0.955
0.955
1.91
1.91
3.82
3.82
(4500)
(4000)
(2500)
0.8
0.6
0.4
0.2
0
0.750
1.5
1.0
0.5
0
3.0
2.0
1.0
0
1.45
Repeated usage
Repeated usage
Repeated usage
0.318
0.318
0.637
0.637
1.27
1.27
1.00
0.76
0.39
0.19
Continuous usage
Continuous usage
Continuous usage
(r/min)
(r/min)
(r/min)
1000 2000 3000 4000 5000
1000 2000 3000 4000 5000
1000 2000 3000 4000 5000
3,000-r/min Flat-style Servomotors (With a 200-VAC Servo Driver)
The following graphs show the characteristics with a 3-m standard cable and 200-V AC input.
R88M-WP10030H/T (100 W)
R88M-WP20030H/T (200 W)
R88M-WP40030H/T (400 W)
•
•
•
(N m)
1.0
(N m)
(N m)
4.0
2.0
0.955
0.955
1.91
3.82
3.82
1.91
(4500)
(3000)
0.8
0.6
0.4
0.2
0
0.750
1.5
1.0
0.5
0
3.0
2.0
1.0
0
Repeated usage
Repeated usage
Repeated usage
1.27
1.70
0.318
0.318
0.637
0.637
1.27
0.39
0.19
0.76
Continuous usage
Continuous usage
Continuous usage
(r/min)
(r/min)
(r/min)
1000 2000 3000 4000 5000
1000 2000 3000 4000 5000
1000 2000 3000 4000 5000
R88-WP75030H/T (750 W)
R88M-WP1K530H/T (1.5 kW)
•
•
(N m)
8.0
(N m)
7.16
7.16
15
14.3
14.3
(3350)
(3400)
6.0
4.0
2.0
0
10
5
Repeated usage
Repeated usage
2.39
2.39
4.77
4.77
1.6
3.0
(4890)
(4900)
1.2
Continuous usage
Continuous usage
2.4
(r/min)
1000 2000 3000 4000 5000
0
(r/min)
1000 2000 3000 4000 5000
2-79
Standard Models and Specifications
Chapter 2
● Servomotor and Mechanical System Temperature Characteristics
• W-series AC Servomotors use rare earth magnets (neodymium-iron magnets). The temperature
coefficient for these magnets is approximately −0.13%/°C. As the temperature drops, the Servomo-
tor's momentary maximum torque increases, and as the temperature rises the Servomotor's
momentary maximum torque decreases. When the normal temperature of 20°C and −10°C are
compared, the momentary maximum torque increases by approximately 4%. Conversely, when the
magnet warms up to 80°C from the normal temperature of 20°C, the momentary maximum torque
decreases by approximately 8%.
• Generally, in a mechanical system, when the temperature drops the friction torque increases and
the load torque becomes larger. For that reason, overloading may occur at low temperatures. In
particular, in systems which use deceleration devices, the load torque at low temperatures may be
nearly twice the load torque at normal temperatures. Check with a current monitor to see whether
overloading is occurring at low temperatures, and how much the load torque is. Likewise, check to
see whether there abnormal Servomotor overheating or alarms are occurring at high temperatures.
• An increase in load friction torque visibly increases load inertia. Therefore, even if the Servo Driver
parameters are adjusted at a normal temperature, there may not be optimal operation at low tem-
peratures. Check to see whether there is optimal operation at low temperatures too.
■ 1,000-r/min Servomotors
● Performance Specifications Table
200 V AC
Model (R88M-)
W30010H
W30010T
W60010H
W60010T
W90010H
W90010T
W1K210H
W1K210T
W2K010H
W2K010T
Item
Unit
W
Rated output*
Rated torque*
Rated rotation speed
300
600
900
1,200
2,000
N·m
r/min
2.84
5.68
8.62
11.5
19.1
1,000
2,000
Momentary maximum rota-
tion speed
r/min
Momentary maximum
torque*
N·m
7.17
14.1
19.3
28.0
44.0
Rated current*
A (rms) 3.0
A (rms) 7.3
5.7
7.6
11.6
28
18.5
42
Momentary maximum cur-
rent*
13.9
16.6
kg·m2
7.24 × 10-4
1.39 × 10-3
2.05 × 10-3
3.17 × 10-3
4.60 × 10-3
Rotor inertia
(GD2/4)
Torque constant*
N·m/A
kW/s
ms
ms
N
1.03
1.06
1.21
1.03
1.07
Power rate*
11.2
23.2
36.3
41.5
79.4
Mechanical time constant
Electrical time constant
Allowable radial load
Allowable thrust load
Weight Without brake
With brake
5.1
3.8
2.8
2.0
1.7
5.1
4.7
5.7
13.5
13.9
490
490
686
1,176
490
1,470
490
N
98
98
343
kg
Approx. 5.5
Approx. 7.5
Approx. 7.6
Approx. 9.6
Approx. 9.6
Approx. 12
Approx. 14
Approx. 19
Approx. 18
Approx. 23.5
kg
Radiation shield dimensions (material) t20 × @400 mm (Fe)
t30 × @550 mm (Fe)
Applicable load inertia
(See note 6.)
WN05H-ML2
Applicable Servo Driver (R88D-)
WN10H-ML2
WN10H-ML2
WN15H-ML2 WN20H-ML2
2-80
Standard Models and Specifications
Chapter 2
200 V AC
W90010H
W90010T
Model (R88M-)
Unit
W30010H
W30010T
W60010H
W60010T
W1K210H
W1K210T
W2K010H
W2K010T
Item
kg·m2
(GD2/4)
2.1 × 10-4
2.1 × 10-4
2.1 × 10-4
8.5 × 10-4
8.5 × 10-4
Brake
specifi-
cations
Brake inertia
Excitation voltage
V
24 V DC 10%
9.8
Power consump-
tion (at 20°C)
W
9.8
9.8
18.5
18.5
Current consump-
tion (at 20°C)
A
0.41
0.41
0.41
0.77
0.77
Static friction
torque
N·m
ms
4.41 min.
180 max.
100 max.
12.7 min.
180 max.
100 max.
12.7 min.
180 max.
100 max.
43.1 min.
180 max.
100 max.
43.1 min.
180 max.
100 max.
Attraction time
(See note 3.)
Release time (See ms
note 3.)
Backlash
1° (reference value)
Continuous
Rating
---
---
Insulation grade
Type F
Note 1. *The values for items marked by asterisks are the values at an armature winding tempera-
ture of 100°C, combined with the Servo Driver. Other values are at normal conditions (20°C,
65%). The momentary maximum torque shown above indicates the standard value.
Note 2. The brakes are the non-excitation operation type (released when excitation voltage is ap-
plied).
Note 3. The operation time is the measured value (reference value) with a surge killer (CR50500, by
Okaya Electric Industries Co. LTD.) inserted.
Note 4. The allowable radial and thrust loads are the values determined for a service life of 20,000
hours at normal operating temperatures.
Note 5. The value indicated for the allowable radial load is for the position shown in the following di-
agram.
Radial load
Thrust load
End of Servomotor shaft
Note 6. Applicable Load Inertia
1) The drivable load inertia ratio (load inertia/rotor inertia) changes depending on the me-
chanical configuration being driven and its rigidity. Highly rigid machines can operate with
a large load inertia. Select a Servomotor and verify operation.
2) If the dynamic brake is used frequently with a large load inertia, it may lead to burnout of
the dynamic brake resistor. Do not repeatedly turn the Servo ON and OFF with the dy-
namic brake enabled.
2-81
Standard Models and Specifications
Chapter 2
● Torque and Rotation Speed Characteristics
1,000-r/min Servomotors (With a 200-VAC Servo Driver)
The following graphs show the characteristics with a 3-m standard cable and 200-V AC input.
R88M-W30010H/T (300 W)
R88M-W60010H/T (600 W)
R88M-W90010H/T (900 W)
•
•
•
(N m)
(N m)
(N m)
19.3
8
20
18.8
7.17
7.0
15
(1800)
14.1
13.8
(1875)
(1925)
6.2
12.7
6
4
2
0
15
10
5
12.5
10
5
Repeated usage
2.84
Repeated usage
5.68
Repeated usage
8.62
8.8
2.95
5.8
4.3
1.4
2.8
Continuous usage
Continuous usage
Continuous usage
(r/min)
2000
0
(r/min)
0
(r/min)
2000
500
1000
1500
500
1000
1500
2000
500
1000
1500
R88M-W1K210H/T (1.2 kW)
R88M-W2K010H/T (2 kW)
•
•
(N m)
(N m)
50
44.0
30
43.0
(1825)
28.0
27.1
40
30
20
10
0
(1800)
35.8
21.8
20
10
0
Repeated usage
11.5
Repeated usage
19.1
21.6
11.8
9.7
5.5
Continuous usage
Continuous usage
(r/min)
2000
(r/min)
2000
500
1000
1500
500
1000
1500
● Servomotor and Mechanical System Temperature Characteristics
• W-series AC Servomotors use rare earth magnets (neodymium-iron magnets). The temperature
coefficient for these magnets is approximately −0.13%/°C. As the temperature drops, the Servomo-
tor's momentary maximum torque increases, and as the temperature rises the Servomotor's
momentary maximum torque decreases. When the normal temperature of 20°C and −10°C are
compared, the momentary maximum torque increases by approximately 4%. Conversely, when the
magnet warms up to 80°C from the normal temperature of 20°C, the momentary maximum torque
decreases by approximately 8%.
• Generally, in a mechanical system, when the temperature drops the friction torque increases and
the load torque becomes larger. For that reason, overloading may occur at low temperatures. In
particular, in systems which use deceleration devices, the load torque at low temperatures may be
nearly twice the load torque at normal temperatures. Check with a current monitor to see whether
overloading is occurring at low temperatures, and how much the load torque is. Likewise, check to
see whether there abnormal Servomotor overheating or alarms are occurring at high temperatures.
• An increase in load friction torque visibly increases load inertia. Therefore, even if the Servo Driver
parameters are adjusted at a normal temperature, there may not be optimal operation at low tem-
peratures. Check to see whether there is optimal operation at low temperatures too.
2-82
Standard Models and Specifications
Chapter 2
!Caution
Do not use 900-W or 2-kW Servomotors within the shaded portions of the follow-
ing diagrams. If used in these regions, the Servomotor may heat, causing the
encoder to malfunction.
R88M-W90010@ (900 W)
R88M-W2K010@ (2 kW)
•
•
Effective torque (N m)
Effective torque (N m)
8.62
7.73
19.1
17.7
0
0
10
20
30
40
10
20
30
40
Ambient temperature (°C)
Ambient temperature (°C)
■ 1,500-r/min Servomotors
● Performance Specifications Table
200 V AC
Model (R88M-)
W45015T
W85015T
W1K315T
W1K815T
Item
Unit
W
Rated output*
Rated torque*
Rated rotation speed
450
850
1,300
8.34
1,800
N·m
r/min
2.84
5.39
11.5
1,500
3,000
Momentary maximum rota-
tion speed
r/min
Momentary maximum
torque*
N·m
8.92
13.8
23.3
28.7
Rated current*
A (rms) 3.8
A (rms) 11
7.1
17
10.7
28
16.7
42
Momentary maximum cur-
rent*
kg·m2
(GD2/4)
7.24 × 10-4
1.39 × 10-3
2.05 × 10-3
3.17 × 10-3
Rotor inertia
Torque constant*
N·m/A
kW/s
ms
ms
N
0.82
0.83
0.84
0.73
Power rate*
11.2
20.9
33.8
41.5
Mechanical time constant
Electrical time constant
Allowable radial load
Allowable thrust load
Weight Without brake
With brake
5.0
3.1
2.8
2.2
5.1
5.3
6.3
12.8
490
490
686
1,176
N
98
98
343
490
kg
Approx. 5.5
Approx. 7.5
Approx. 7.6
Approx. 9.6
Approx. 9.6
Approx. 12
Approx. 14
Approx. 19
t30 × @550 mm (Fe)
kg
Radiation shield dimensions (material) t20 × @400 mm (Fe)
Applicable load inertia
(See note 6.)
WN05H-ML2
Applicable Servo Driver (R88D-)
WN10H-ML2
WN15H-ML2
WN20H-ML2
2-83
Standard Models and Specifications
Chapter 2
200 V AC
Model (R88M-)
Unit
W45015T
2.1 × 10-4
W85015T
2.1 × 10-4
W1K315T
W1K815T
8.5 × 10-4
Item
kg·m2
2.1 × 10-4
Brake
specifi-
cations
Brake inertia
(GD2/4)
Excitation voltage
V
24 V DC 10%
9.8
Power consump-
tion (at 20°C)
W
9.8
9.8
18.5
Current consump-
tion (at 20°C)
A
0.41
0.41
0.41
0.77
Static friction
torque
N·m
ms
4.41 min.
180 max.
100 max.
12.7 min.
180 max.
100 max.
12.7 min.
180 max.
100 max.
43.1 min.
180 max.
100 max.
Attraction time
(See note 3.)
Release time (See ms
note 3.)
Backlash
1° (reference value)
Continuous
Rating
---
---
Insulation grade
Type F
Note 1. *The values for items marked by asterisks are the values at an armature winding tempera-
ture of 20°C, combined with the Servo Driver. Other values are at normal conditions (20°C,
65%). The momentary maximum torque shown above indicates the standard value.
Note 2. The brakes are the non-excitation operation type (released when excitation voltage is ap-
plied).
Note 3. The operation time is the measured value (reference value) with a surge killer (CR50500, by
Okaya Electric Industries Co. LTD.) inserted.
Note 4. The allowable radial and thrust loads are the values determined for a service life of 20,000
hours at normal operating temperatures.
Note 5. The value indicated for the allowable radial load is for the position shown in the following di-
agram.
Radial load
Thrust load
End of Servomotor shaft
Note 6. Applicable Load Inertia
1) The drivable load inertia ratio (load inertia/rotor inertia) changes depending on the me-
chanical configuration being driven and its rigidity. Highly rigid machines can operate with
a large load inertia. Select a Servomotor and verify operation.
2) If the dynamic brake is used frequently with a large load inertia, it may lead to burnout of
the dynamic brake resistor. Do not repeatedly turn the Servo ON and OFF with the dy-
namic brake enabled.
2-84
Standard Models and Specifications
Chapter 2
● Torque and Rotation Speed Characteristics
1,500-r/min Servomotors (With a 200-VAC Servo Driver)
The following graphs show the characteristics with a 3-m standard cable and 200-V AC input.
R88M-W45015T (450 W)
R88M-W85015T (850 W)
R88M-W1K315T (1.3 kW)
•
•
•
(N m)
(N m)
(N m)
10
20
8.92
30
8.40
8
6
4
2
0
(2190)
15
23.3
13.8
22.3
12.7
(2770)
20
(2870)
11.5
Repeated usage
Repeated usage
10
Repeated usage
17.1
4.80
2.94
5.88
5.39
2.84
8.83
10
0
8.34
5
Continuous usage
Continuous usage
Continuous usage
1.42
2.70
4.17
(r/min)
0
(r/min)
(r/min)
500 1000 1500 2000 2500 3000
500 1000 1500 2000 2500 3000
500 1000 1500 2000 2500 3000
R88M-W1K815T (1.8 kW)
•
(N m)
30 28.7
26.4
(2870)
24.6
20
Repeated usage
11.5
11.8
10
5.80
Continuous usage
0
(r/min)
500 1000 1500 2000 2500 3000
● Servomotor and Mechanical System Temperature Characteristics
• W-series AC Servomotors use rare earth magnets (neodymium-iron magnets). The temperature
coefficient for these magnets is approximately −0.13%/°C. As the temperature drops, the Servomo-
tor's momentary maximum torque increases, and as the temperature rises the Servomotor's
momentary maximum torque decreases. When the normal temperature of 20°C and −10°C are
compared, the momentary maximum torque increases by approximately 4%. Conversely, when the
magnet warms up to 80°C from the normal temperature of 20°C, the momentary maximum torque
decreases by approximately 8%.
• Generally, in a mechanical system, when the temperature drops the friction torque increases and
the load torque becomes larger. Therefore, overloading may occur at low temperatures. In particu-
lar, in systems which use deceleration devices, the load torque at low temperatures may be nearly
twice the load torque at normal temperatures. Check with a current monitor to see whether over-
loading is occurring at low temperatures, and how much the load torque is. Likewise, check to see
whether there is abnormal Servomotor overheating or alarms are occurring at high temperatures.
• An increase in load friction torque visibly increases load inertia. Therefore, even if the Servo Driver
parameters are adjusted at a normal temperature, there may not be optimal operation at low tem-
peratures. Check to see whether there is optimal operation at low temperatures too.
2-85
Standard Models and Specifications
Chapter 2
!Caution
Do not use 1.3-kW Servomotors within the shaded portions of the following dia-
grams. If used in these regions, the Servomotor may overheat, causing the
encoder to malfunction.
R88M-W1K315T (1.3 kW)
•
Effective torque (N m)
8.34
7.50
0
10
20
30
40
Ambient temperature (°C)
2-5-3 Specifications for Servomotors with Reduction Gears
■ 3,000-r/min Servomotors with Standard Reduction Gears (50 W to 3 kW)
Model
Rated
Rated
Ratio
Maxi-
mum
Maxi-
mum
Reduction Allow-
Allow-
able
thrust
load
Weight
rotation torque
speed
gear
able
radial
load
Without
With
brake
momen- momen-
inertia
brake
tary
rotation
speed
tary
torque
2
r/min
N·m
0.557
1.00
2.67
4.20
1.27
2.80
5.34
8.40
2.55
5.96
11.4
17.9
5.40
11.9
22.7
33.5
10.2
22.3
42.7
67.0
%
r/min
800
444
190
121
800
364
190
121
800
364
190
121
800
364
190
121
800
364
190
121
N·m
N
N
127
147
147
147
147
147
235
235
235
235
294
294
235
294
314
314
294
314
490
490
kg
kg
kg·m
-6
-6
-6
50 W
1/5
R88M-W05030@-@G05BJ 600
R88M-W05030@-@G09BJ 333
R88M-W05030@-@G21BJ 143
R88M-W05030@-@G33BJ 91
R88M-W10030@-@G05BJ 600
R88M-W10030@-@G11BJ 273
R88M-W10030@-@G21BJ 143
R88M-W10030@-@G33BJ 91
R88M-W20030@-@G05BJ 600
R88M-W20030@-@G11BJ 273
R88M-W20030@-@G21BJ 143
R88M-W20030@-@G33BJ 91
R88M-W40030@-@G05BJ 600
R88M-W40030@-@G11BJ 273
R88M-W40030@-@G21BJ 143
R88M-W40030@-@G33BJ 91
R88M-W75030@-@G05BJ 600
R88M-W75030@-@G11BJ 273
R88M-W75030@-@G21BJ 143
R88M-W75030@-@G33BJ 91
70
1.67
137
1.1
1.4
3.60 × 10
3.30 × 10
1.80 × 10
1/9
70
80
80
80
80
80
80
80
85
85
85
85
85
85
80
85
85
85
85
3.01
8.01
12.6
3.82
8.40
16.0
25.2
7.64
17.9
34.1
53.6
16.2
35.7
68.2
101
206
235
235
167
216
392
431
245
323
549
608
245
441
568
657
343
451
813
921
1.4
1.6
1.6
1.4
1.7
2.7
2.7
3.0
3.5
3.7
3.8
3.6
4.3
4.7
7.1
5.8
6.6
9.9
9.9
1.7
1.9
1.9
1.7
2.0
3.0
3.0
3.5
4.0
4.2
4.3
4.1
4.8
5.2
7.6
6.7
7.5
10.8
10.8
1/21
1/33
-6
1.3 × 10
-6
100 W 1/5
1/11
7.76 × 10
4.76 × 10
4.26 × 10
3.26 × 10
3.35 × 10
8.50 × 10
-6
-6
-6
-5
-6
1/21
1/33
200 W 1/5
1/11
1/21
1/33
-5
1.10× 10
6.50 × 10
3.35 × 10
1.95 × 10
1.95 × 10
1.73 × 10
5.83 × 10
5.28 × 10
5.93 × 10
2.63 × 10
-6
-5
-5
-5
-5
-5
-5
-5
-5
400 W 1/5
1/11
1/21
1/33
750 W 1/5
30.4
67.0
128
1/11
1/21
1/33
201
2-86
Standard Models and Specifications
Chapter 2
Model
Rated
Rated
Ratio
Maxi-
mum
Maxi-
mum
Reduction Allow-
Allow-
Weight
rotation torque
speed
gear
able
radial
load
able
thrust
load
Without
With
brake
momen- momen-
inertia
brake
kg
tary
rotation
speed
tary
torque
2
r/min
N·m
12.7
%
r/min
800
444
200
138
89
N·m
N
N
kg
kg·m
-4
-4
-4
-4
-4
-4
-4
-4
-4
-4
-4
-4
-4
-3
-4
-3
-4
-3
-3
-4
1 kW
1/5
R88M-W1K030@-@G05BJ 600
R88M-W1K030@-@G09BJ 333
R88M-W1K030@-@G20BJ 150
R88M-W1K030@-@G29BJ 103
R88M-W1K030@-@G45BJ 67
R88M-W1K530@-@G05BJ 600
R88M-W1K530@-@G09BJ 333
R88M-W1K530@-@G20BJ 150
R88M-W1K530@-@G29BJ 103
R88M-W1K530@-@G45BJ 67
R88M-W2K030@-@G05BJ 600
R88M-W2K030@-@G09BJ 333
R88M-W2K030@-@G20BJ 150
R88M-W2K030@-@G29BJ 103
R88M-W2K030@-@G45BJ 67
R88M-W3K030@-@G05BJ 600
R88M-W3K030@-@G09BJ 333
R88M-W3K030@-@G20BJ 150
R88M-W3K030@-@G29BJ 103
R88M-W3K030@-@G45BJ 67
80
38.2
833
1,280
1,570
4,220
4,900
5,690
1,280
3,000
4,220
4,900
8,830
1,280
3,000
4,220
7,350
8,830
1,960
3,000
6,370
7,350
8,830
13
14.4
3.44 × 10
3.11 × 10
6.79 × 10
4.88 × 10
3.92 × 10
3.44 × 10
4.77 × 10
6.79 × 10
4.88 × 10
6.58 × 10
3.44 × 10
4.77 × 10
6.79 × 10
1.03 × 10
6.58 × 10
1.02 × 10
7.80 × 10
2.02 × 10
1.34 × 10
9.70 × 10
1/9
22.9
50.9
73.8
114
19.6
35.3
78.4
114
176
25.4
45.8
102
148
229
39.2
70.6
157
227
353
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
68.7
153
221
343
58.8
106
235
341
529
76.4
138
306
443
688
118
212
470
682
1,058
980
13
30
30
30
14
31
31
31
51
15
32
32
52
52
29
36
56
56
56
14.4
31.4
31.4
31.4
15.7
32.7
32.7
32.7
52.5
16.5
33.5
33.5
53.5
53.5
32
1/20
1/29
1/45
2,650
2,940
3,430
833
1.5 kW 1/5
1/9
800
444
200
138
89
1,960
2,650
2,940
8,040
833
1/20
1/29
1/45
1/5
2 kW
800
444
200
138
89
1/9
1,960
2,650
6,860
8,040
1,670
1,960
6,080
6,860
8,040
1/20
1/29
1/45
1/5
3 kW
800
444
200
138
89
1/9
39
1/20
1/29
1/45
58.5
58.5
58.5
Note 1. The reduction gear inertia indicates the Servomotor shaft conversion value.
Note 2. The enclosure rating for Servomotors with reduction gears is IP55 for 50- to 750-W models,
and IP44 for 1- to 3-kW models.
Note 3. The maximum momentary rotation speed for the motor shaft of Servomotors with reduction
gears is 4,000 r/min.
Note 4. The maximum momentary torque values marked by asterisks are the maximum allowable
torque for the reduction gears. Use torque limits so that these values are not exceeded.
Note 5. The allowable radial loads are measured at a point 5 mm from the end of the shaft for 50- to
750-W Servomotors and in the center of the shaft for 1- to 3-W Servomotors.
2-87
Standard Models and Specifications
Chapter 2
■ 3,000-r/min Flat-style Servomotors with Standard Reduction Gears
(100 W to 1.5 kW)
Model
Rated
Rated
Effi-
Maxi-
mum
Maxi-
mum
Reduction
gear inertia
Allow-
able
radial
load
Allow-
able
thrust
load
Weight
rotation torque ciency
speed
Without
With
brake
momen- momen-
brake
tary
rotation
speed
tary
torque
2
r/min
N·m
1.27
%
r/min
800
364
190
121
800
364
190
121
800
364
190
121
800
364
190
121
800
364
190
121
N·m
N
167
216
392
431
245
323
549
608
245
441
568
657
343
451
813
921
353
647
1,274
1,274
N
147
147
235
235
235
235
294
294
235
294
314
314
294
314
490
490
314
490
882
882
kg
kg
kg·m
-6
100 W 1/5
1/11
R88M-WP10030@-@G05BJ 600
R88M-WP10030@-@G11BJ 273
R88M-WP10030@-@G21BJ 143
R88M-WP10030@-@G33BJ 91
R88M-WP20030@-@G05BJ 600
R88M-WP20030@-@G11BJ 273
R88M-WP20030@-@G21BJ 143
R88M-WP20030@-@G33BJ 91
R88M-WP40030@-@G05BJ 600
R88M-WP40030@-@G11BJ 273
R88M-WP40030@-@G21BJ 143
R88M-WP40030@-@G33BJ 91
R88M-WP75030@-@G05BJ 600
R88M-WP75030@-@G11BJ 273
R88M-WP75030@-@G21BJ 143
R88M-WP75030@-@G33BJ 91
R88M-WP1K530@-@G05BJ 600
R88M-WP1K530@-@G11BJ 273
R88M-WP1K530@-@G21BJ 143
R88M-WP1K530@-@G33BJ 91
80
80
80
80
80
85
85
85
85
85
85
80
85
85
85
85
85
85
80
80
3.82
1.5
1.7
9.29 × 10
-6
2.80
5.34
8.40
2.55
5.96
11.4
17.9
5.40
11.9
22.7
33.5
10.2
22.3
42.7
67.0
20.3
44.6
80.1
126
8.40
16.0
25.2
7.64
17.9
34.1
53.6
16.2
35.7
68.2
101
1.5
1.7
4.79 × 10
-6
1/21
1/33
3.0
3.2
4.29 × 10
-6
3.0
3.2
3.29 × 10
-5
200 W 1/5
3.5
4.0
3.60 × 10
-6
1/11
1/21
1/33
3.8
4.3
8.80 × 10
-5
4.1
4.6
1.10 × 10
-6
4.1
4.6
6.50 × 10
-5
400 W 1/5
4.2
4.7
3.60 × 10
-5
1/11
1/21
1/33
4.8
5.3
1.95 × 10
-5
5.2
5.7
1.95 × 10
-5
7.7
8.2
1.72 × 10
-5
750 W 1/5
30.4
67.0
128
6.9
8.4
7.65 × 10
-5
1/11
1/21
1/33
8.0
9.5
5.23 × 10
-5
11.0
11.0
11.6
13.7
23.6
23.6
12.5
12.5
13.1
15.2
25.1
25.1
6.63 × 10
-5
201
4.55 × 10
-4
1.5 kW 1/5
60.8
134
1.54 × 10
-4
1/11
1/21
1/33
2.09 × 10
-4
270
1.98 × 10
-4
353
1.12 × 10
Note 1. The reduction gear inertia indicates the Servomotor shaft conversion value.
Note 2. The enclosure rating for Servomotors with reduction gears is IP55.
Note 3. The maximum momentary rotation speed for the motor shaft of Servomotors with reduction
gears is 4,000 r/min.
Note 4. The maximum momentary torque values marked by asterisks are the maximum allowable
torque for the reduction gears. Use torque limits so that these values are not exceeded.
Note 5. The allowable radial loads are measured at a point 5 mm from the end of the shaft.
■ 1,000-r/min Servomotors with Standard Reduction Gears (300 W to
2 kW)
Model
Rated
Rated
Effi-
ciency
Maxi-
mum
Maxi-
mum
Reduction Allow-
Allow-
able
thrust
load
Weight
rotation torque
speed
gear
able
radial
load
Without
With
brake
momen- momen-
inertia
brake
tary
rotation
speed
tary
torque
2
r/min
N·m
11.4
%
r/min
400
222
100
69
N·m
N
N
1,280
1,570
2,260
4,900
5,690
kg
kg
kg·m
-4
-5
-4
-4
-4
300 W 1/5
1/9
R88M-W30010@-@G05BJ 200
R88M-W30010@-@G09BJ 111
R88M-W30010@-@G20BJ 50
R88M-W30010@-@G29BJ 34
R88M-W30010@-@G45BJ 22
80
28.7
883
14
16
1.26 × 10
9.40 × 10
1.40 × 10
2.76 × 10
1.81 × 10
20.4
45.4
65.9
102
80
80
80
80
51.6
115
166
258
980
14
16
31
31
16
18
33
33
1/20
1,270
2,940
3,430
1/29
1/45
44
2-88
Standard Models and Specifications
Chapter 2
Model
Rated
Rated
Effi-
Maxi-
mum
Maxi-
mum
Reduction Allow-
Allow-
Weight
rotation torque
speed
ciency
gear
able
radial
load
able
thrust
load
Without
With
brake
momen- momen-
inertia
brake
kg
tary
rotation
speed
tary
torque
2
r/min
N·m
22.7
%
r/min
400
222
100
69
N·m
N
N
kg
kg·m
-4
-5
-4
-4
-4
-4
-4
-4
-3
-4
-3
-4
-3
-3
-4
-3
-4
-3
600 W 1/5
1/9
R88M-W60010@-@G05BJ 200
R88M-W60010@-@G09BJ 111
R88M-W60010@-@G20BJ 50
R88M-W60010@-@G29BJ 34
R88M-W60010@-@G45BJ 22
R88M-W90010@-@G05BJ 200
R88M-W90010@-@G09BJ 111
R88M-W90010@-@G20BJ 50
R88M-W90010@-@G29BJ 34
R88M-W90010@-@G45BJ 22
R88M-W1K210@-@G05BJ 200
R88M-W1K210@-@G09BJ 111
R88M-W1K210@-@G20BJ 50
R88M-W1K210@-@G29BJ 34
R88M-W1K210@-@G45BJ 22
R88M-W2K010@-@G05BJ 200
R88M-W2K010@-@G09BJ 111
R88M-W2K010@-@G20BJ 50
80
56.4
833
1,280
1,570
4,220
4,900
8,830
1,280
3,000
4,220
7,350
8,830
1,960
3,000
6,370
7,350
8,830
1,960
3,000
6,370
16
18
1.30 × 10
9.00 × 10
4.70 × 10
2.80 × 10
4.50 × 10
3.40 × 10
4.80 × 10
6.90 × 10
1.04 × 10
6.70 × 10
1.02 × 10
7.80 × 10
2.02 × 10
1.34 × 10
9.70 × 10
1.02 × 10
7.80 × 10
2.02 × 10
40.9
90.9
132
204
34.5
62.1
138
200
310
46.0
82.8
184
267
414
76.4
138
306
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
82.5*
226
327
508
77.2
139
309
448
695
112
202
448
650
1,008
176
317
704
980
16
33
33
53
18
35
35
55
55
32
39
59
59
59
36
43
63
18
1/20
2,650
2,940
8,040
833
35
1/29
1/45
35
44
55
900 W 1/5
400
222
100
69
20.4
37.4
37.4
57.4
57.4
37
1/9
1,960
2,650
6,860
8,040
1,670
1,960
6,080
6,860
8,040
1,670
1,960
6,080
1/20
1/29
1/45
44
1.2 kW 1/5
400
222
100
69
1/9
44
1/20
1/29
1/45
1/5
64
64
44
64
2 kW
400
222
100
41.5
48.5
68.5
1/9
1/20
Note 1. The reduction gear inertia indicates the Servomotor shaft conversion value.
Note 2. The enclosure rating for Servomotors with reduction gears is IP44.
Note 3. The maximum momentary torque values marked by asterisks are the maximum allowable
torque for the reduction gears. Use torque limits so that these values are not exceeded.
Note 4. The allowable radial loads are measured in the center of the shaft.
■ 1,500-r/min Servomotors with Standard Reduction Gears (450 W to
1.8 kW)
Model
Rated
Rated
Effi-
ciency
Maxi-
mum
Maxi-
mum
Reduction Allow-
Allow-
able
thrust
load
Weight
rotation torque
speed
gear
able
radial
load
Without
With
brake
momen- momen-
inertia
brake
tary
rotation
speed
tary
torque
2
r/min
N·m
11.4
%
r/min
600
333
150
103
67
N·m
N
N
kg
kg
kg·m
-4
-5
-4
-4
-4
-4
-5
-4
-4
-4
450 W 1/5
1/9
R88M-W45015T-@G05BJ 300
R88M-W45015T-@G09BJ 167
R88M-W45015T-@G20BJ 75
R88M-W45015T-@G29BJ 52
80
35.7
883
1,280
1,570
4,220
4,900
5,690
1,280
1,570
4,220
4,900
8,830
14
16
1.26 × 10
9.40 × 10
4.66 × 10
2.76 × 10
1.81 × 10
1.30 × 10
9.00 × 10
4.70 × 10
2.80 × 10
4.50 × 10
20.4
45.4
65.9
102
80
80
80
80
80
80
80
80
80
64.2
143
207
321
55.2
74.5*
221
320
497
980
14
31
31
31
16
16
33
33
53
16
33
33
33
18
18
35
35
55
1/20
2,650
2,940
3,430
883
1/29
1/45
R88M-W45015T-@G45BJ
33
850 W 1/5
R88M-W85015T-@G05BJ 300
R88M-W85015T-@G09BJ 167
R88M-W85015T-@G20BJ 75
21.6
38.8
86.2
125
600
333
150
103
67
1/9
980
1/20
1/29
1/45
2,650
2,940
8,040
R88M-W85015T-@G29BJ
R88M-W85015T-@G45BJ
52
33
194
2-89
Standard Models and Specifications
Chapter 2
Model
Rated
Rated
Effi-
ciency
Maxi-
mum
Maxi-
mum
Reduction Allow-
Allow-
Weight
rotation torque
speed
gear
able
radial
load
able
thrust
load
Without
With
brake
momen- momen-
inertia
brake
tary
rotation
speed
tary
torque
2
r/min
N·m
33.4
%
r/min
600
333
150
103
67
N·m
N
N
kg
kg
kg·m
-4
-4
-4
-3
-4
-3
-4
-3
-3
1.3 kW 1/5
1/9
R88M-W1K315T-@G05BJ 300
R88M-W1K315T-@G09BJ 167
R88M-W1K315T-@G20BJ 75
R88M-W1K315T-@G29BJ 52
R88M-W1K315T-@G45BJ 33
R88M-W1K815T-@G05BJ 300
R88M-W1K815T-@G09BJ 167
R88M-W1K815T-@G20BJ 75
R88M-W1K815T-@G29BJ 52
80
93.2
1,670
1,960
2,650
6,860
8,040
1,670
1,960
6,080
6,860
1,960
3,000
4,220
7,350
8,830
1,960
3,000
6,370
7,350
28
30.4
7.20 × 10
4.80 × 10
6.90 × 10
1.04 × 10
6.70 × 10
1.02 × 10
7.80 × 10
2.02 × 10
1.34 × 10
60.0
133
193
300
46.0
82.8
184
267
80
80
80
80
80
80
80
80
168
373
541
839
115
207
459
666
35
35
55
55
32
39
59
59
37.4
37.4
57.4
57.4
37
1/20
1/29
1/45
1.8 kW 1/5
600
333
150
103
1/9
44
1/20
1/29
64
64
Note 1. The reduction gear inertia indicates the Servomotor shaft conversion value.
Note 2. The enclosure rating for Servomotors with reduction gears is IP44.
Note 3. The maximum momentary torque values marked by asterisks are the maximum allowable
torque for the reduction gears. Use torque limits so that these values are not exceeded.
Note 4. The allowable radial loads are measured in the center of the shaft.
■ 3,000-r/min Servomotors with Economy Reduction Gears (100 to
750 W)
Model
Rated
Rated
Effi-
ciency
Maxi-
mum
Maxi-
mum
Reduction Allow-
Allow-
able
thrust
load
Weight
rotation torque
speed
gear
able
radial
load
Without
With
brake
momen- momen-
inertia
brake
tary
rotation
speed
tary
torque
2
r/min
N·m
1.19
%
r/min
1,000
556
N·m
N
N
196
220
294
661
196
465
588
661
392
465
588
808
392
588
686
1,029
kg
kg
kg·m
-6
-6
-6
-6
-5
-5
-5
-5
-5
-5
-5
-5
-5
-5
-5
-5
100 W 1/5
1/9
R88M-W10030@-@G05CJ 600
R88M-W10030@-@G09CJ 333
R88M-W10030@-@G15CJ 200
R88M-W10030@-@G25CJ 120
R88M-W20030@-@G05CJ 600
R88M-W20030@-@G09CJ 333
R88M-W20030@-@G15CJ 200
R88M-W20030@-@G25CJ 120
R88M-W40030@-@G05CJ 600
R88M-W40030@-@G09CJ 333
R88M-W40030@-@G15CJ 200
R88M-W40030@-@G25CJ 120
R88M-W75030@-@G05CJ 600
R88M-W75030@-@G09CJ 333
R88M-W75030@-@G15CJ 200
R88M-W75030@-@G25CJ 120
75
3.58
392
1.05
1.35
4.08 × 10
3.43 × 10
3.62 × 10
3.92 × 10
1.53 × 10
2.68 × 10
2.71 × 10
2.67 × 10
3.22 × 10
2.68 × 10
2.71 × 10
2.79 × 10
7.17 × 10
6.50 × 10
7.09 × 10
7.05 × 10
2.29
3.82
6.36
2.71
3.78
6.31
11.1
5.40
9.49
15.8
26.4
10.8
18.2
30.4
50.7
80
80
80
85
66
66
70
85
83
83
83
90
85
85
85
6.88
11.5
19.1
8.12
11.3
18.9
33.4
16.2
28.5
47.6
79.3
32.2
54.7
91.2
152
441
1.05
1.2
2.2
1.82
2.8
3.2
3.2
3.4
3.4
3.8
4.9
5.5
6.8
7.2
10.6
1.35
1.5
2.5
2.32
3.3
3.7
3.7
3.9
3.9
4.3
5.4
6.4
7.7
8.1
11.5
1/15
1/25
200 W 1/5
333
588
200
1,323
392
1,000
556
1/9
931
1/15
1/25
333
1,176
1,323
784
200
400 W 1/5
1,000
556
1/9
931
1/15
1/25
333
1,176
1,617
784
200
750 W 1/5
1,000
556
1/9
1,176
1,372
2,058
1/15
1/25
333
200
Note 1. The reduction gear inertia indicates the Servomotor shaft conversion value.
Note 2. The enclosure rating for Servomotors with reduction gears is IP44.
Note 3. The allowable radial loads are measured in the center of the shaft.
2-90
Standard Models and Specifications
Chapter 2
■ 3,000-r/min Flat-style Servomotors with Economy Reduction Gears
(100 to 750 W)
Model
Rated
Rated
Effi-
Maxi-
mum
Maxi-
mum
Reduction Allow-
Allow-
able
thrust
load
Weight
rotation torque ciency
speed
gear
able
radial
load
Without
With
brake
momen- momen-
inertia
brake
tary
rotation
speed
tary
torque
2
r/min
N·m
1.19
%
r/min
1,000
556
N·m
N
N
196
220
294
661
196
465
588
661
392
465
588
808
392
588
686
1,029
kg
kg
kg·m
-5
-5
-6
-6
-5
-5
-5
-5
-5
-5
-5
-5
-5
-5
-5
-5
100 W 1/5
1/9
R88M-WP10030@-@G05CJ 600
R88M-WP10030@-@G09CJ 333
R88M-WP10030@-@G15CJ 200
R88M-WP10030@-@G25CJ 120
R88M-WP20030@-@G05CJ 600
R88M-WP20030@-@G09CJ 333
R88M-WP20030@-@G15CJ 200
R88M-WP20030@-@G25CJ 120
R88M-WP40030@-@G05CJ 600
R88M-WP40030@-@G09CJ 333
R88M-WP40030@-@G15CJ 200
R88M-WP40030@-@G25CJ 120
R88M-WP75030@-@G05CJ 600
R88M-WP75030@-@G09CJ 333
R88M-WP75030@-@G15CJ 200
R88M-WP75030@-@G25CJ 120
75
80
80
80
85
66
66
70
85
83
83
83
90
85
85
85
3.58
392
1.42
1.62
1.60 × 10
1.37 × 10
3.38 × 10
3.68 × 10
1.53 × 10
2.56 × 10
2.71 × 10
2.67 × 10
3.23 × 10
2.56 × 10
2.71 × 10
2.79 × 10
7.17 × 10
6.50 × 10
6.86 × 10
7.05 × 10
2.29
3.82
6.36
2.71
3.78
6.31
11.1
5.40
9.49
15.8
26.4
10.8
18.2
30.4
50.7
6.88
11.5
19.1
8.12
11.3
18.9
33.4
16.2
28.5
47.6
79.3
32.2
54.7
91.2
152
441
1.42
1.47
2.5
1.62
1.67
2.7
1/15
1/25
200 W 1/5
333
588
200
1,323
392
1,000
556
2.25
3.2
2.75
3.7
1/9
931
1/15
1/25
333
1,176
1,323
784
3.6
4.1
200
3.6
4.1
400 W 1/5
1,000
556
3.9
4.4
1/9
931
3.9
4.4
1/15
1/25
333
1,176
1,617
784
4.3
4.8
200
5.4
5.9
750 W 1/5
1,000
556
6.7
8.2
1/9
1,176
1,372
2,058
8.0
9.5
1/15
1/25
333
8.4
9.9
200
11.8
13.3
Note 1. The reduction gear inertia indicates the Servomotor shaft conversion value.
Note 2. The enclosure rating for Servomotors with reduction gears is IP44.
Note 3. The allowable radial loads are measured in the center of the shaft.
2-5-4 Encoder Specifications
■ Incremental Encoder Specifications
Item
3,000-r/min Servomotors
50 to 750 W 1 to 3 kW
3,000-r/min Flat-
style Servomotors
1,000-r/min
Servomotors
Encoder method
Optical encoder
13 bits
17 bits
13 bits
17 bits
Number of output
pulses
A, B phase: 2,048
pulses/revolution
A, B phase: 32,768 A, B phase: 2,048
A, B phase: 32,768
pulses/revolution
pulses/revolution
pulses/revolution
Z phase: 1 pulse/
revolution
Z phase: 1 pulse/
revolution
Z phase: 1 pulse/
revolution
Z phase: 1 pulse/
revolution
Power supply voltage 5 V DC 5%
Power supply current 120 mA
150 mA
120 mA
150 mA
2-91
Standard Models and Specifications
Chapter 2
Item
3,000-r/min Servomotors
50 to 750 W 1 to 3 kW
3,000-r/min Flat-
style Servomotors
1,000-r/min
Servomotors
Maximum rotation
speed
5,000 r/min
Output signals
+S, −S
Output impedance
Conforming to EIA RS-422A.
Output based on LTC1485CS or equivalent.
Serial communica-
tions data
Position data, poll sensor, U, V, W phase, encoder alarm, Servomotor data
Serial communica-
tions method
Bi-directional communications in HDLC format, by Manchester method
■ Absolute Encoder Specifications
Item
3,000-r/min Servomotors
50 to 750 W 1 to 3 kW
3,000-r/min Flat-
style Servomotors
1,000-r/min
Servomotors
1,500-r/min
Servomotors
Encoder method
Optical encoder
16 bits
17 bits
16 bits
17 bits
Number of output
pulses
A, B phase: 16,384 A, B phase: 32,768 A, B phase: 16,384 A, B phase: 32,768
pulses/revolution
pulses/revolution
pulses/revolution
pulses/revolution
Z phase: 1 pulse/
revolution
Z phase: 1 pulse/
revolution
Z phase: 1 pulse/
revolution
Z phase: 1 pulse/
revolution
Maximum rotational
speed
−32,768 to +32,767 rotations or 0 to 65,534 rotations
Power supply voltage 5 V DC 5%
Power supply current 180 mA
Applicable battery volt- 3.6 V DC
age
Battery current con-
sumption
20 µA (for backup, when stopped), 3 µA (when Servo Driver is powered)
Maximum rotation
speed
5,000 r/min
Output signals
+S, −S
Output impedance
Conforming to EIA RS-422A.
Output based on LTC1485CS or equivalent.
Serial communica-
tions data
Position data, poll sensor, U, V, W phase, encoder alarm, Servomotor data
Bi-directional communications in HDLC format, by Manchester method
Amount of rotation
Serial communica-
tions method
Absolute value com-
munications data
2-92
Standard Models and Specifications
Chapter 2
2-6 Cable and Connector Specifications
2-6-1 MECHATROLINK-II Communications Cable Specifications
■ MECHATROLINK Communications Cable (With Connectors at Both
Ends and a Core) (FNY-W6003-@@)
● Cable Models
Name
Model
FNY-W6003-A5
FNY-W6003-01
FNY-W6003-03
FNY-W6003-05
FNY-W6003-10
FNY-W6003-20
FNY-W6003-30
FNY-W6022
Length (L)
0.5 m
MECHATROLINK-II Cable
1.0 m
3.0 m
5.0 m
10 m
20 m
30 m
---
MECHATROLINK-II Terminating Resistor
● Connection Configuration and External Dimensions
MECHATROLINK-II Cable
L
With core
MECHATROLINK-II Terminating Resistor
(8)
46
2-93
Standard Models and Specifications
Chapter 2
● Wiring
The following example shows the MECHATROLINK-II Communications Cable connections between
a host device and Servo Drivers.
Position Control Unit
L1
L2
Ln
200V
R88D-WN01H-ML2
AC SERVO DRIVER
200V
200V
R88D-WN01H-ML2
AC SERVO DRIVER
R88D-WN01H-ML2
AC SERVO DRIVER
POWER
COM
POWER
COM
POWER
COM
100W
100W
100W
SW1
SW1
SW1
C
C
C
N
6
N
6
N
6
CHARGE
CHARGE
A/B
CHARGE
A/B
A/B
Terminating
Resistor
C
N
3
C
N
3
C
N
3
C
N
1
C
N
1
C
N
1
U
V
U
V
U
V
W
W
W
C
N
2
C
N
2
C
N
2
C
N
4
C
N
4
C
N
4
Note 1. Use a minimum cable length of 0.5 m between any two devices (L1, L2 ... Ln).
Note 2. The total cable length (L1, L2 ... Ln) must not exceed 50 m.
2-94
Standard Models and Specifications
Chapter 2
■ Servo Driver Cable (XW2Z-@J-B16)
This Cable is for the Connector-Terminal Block Conversion Unit for W-series Servo Drivers (with
built-in MECHATROLINK-II communications).
● Cables
XW2Z-@J-B16
Model
Length (L)
External
sheath
Weight
diameter
XW2Z-100J-B16 1 m
XW2Z-200J-B16 2 m
8.0 dia.
Approx. 0.1 kg
Approx. 0.2 kg
● Connection Configuration and External Dimensions
6
L
39
Connector-Terminal Block
Conversion Unit side
Servo Driver side
XW2B-20G4
XW2B-20G5
XW2D-20G6
R88D-WN@
t = 14
● Wiring
Connector for Connector-
Terminal Block Conversion Unit
Connector on Servo
Driver (CN1)
No.
Symbol
No.
6
Symbol
1
+24VIN
+24V
2
3
0 V
+24V
0 V
4
5
+ 24 V
0 V
6
7
Connector on Servo Driver
Connector plug model
8
9
7
DEC
POT
DEC
POT
9
10126-3000VE (Sumitomo 3M)
Connector Case model
10
11
12
13
14
15
16
17
18
19
20
8
NOT
NOT
10
11
12
15
14
2
EXT1
EXT2
EXT3
BATGND
BAT
10326-52A0-008 (Sumitomo 3M)
EXT1
EXT2
EXT3
BATGND
BAT
Connector on Connector-Terminal
Block Conversion Unit
Connector Socket Model
XG4M-2030 (OMRON)
Strain Relief Model
BKIRCOM
BKIR
BKIRCOM
BKIR
1
XG4T-2004 (OMRON)
4
ALMCOM
ALM
ALMCOM
ALM
3
Cable
Shell
FG
FG
AWG28 × 3P + AWG28 × 7C, UL2464
Note Set and use the signal names listed above for the Servo Driver connectors.
2-95
Standard Models and Specifications
Chapter 2
■ Connector-Terminal Block Conversion Unit (XW2B-20G@)
Control input signals from WN-series Servo Drivers (CN1) can be converted to a terminal block by
using the Connector-Terminal Block Conversion Unit with the XW2Z-@J-B16 Cable for Connector-
Terminal Block Conversion Units.
● Connector-Terminal Block Conversion Units
XW2B-20G4
The XW2B-20G4 is a Connector-Terminal Block Conversion Unit with a M3 screw terminal block.
● External Dimensions
Flat cable connector
(MIL plug)
3.5
67.5
3.5
Two, 3.5 dia.
Terminal block
5.08
Precautions
• Use 0.30 to 1.25 mm2 wire (AWG22 to AWG16).
• The wire inlet for M3 screw terminal blocks is 1.8 × 2.5 mm (vertical × horizontal).
• Strip the sheath as shown in the following diagram.
6 mm
2-96
Standard Models and Specifications
Chapter 2
● Terminal Block Model
XW2B-20G5
The XW2B-20G5 is a Connector-Terminal Block Conversion Unit with a M3.5 screw terminal block.
● External Dimensions
Flat cable connector
(MIL plug)
3.5
7
3.5
7
112.5
Two, 3.5-dia. holes
8.5
7.3
Terminal block
Note The terminal pitch is 8.5 mm.
Precautions
• When using crimp terminals, use crimp terminals with the following dimensions.
Round Crimp Terminals
Fork Crimp Terminals
Dia.: 3.7 mm
3.7 mm 6.8 mm max.
6.8 mm max.
Applicable Crimp Terminals
Round Terminals 1.25 to 3
2 to 3.5
Applicable Wires
2
AWG22 to AWG16 (0.30 to 1.25 mm )
2
AWG16 to AWG14 (1.25 to 2.0 mm )
2
Fork Terminals
1.25Y to 3
2 to 3.5
AWG22 to AWG16 (0.30 to 1.25 mm )
2
AWG16 to AWG14 (1.25 to 2.0 mm )
• Use a tightening torque of 0.59 N·m when connecting wires and crimp terminals to the terminal
block.
2-97
Standard Models and Specifications
Chapter 2
● Terminal Blocks
XW2D-20G6
The XW2D-20G6 is an M3 screw terminal block.
● External Dimensions
79
(39.1)
57
17.6
Two, 4.5-dia. holes
39
Precautions
• When using crimp terminals, use crimp terminals with the following dimensions.
Round Crimp Terminals
Fork Crimp Terminals
3.2 mm dia.
5.8 mm max.
5.8 mm max.
3.2 mm
Applicable Crimp Terminals
Applicable Wires
2
Round Terminals 1.25 to 3
AWG22 to AWG16 (0.30 to 1.25 mm )
2
Fork Terminals
1.25Y to 3
AWG22 to AWG16 (0.30 to 1.25 mm )
• Use a tightening torque of 0.7 N·m when connecting wires and crimp terminals to the terminal
block.
2-98
Standard Models and Specifications
Chapter 2
● Terminal Block Wiring Example (for XW2B-20G4/XW2B-20G5 and XW2D-20G6)
(See note 7.)
+24V
+24 V
+24V
Not used
POT
EXT1
EXT3
BAT
BKIR
ALM
0 V
0 V
0 V
DEC
NOT
EXT2 BATGND BKIRCOM ALMCOM
FG
(See
note 1.)
(See note 5.)
XB
X1
24 VDC
24 VDC
Note 1. Backup battery for absolute encoders (2.8 to 4.5 V).
Note 2. A backup battery for absolute encoders is not required for motors with incremental encod-
ers.
Note 3. Connect a backup battery for an absolute encoder to either the Connector-Terminal Block
Conversion Unit or to the battery cable for absolute encoder backup (with battery), but not
to both.
Note 4. Secure the backup battery for an absolute encoder with cable clips with double-sided tape
or a similar means.
Note 5. The XB contact is used to turn the electromagnetic brake ON and OFF.
Note 6. Do not wire unused terminals.
Note 7. Allocate BKIR (brake interlock) to CN1-1.
2-6-2 Motor Cable Specifications
The motor cable is used to connect the Servo Driver and Servomotor. Select the appropriate cable
for the Servomotor. The maximum distance between Servo Driver and Servomotor is 50 m.
Note Use a Robot Cable if the cable needs to bend.
● Bend Resistance of Robot Cables
Robot Cables use wire that has a bending life of 20 million times when used at the minimum bending
radius (R) or greater under the following conditions.
Note 1. The bending resistance data was compiled under test conditions and must be used as a
guide only. An extra margin must always be allowed.
Note 2. The life expectancy is the number of uses without cracks or damage to the sheath that would
affect performance while current is applied to the wire conductor. This value does not apply
to cut shield strands.
Note 3. Note: If Robot Cables are used at a bending radius smaller than the minimum bending radi-
us, mechanical malfunctions, ground faults, and other problems may occur due to insulation
breakdown. Contact your OMRON representative if you need to use a Robot Cable with a
bending radius smaller than the minimum bending radius.
2-99
Standard Models and Specifications
Chapter 2
● Power Cables
Model
Minimum bending radius (R)
Without brake R88A-CAWA@@@SR
55 mm
55 mm
96 mm
96 mm
96 mm
96 mm
150 mm
150 mm
With brake
Without brake R88A-CAWB@@@SR
With brake R88A-CAWB@@@BR
Without brake R88A-CAWC@@@SR
With brake R88A-CAWC@@@BR
Without brake R88A-CAWD@@@SR
With brake R88A-CAWD@@@BR
R88A-CAWA@@@BR
@@@: 003 to 050
● Encoder Cables
Model
Minimum bending radius (R)
R88A-CAWA@@@CR
R88A-CAWA∆∆∆CR
R88A-CAWB@@@NR
R88A-CAWB∆∆∆NR
46 mm
78 mm
46 mm
78 mm
@@@: 003 to 020
∆∆∆: 030 to 050
● Moving Bending Test
Stroke
320 mm
Bending radius (R)
100 times/min
2-100
Standard Models and Specifications
Chapter 2
Standard Encoder Cable Specifications
Select an Encoder Cable to match the Servomotor being used. The cables range in length from 3 to
50 meters. (The maximum distance between the Servomotor and Servo Driver is 50 meters.)
● Cable Models
R88A-CRWA@C
Model
Length (L)
Outer diameter of sheath
6.5 dia.
Weight
Approx. 0.2 kg
Approx. 0.4 kg
Approx. 0.7 kg
Approx. 1.0 kg
Approx. 1.3 kg
Approx. 2.5 kg
Approx. 3.3 kg
Approx. 4.1 kg
R88A-CRWA003C 3 m
R88A-CRWA005C 5 m
R88A-CRWA010C 10 m
R88A-CRWA015C 15 m
R88A-CRWA020C 20 m
R88A-CRWA030C 30 m
R88A-CRWA040C 40 m
R88A-CRWA050C 50 m
6.8 dia.
R88A-CRWB@N
Model
Length (L)
Outer diameter of sheath
Weight
Approx. 0.4 kg
Approx. 0.5 kg
Approx. 0.8 kg
Approx. 1.1 kg
Approx. 1.4 kg
Approx. 2.6 kg
Approx. 3.4 kg
Approx. 4.2 kg
R88A-CRWB003N 3 m
R88A-CRWB005N 5 m
R88A-CRWB010N 10 m
R88A-CRWB015N 15 m
R88A-CRWB020N 20 m
R88A-CRWB030N 30 m
R88A-CRWB040N 40 m
R88A-CRWB050N 50 m
6.5 dia.
6.8 dia.
● Connection Configuration and External Dimensions
R88A-CRWA@C
43.5
L
43.5
Servo Driver
R88D-WN@-ML2
Servomotor
R88M-W@
t = 12
t = 12
R88A-CRWB@N
43.5
L
69.1
Servo Driver
Servomotor
R88M-W@
R88D-WN@-ML2
t = 12
2-101
Standard Models and Specifications
Chapter 2
● Wiring
R88A-CRWA@C
Cable:
Servo Driver
Signal
E5V
Servomotor
AWG22 × 2C + AWG24 × 2P UL20276 (3 to 20 m)
AWG16 × 2C + AWG26 × 2P UL20276 (30 to 50 m)
No.
No.
Signal
Red
1
1
E5V
E0V
BAT+
BAT−
S+
Black
Cable
Connector socket:
54280-0609 (Molex Japan)
Servomotor
Connector plug:
E0V
2
2
Orange
BAT+
BAT−
S+
3
4
3
4
Orange/White
Open
5
5
55102-0600 (Molex Japan)
Open/White
S−
6
6
S−
FG
Shell
Shell
FG
Connector plug: 3 to 20 m ... 55101-0600 (Molex Japan)
30 to 50 m ... 55100-0670 (Molex Japan)
Crimp terminal: 50639-8091 (Molex Japan)
R88A-CRWB@N
Cable:
AWG22 × 2C + AWG24 × 2P UL20276 (3 to 20 m)
AWG16 × 2C + AWG26 × 2P UL20276 (30 to 50 m)
Servo Driver
Signal
E5V
Servomotor
No.
No.
H
G
T
Signal
Red
Cable
Straight plug:
N/MS3106B20-29S (JAE Ltd.)
Cable plug:
N/MS3057-12A (JAE Ltd.)
Servomotor
1
E5V
E0V
BAT+
BAT−
S+
Black
E0V
2
Orange
BAT+
BAT−
S+
3
4
Orange/White
Open
S
5
C
D
J
Receptacle:
MS3102A20-29P (DDK Ltd.)
Open/White
S−
FG
6
S−
FG
Shell
Connector plug: 3 to 20 m ... 55101-0600 (Molex Japan)
30 to 50 m ... 55100-0670 (Molex Japan)
Crimp terminal: 50639-8091 (Molex Japan)
Absolute Encoder Battery Cable Specifications [ABS]
● Cable Models
Model
Length (L)
R88A-CRWC0R3C
0.3 m
● Connection Configuration and External Dimensions
R88A-CRWC0R3C
43.5
0.3
43.5
Servo Driver
R88D-WN@-ML2
Servomotor
R88M-W@
Battery holder
(provided with battery)
t = 12
t = 12
2-102
Standard Models and Specifications
Chapter 2
● Wiring
R88A-CRWC0R3C
Servo Driver
Servomotor
Signal
E 5V
E 0V
BAT+
BAT−
S+
No.
No.
Signal
Red
1
1
E 5V
E 0V
BAT+
BAT−
S+
Black
Cable
Connector socket:
54280-0609 (Molex Japan)
Servomotor
Connector plug:
2
2
Orange
White/Orange
Open
3
4
3
4
5
5
55102-0600 (Molex Japan)
Open/White
S−
6
6
S−
FG
Shell
Shell
FG
Battery holder
Signal
No.
1
BAT+
BAT−
2
Connector plug: 3 to 20 m ... 55101-0600 (Molex Japan)
30 to 50 m ... 55100-0670 (Molex Japan)
Crimp terminal: 50639-8091 (Molex Japan)
Standard Power Cable Specifications
Select a Power Cable to match the Servomotor being used. The cables range in length from 3 to 50
meters. (The maximum distance between the Servomotor and Servo Driver is 50 meters.)
■ R88A-CAWA@
The R88A-CAWA@ Cables are for 3,000-r/min Servomotors (30 to 750 W) and 3,000-r/min Flat-style
Servomotors (100 to 750 W).
● Cable Models
For Servomotors without Brakes
Model
Length (L)
Outer diameter of sheath
6.2 dia.
Weight
Approx. 0.2 kg
Approx. 0.3 kg
Approx. 0.6 kg
Approx. 0.9 kg
Approx. 1.2 kg
Approx. 1.8 kg
Approx. 2.4 kg
Approx. 3.0 kg
R88A-CRWA003S 3 m
R88A-CRWA005S 5 m
R88A-CRWA010S 10 m
R88A-CRWA015S 15 m
R88A-CRWA020S 20 m
R88A-CRWA030S 30 m
R88A-CRWA040S 40 m
R88A-CRWA050S 50 m
2-103
Standard Models and Specifications
Chapter 2
For Servomotors with Brakes
Model
Length (L)
Outer diameter of sheath
7.4 dia.
Weight
Approx. 0.3 kg
Approx. 0.5 kg
Approx. 0.9 kg
Approx. 1.3 kg
Approx. 1.7 kg
Approx. 2.5 kg
Approx. 3.3 kg
Approx. 4.1 kg
R88A-CRWA003B 3 m
R88A-CRWA005B 5 m
R88A-CRWA010B 10 m
R88A-CRWA015B 15 m
R88A-CRWA020B 20 m
R88A-CRWA030B 30 m
R88A-CRWA040B 40 m
R88A-CRWA050B 50 m
Note If a 750-W Servomotor is to be wired at a distance of 30 meters or more, use R88A-CAWB@@
Cable.
● Connection Configuration and External Dimensions
For Servomotors without Brakes
50
L
27.4
Servo Driver
R88D-WN@-ML2
Servomotor
R88M-W@
t = 15.7
For Servomotors with Brakes
50
L
27.4
Servo Driver
Servomotor
R88M-W@
R88D-WN@-ML2
t = 28.4
● Wiring
For Servomotors without Brakes
Servo Driver
Servomotor
No.
1
Symbol
Cable
Red
Connector cap: 350780-1 (Tyco Electronics AMP KK)
Connector socket: 350689-3 (Tyco Electronics AMP KK)
Servomotor
Connector plug: 350779-1 (Tyco Electronics AMP KK)
Connector pins 1 to 3: 350690-3 (Tyco Electronics AMP KK)
Connector pin 4: 770210-1 (Tyco Electronics AMP KK)
Phase-U
Phase-V
Phase-W
FG
White
Blue
2
3
Green/Yellow
4
Cable: AWG20 × 4C UL2464
M4 crimp
terminal
2-104
Standard Models and Specifications
Chapter 2
For Servomotors with Brakes
Servo Driver
Servomotor
No.
1
Symbol
Cable
Red
Phase-U
Phase-V
Phase-W
FG
Connector cap: 350781-1 (Tyco Electronics AMP KK)
Connector socket: 350689-3 (Tyco Electronics AMP KK)
Servomotor
Connector plug: 350715-1 (Tyco Electronics AMP KK)
Connector pins 1 to 3, 5, 6: 350690-3 (Tyco Electronics AMP KK)
Connector pin 4: 770210-1 (Tyco Electronics AMP KK)
White
Blue
2
3
Green/Yellow
4
Black
5
Brake
Brown
6
Brake
Cable: AWG20 × 6C UL2464
M4 crimp
terminals
■ R88A-CAWB@
The R88A-CAWB@ Cables are for 3,000-r/min Flat-style Servomotors (1.5 kW).
● Cable Models
For Servomotors without Brakes
Model
Length (L)
Outer diameter of sheath
10.4 dia.
Weight
Approx. 0.6 kg
Approx. 1.0 kg
Approx. 1.9 kg
Approx. 2.8 kg
Approx. 3.7 kg
Approx. 5.5 kg
Approx. 7.3 kg
Approx. 9.2 kg
R88A-CAWB003S 3 m
R88A-CAWB005S 5 m
R88A-CAWB010S 10 m
R88A-CAWB015S 15 m
R88A-CAWB020S 20 m
R88A-CAWB030S 30 m
R88A-CAWB040S 40 m
R88A-CAWB050S 50 m
For Servomotors with Brakes
Model
Length (L)
Outer diameter of sheath
14.5 dia.
Weight
R88A-CAWB003B 3 m
R88A-CAWB005B 5 m
R88A-CAWB010B 10 m
R88A-CAWB015B 15 m
R88A-CAWB020B 20 m
R88A-CAWB030B 30 m
R88A-CAWB040B 40 m
R88A-CAWB050B 50 m
Approx. 1.0 kg
Approx. 1.6 kg
Approx. 3.2 kg
Approx. 4.8 kg
Approx. 6.4 kg
Approx. 9.5 kg
Approx. 12.7 kg
Approx. 15.8 kg
Note Use these cables if a 750-W Servomotor is to be wired at a distance of 30 meters or more.
2-105
Standard Models and Specifications
Chapter 2
● Connection Configuration and External Dimensions
For Servomotors without Brakes
50
L
27.4
Servo Driver
R88D-WN@-ML2
Servomotor
R88M-W@
t = 15.7
For Servomotors with Brakes
50
L
27.4
Servo Driver
Servomotor
R88D-WN@-ML2
R88M-W@
t = 28.4
● Wiring
For Servomotors without Brakes
Servo Driver
Servomotor
Cable
No.
1
Symbol
Connector cap: 350780-1 (Tyco Electronics AMP KK)
Connector socket:
Pins 1 to 3: 350551-6 (Tyco Electronics AMP KK)
Pin 4: 350551-3 (Tyco Electronics AMP KK)
Servomotor
Connector plug: 350779-1 (Tyco Electronics AMP KK)
Connector pins 1 to 3: 350547-6 (Tyco Electronics AMP KK)
Connector pin 4: 350669-1 (Tyco Electronics AMP KK)
Red
Phase-U
Phase-V
White
Blue
2
3
Phase-W
FG
Green/Yellow
4
Cable: AWG14 × 4C UL2463
M4 crimp
terminal
For Servomotors with Brakes
Servo Drivers
Servomotors
No.
1
Symbol
Cable
Red
Connector plug: 350781-1 (Tyco Electronics AMP KK)
Connector socket:
Pins 1 to 3: 350551-6 (Tyco Electronics AMP KK)
Pins 4 to 6: 350551-3 (Tyco Electronics AMP KK)
Servomotor
Connector plug: 350715-1 (Tyco Electronics AMP KK)
Connector pins 1 to 3: 350547-6 (Tyco Electronics AMP KK)
Connector pin 4: 350669-1 (Tyco Electronics AMP KK)
Connector pins 5 and 6: 350690-3 (Tyco Electronics AMP KK)
Phase-U
Phase-V
Phase-W
FG
White
2
Blue
3
Green/Yellow
Black
4
5
Brake
Brown
6
Brake
Cable: AWG14 × 6C UL2463
M4 crimp
terminals
2-106
Standard Models and Specifications
Chapter 2
■ R88A-CAWC@
The R88A-CAWC@ Cables are for 3,000-r/min Servomotors (1 to 2 kW), 1,000-r/min Servomotors
(300 to 900 W), and 1,500-r/min Servomotors (450 W to 1.3 kW).
● Cable Models
For Servomotors without Brakes
Model
Length (L)
Outer diameter of sheath
10.4 dia.
Weight
Approx. 0.6 kg
Approx. 1.0 kg
Approx. 1.9 kg
Approx. 2.8 kg
Approx. 3.7 kg
Approx. 5.6 kg
Approx. 7.4 kg
Approx. 9.2 kg
R88A-CAWC003S 3 m
R88A-CAWC005S 5 m
R88A-CAWC010S 10 m
R88A-CAWC015S 15 m
R88A-CAWC020S 20 m
R88A-CAWC030S 30 m
R88A-CAWC040S 40 m
R88A-CAWC050S 50 m
For Servomotors with Brakes
Model
Length (L)
Outer diameter of sheath
14.5 dia.
Weight
R88A-CAWC003B 3 m
R88A-CAWC005B 5 m
R88A-CAWC010B 10 m
R88A-CAWC015B 15 m
R88A-CAWC020B 20 m
R88A-CAWC030B 30 m
R88A-CAWC040B 40 m
R88A-CAWC050B 50 m
Approx. 1.1 kg
Approx. 1.7 kg
Approx. 3.3 kg
Approx. 4.9 kg
Approx. 6.4 kg
Approx. 9.6 kg
Approx. 12.7 kg
Approx. 15.9 kg
● Connection Configuration and External Dimensions
For Servomotors without Brakes
70
L
65.9
Servo Driver
R88D-WN@-ML2
Servomotor
R88M-W@
For Servomotors with Brakes
70
L
69.1
Servo Driver
Servomotor
R88M-W@
R88D-WN@-ML2
2-107
Standard Models and Specifications
Chapter 2
● Wiring
For Servomotors without Brakes
Servo Driver
Servomotor
No.
A
Symbol
Cable
Red
Straight plug: N/MS3106B18-10S (JAE Ltd.)
Cable clamp: N/MS3057-10A (JAE Ltd.)
Servomotor
Phase-U
Phase-V
Phase-W
FG
White
Blue
B
C
Receptacle: MS3102A18-10P (DDK Ltd.)
Green/Yellow
Cable: AWG14 × 4C UL2463
D
M4 crimp
terminals
For Servomotors with Brakes
Servo Driver
Servomotor
No.
A
Symbol
Cable
Red
Straight plug: N/MS3106B20-15S (JAE Ltd.)
Cable clamp: N/MS3057-12A (JAE Ltd.)
Servomotor
Phase-U
Phase-V
Phase-W
FG
White
B
Blue
C
Receptacle: MS3102A20-15P (DDK Ltd.)
Green/Yellow
Black
D
E
Brake
Brown
F
Brake
Cable: AWG14 × 6C UL2463
M4 crimp
terminals
Note Connector-type terminal blocks are used for Servo Drivers of 1.5 kW or less, as shown in Ter-
minal Block Wiring Procedure under 3-2-3 Terminal Block Wiring. Remove the crimp terminals
from the phase-U, phase-V, and phase-W wires for these Servo Drivers.
■ R88A-CAWD@
The R88A-CAWD@ Cables are for 3,000-r/min Servomotors (3 to 5 kW), 1,000-r/min Servomotors
(1.2 to 3 kW), and 1,500-r/min Servomotors (1.8 to 4.4 kW).
● Cable Models
For Servomotors without Brakes
Model
Length (L)
Outer diameter of sheath
14.7 dia.
Weight
R88A-CAWD003S 3 m
R88A-CAWD005S 5 m
R88A-CAWD010S 10 m
R88A-CAWD015S 15 m
R88A-CAWD020S 20 m
R88A-CAWD030S 30 m
R88A-CAWD040S 40 m
R88A-CAWD050S 50 m
Approx. 1.3 kg
Approx. 2.1 kg
Approx. 4.1 kg
Approx. 6.0 kg
Approx. 8.0 kg
Approx. 11.9 kg
Approx. 15.8 kg
Approx. 19.7 kg
2-108
Standard Models and Specifications
Chapter 2
For Servomotors with Brakes
Model
Length (L)
Outer diameter of sheath
17.8 dia.
Weight
R88A-CAWD003B 3 m
R88A-CAWD005B 5 m
R88A-CAWD010B 10 m
R88A-CAWD015B 15 m
R88A-CAWD020B 20 m
R88A-CAWD030B 30 m
R88A-CAWD040B 40 m
R88A-CAWD050B 50 m
Approx. 1.9 kg
Approx. 3.0 kg
Approx. 5.8 kg
Approx. 8.6 kg
Approx. 11.4 kg
Approx. 17.0 kg
Approx. 22.6 kg
Approx. 28.2 kg
● Connection Configuration and External Dimensions
For Servomotors without Brakes
70
L
69.1
Servo Driver
R88D-WN@-ML2
Servomotor
R88M-W@
For Servomotors with Brakes
70
L
74.6
Servo Driver
Servomotor
R88M-W@
R88D-WN@-ML2
● Wiring
For Servomotors without Brakes
Servo Driver
Servomotor
No.
A
Symbol
Phase-U
Phase-V
Phase-W
FG
Cable
Red
Straight plug: N/MS3106B22-22S (JAE Ltd.)
Cable clamp: N/MS3057-12A (JAE Ltd.)
Servomotor
White
Blue
B
C
Receptacle: MS3102A22-22P (DDK Ltd.)
Green/Yellow
D
Cable: AWG10 × 4C UL2463
M5 crimp
terminals
2-109
Standard Models and Specifications
Chapter 2
For Servomotors with Brakes
Servo Driver
Servomotor
No.
A
Symbol
Cable
Red
Straight plug: N/MS3106B24-10S (JAE Ltd.)
Cable clamp: N/MS3057-16A (JAE Ltd.)
Servomotor
Phase-U
Phase-V
Phase-W
FG
White
Blue
B
C
Receptacle: MS3102A24-10P (DDK Ltd.)
Green/Yellow
D
Black
E
Brake
Brown
F
Brake
Cable: AWG10 × 6C UL2463
M5 crimp
terminals
Note Connector-type terminal blocks are used for Servo Drivers of 1.5 kW or less, as shown in Ter-
minal Block Wiring Procedure under 3-2-3 Terminal Block Wiring. Remove the crimp terminals
from the phase-U, phase-V, and phase-W wires for these Servo Drivers.
Robot Cable Encoder Cable Specifications
Select an Encoder Cable to match the Servomotor being used. The cables range in length from 3 to
50 meters. (The maximum distance between the Servomotor and Servo Driver is 50 meters.)
● Cable Models
R88A-CRWA@CR
Model
Length (L)
Outer diameter of sheath
7.0 dia.
Weight
Approx. 0.2 kg
Approx. 0.3 kg
Approx. 0.6 kg
Approx. 0.9 kg
Approx. 1.2 kg
Approx. 1.8 kg
Approx. 2.4 kg
Approx. 3.0 kg
R88A-CRWA003CR 3 m
R88A-CRWA005CR 5 m
R88A-CRWA010CR 10 m
R88A-CRWA015CR 15 m
R88A-CRWA020CR 20 m
R88A-CRWA030CR 30 m
R88A-CRWA040CR 40 m
R88A-CRWA050CR 50 m
6.7 dia.
R88A-CRWB@NR
Model
Length (L)
Outer diameter of sheath
Weight
Approx. 0.3 kg
Approx. 0.4 kg
Approx. 0.7 kg
Approx. 1.0 kg
Approx. 1.3 kg
Approx. 1.9 kg
Approx. 2.5 kg
Approx. 3.1 kg
R88A-CRWB003NR 3 m
R88A-CRWB005NR 5 m
R88A-CRWB010NR 10 m
R88A-CRWB015NR 15 m
R88A-CRWB020NR 20 m
R88A-CRWB030NR 30 m
R88A-CRWB040NR 40 m
R88A-CRWB050NR 50 m
6.5 dia.
6.8 dia.
2-110
Standard Models and Specifications
● Connection Configuration and External Dimensions
R88A-CRWA@CR
Chapter 2
43.5
L
43.5
Servo Driver
R88D-WN@-ML2
Servomotor
R88M-W@
t = 12
t = 12
R88A-CRWB@NR
43.5
L
69.1
Servo Driver
Servomotor
R88M-W@
R88D-WN@-ML2
t = 12
● Wiring
R88A-CRWA@CR
Cable:
Servo Driver
Signal
E5V
Servomotor
AWG22 × 2C + AWG24 × 2P UL20276 (3 to 20 m)
AWG16 × 2C + AWG26 × 2P UL20276 (30 to 50 m)
No.
No.
Signal
Red
1
1
E5V
E0V
Black
Cable
Connector socket:
54280-0609 (Molex Japan)
Servomotor
Connector plug:
E0V
2
2
Orange
BAT+
BAT−
S+
3
4
3
4
BAT+
BAT−
S+
Orange/White
Open
5
5
55102-0600 (Molex Japan)
Open/White
S−
6
6
S−
FG
Shell
Shell
FG
Connector plug: 55100-0670 (Molex Japan)
Crimp terminal: 50639-8091 (Molex Japan)
R88A-CRWB@NR
Cable:
AWG22 × 2C + AWG24 × 2P UL20276 (3 to 20 m)
AWG16 × 2C + AWG26 × 2P UL20276 (30 to 50 m)
Servo Driver
Signal
E5V
Servomotor
No.
No.
H
G
T
Signal
Red
Cable
Straight plug:
N/MS3106B20-29S (JAE Ltd.)
Cable plug:
N/MS3057-12A (JAE Ltd.)
Servomotor
1
E5V
E0V
BAT+
BAT−
S+
Black
E0V
2
Orange
BAT+
BAT−
S+
3
4
Orange/White
Open
S
5
C
D
J
Receptacle:
MS3102A20-29P (DDK Ltd.)
Open/White
S−
FG
6
S−
FG
Shell
Connector plug: 55100-0670 (Molex Japan)
Crimp terminal: 50639-8091 (Molex Japan)
2-111
Standard Models and Specifications
Chapter 2
Robot Cable Power Cable Specifications
Select a Power Cable to match the Servomotor being used. The cables range in length from 3 to 50
meters. (The maximum distance between the Servomotor and Servo Driver is 50 meters.)
■ R88A-CAWA@R
The R88A-CAWA@R Cables are for 3,000-r/min Servomotors (30 to 750 W) and 3,000-r/min Flat-
style Servomotors (100 to 750 W).
● Cable Models
For Servomotors without Brakes
Model
Length (L)
Outer diameter of sheath
6.5 dia.
Weight
Approx. 0.2 kg
Approx. 0.3 kg
Approx. 0.6 kg
Approx. 0.8 kg
Approx. 1.1 kg
Approx. 1.7 kg
Approx. 2.2 kg
Approx. 2.8 kg
R88A-CRWA003SR 3 m
R88A-CRWA005SR 5 m
R88A-CRWA010SR 10 m
R88A-CRWA015SR 15 m
R88A-CRWA020SR 20 m
R88A-CRWA030SR 30 m
R88A-CRWA040SR 40 m
R88A-CRWA050SR 50 m
For Servomotors with Brakes
Model
Length (L)
Outer diameter of sheath
7.0 dia.
Weight
Approx. 0.2 kg
Approx. 0.4 kg
Approx. 0.8 kg
Approx. 1.1 kg
Approx. 1.5 kg
Approx. 2.3 kg
Approx. 3.0 kg
Approx. 3.8 kg
R88A-CRWA003BR 3 m
R88A-CRWA005BR 5 m
R88A-CRWA010BR 10 m
R88A-CRWA015BR 15 m
R88A-CRWA020BR 20 m
R88A-CRWA030BR 30 m
R88A-CRWA040BR 40 m
R88A-CRWA050BR 50 m
Note If a 750-W Servomotor is to be wired at a distance of 30 meters or more, use R88A-CAWB@R
Cable.
● Connection Configuration and External Dimensions
For Servomotors without Brakes
50
L
27.4
Servo Driver
R88D-WN@-ML2
Servomotor
R88M-W@
t = 15.7
2-112
Standard Models and Specifications
Chapter 2
For Servomotors with Brakes
50
L
27.4
Servo Driver
Servomotor
R88M-W@
R88D-WN@-ML2
t = 28.4
● Wiring
For Servomotors without Brakes
Servo Driver
Servomotor
No.
1
Symbol
Phase-U
Cable
Red
Connector cap: 350780-1 (Tyco Electronics AMP KK)
Connector socket: 350689-3 (Tyco Electronics AMP KK)
Servomotor
Connector plug: 350779-1 (Tyco Electronics AMP KK)
Connector pins 1 to 3: 350690-3 (Tyco Electronics AMP KK)
Connector pin 4: 770210-1 (Tyco Electronics AMP KK)
White
Blue
2
Phase-V
Phase-W
FG
3
Green/Yellow
4
Cable: AWG21 × 4C UL2464
M4 crimp
terminal
For Servomotors with Brakes
Servo Driver
Servomotor
No.
1
Symbol
Cable
Red
Phase-U
Phase-V
Phase-W
FG
Connector cap: 350781-1 (Tyco Electronics AMP KK)
Connector socket: 350689-3 (Tyco Electronics AMP KK)
Servomotor
Connector plug: 350715-1 (Tyco Electronics AMP KK)
Connector pins 1 to 3, 5, 6: 350690-3 (Tyco Electronics AMP KK)
Connector pin 4: 770210-1 (Tyco Electronics AMP KK)
White
2
Blue
3
Green/Yellow
Black
4
5
Brake
Brown
6
Brake
Cable: AWG21 × 6C UL2464
M4 crimp
terminals
■ R88A-CAWB@R
The R88A-CAWB@R Cables are for 3,000-r/min Flat-style Servomotors (1.5 kW).
● Cable Models
For Servomotors without Brakes
Model
Length (L)
Outer diameter of sheath
9.5 dia.
Weight
Approx. 0.5 kg
Approx. 0.8 kg
Approx. 1.5 kg
Approx. 2.2 kg
Approx. 3.0 kg
Approx. 4.5 kg
Approx. 5.9 kg
Approx. 7.4 kg
R88A-CAWB003SR 3 m
R88A-CAWB005SR 5 m
R88A-CAWB010SR 10 m
R88A-CAWB015SR 15 m
R88A-CAWB020SR 20 m
R88A-CAWB030SR 30 m
R88A-CAWB040SR 40 m
R88A-CAWB050SR 50 m
2-113
Standard Models and Specifications
Chapter 2
For Servomotors with Brakes
Model
Length (L)
Outer diameter of sheath
11.5 dia.
Weight
Approx. 0.7 kg
Approx. 1.1 kg
Approx. 2.2 kg
Approx. 3.3 kg
Approx. 4.4 kg
Approx. 6.6 kg
Approx. 8.8 kg
Approx. 11.0 kg
R88A-CAWB003BR 3 m
R88A-CAWB005BR 5 m
R88A-CAWB010BR 10 m
R88A-CAWB015BR 15 m
R88A-CAWB020BR 20 m
R88A-CAWB030BR 30 m
R88A-CAWB040BR 40 m
R88A-CAWB050BR 50 m
Note Use these cables if a 750-W Servomotor is to be wired at a distance of 30 meters or more.
● Connection Configuration and External Dimensions
For Servomotors without Brakes
50
L
27.4
Servo Driver
R88D-WN@-ML2
Servomotor
R88M-W@
t = 15.7
For Servomotors with Brakes
50
L
27.4
Servo Driver
Servomotor
R88D-WN@-ML2
R88M-W@
t = 28.4
● Wiring
For Servomotors without Brakes
Servo Driver
Servomotor
Cable
No.
1
Symbol
Connector cap: 350780-1 (Tyco Electronics AMP KK)
Connector socket:
Pins 1 to 3: 350550-6 (Tyco Electronics AMP KK)
Pin 4: 350551-3 (Tyco Electronics AMP KK)
Servomotor
Connector plug: 350779-1 (Tyco Electronics AMP KK)
Connector pins 1 to 3: 350547-6 (Tyco Electronics AMP KK)
Connector pin 4: 350669-1 (Tyco Electronics AMP KK)
Red
Phase-U
Phase-V
White
Blue
2
3
Phase-W
FG
Green/Yellow
4
Cable: AWG15 × 4C UL2586
M4 crimp
terminal
2-114
Standard Models and Specifications
Chapter 2
For Servomotors with Brakes
Servo Drivers
Servomotors
No.
1
Symbol
Cable
Red
Connector plug: 350781-1 (Tyco Electronics AMP KK)
Connector socket:
Pins 1 to 3: 350550-6 (Tyco Electronics AMP KK)
Pins 4 to 6: 350550-3 (Tyco Electronics AMP KK)
Servomotor
Connector plug: 350715-1 (Tyco Electronics AMP KK)
Connector pins 1 to 3: 350547-6 (Tyco Electronics AMP KK)
Connector pin 4: 350669-1 (Tyco Electronics AMP KK)
Connector pins 5 and 6: 350690-3 (Tyco Electronics AMP KK)
Phase-U
Phase-V
Phase-W
FG
White
Blue
2
3
Green/Yellow
4
Black
5
Brake
Brown
6
Brake
Cable: AWG15 × 6C UL2586
M4 crimp
terminals
■ R88A-CAWC@R
The R88A-CAWC@R Cables are for 3,000-r/min Servomotors (1 to 2 kW), 1,000-r/min Servomotors
(300 to 900 W), and 1,500-r/min Servomotors (450 W to 1.3 kW).
● Cable Models
For Servomotors without Brakes
Model
Length (L)
Outer diameter of sheath
9.5 dia.
Weight
Approx. 0.6 kg
Approx. 0.9 kg
Approx. 1.6 kg
Approx. 2.4 kg
Approx. 3.1 kg
Approx. 4.6 kg
Approx. 6.1 kg
Approx. 7.5 kg
R88A-CAWC003SR 3 m
R88A-CAWC005SR 5 m
R88A-CAWC010SR 10 m
R88A-CAWC015SR 15 m
R88A-CAWC020SR 20 m
R88A-CAWC030SR 30 m
R88A-CAWC040SR 40 m
R88A-CAWC050SR 50 m
For Servomotors with Brakes
Model
Length (L)
Outer diameter of sheath
11.5 dia.
Weight
Approx. 0.8 kg
Approx. 1.3 kg
Approx. 2.4 kg
Approx. 3.5 kg
Approx. 4.6 kg
Approx. 6.8 kg
Approx. 9.0 kg
Approx. 11.2 kg
R88A-CAWC003BR 3 m
R88A-CAWC005BR 5 m
R88A-CAWC010BR 10 m
R88A-CAWC015BR 15 m
R88A-CAWC020BR 20 m
R88A-CAWC030BR 30 m
R88A-CAWC040BR 40 m
R88A-CAWC050BR 50 m
2-115
Standard Models and Specifications
Chapter 2
● Connection Configuration and External Dimensions
For Servomotors without Brakes
70
L
65.9
Servo Driver
R88D-WN@-ML2
Servomotor
R88M-W@
For Servomotors with Brakes
70
L
69.1
Servo Driver
Servomotor
R88M-W@
R88D-WN@-ML2
● Wiring
For Servomotors without Brakes
Servo Driver
Servomotor
No.
A
Symbol
Phase-U
Phase-V
Phase-W
FG
Cable
Red
Straight plug: N/MS3106B18-10S (JAE Ltd.)
Cable clamp: N/MS3057-10A (JAE Ltd.)
Servomotor
White
Blue
B
C
Receptacle: MS3102A18-10P (DDK Ltd.)
Green/Yellow
Cable: AWG15 × 4C UL2586
D
M4 crimp
terminals
For Servomotors with Brakes
Servo Driver
Servomotor
No.
A
Symbol
Cable
Red
Straight plug: N/MS3106B20-15S (JAE Ltd.)
Cable clamp: N/MS3057-12A (JAE Ltd.)
Servomotor
Phase-U
Phase-V
Phase-W
FG
White
B
Blue
C
Receptacle: MS3102A20-15P (DDK Ltd.)
Green/Yellow
Black
D
E
Brake
Brown
F
Brake
Cable: AWG15 × 6C UL2586
M4 crimp
terminals
Note Connector-type terminal blocks are used for Servo Drivers of 1.5 kW or less, as shown in Ter-
minal Block Wiring Procedure under 3-2-3 Terminal Block Wiring. Remove the crimp terminals
from the phase-U, phase-V, and phase-W wires for these Servo Drivers.
2-116
Standard Models and Specifications
Chapter 2
■ R88A-CAWD@R
The R88A-CAWD@R Cables are for 3,000-r/min Servomotors (3 to 5 kW), 1,000-r/min Servomotors
(1.2 to 3 kW), and 1,500-r/min Servomotors (1.8 to 4.4 kW).
● Cable Models
For Servomotors without Brakes
Model
Length (L)
Outer diameter of sheath
13.5 dia.
Weight
R88A-CAWD003SR 3 m
R88A-CAWD005SR 5 m
R88A-CAWD010SR 10 m
R88A-CAWD015SR 15 m
R88A-CAWD020SR 20 m
R88A-CAWD030SR 30 m
R88A-CAWD040SR 40 m
R88A-CAWD050SR 50 m
Approx. 1.1 kg
Approx. 1.7 kg
Approx. 3.3 kg
Approx. 4.9 kg
Approx. 6.4 kg
Approx. 9.5 kg
Approx. 12.6 kg
Approx. 15.7 kg
For Servomotors with Brakes
Model
Length (L)
Outer diameter of sheath
16.5 dia.
Weight
R88A-CAWD003BR 3 m
R88A-CAWD005BR 5 m
R88A-CAWD010BR 10 m
R88A-CAWD015BR 15 m
R88A-CAWD020BR 20 m
R88A-CAWD030BR 30 m
R88A-CAWD040BR 40 m
R88A-CAWD050BR 50 m
Approx. 1.7 kg
Approx. 2.6 kg
Approx. 4.9 kg
Approx. 7.2 kg
Approx. 9.4 kg
Approx. 14.1 kg
Approx. 18.7 kg
Approx. 23.3 kg
● Connection Configuration and External Dimensions
For Servomotors without Brakes
70
L
69.1
Servo Driver
R88D-WN@-ML2
Servomotor
R88M-W@
For Servomotors with Brakes
70
L
74.6
Servo Driver
Servomotor
R88M-W@
R88D-WN@-ML2
2-117
Standard Models and Specifications
Chapter 2
● Wiring
For Servomotors without Brakes
Servo Driver
Servomotor
No.
A
Symbol
Cable
Red
Straight plug: N/MS3106B22-22S (JAE Ltd.)
Cable clamp: N/MS3057-12A (JAE Ltd.)
Servomotor
Phase-U
Phase-V
Phase-W
FG
White
Blue
B
C
Receptacle: MS3102A22-22P (DDK Ltd.)
Green/Yellow
D
Cable: AWG11 × 4C UL2586
M5 crimp
terminals
For Servomotors with Brakes
Servo Driver
Servomotor
No.
A
Symbol
Cable
Red
Straight plug: N/MS3106B24-10S (JAE Ltd.)
Cable clamp: N/MS3057-16A (JAE Ltd.)
Servomotor
Phase-U
Phase-V
Phase-W
FG
White
B
Blue
C
Receptacle: MS3102A24-10P (DDK Ltd.)
Green/Yellow
Black
D
E
Brake
Brown
F
Brake
Cable: AWG11 × 6C UL2586
M5 crimp
terminals
Note Connector-type terminal blocks are used for Servo Drivers of 1.5 kW or less, as shown in Ter-
minal Block Wiring Procedure under 3-2-3 Terminal Block Wiring. Remove the crimp terminals
from the phase-U, phase-V, and phase-W wires for these Servo Drivers.
2-6-3 Peripheral Cables and Connector Specifications
■ Analog Monitor Cable (R88A-CMW001S)
This is cable for connecting to the Servo Driver's Analog Monitor Connector (CN5). It is required for
connecting analog monitor outputs to external devices such as measuring instruments.
● Cable Models
Model
Length (L)
Weight
R88A-CMW001S 1 m
Approx. 0.1 kg
● Connection Configuration and External Dimensions
7.3
L
Servo Driver
R88D-WN@-ML2
External device
t = 6
2-118
Standard Models and Specifications
Chapter 2
● Wiring
Servo Driver
Symbol
NM
No.
1
Red
White
Black
Black
AM
2
GND
GND
3
4
Cable: AWG24 × 4C UL1007
Connector socket: DF11-4DS-2C (Hirose Electric)
Connector contacts: DF11-2428SCF (Hirose Electric)
■ Computer Monitor Cables (R88A-CCW002P2)
In order to set Servo Driver parameters and monitor a Servo Driver from a personal computer, the
Computer Monitor Software and Computer Monitor Cable are required.
● Cable Models
For DOS/V Computers
Model
Length (L)
Outer diameter of sheath
6 dia.
Weight
R88A-CCW002P2 2 m
Approx. 0.1 kg
● Connection Configuration and External Dimensions
For DOS/V Computers
38
L
39
Servo Driver
R88D-WN@-ML2
Personal
computer
(DOS/V)
t = 15
t = 12.7
● Wiring
For DOS/V Computers
Computer
Servo Driver
Symbol
RXD
TXD
RTS
CTS
GND
FG
No.
No.
2
Symbol
2
TXD
RXD
3
7
4
Connector plug: 10114-3000VE (Sumitomo 3M)
Connector case: 10314-52A0-008 (Sumitomo 3M)
8
5
14
GND
FG
Shell
Shell
Cable: AWG26 × 3C UL2464
Connector: 17JE-13090-02 (D8A) (DDK Ltd.)
2-119
Standard Models and Specifications
Chapter 2
■ Control I/O Connector (R88A-CNW01)
This is the connector for connecting to the Servo Driver's Control I/O Connector (CN1). This connec-
tor is used when the cable is prepared by the user.
● External Dimensions
39
Connector plug: 10126-3000VE (Sumitomo 3M)
Connector case: 10326-52A0-008 (Sumitomo 3M)
t = 14
■ Encoder Connectors (R88A-CNW0@R)
These are the connectors for the encoder cable. These connectors are used when the cable is pre-
pared by the user. They are solder-type connectors. Use the following cable.
• Wire size: AWG16 max.
• Stripped outer diameter: 2.1 mm max.
• Outer diameter of sheath: 6.7 0.5 mm
● External Dimensions
R88A-CNW01R (For Driver's CN2 Connector)
43.5
Connector Plug Model Number
55100-0670 (Molex)
t = 12
R88A-CNW02R (For Motor Connector)
43.5
Connector Plug Model Number
54280-0609 (Molex)
t = 12
2-120
Standard Models and Specifications
Chapter 2
2-7 External Regeneration Resistor Specifications
If the Servomotor's regenerative energy is excessive, connect an External
Regeneration Resistor.
■ R88A-RR22047S External Regeneration Resistor
■ Specifications
Model
Resistance
Nominal
capacity
Regeneration
absorption for 120°C
temperature rise
Heat
radiation
condition
Thermal switch
output
specifications
R88A-RR22047S 47 Ω 5%
220 W
70 W
t1.0 × @350 Operating tempera-
(SPCC)
ture: 170°C 3%,
NC contact, Rated
output: 3 A
■ External Dimensions
All dimensions are in millimeters.
● R88A-RR22047S External Regeneration Resistor
Thermal switch output
6
t1.2
500
200
220
230
20
2-121
Standard Models and Specifications
Chapter 2
2-8 Absolute Encoder Backup Battery Specifications
A backup battery is required when using a Servomotor with an absolute encoder.
Install the Battery Unit in the battery holder for the Absolute Encoder Battery Cable
(R88A-CRWC0R3C, 0.3 m), and connect the provided connector to the connector in
the battery holder.
■ R88A-BAT01W Absolute Encoder Backup Battery Unit
■ Specifications
Item
Battery model number
Battery voltage
Specifications
ER3V (Toshiba)
3.6 V
Current capacity
1,000 mA·h
■ Connection Configuration and External Dimensions
t = 6
Model
Length (L)
R88A-BAT01W
20 mm
5
26
L
6.8
■ Wiring
No.
1
Symbol
BAT
Red
Black
2
BATGND
Cable: AWG24 × 2C UL1007
Connector housing: DF3-2S-2C (Hirose Electric)
Contact pin: DF3-2428SCFC (Hirose Electric)
2-122
Standard Models and Specifications
Chapter 2
■ Installation
R88A-CRWC0R3C Absolute Encoder Battery Cable
Battery holder
Servo Driver connector
Install an R88A-BAT01W Battery.
■ Manufacturing Code
The manufacturing code gives the manufacturing date as shown below.
Day of month, one alphanumeric character
Month, one alphanumeric character
Year, one alphanumeric character
The alphanumeric characters have the following meanings.
Year
Code
Year
K
L
M
N
O
P
Q
R
S
T
1999 2000 2001 2002 2003 2004 2005 2006 2007 2008
Month
Code
R
1
A
2
Y
3
D
4
L
5
I
T
7
E
8
S
9
H
U
M
Month
6
10
11
12
Day of
month
Code
Day
A
B
C
D
4
E
F
G
7
H
8
I
J
K
L
1
2
3
5
6
9
10
V
11
W
23
12
X
Code
Day
M
13
Y
N
O
15
2
P
Q
17
4
R
18
5
S
T
U
21
14
Z
16
3
19
6
20
22
24
Code
Day
25
26
27
28
29
30
31
Note Some Servomotors manufactured before 2001 have a two-character code.
Example1: OMR = 2003 December 18
Example 2: LU = 2000 November
2-123
Standard Models and Specifications
Chapter 2
2-9 Reactor Specifications
Connect a DC Reactor to the Servo Driver's DC Reactor connection terminal as a
harmonic current control measure. Select a model to match the Servo Driver being
used.
■ R88A-PX@ AC/DC Reactors
■ Specifications
Servo Driver model
AC/DC Reactor
Model
Rated current (A) Inductance (mH) Weight (kg)
Single-
phase,
100 V AC
R88D-WNA5L-ML2
R88D-WN01L-ML2
R88A-PX5053 2.0
R88A-PX5053 2.0
R88A-PX5054 3.0
R88A-PX5056 5.0
R88A-PX5052 1.0
R88A-PX5052 1.0
R88A-PX5053 2.0
R88A-PX5054 3.0
R88A-PX5056 5.0
R88A-PX5061 4.8
R88A-PX5061 4.8
R88A-PX5060 8.8
R88A-PX5060 8.8
R88A-PX5059 14.0
20.0
20.0
5.0
Approx. 0.6
Approx. 0.6
Approx. 0.4
Approx. 0.4
Approx. 0.4
Approx. 0.4
Approx. 0.6
Approx. 0.4
Approx. 0.4
Approx. 0.5
Approx. 0.5
Approx. 1.0
Approx. 1.0
Approx. 1.1
R88D-WN02L-ML2
R88D-WN04L-ML2
R88D-WNA5H-ML2
R88D-WN01H-ML2
R88D-WN02H-ML2
R88D-WN04H-ML2
R88D-WN08H-ML2
R88D-WN05H-ML2
R88D-WN10H-ML2
R88D-WN15H-ML2
R88D-WN20H-ML2
R88D-WN30H-ML2
2.0
Single-
phase,
200 V AC
45.0
45.0
20.0
5.0
2.0
Three-
phase,
200 V AC
2.0
2.0
1.5
1.5
1.0
■ External Dimensions
Unit: mm
I
G
Nameplate
1 2
E
F
A
B
4- H
Notches
2-124
Standard Models and Specifications
Chapter 2
Model
A
B
C
D
E
F
G
H dia.
I dia.
4.3
R88A-PX5052
R88A-PX5053
R88A-PX5054
R88A-PX5056
R88A-PX5059
R88A-PX5060
R88A-PX5061
35
35
35
35
50
40
35
52
52
52
52
74
59
52
80
90
80
80
95
30
35
30
30
35
45
35
40
45
40
40
45
60
45
45
50
45
45
60
65
50
4
4
4
4
5
4
4
105
95
4.3
4.5
4.3
5.3
4.3
4.3
95
125
105
80
140
125
95
2-125
Standard Models and Specifications
Chapter 2
2-10 MECHATROLINK-II Repeater Specifications
The MECHATROLINK-II Repeater is required to extend the MECHATROLINK-II connection distance.
■ FNY-REP2000
Item
Specification
Cable lengths
Controller to Repeater: 50 m max.
Repeater to terminating resistance: 50 m max.
Maximum number of
stations
14 stations over 50 m or 15 stations over 30 m from Controller to Repeater
15 stations over 50 m or 16 stations over 30 m from Repeater to terminating resis-
tance
Also, the number of stations on both sizes of the Repeater must not exceed the
maximum number of stations for the Controller. (The maximum is 16 stations for the
CS1W/CJ1W-NCF71.)
Indicators
Three: Power, CN1 transmitting, and CN2 transmitting
180 mA max.
Power supply current
External power supply 100 mA at 24 VDC ( 4.8 V)
Weight 0.5 kg
Repeater Part Names
Power indicator (POWER)
DIP Switch
CN1 transmitting indicator (TX1)
CN2 transmitting indicator (TX2)
Leave all pins set to OFF.
MECHATROLINK-II
communications connectors (CN1 and CN2)
Control power supply terminals (24 VDC and 0 VDC)
Protective ground terminal
2-126
Standard Models and Specifications
Chapter 2
MECHATROLINK-II Repeater Dimensions
■ FNY-REP2000
Dimensions
(97)
(34)
30
77
50
(20)
(4)
12
15
6
14 10
1
1
4.8
4.8
15
4.8
12
50
Dimensions
Mounting on Bottom
Mounting on Back
M4 tap
50
14
M4 tap
2-127
Standard Models and Specifications
Chapter 2
Connections
An example of connections between the host controller, servo drives, and a Repeater is shown
below.
MCH71
RU
N
ERC
ER1
ER2
SSI
ERH
ER3
ER4
MLK
UNIT
No.
NCF71
MLK
RUN
ERC
ERH
ERM
B
A
UNIT
No.
E
0
8
F
1
7
3 2
6
T.B.
SSI
MLK
I/O
MLK
R8
8D
-W
R8
8D
-W
R8
8D
-W
R8
8D
-W
D
RIVE
N01
H-M
L2
N01
H-M
L2
N01
H-M
L2
N01
H-M
AC
S
L2
ERV
O
AC
S
200
V
AC
S
200V
AC
S
200V
200V
ERV
ERV
ERV
O
D
O
D
O
D
RIVE
RIVE
RIVE
R
R
R
R
POW
POW
POW
POW
ER
COM
ER
COM
ER
COM
ER
COM
10
0W
10
0W
10
0W
10
0W
SW1
SW1
SW1
SW1
C
N
C
C
C
N
6
N
6
N
6
CHARGE
CHARGE
CHARGE
CHARGE
6
A/B
A/B
A/B
A/B
MECHATROLINK-II
MECHATROLINK-II
L1
L2
L1
L2
B1
B2
L1
L2
L1
L2
B1
B2
L1
L2
L1
L2
B1
B2
L1
L2
L1
L2
B1
B2
C
N
3
C
N
3
C
N
3
C
N
3
U
V
U
V
U
V
U
V
C
N
1
C
N
1
C
N
1
C
N
1
V
V
V
UV
W
W
W
W
W
W
W
W
C
N
2
C
N
2
C
N
2
C
N
2
C
N
4
C
N
4
C
N
4
C
N
4
30 m or less: 16 stations max.
30 to 50 m: 15 stations max.
30 m or less: 15 stations max.
30 to 50 m: 14 stations max.
100 m max.: Maximum number of stations for Controller
(The maximum is 16 stations for the CJ1W/CS1W-NCF71
and 30 stations for the CJ1W/CS1W-MCH71.)
2-128
Chapter 3
System Design and
Installation
3-1 Installation Conditions
3-2 Wiring
3-3 Regenerative Energy Absorption
3-4 Adjustments and Dynamic Braking When Load
Inertia Is Large
System Design and Installation
Chapter 3
Installation and Wiring Precautions
!Caution
!Caution
!Caution
!Caution
Do not step on or place a heavy object on the product. Doing so may result in
injury.
Do not cover the inlet or outlet ports and prevent any foreign objects from entering
the product. Failure to observe this may result in fire.
Be sure to install the product in the correct direction. Not doing so may result in
malfunction.
Provide the specified clearances between the Servo Driver and the control box or
other devices. Not doing so may result in fire or malfunction.
!Caution
!Caution
Do not apply any strong impact. Doing so may result in malfunction.
Be sure to wire correctly and securely. Not doing so may result in motor runaway,
injury, or malfunction.
!Caution
Be sure that all the mounting screws, terminal screws, and cable connector
screws are tightened to the torque specified in the relevant manuals. Incorrect
tightening torque may result in malfunction.
!Caution
!Caution
!Caution
Use crimp terminals for wiring. Do not connect bare stranded wires directly to ter-
minals. Connection of bare stranded wires may result in burning.
Always use the power supply voltages specified in the this manual. An incorrect
voltage may result in malfunctioning or burning.
Take appropriate measures to ensure that the specified power with the rated volt-
age and frequency is supplied. Be particularly careful in places where the power
supply is unstable. An incorrect power supply may result in malfunctioning.
!Caution
!Caution
Install external breakers and take other safety measures against short-circuiting in
external wiring. Insufficient safety measures against short-circuiting may result in
burning.
To avoid damage to the product, take appropriate and sufficient countermeasures
when installing systems in the following locations:
• Locations subject to static electricity or other sources of noise.
• Locations subject to strong electromagnetic fields and magnetic fields.
• Locations subject to possible exposure to radiation.
• Locations close to power supply lines.
!Caution
When connecting the battery, be careful to connect the polarity correctly. Incorrect
polarity connections can damage the battery or cause it to explode.
3-2
System Design and Installation
Chapter 3
3-1 Installation Conditions
3-1-1 Servo Drivers
■ Space Around Drivers
• Install Servo Drivers according to the dimensions shown in the following illustration to ensure
proper heat dispersion and convection inside the panel. Also install a fan for circulation if Servo
Drivers are installed side by side to prevent uneven temperatures from developing inside the panel.
• Take the control cable's connector direction into account when installing the Servo Drivers.
50 mm min.
Air
Fan
Fan
Side panel
W
W
50 mm min.
Air
30 mm min.
W = 10 mm min.
■ Mounting Direction
Mount the Servo Drivers in a direction (perpendicular) such that the lettering for the model number,
and so on, can be seen.
■ Operating Environment
The environment in which Servo Drivers are operated must meet the following conditions.
• Ambient operating temperature: 0 to +55°C (Take into account temperature rises in the individual
Servo Drivers themselves.)
• Ambient operating humidity:
• Atmosphere:
20% to 90% (with no condensation)
No corrosive gases.
■ Ambient Temperature
• Servo Drivers should be operated in environments in which there is minimal temperature rise to
maintain a high level of reliability.
• Temperature rise in any Unit installed in a closed space, such as a control box, will cause the ambi-
ent temperature to rise inside the entire closed space. Use a fan or a air conditioner to prevent the
ambient temperature of the Servo Driver from exceeding 55°C.
• Unit surface temperatures may rise to as much as 30°C above the ambient temperature. Use heat-
resistant materials for wiring, and keep separate any devices or wiring that are sensitive to heat.
3-3
System Design and Installation
Chapter 3
• The service life of a Servo Driver is largely determined by the temperature around the internal elec-
trolytic capacitors. The service life of an electrolytic capacitor is affected by a drop in electrolytic vol-
ume and an increase in internal resistance, which can result in overvoltage alarms, malfunctioning
due to noise, and damage to individual elements.
If a Servo Driver is always operated at the maximum ambient temperature of 40°C and at 80% of
the rated torque, then a service life of approximately 50,000 hours can be expected. A drop of 10°C
in the ambient temperature will double the expected service life.
■ Keeping Foreign Objects Out of Units
• Place a cover over the Units or take other preventative measures to prevent foreign objects, such as
drill filings, from getting into the Units during installation. Be sure to remove the cover after installa-
tion is complete. If the cover is left on during operation, heat buildup may damage the Units.
• Take measures during installation and operation to prevent foreign objects such as metal particles,
oil, machining oil, dust, or water from getting inside of Servo Drivers.
3-1-2 Servomotors
■ Operating Environment
The environment in which the Servomotor is operated must meet the following conditions.
• Ambient operating temperature: 0 to +40°C
• Ambient operating humidity:
• Atmosphere:
20% to 80% (with no condensation)
No corrosive gases.
■ Impact and Load
• The Servomotor is resistant to impacts of up to
490 m/s2. Do not subject it to heavy impacts or loads
during transport, installation, or removal. When
transporting it, hold onto the Servomotor itself, and
do not hold onto the encoder, cable, or connector
areas. Holding onto weaker areas such as these can
damage the Servomotor.
• Always use a pulley remover to remove pulleys, cou-
plings, or other objects from the shaft.
• Secure cables so that there is no impact or load placed on the cable connector areas.
3-4
System Design and Installation
Chapter 3
■ Connecting to Mechanical Systems
• The axial loads for Servomotors are specified in 2-5-
2 Performance Specifications. If an axial load greater
than that specified is applied to a Servomotor, it will
reduce the service life of the motor bearings and may
damage the motor shaft.
Ball screw center line
• When connecting to a load, use couplings that can
sufficiently absorb mechanical eccentricity and varia-
tion.
Shaft core displacement
Servomotor shaft
center line
• For spur gears, an extremely large radial load may be
applied depending on the gear precision. Use spur
gears with a high degree of accuracy (for example,
JIS class 2: normal line pitch error of 6 µm max. for a
pitch circle diameter of 50 mm). If the gear precision
is not adequate, allow backlash to ensure that no
radial load is placed on the motor shaft.
Backlash
Adjust backlash by
adjusting the distance
between shafts.
• Bevel gears will cause a load to be applied in the
thrust direction depending on the structural precision,
the gear precision, and temperature changes. Pro-
vide appropriate backlash or take other measures to
ensure that no thrust load is applied which exceeds
specifications.
Bevel gear
Make moveable.
• Do not put rubber packing on the flange surface. If
the flange is mounted with rubber packing, the motor
flange may separate due to the tightening strength.
• When connecting to a V-belt or timing belt, consult the maker for belt selection and tension. A radial
load twice the belt tension will be placed on the motor shaft. Do not allow a radial load exceeding
specifications to be placed on the motor shaft due to belt tension. If an excessive radial load is
applied, the motor shaft may be damaged. Set up the structure so that the radial load can be
adjusted. A large radial load may also be applied as a result of belt vibration. Attach a brace and
adjust Servo Driver gain so that belt vibration is minimized.
Pulley
Pulley for tension adjustment
(Make adjustable.)
Belt
Tension
3-5
System Design and Installation
Chapter 3
■ Connectors Conforming to EC Directives
The Power Cable and Encoder Cable connectors listed in the following table are recommended for
conforming to EC Directives.
Note The connectors for the Servomotor models not listed below, i.e., 3,000-r/min Servomotors (50
to 750 W) and all 3,000-r/min Flat-style Servomotor models, already conform to EC Directives
and do not need to be changed.
● Recommended Connectors
For Power Cables
Servomotor type
Servomotor model
Connector model
Cable clamp model
Maker
With- 3,000-r/min 1 kW
out
R88M-W1K030@-@
Angled type
For sheath external diameter
of 6.5 to 8.7 dia.:
DDK Ltd.
CE05-8A18-10SD-B-BAS
1.5 kW R88M-W1K530@-@
brake
CE3057-10A-3 (D265)
Straight type
CE06-6A18-10SD-B-BSS
2 kW
1,000-r/min 300 W
600 W
R88M-W2K030@-@
R88M-W30010@-@
R88M-W60010@-@
R88M-W90010@-@
R88M-W45015T-@
R88M-W85015T-@
For sheath external diameter
of 8.5 to 11 dia.:
CE3057-10A-2 (D265)
For sheath external diameter
of 10.5 to 14.1 dia.:
CE3057-10A-1 (D265)
900 W
1,500-r/min 450 W
850 W
1.3 kW R88M-W1K315T-@
3,000-r/min 3 kW
R88M-W3K030@-@
Angled type
For sheath external diameter
of 6.5 to 9.5 dia.:
Japan Avia-
tion Electron-
ics Industry,
Ltd. (JAE)
JL04V-8A22-22SE-EB
1,000-r/min 1.2 kW R88M-W1K210@-@
JL04-2022CK (09)
Straight type
JL04V-6A22-22SE-EB
2 kW
R88M-W2K010@-@
For sheath external diameter
of 9.5 to 13 dia.:
JL04-2022CK (12)
1,500-r/min 1.8 kW R88M-W1K815T-@
For sheath external diameter
of 12.9 to 15.9 dia.:
JL04-2022CK (14)
With
brake
3,000-r/min 1 kW
R88M-W1K030@-B@ Angled type
For sheath external diameter
of 6.5 to 9.5 dia.:
Japan Avia-
tion Electron-
ics Industry,
Ltd. (JAE)
JL04V-8A20-15SE-EB
1.5 kW R88M-W1K530@-B@
JL04-2022CK (09)
Straight type
2 kW
1,000-r/min 300 W
600 W
R88M-W2K030@-B@
R88M-W30010@-B@
R88M-W60010@-B@
R88M-W90010@-B@
R88M-W45015T-B@
R88M-W85015T-B@
JL04V-6A20-15SE-EB
For sheath external diameter
of 9.5 to 13 dia.:
JL04-2022CK (12)
For sheath external diameter
of 12.9 to 15.9 dia.:
JL04-2022CK (14)
900 W
1,500-r/min 450 W
850 W
1.3 kW R88M-W1K315T-B@
3,000-r/min 3 kW
1,000-r/min 1.2 kW R88M-W1K210@-B@
2 kW R88M-W2K010@-B@
1,500-r/min 1.8 kW R88M-W1K815T-B@
R88M-W3K030@-B@ Angled type
For sheath external diameter
of 9 to 12 dia.:
Japan Avia-
tion Electron-
ics Industry,
Ltd. (JAE)
JL04V-8A24-10SE-EB
JL04-2428CK (11)
Straight type
JL04V-6A24-10SE-EB
For sheath external diameter
of 12 to 15 dia.:
JL04-2428CK (14)
For sheath external diameter
of 15 to 18 dia.:
JL04-2428CK (17)
For sheath external diameter
of 18 to 20 dia.:
JL04-2428CK (20)
3-6
System Design and Installation
Chapter 3
For Encoder Cables
Servomotor type Servomotor model
Connector model
Cable clamp model
Maker
3,000-r/min
(1 to 3 kW)
R88M-W1K030@-@ to Angled type
For sheath external diam- Japan Avia-
R88M-W3K030@-@
JA08A-20-29S-J1-EB eter of 6.5 to 9.5 dia.:
tion Electron-
ics Industry,
Ltd. (JAE)
JL04-2022CKE (09)
Straight type
1,000-r/min
(300 W to 2.0 kW) R88M-W2K010@-@
1,500-r/min
(450 W to 1.8 kW) R88M-W1K815T-@
R88M-W30010@-@ to
JA06A-20-29S-J1-EB For sheath external diam-
eter of 9.5 to 13 dia.:
R88M-W45015T-@ to
JL04-2022CKE (12)
For sheath external diam-
eter of 12.9 to 16 dia.:
JL04-2022CKE (14)
■ Water and Drip Resistance
The enclosure ratings for the Servomotors are as follows:
3,000-r/min Servomotors (50 to 750 W): IP55 (except for through-shaft parts).
3,000-r/min Servomotors (1 to 3.0 kW): IP67 (except for through-shaft parts). Models are also
available with IP67 ratings that include through-shaft parts.
3,000-r/min Flat-style Servomotors (100 W to 1.5 kW): IP55 (except for through-shaft parts). Mod-
els are also available with IP67 ratings that include through-shaft parts.
1,000-r/min Servomotors (300 W to 2.0 kW): IP67 (except for through-shaft parts). Models are also
available with IP67 ratings that include through-shaft parts.
1,500-r/min Servomotors (450 W to 1.8 kW): IP67 (except for through-shaft parts). Models are also
available with IP67 ratings that include through-shaft parts.
The standard cable conforms to IP30. When selecting an IP67-rated Servomotor for use in a wet
environment, install waterproof connectors for the power and Encoder Cables. The recommended
connectors are the same as for the EC Directives, listed in the tables above.
■ Oil Seals
If the Servomotor is to be used in a location where it may be exposed to oil or grease, select an IP67-
rated Servomotor or a Servomotor with an oil seal.
■ Other Precautions
• Do not apply commercial power directly to the Servomotor. The Servomotors run on synchronous
AC and use permanent magnets. Applying commercial power directly will burn out the motor coils.
• Take measures to prevent the shaft from rusting. The shafts are coated with anti-rust oil when
shipped, but anti-rust oil or grease should also be applied when connecting the shaft to a load.
• Absolutely do not remove the encoder cover or take the motor apart. The magnet and the encoder
are aligned in the AC Servomotor. If they become misaligned, the motor will not operate.
3-7
System Design and Installation
Chapter 3
3-2 Wiring
3-2-1 Connecting Cable
This section shows the types of connecting cable used in an OMNUC W-series Servo
System. The wide selection of cables provided for configuring a Servo System using a
Motion Control Unit or Position Unit makes wiring simple.
■ Servo System Configuration
CN3 (Personal computer connector)
Computer Monitor Software
DOS personal computers
6
Computer Monitor Cable
Controller
CN6 (MECHATROLINK-II communications cable)
Motion Control Unit
1
MECHATROLINK-II Cable
CJ1W-MCH71
MCH71
B
A
D
E
CS1W-MCH71
8
0
7
3 2
6
Position Control Unit
CJ1W-NCF71
NCF71
MLK
RUN
ERC
ERH
ERM
B
A
D
UNIT
No.
E
8
0
7
1
F
3 2
6
MLK
7
Analog Monitor Cable
CN5
R88D-WN01H-ML2
200V
AC
SERVO DRIVER
POWE
R
CO
M
100W
SW1
C
CHARGE
A/B
L1
L2
L1
L2
B1
B2
1L
2L
1LC
2LC
CN1
(I/O signal connector)
2B
U
C
N
1
2
I/O Signal Connector
VU
Servo Driver
W
W
R88D-WN@-ML2
C
N
2
C
N
4
Terminal block
CN2
(Encoder Connector)
Absolute Encoder
Backup Battery Unit
R88A-BAT01W
3
Power Cable
(See note.)
Robot Cable Power Cable
4
5
Encoder Cable
(See note.)
Robot Cable
Encoder Cable
5
Note Use a Robot Cable if the cable needs to bend.
Absolute Encoder Battery Cable
R88A-CRWC0R3C 0.3 m
(Refer to page 2-99.)
Servomotor
R88M-W@
3-8
System Design and Installation
Chapter 3
● 1. MECHATROLINK-II Cable
Special MECHATROLINK-II Cables
Use the following cables to connect to MECHATROLINK-II devices.
Unit
Cable model
FNY-W6003-A5
FNY-W6003-01
FNY-W6003-03
FNY-W6003-05
FNY-W6003-10
FNY-W6003-20
FNY-W6003-30
Length
0.5 m
CJ1W-NCF71
CJ1W-MCH71
CS1W-MCH71
1.0 m
3.0 m
5.0 m
10 m
20 m
30 m
Terminating Resistor
Use the following terminating resistor at the end of the MECHATROLINK-II communications line.
Name
Model
MECHATROLINK-II Terminating Resistor FNY-W6022
● 2. I/O Signal Connector
Use the following connector to make your own cable for the Servo Driver I/O connector (CN1).
Name
Model
I/O Signal Connector R88A-CNW01C
Connects to the I/O signal connector (CN1).
(Connector only)
● 3. Power Cable
Select a Power Cable to match the Servomotor that is to be used.
Servomotor type
Power Cables for Servomotors Power Cables for Servomotors
without Brakes with Brakes
R88A-CAWA@@@S R88A-CAWA@@@B
3,000-r/min Servo- 30 to 750 W
motors
1 to 2kW
R88A-CAWC@@@S
R88A-CAWD@@@S
R88A-CAWA@@@S
R88A-CAWB@@@S
R88A-CAWC@@@S
R88A-CAWD@@@S
R88A-CAWC@@@B
R88A-CAWD@@@B
R88A-CAWA@@@B
R88A-CAWB@@@B
R88A-CAWC@@@B
R88A-CAWD@@@B
R88A-CAWC@@@B
R88A-CAWD@@@B
3.0 kW
3,000-r/min Flat-
style Servomotors
100 to 750 W
1.5 kW
1,000-r/min Servo- 300 to 900 W
motors
1.2 to 2.0 kW
1,500-r/min Servo- 450 W to 1.3 kW R88A-CAWC@@@S
motors
1.8 kW
R88A-CAWD@@@S
Note 1. The empty boxes in the model numbers are for cable length. The cables can be 3, 5, 10, 15,
20, 30, 40, or 50 meters long. (For example, R88A-CAW003S is 3 meters long.)
Note 2. For 750-W Servomotors, use R88A-CAWB@ Power Cable if the wiring distance will be 30
meters or more.
3-9
System Design and Installation
Chapter 3
● 4. Encoder Cable
Select an Encoder Cable to match the Servomotor that is to be used.
Servomotor type
3,000-r/min Servomotors 30 to 750 W
1 to 3.0 kW
Encoder Cable
Remarks
R88A-CRWA@@@C The empty boxes in the model numbers
R88A-CRWB@@@N
are for cable length. The cables can be 3,
5, 10, 15, 20, 30, 40, or 50 meters long.
(For example, R88A-CRWA003C is 3
meters long.)
3,000-r/min Flat-style
Servomotors
100 W to 1.5 kW R88A-CRWA@@@C
1,000-r/min Servomotors 300 W to 2.0 kW R88A-CRWB@@@N
1,500-r/min Servomotors 450 W to 1.8 kW R88A-CRWB@@@N
Use the following cable for an absolute encoder.
Name/specifications
Model
Remarks
Absolute Encoder Battery Cable 0.3 m
R88A-CRWC0R3C Only 0.3-meter cables are available.
● 5. Robot Cables
Use a Robot Cable if the encoder or power cables need to bend.
• Encoder Cables
Motor
3,000-r/min Servomotors 30 to 750 W
1 to 3.0 kW
Encoder Cable
Remarks
R88A-CAWA@@@CR The “@@@” in the model number indi-
R88A-CAWB@@@NR
R88A-CAWA@@@CR
cates the cable length.
There are 8 cable lengths: 3 m, 5 m,
10 m, 15 m, 20 m, 30 m, 40 m, and
3,000-r/min Flat-style
Servomotors
100 to 1.5 kW
50 m.
1,000-r/min Servomotors 300 to 2.0 kW
R88A-CAWB@@@NR
(Example model number:
R88A-CRWA003CR (3 m))
1,500-r/min Servomotors 450 W to 1.8 kW R88A-CAWB@@@NR
• Power Cables
Motor
Power Cable for Motors
Power Cable for Motors With
Without Brakes
R88A-CAWA@@@SR
R88A-CAWC@@@SR
R88A-CAWD@@@SR
R88A-CAWA@@@SR
R88A-CAWB@@@SR
R88A-CAWC@@@SR
R88A-CAWD@@@SR
Brakes
3,000-r/min Servomotors 30 to 750 W
R88A-CAWA@@@BR
R88A-CAWC@@@BR
R88A-CAWD@@@BR
R88A-CAWA@@@BR
R88A-CAWB@@@BR
R88A-CAWC@@@BR
R88A-CAWD@@@BR
R88A-CAWC@@@BR
R88A-CAWD@@@BR
1 to 2 kW
3.0 kW
3,000-r/min Flat-style
Servomotors
100 to 750 W
1.5 kW
1,000-r/min Servomotors 300 to 900 W
1.2 to 2.0 kW
1,500-r/min Servomotors 450 W to 1.3 kW R88A-CAWC@@@SR
1.8 kW R88A-CAWD@@@SR
Note The “@@@” in the model number indicates the cable length. There are 8 cable lengths: 3 m,
5 m, 10 m, 15 m, 20 m, 30 m, 40 m, and 50 m.
(Example model number: R88A-CAWA003SR (3 m))
3-10
System Design and Installation
Chapter 3
● 6. Computer Monitor Cable
A Computer Monitor Cable and Computer Monitor Software are required to set or monitor parame-
ters from a personal computer.
Name/specifications
Model
Remarks
Computer Monitor For DOS personal 2 m
R88A-CCW002P2 Only 2-meter cables are available.
Cable
computers
● 7. Analog Monitor Cable
This cable connects to the Servo Driver's Analog Monitor Connector (CN5). It is required for connect-
ing analog monitor outputs to an external device (such as a measuring instrument).
Name/specifications
Model
Remarks
Analog Monitor Cable 1 m
R88A-CMW001S
Only 1-meter cables are available.
3-11
System Design and Installation
Chapter 3
3-2-2 Peripheral Device Connection Examples
■ R88D-WNA5L-ML2/-WN01L-ML2/-WN02L-ML2/-WN04L-ML2/
-WNA5H-ML2/-WN01H-ML2/-WN02H-ML2/-WN04H-ML2
R
T
Single-phase 100/115 V AC, 50/60 Hz: R88D-WN@@L-ML2
Single-phase 200/230 V AC, 50/60 Hz: R88D-WN@@H-ML2
NFB
Noise filter (See note 2.)
1
3
2
4
E
NF
Main-circuit connector
(See note 2.)
Main-circuit power supply
OFF ON
1MC
Ground to
100 Ω or less
1MC
X
Surge killer (See note 2.)
PL
X
Servo error display
OMNUC W-series
AC Servo Driver
OMNUC W-series
AC Servomotor
Power Cable
XB
L1C
L2C
B
24 V DC
1MC
U
V
M
W
AC Reactor
L1
L2
Ground to
CN2
100 Ω or less
E
CN1
Encoder Cable
3 ALM
X
24 VDC
4 ALMCOM
Note 1. Set by user parameter Pn50F.
Note 2. Recommended product in 3-2-4
Wiring for Noise Resistance. For
conformity to EC Directives, refer to
3-2-5 Wiring for Conformity to EMC
Directives.
CN1
BKIR 1
24 V DC
XB
X
(See note 3.)
BKIRCOM 2
(See note 1.)
User-
controlled
device
CN6
Note 3. Recommended relay: MY Relay
(24 V), by OMRON. For example,
an MY2 Relay outputs to a 2-A in-
ductive load at 24 VDC, making it
applicable to all W-series Motors
with Brakes.
MECHATROLINK-II
Cable
3-12
System Design and Installation
Chapter 3
■ R88D-WN05H-ML2/-WN10H-ML2/-WN15H-ML2/-WN20H-ML2/
-WN30H-ML2
R
S
T
Three-phase 200/230 V AC 50/60 Hz
NFB
Noise filter (See note 2.)
Main-circuit power supply
1
4
2
NF
5
3
6
E
Main-circuit connector
(See note 2.)
OFF
ON
1MC
Ground to
100 Ω or less
1MC
X
Surge killer (See note 2.)
PL
X
Servo error display
OMNUC W-series
AC Servo Driver
OMNUC W-series
AC Servomotor
Power Cable
XB
L1C
L2C
B
24 V DC
1MC
U
V
L1
L2
L3
M
W
DC Reactor
Ground to
CN2
100 Ω or less
E
Encoder Cable
CN1
Note 1. Set by user parameter Pn50F.
3 ALM
X
24 VDC
Note 2. Recommended product in 3-2-4
Wiring for Noise Resistance. For
conformity to EC Directives, re-
fer to 3-2-5 Wiring for Conformity
to EMC Directives.
4 ALMCOM
CN1
BKIR 1
24 V DC
XB
X
(See note 3.)
Note 3. Recommended relay: MY Relay
(24 V), by OMRON. For exam-
ple, an MY2 Relay outputs to a
2-A inductive load at 24 VDC,
making it applicable to all W-se-
ries Motors with Brakes.
BKIRCOM 2
(See note 1.)
CN6
User-
controlled
device
MECHATROLINK-II
Cable
3-13
System Design and Installation
Chapter 3
■ R88D-WN08H-ML2
R
T
Single-phase 200/230 V AC 50/60 Hz
NFB
Noise filter (See note 2.)
Main-circuit power supply
1
3
2
4
E
NF
Main-circuit connector
(See note 2.)
OFF
ON
1MC
Ground to
100 Ω or less
1MC
X
Surge killer (See note 2.)
PL
X
Servo error display
OMNUC W-series
AC Servo Driver
OMNUC W-series
AC Servomotor
Power Cable
XB
L1C
L2C
B
24 V DC
1MC
U
V
L1
L2
M
W
DC Reactor
Ground to
CN2
100 Ω or less
E
CN1
Encoder Cable
3 ALM
X
24 VDC
Note 1. Set by user parameter Pn50F.
4 ALMCOM
Note 2. Recommended product in 3-2-
4 Wiring for Noise Resistance.
For conformity to EC Direc-
tives, refer to 3-2-5 Wiring for
Conformity to EMC Directives.
CN1
BKIR 1
24 V DC
XB
(See note 3.)
X
BKIRCOM 2
(See note 1.)
Note 3. Recommended relay: MY Re-
lay (24 V), by OMRON. For ex-
ample, an MY2 Relay outputs
to a 2-A inductive load at 24
VDC, making it applicable to all
W-series Motors with Brakes.
User-
controlled
device
CN6
MECHATROLINK-II
Cable
3-14
System Design and Installation
Chapter 3
3-2-3 Terminal Block Wiring
When wiring a Terminal Block, pay attention to wire sizes, grounding systems, and anti-
noise measures.
■ Terminal Block Names and Functions
Terminal
label
Name
Function
L1
Main circuit power sup- R88D-WN@H-ML2 (50 to 400 W)
ply input Single-phase 200/230 V AC (170 to 253 V), 50/60 Hz (There is no L3
L2
L3
terminal.)
R88D-WN08H-ML2 (750 W)
Single-phase 200/230 V AC (170 to 253 V), 50/60 Hz (The L3 terminal is
not used; do not connect it.)
R88D-WN@H-ML2 (500 W to 3.0 kW)
Three-phase 200/230 V AC (170 to 253 V), 50/60 Hz
R88D-WN@L-ML2 (50 to 400 W)
Single-phase 100/115 V AC (85 to 127 V), 50/60 Hz (There is no L3 ter-
minal.)
Connection terminals R88D-WN@H-ML2 (500 W to 3.0 kW)
− 1
− 2
for DC Reactor for
Normally short between
and
.
− 2
− 1
When harmonic control measures are required, connect a DC Reactor
between and
power supply har-
monic control
.
− 2
− 1
Main circuit terminal,
positive
Used to connect a DC power supply input.
B1/ +
(The R88D-WN@H-ML2 (500 W to 3.0 kW) do not have the
terminal.
−
Main circuit terminal,
negative
−
Connect the
terminal.)
− 2
L1C
L2C
Control circuit power
supply input
R88D-WN@H-ML2
Single-phase 200/230 V AC (170 to 253 V), 50/60 Hz
R88D-WN@L-ML2
Single-phase 100/115 V AC (85 to 127 V), 50/60 Hz
External regeneration R88D-WN@H-ML2 (50 to 400 W)
resistance connection R88D-WN@L-ML2 (50 to 400 W)
B1/ +
B2
B3
terminal
These terminals normally do not need to be connected. If there is high
regenerative energy, connect an External Regeneration Resistor
between B1 and B2. (There is no B3 terminal.)
R88D-WN@H-ML2 (500 W to 3.0 kW)
Normally short between B2 and B3. If there is high regenerative energy,
remove the short bar between B2 and B3 and connect an External
Regeneration Resistor between B1 and B2.
U
V
Servomotor connec-
tion terminals
Red
These are the output terminals to the Servomotor. Be
careful to wire them correctly.
White
W
Blue
Green/Yellow
Frame ground
This is the ground terminal. Ground to 100 Ω or less.
3-15
System Design and Installation
Chapter 3
■ Terminal Block Wire Sizes
● 100-V AC Input (R88D-WN@L-ML2)
Model (R88D-) WNA05L-ML2 WN01L-ML2 WN02L-ML2 WN04L-ML2
Item
Unit
Power supply capacity
kVA
0.25
0.4
0.6
4.7
2
1.2
9.4
2
Main circuit
Rated current
A (rms) 1.2
2.4
power supply
input (L1, L2)
(See note 1.)
2
Wire size
1.25
1.25
mm
---
Screw size
Torque
---
---
N·m
Control circuit Rated current
A (rms) 0.13
0.13
1.25
0.13
1.25
0.13
1.25
power supply
input (L1C,
2
Wire size
1.25
mm
---
Screw size
Torque
---
---
L2C)
N·m
Servomotor
connection ter-
minal (U, V, W,
Rated current
Wire size
A (rms) 0.66
0.91
1.25
2.1
2.8
2
1.25
1.25
1.25
mm
---
Screw size
Torque
---
---
)
N·m
(See note 2.)
2
Frame ground Wire size
2
2
2
2
mm
---
(
)
Screw size
Torque
M4
1.2
4
M4
1.2
4
M4
1.2
6
M4
1.2
12
N·m
Non-fuse breaker or fuse capacity A (rms)
Note 1. Use the same wire sizes for
,
, B1, and B2.
− 2
− 1
Note 2. Connect special OMRON Power Cable to the Servomotor connection terminals.
● 200-V AC Input (R88D-WT@H-ML2)
Model (R88D-) WNA5H- WN01H- WN02H- WN04H- WN08H- WN05H- WN10H- WN15H- WN20H- WN30H-
ML2
ML2
ML2
ML2
ML2
ML2
ML2
ML2
ML2
ML2
Item
Unit
Power supply capacity
kVA
0.25
0.4
0.75
1.2
2.1
1.4
2.3
3.2
4.3
5.9
Main circuit Rated current A (rms)
0.6
1.2
2.4
4.7
2
8.8
2
2.5
2
4.9
2
7.3
2
9.7
3.5
15.0
3.5
power sup-
2
Wire size
1.25
1.25
1.25
mm
---
ply input
(L1, L2 or
L1, L2, L3)
(See note
1.)
Screw size
Torque
---
---
M4
1.2
M4
1.2
N·m
Control cir- Rated current A (rms)
0.13
1.25
0.13
1.25
0.13
1.25
0.13
1.25
0.15
1.25
0.15
1.25
0.15
1.25
0.15
1.25
0.15
1.25
0.15
1.25
cuit power
2
Wire size
mm
---
supplyinput
(L1C, L2C)
Screw size
Torque
---
M4
M4
N·m
---
Servomo-
tor connec-
tion
Rated current A (rms)
2
0.66
1.25
0.91
1.25
2.1
2.8
5.5
3.8
2
7.6
2
11.6
2
18.5
3.5
18.9
5.5
Wire size
1.25
1.25
1.25
mm
---
terminal (U,
Screw size
Torque
---
---
M4
1.2
M4
1.2
V, W,
)
N·m
(See note
2.)
2
Frame
ground
Wire size
2
2
2
2
2
2
2
2
2
2
mm
Screw size
Torque
---
M4
1.2
4
M4
1.2
4
M4
1.2
4
M4
1.2
8
M4
1.2
11
M4
1.2
4
M4
1.2
7
M4
1.2
10
M4
1.2
13
M4
1.2
17
(
)
N·m
A (rms)
No-fuse breaker or fuse
capacity
3-16
System Design and Installation
Chapter 3
Note 1. Use the same wire sizes and tightening torques for
,
, B1, B2, and B3.
− 2
− 1
Note 2. Connect special OMRON Power Cable to the Servomotor connection terminals.
■ Wire Sizes and Allowable Current
The following table shows the allowable current for when there are three wires.
● 600-V Heat-resistant Vinyl Wiring (HIV) (Reference Values)
AWG size
Nominal cross-
sectional area (mm ) (wires/mm )
Configuration Conductive
Allowable current (A) for ambient
temperature
2
2
resistance
(Ω/km)
30°C
40°C
50°C
20
---
18
16
14
12
10
8
0.5
19/0.18
30/0.18
37/0.18
50/0.18
7/0.6
39.5
6.6
8.8
9.0
5.6
7.0
7.7
4.5
5.5
6.0
8.5
16
24
31
40
57
70
0.75
0.9
26.0
24.4
15.6
9.53
5.41
3.47
2.41
1.35
0.849
1.25
2.0
12.0
23
11.0
20
3.5
7/0.8
33
29
5.5
7/1.0
43
38
8.0
7/1.2
55
49
6
14.0
22.0
7/1.6
79
70
4
7/2.0
99
88
■ Terminal Block Wiring Procedure
Connector-type Terminal Blocks are used for Servo Drivers of 1.5 W or less (except for the R88D-
WN20H-ML2 to R88D-WN30H-ML2). The procedure for wiring these Terminal Blocks is explained
below.
C
N
3
Connector-type Terminal Block
C
N
1
U
V
W
C
N
2
(Example: R88D-WN01H-ML2)
C
N
4
1.Remove the Terminal Block from the Servo Driver.
!Caution
The Terminal Block must be removed from the Servo Driver before being wired.
The Servo Driver will be damaged if the wiring is done with the Terminal Block in
place.
3-17
System Design and Installation
Chapter 3
2.Strip the covering off the ends of the wires.
Prepare wires of the right sizes, according to the tables provided under Terminal Block Wire Sizes
above, and strip off 8 or 9 mm of the covering from the end of each wire.
8 to 9 mm
3.Open the wire insertion slots in the Terminal Block
There are two ways to open the wire insertion slots, as follows:
• Pry the slot open using the lever that comes with the Servo Driver (as in Fig. A).
• Insert a flat-blade screwdriver (end width: 3.0 to 3.5 mm) into the opening for Servo Driver in-
stallation, and press down firmly to open the slot (as in Fig. B).
210-120J Driver
(Wago Company
of Japan)
231-131 Lever
(Wago Company
of Japan)
Fig. A
Fig. B
4.Insert the wire into the slot.
With the slot held open, insert the end of the wire. Then let the slot close by releasing the pressure
from the lever or the screwdriver.
5.Mount the Terminal Block to the Servo Driver.
After all of the terminals have been wired, return the Terminal Block to its original position on the
Servo Driver.
3-18
System Design and Installation
Chapter 3
3-2-4 Wiring for Noise Resistance
System noise resistance will vary greatly depending on the wiring method used. This
section explains how to reduce noise through proper wiring.
■ Wiring Method
● R88D-WNA5L-ML2 to R88D-WN04L-ML2, R88D-WNA5H-ML2 to R88D-WN04H-ML2,
and R88D-WN08H-ML2 Servo Drivers (Single-phase Power Supply Input)
R88D-WN@-ML2
R88M-W@
Contactor
X1
AC power
supply
TB
TB
Metal duct
Surge absorber
Noise filter
NFB
NF
E
1
3
L1
U
V
M
2
4
L2
W
L1C
L2C
Fuse
CN2
2
2 mm
E
2
3.5 mm
2
Thick power line (3.5 mm )
Ground to
100 Ω or less
Machine ground
Ground control
box
Ground plate
Controller power supply
● R88D-WN05H-ML2 to R88D-WN30H-ML2 Servo Drivers (Three-phase Power Supply
Input)
R88D-WN@-ML2
R88M-W@
Contactor
X1
AC power
supply
TB
TB
Metal duct
Surge absorber
Noise filter
NFB
NF
1
2
3
4
5
6
L1
U
L2
L3
V
M
W
E
Fuse
L1C
L2C
CN2
2
2 mm
E
2
3.5 mm
2
Thick power line (3.5 mm )
Ground to
100 Ω or less
Machine ground
Ground control
box
Ground plate
Controller power supply
• Ground the motor's frame to the machine ground when the motor is on a movable shaft.
• Use a grounding plate for the frame ground for each Unit, as shown in the above diagrams, and
ground to a single point.
3-19
System Design and Installation
Chapter 3
• Use ground lines with a minimum thickness of 3.5 mm2, and arrange the wiring so that the ground
lines are as short as possible.
• If no-fuse breakers are installed at the top and the power supply line is wired from the lower duct,
use metal tubes for wiring and make sure that there is adequate distance between the input lines
and the internal wiring. If input and output lines are wired together, noise resistance will decrease.
• No-fuse breakers, surge absorbers, and noise filters (NF) should be positioned near the input termi-
nal block (ground plate), and I/O lines should be isolated and wired using the shortest distance pos-
sible.
• Wire the noise filter as shown at the left in the following illustration. The noise filter should be
installed at the entrance to the control box whenever possible.
Correct: Separate input and output
WRONG: Noise not filtered effectively
AC input
AC output
AC input
1
2
3
4
5
6
1
2
3
4
5
6
NF
E
NF
E
Ground
Ground
AC output
• Use twisted-pair cables for the power supply cables whenever possible, or bind the cables.
Correct: Properly twisted Correct: Cables are bound.
Driver
Driver
L1
L2
L3
L1C
L2C
Binding
• Separate power supply cables and signal cables when wiring.
■ Selecting Components
This section explains the criteria for selecting the connection components required for
improving noise resistance. These criteria include capacity performance, applicable
range, and so on. For more details, contact the manufacturers directly.
● No-fuse Breakers (NFB)
When selecting no-fuse breakers, take into consideration the maximum output current and the inrush
current.
3-20
System Design and Installation
Chapter 3
W
Powersupply
voltage
Model
Capacity Rated current Inrush current (main
A (rms) circuit) A (0-p)
14.3
From rated
current (*125%)
Single-
phase
100
100
100
100
200
200
200
200
200
200
200
200
200
200
WNA5L
WN01L
WN02L
WN04L
WNA5H
WN01H
WN02H
WN04H
WN08H
WN05H
WN10H
WN15H
WN20H
WN30H
50 W
1.2
2.4
4.7
9.4
0.6
1.2
2.4
4.7
8.8
2.5
4.9
7.3
9.7
1.5
100 W
200 W
400 W
50 W
14.3
14.3
14.3
27.6
27.6
27.6
27.6
27.6
27.6
27.6
27.6
27.6
27.6
3
5.875
11.75
0.75
1.5
Single-
phase
100 W
200 W
400 W
750 W
500 W
1.0 kW
1.5 kW
2.0 kW
3.0 kW
3
5.875
11
Three-
phase
3.125
6.125
9.125
12.125
18.75
15.0
Maximum Input Current:
• The momentary maximum output for a Servo Driver is approximately three times that of the rated
output, and a maximum output of three seconds can be executed. Therefore, select no-fuse break-
ers with an operating time of at least five seconds at 300% of the rated maximum output. General-
purpose and low-speed no-fuse breakers are generally suitable (e.g., Mitsubishi S Series).
• The table in 3-2-3 Terminal Block Wiring shows the rated power supply input currents for each Ser-
vomotor. Select a no-fuse-breaker with a rated current greater than the total effective load current
(when multiple Servomotors are used).
• When making the selection, add in the current consumption of other controllers, and so on.
Servo Driver Inrush Current:
• The Servo Driver inrush currents are shown in the above table.
• With low-speed no-fuse breakers, an inrush current 10 times the rated current flows for 0.02 sec-
ond.
• For a simultaneous inrush current for multiple Servo Drivers, select a non-fuse breaker with a 20-
ms allowable current greater than the total inrush current shown in the above table for the applica-
ble Servomotor models.
● Noise Filters for Servomotor Output
• Use noise filters without built-in capacitors on the Servomotor output lines.
• Select a noise filter with a rated current at least two times the total rated current of the Servo
Driver's continuous output current.
3-21
System Design and Installation
Chapter 3
• The following table shows the noise filters that are recommended for Servomotor output.
Maker
Model
LF-310KA
LF-320KA
LF-350KA
LF-3110KB
Rated current
10 A
Remarks
NEC TOKIN
Three-phase block noise filter
20 A
50 A
110 A
Note 1. Servomotor output lines cannot use the same noise filters used for power supplies.
Note 2. Typical noise filters are used with power supply frequencies of 50/60 Hz. If these noise filters
are connected to outputs of 11.7 kHz/5.9 kHz (the Servo Driver's PWM frequency), a very
large (about 100 times larger) leakage current will flow through the noise filter's condenser
and the Servo Driver could be damaged.
● Harmonic Current Countermeasures (Reactor)
• The AC Reactor is used for suppressing harmonic currents. It suppresses sudden and quick
changes in electric currents.
• In September 1994, the Ministry of International Trade and Industry established guidelines for the
suppression of harmonic waves emitted from home and general electric appliances. To comply with
the guidelines, appropriate measures are required to suppress the influence of harmonic waves on
power supply lines.
• Select the proper AC Reactor or DC Reactor model according to the Servo Driver that is to be
used.
Servo Drive
Reactor specifications
Model number
R88A-PX5053
R88A-PX5053
R88A-PX5054
R88A-PX5056
R88A-PX5052
R88A-PX5052
R88A-PX5053
R88A-PX5054
R88A-PX5056
R88A-PX5061
R88A-PX5061
R88A-PX5060
R88A-PX5060
R88A-PX5059
Rated current (A) Inductance (mH)
Reactor type
AC Reactor
R88D-WNA5L-ML2
R88D-WN01L-ML2
R88D-WN02L-ML2
R88D-WN04L-ML2
R88D-WNA5H-ML2
R88D-WN01H-ML2
R88D-WN02H-ML2
R88D-WN04H-ML2
R88D-WN08H-ML2
R88D-WN05H-ML2
R88D-WN10H-ML2
R88D-WN15H-ML2
R88D-WN20H-ML2
R88D-WN30H-ML2
2.0
2.0
3.0
5.0
1.0
1.0
2.0
3.0
5.0
4.8
4.8
8.8
8.8
14.0
20.0
20.0
5.0
2.0
45.0
45.0
20.0
5.0
2.0
DC Reactor
2.0
2.0
1.5
1.5
1.0
3-22
System Design and Installation
Chapter 3
AC Reactor Connection Example
DC Reactor Connection Example
Servo Driver
Servo Driver
Power supply
AC Reactor
DC Reactor
L1
L2
R88D-WNA5@-ML2 to WN04@-ML2
R88D-WN05H-ML2 to WN30H-ML2
3-2-5 Wiring for Conformity to EMC Directives
When the wiring conditions provided in this section are satisfied, the wiring will conform
to EMC Directives (EN55011 Class A Group 1 (EMI), EN61000-6-2 (EMS)). These
conditions were stipulated when EMC Directive approval was obtained for the W
Series. They will be affected by the installation and wiring conditions resulting from the
connected devices and wiring when the W Series is built into the system. Therefore,
the entire system must be checked for conformity.
The following conditions must be satisfied in order to conform to the EC Directives.
• The Servo Driver must be mounted in a metal case (control box). (It is not necessary to mount the
Servomotor in a metal box.)
• Noise filters and surge absorbers must be inserted in power supply lines.
• Shielded cable must be used for I/O signal cables and encoder cables. (Use tinned soft steel wire.)
• Cables leading out from the control box must be enclosed within metal ducts or conduits with
blades. (It is not necessary to enclose the 30-cm power cable, encoder cable, or connectors in a
metal duct or conduit.)
• Ferrite cores must be installed for cables with braided shields, and the shield must be directly
grounded to a ground plate.
3-23
System Design and Installation
Chapter 3
■ Wiring Method
Control box
Metal plate
2 m max.
Motor built-in device
Brake
power
supply
Noise
filter
R88M-W@
Metal
duct or
AC power conduit
supply
Metal
duct or
conduit
R88D-WN@-ML2
See note 3.
Contactor
B
Ferrite
core
Ferrite
core
NFB
Surge absorber
L1
L2
L3
U
V
Noise
filter
M
W
L1C
L2C
2 m max.
Ferrite
core
Class-3 ground
(to 100 Ω or less)
CN2
Ferrite core
E
Clamp
CN1
Ferrite core
Clamp
Ferrite core
Controller
Controller power supply
Ground plate
Note 1. Make 1.5 turns for the ferrite core's cable winding.
Note 2. Peel the insulation off the cable at the clamp, and directly connect the shield to the metal
plate.
Note 3. For single-phase power supply input models (R88D-WNA5@ to R88D-WN04@, R88D-
WN08H), the main-circuit power supply input terminals will be L1 and L2.
• Ground the motor's frame to the machine ground when the motor is on a movable shaft.
• Use a grounding plate for the frame ground for each Unit, as shown in the above diagrams, and
ground to a single point.
• Use ground lines with a minimum thickness of 3.5 mm2, and arrange the wiring so that the ground
lines are as short as possible.
• If no-fuse breakers are installed at the top and the power supply line is wired from the lower duct,
use metal tubes for wiring and make sure that there is adequate distance between the input lines
and the internal wiring. If input and output lines are wired together, noise resistance will decrease.
• No-fuse breakers, surge absorbers, and noise filters should be positioned near the input terminal
block (ground plate), and I/O lines should be isolated and wired using the shortest distance possi-
ble.
• The noise filter should be installed at the entrance to the control box whenever possible. Wire the
noise filter as shown in the following illustrations.
3-24
System Design and Installation
Chapter 3
Correct: Separate input and output
WRONG: Noise not filtered effectively
AC input
Ground
AC output
AC input
1
2
3
4
5
6
1
2
3
4
5
6
NF
E
NF
E
Ground
AC output
• Use twisted-pair cables for the power supply cables whenever possible, or bind the cables.
Correct: Properly twisted Correct: Cables are bound.
Driver
Driver
L1
L2
L3
L1C
L2C
Binding
• Separate power supply cables and signal cables when wiring.
■ Control Box Structure
If there are gaps in the control box from cable openings, operating panel installation
holes, gaps around the door, and so on, it may allow electric waves to penetrate. In
order to prevent this from occurring, take the measures described below.
● Case Structure
• Construct the control box case of metal, and weld the joints between the top, bottom, and sides so
that they will be electrically conductive.
• For assembly, strip the paint off of joined areas (or mask them during painting), to make them elec-
trically conductive.
• If gaps are opened in the control box case when tightening down screws, make adjustments to pre-
vent this from occurring.
• Do not leave any conducting part unconnected.
• Connect to the case all Units inside of the case.
● Door Structure
• Construct the door of metal.
• Use a water draining structure where the door and case fit together, and leave no gaps. (Refer to
the diagrams below.)
• Use conductive packing between the door and the case, as shown in the diagrams below. Strip the
paint off of the sections of the door and case that will be in contact with the conductive packing (or
mask them during painting), so that they will be electrically conductive.
3-25
System Design and Installation
Chapter 3
• Be careful not to let gaps be opened in the control box while tightening down screws.
Case
Door
A
B
Door
Oil-proof packing Conductive packing
Control box
Cross-sectional view of A-B
Oil-proof packing
Conductive packing
Door (interior view)
■ Selecting Components
This section explains the criteria for selecting the connection components required for
improving noise resistance. These criteria include capacity performance, applicable
range, and so on. For more details, contact the manufacturers directly.
● No-fuse Breakers (NFB)
When selecting no-fuse breakers, take into consideration the maximum output current and the inrush
current.
Maximum Input Current:
• The momentary maximum output for a Servo Driver is approximately three times that of the rated
output, and a maximum output of three seconds can be executed. Therefore, select no-fuse break-
ers with an operating time of at least five seconds at 300% of the rated maximum output. General-
purpose and low-speed no-fuse breakers are generally suitable (e.g., Mitsubishi S Series).
• The table in 3-2-3 Terminal Block Wiring shows the rated power supply input currents for each Ser-
vomotor. Select a no-fuse-breaker with a rated current greater than the total effective load current
(when multiple Servomotors are used).
3-26
System Design and Installation
Chapter 3
• When making the selection, add in the current consumption of other controllers, and so on.
Servo Driver Inrush Current:
The Servo Driver inrush currents are listed in the following table.
• With low-speed no-fuse breakers, an inrush current 10 times the rated current flows for 0.02 sec-
ond.
• For a simultaneous inrush for multiple Servo Drivers, select a no-fuse-breaker with a 20-ms allow-
able current greater than the total inrush current shown in the following table for the applicable Ser-
vomotor models.
Servo Driver
Inrush current (A0-p)
Control-circuit power supply Main-circuit power supply
R88D-WNA5L-ML2
R88D-WN01L-ML2
R88D-WN02L-ML2
R88D-WN04L-ML2
R88D-WNA5H-ML2
R88D-WN01H-ML2
R88D-WN02H-ML2
R88D-WN04H-ML2
R88D-WN08H-ML2
R88D-WN05H-ML2
R88D-WN10H-ML2
R88D-WN15H-ML2
R88D-WN20H-ML2
R88D-WN30H-ML2
22.2
22.2
22.2
22.2
41.6
41.6
41.6
41.6
41.6
41.6
41.6
41.6
41.6
41.6
14.3
14.3
14.3
14.3
27.6
27.6
27.6
27.6
27.6
27.6
27.6
27.6
27.6
27.6
● Surge Absorbers
• Use surge absorbers to absorb surges from power supply input lines due to lightning, abnormal
voltages, etc.
• When selecting surge absorbers, take into account the varistor voltage, the amount of surge immu-
nity, and the amount of energy resistance.
• For 200-V AC systems, use surge absorbers with a varistor voltage of 470 V.
• The surge absorbers shown in the following table are recommended.
Maker
Model
Max. limit
voltage immunity
Surge
Type
Remarks
Okaya Electric
Industries Co., Ltd.
R·A·V-781BYZ-2
R·A·V-781BXZ-4
783 V
783 V
1,000 A
1,000 A
Block
Between power supply lines
Between power supply line
grounds
Note 1. Refer to the manufacturers' documentation for operating details.
Note 2. The surge immunity is for a standard impulse current of 8/20 µs. If pulses are wide, either
decrease the current or change to a larger-capacity surge absorber.
3-27
System Design and Installation
Chapter 3
● Noise Filters for Power Supply Input
Use the following noise filters for the Servo Driver power supply.
Servo Driver model
Noise Filter
Model
Rated
current
Rated
voltage
Leakage current
Maker
R88D-WNA5L-ML2
R88D-WN01L-ML2
R88D-WN02L-ML2
R88D-WN04L-ML2
R88D-WNA5H-ML2
R88D-WN01H-ML2
R88D-WN02H-ML2
R88D-WN04H-ML2
R88D-WN08H-ML2
R88D-WN05H-ML2
R88D-WN10H-ML2
R88D-WN15H-ML2
R88D-WN20H-ML2
R88D-WN30H-ML2
FN2070-6/07 250 V
6 A
0.40 mA (at 230 Vrms, 50 Hz) Schaffner
FN2070-10/07
FN2070-16/07
FN2070-6/07
10 A
16 A
6 A
FN2070-10/07
10 A
16 A
7 A
FN2070-16/07
FN258L-7/07 480 V
FN258L-16/07
4.30 mA (at 450 Vrms, 50 Hz)
4.40 mA (at 450 Vrms, 50 Hz)
16 A
FN258L-30/07
30 A
4.30 mA (at 450 Vrms, 50 Hz)
Note The leakage currents shown for Schaffner noise filters are the values for when a three-phase
power supply uses a Y connection. The leakage current will be greater for a X connection.
External Dimensions
• FN2070-6/07, FN2070-10/07 Noise Filters (by Schaffner)
M
Side View
Top View
S
J
B
• FN2070-16/07 Noise Filters (by Schaffner)
N
Side View
Top View
J
R
Q
B
3-28
System Design and Installation
Chapter 3
Model
Dimensions (mm)
A
B
C
D
F
J
K
L
M
N
P
Q
R
S
FN2070-6/07
FN2070-10/07
FN2070-16/07
113.5 57.5 45.4 94
103
25
8.4
32.4 4.4
5.3
6
0.9
---
---
38
156
119
130.5 143
85.5 57.6 98.5 109
40
8.6
---
4.4
7.4
1.2
66
51
---
• FN258L-7/07, -16/07, -30/07 Noise Filters (by Schaffner)
Side View
Top and Side Views
7 A to 55 A Models
D
H
C
P
L
E
A
O
Model
Dimensions (mm)
A
B
126
142
150
C
D
E
240
290
320
F
G
H
J
L
O
P
FN258L-7/07 255
FN258L-16/07 303
FN258L-30/07 335
50
55
60
225
275
305
25
6.5
300
1
9
M5
AWG16
AWG14
AWG10
30
35
400
● Surge Killers
• Install surge killers for loads that have induction coils, such as relays, solenoids, brakes, clutches,
etc.
• The following table shows types of surge killers and recommended products.
Type
Diode
Features
Recommended products
Diodes are used for relatively small
loads when the reset time is not an
issue, such as relays. The reset time is
increased because the surge voltage is
the lowest when power is cut off.
Use a fast-recovery diode with a short
reverse recovery time.
Example: Fuji Electric Co., ERA22-06
Used for 24/48-V DC systems.
Thyristor Thyristors and varistors are used for
or varistor loads when induction coils are large, as
in electromagnetic brakes, solenoids,
etc., and when reset time is an issue.
The surge voltage when power is cut off
is approximately 1.5 times the varistor
voltage.
Select the varistor voltage as follows:
24 VDC system: 39 V
100 VDC system: 200 V
100 VAC system: 270 V
200 VAC system: 470 V
Capacitor The capacitor + resistor combination is Okaya Electric Industries Co., Ltd.
+ resistor used to absorb vibration in the surge
XEB120020.2 µF – 120 Ω
XEB120030.3 µF – 120 Ω
when power is cut off. The reset time
can be shortened by selecting the
appropriate capacitance and resistance.
Note Thyristors and varistors are made by the following companies. Refer to manufacturers' docu-
mentation for operating details.
Thyristors: Ishizuka Electronics Co.
Varistors: Ishizuka Electronics Co., Matsushita Electric Industrial Co.
3-29
System Design and Installation
Chapter 3
● Contactors
• When selecting contactors, take into consideration the circuit's inrush current and the maximum
momentary current.
• The Servo Driver inrush current is covered in the preceding explanation of no-fuse-breaker selec-
tion, and the maximum momentary current is approximately twice the rated current.
• The following table shows the recommended contactors.
Maker
OMRON
Model
Rated current Coil voltage
LC1D09106
LC1D25106
LC1D40116
LC1D50116
LC1D80116
LC1D09106
LP1D25106
LP1D40116
LP1D50116
LP1D80116
11 A
26 A
35 A
50 A
80 A
11 A
26 A
35 A
50 A
80 A
200 V AC
24 V DC
● Leakage Current and Leakage Breakers
• Use a surge-resistant leakage breaker designed for Inverters that will not operate for high-fre-
quency currents
• The detection current of a leakage breaker is set to approximately 60% of the normal rated current.
You should thus allow a leeway of approximately two times the rated current.
• Leakage current will also flow to the input noise filter, switch mode power supply, and other devices.
Be sure to allow for these devices as well.
Servo Driver model *Leakage current
(for 10-m cable)
*Additional
leakage current
per 10 m of cable
PWM frequency
Input power
supply voltage
R88D-WNA5L-ML2
R88D-WN01L-ML2
R88D-WN02L-ML2
R88D-WN04L-ML2
R88D-WNA5H-ML2
R88D-WN01H-ML2
3.0 mA
5.0 mA
0.5 mA
10.667 kHz
Single-phase
100/115 VAC (85 to
127 V) 50/60 Hz
Single-phase
200/230 VAC (170
to 253 V) 50/60 Hz
R88D-WN02H-ML2 8.0 mA
R88D-WN04H-ML2
R88D-WN05H-ML2
R88D-WN08H-ML2
R88D-WN10H-ML2 10 mA
R88D-WN15H-ML2
0.6 mA
0.7 mA
8.0 kHz
4.0 kHz
R88D-WN20H-ML2
R88D-WN30H-ML2 12 mA
0.8 mA
Note 1. Values indicated with asterisks are measured using the UL (JIS) methods.
3-30
System Design and Installation
Chapter 3
Note 2. The installation conditions of the power cable and the measurement methods greatly affect
these values. Use these values only for reference. The values differ by a factor of approxi-
mately 3 between standard breakers and inverter breakers.
Leakage Breaker Connection Example
AC power
Leakage
breaker
Servo Driver
side
supply side No-fuse breaker Surge absorber
Noise filter
1
2
3
4
5
6
NF
E
■ Improving Encoder Cable Noise Resistance
The OMNUC W Series uses serial encoders, with phase-S signals from the encoder. The phase-S
communications speed is 4 Mbits/s.
In order to improve the encoder's noise resistance, take the following measures for wiring and instal-
lation.
• Always use the specified Encoder Cables.
• If lines are interrupted in the middle, be sure to connect them with connectors, making sure that the
cable insulation is not peeled off for more than 50 mm. In addition, always use shielded cable.
• Do not coil cables. If cables are long and are coiled, mutual induction and inductance will increase
and will cause malfunctions. Always use cables fully extended.
• When installing noise filters for Encoder Cables, use clamp filters. The following table shows the
recommended clamp filter models.
Maker
NEC TOKIN
TDK
Name
EMI core
Clamp filter
Model
ESD-SR-25
ZCAT2032-0930
ZCAT3035-1330
ZCAT2035-0930A
• Do not place the Encoder Cable in the same duct as Power Cables and Control Cables for brakes,
solenoids, clutches, and valves.
3-31
System Design and Installation
Chapter 3
3-3 Regenerative Energy Absorption
The Servo Drivers have internal regenerative energy absorption circuitry for absorbing
the regenerative energy produced during time such as Servomotor deceleration, and
thus preventing the DC voltage from increasing. An overcurrent error is generated,
however, if the amount of regenerative energy from the Servomotor is too large. If this
occurs, measures must be taken to reduce the regenerative energy produced by
changing operating patterns, and so on, or to improve the regenerative energy
absorption capacity by connecting external regeneration resistance.
3-3-1 Regenerative Energy Calculation
■ Horizontal Axis
+N1
Servomotor operation
−N2
TD2
Eg2
TD1
Servomotor output torque
Eg1
t1
t2
T
Note In the output torque graph, acceleration in the positive direction is shown as positive, and
acceleration in the negative direction is shown as negative.
• The regenerative energy values for Eg1 and Eg2 are derived from the following equations.
1
2
1
2
2π
60
2π
60
• Eg1 =
• Eg2 =
•
•
• N1 • TD1 • t1 [J]
• N2 • TD2 • t2 [J]
N1, N2: Rotation speed at beginning of deceleration [r/min]
TD1, TD2: Deceleration torque [N·m]
t1, t2: Deceleration time [s]
3-32
System Design and Installation
Chapter 3
Note There is some loss due to winding resistance, so the actual regenerative energy will be approx-
imately 90% of the values derived from these equations.
• For Servo Driver models with internal capacitors for absorbing regenerative energy (i.e., models of
400 W or less.), the values for both Eg1 or Eg2 (unit: J) must be lower than the Servo Driver's regen-
erative energy absorption capacity. (The capacity varies depending on the model. For details, refer
to 3-3-2 Servo Driver Regenerative Energy Absorption Capacity.)
• For Servo Driver models with internal regeneration resistance for absorbing regenerative energy
(i.e., models of 500 W or more), the average amount of regeneration Pr (unit: W) must be calcu-
lated, and this value must be lower than the Servo Driver's regenerative energy absorption capacity.
(The capacity varies depending on the model. For details, refer to 3-3-2 Servo Driver Regenerative
Energy Absorption Capacity.)
The average amount of regeneration (Pr) is the power consumed by regeneration resistance in
one cycle of operation.
Pr = (Eg1 + Eg2)/T [W]
T: Operation cycle [s]
■ Vertical Axis
+N1
Fall
Servomotor operation
Rise
−N2
T
D2
E
g2
E
g3
T
t
L2
2
Servomotor output torque
T
D1
E
g1
t
1
t
3
T
Note In the output torque graph, acceleration in the positive direction (rise) is shown as positive, and
acceleration in the negative direction (fall) is shown as negative.
• The regenerative energy values for Eg1, Eg2, and Eg3 are derived from the following equations.
1
2
2π
60
1
2
2π
• Eg1 =
• Eg2 =
• Eg3 =
•
• N1 • TD1 • t1 [J]
60
• N2 • TL2 • t2 [J]
2π
60
•
• N2 • TD2 • t3 [J]
3-33
System Design and Installation
Chapter 3
N1, N2: Rotation speed at beginning of deceleration [r/min]
T
D1, TD2: Deceleration torque [N·m]
TL2: Torque when falling [N·m]
t1, t3: Deceleration time [s]
t2: Constant-velocity travel time when falling [s]
Note There is some loss due to winding resistance, so the actual regenerative energy will be approx-
imately 90% of the values derived from these equations.
• For Servo Driver models with internal capacitors for absorbing regenerative energy (i.e., models of
400 W or less.), the values for both Eg1 or Eg2 (unit: J) must be lower than the Servo Driver's regen-
erative energy absorption capacity. (The capacity varies depending on the model. For details, refer
to 3-3-2 Servo Driver Regenerative Energy Absorption Capacity.)
• For Servo Driver models with internal regeneration resistance for absorbing regenerative energy
(i.e., models of 500 W or more), the average amount of regeneration Pr (unit: W) must be calcu-
lated, and this value must be lower than the Servo Driver's regenerative energy absorption capacity.
(The capacity varies depending on the model. For details, refer to 3-3-2 Servo Driver Regenerative
Energy Absorption Capacity.)
The average amount of regeneration (Pr) is the power consumed by regeneration resistance in
one cycle of operation.
Pr = (Eg1 + Eg2 + Eg3)/T [W]
T: Operation cycle
[s]
3-3-2 Servo Driver Regenerative Energy Absorption Capacity
■ Amount of Internal Regeneration Resistance in Servo Drivers
W-series Servo Drivers absorb regenerative energy by means of internal capacitors or resistors. If
the regenerative energy is more than can be processed internally, an overvoltage error is generated
and operation cannot continue. The following table shows the regenerative energy (and amount of
regeneration) that the individual Servo Drivers themselves can absorb. If these values are exceeded,
take the following measures.
• Connect external regeneration resistance (to improve the regeneration processing capacity).
• Reduce the operating rotation speed. (The amount of regeneration is proportional to the square of
the rotation speed.)
• Lengthen the deceleration time (to decrease the regenerative energy produced per time unit).
3-34
System Design and Installation
Chapter 3
• Lengthen the operation cycle, i.e., the cycle time (to decrease the average regenerative power).
Servo Driver
Regenerative energy (J)
that can be absorbed by
internal capacitor
(See note.)
Internal regeneration resistance
Average amount of
regeneration that can be
absorbed (W)
Resistance (Ω)
R88D-WNA5L-ML2
R88D-WN01L-ML2
R88D-WN02L-ML2
R88D-WN04L-ML2
R88D-WNA5H-ML2
R88D-WN01H-ML2
R88D-WN02H-ML2
R88D-WN04H-ML2
R88D-WN08H-ML2
R88D-WN05H-ML2
R88D-WN10H-ML2
R88D-WN15H-ML2
R88D-WN20H-ML2
R88D-WN30H-ML2
28.6
28.6
28.6
39.0
15.2
30.5
30.5
30.5
---
---
---
---
---
---
---
---
---
12
8
---
---
---
---
---
---
---
---
50
50
50
20
12
12
---
---
12
14
28
28
---
---
---
Note These are the values at 100 V AC for 100-V AC models, and at 200 V AC for 200-V AC models.
3-3-3 Regenerative Energy Absorption by External
Regeneration Resistance
If the regenerative energy exceeds the absorption capacity of the Servo Driver by itself,
then external regeneration resistance must be connected. A Resistor or Unit can be
used alone or in combination with other Resistors/Units to provide the required
regeneration processing capacity.
!Caution
Connect the External Regeneration Resistor or External Regeneration Resistance
Unit between the Servo Driver's B1 and B2 terminals. Check the terminal names
carefully when connecting to the terminals. If the Resistor or Unit is connected to
the wrong terminals it will damage the Servomotor.
Note 1. The External Regeneration Resistor can reach a temperature of approximately 120°C, so
install it at a distance from heat-sensitive devices and wiring. In addition, a radiation shield
must be installed according to the radiation conditions.
Note 2. For external dimensions, refer to 2-7 External Regeneration Resistor Specifications.
3-35
System Design and Installation
Chapter 3
■ External Regeneration Resistors
● Specifications
Model
Resistance
Nominal
capacity absorption at 120°C
220 W 70 W
Regeneration
Heat
radiation
Thermal switch
output
R88A-RR22047S 47 Ω 5%
External Regener-
ation Resistor
t1.0 × @350
(SPCC)
Operating temper-
ature: 170°C
NC contact
Note The following external regeneration resistors are recommended products from another manu-
facturer, Iwaki Musen Kenkyusho Co., Ltd. For details, refer to the manufacturer's documenta-
tion.
• RH120N50ΩJ
• RH300N50ΩJ
• RH500N50ΩJ
50 Ω 5% 30 W (Amount of regeneration at 120°C)
50 Ω 5% 75 W (Amount of regeneration at 120°C)
50 Ω 5% 100 W (Amount of regeneration at 120°C)
● Combining External Regeneration Resistors (R88D-RR22047S)
1 70 W (47 Ω)
2 280 W (47 Ω)
3 630 W (47 Ω)
R
R
R
R
R
R
R
R
R
R
R
R
R
R
4 140 W (23.5 Ω)
5 560 W (23.5 Ω)
6 840 W (15.7 Ω)
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
Note A combination cannot be used if the resistance is less than the minimum connection resistance
for any given Servo Driver. Refer to the following table for the minimum connection resistance
values for each Servo Driver, and select a suitable combination.
3-36
System Design and Installation
Chapter 3
■ Servo Driver Minimum Connection Resistance and External
Regeneration Resistor Combinations
Servo Driver
Minimum Connection
External Regeneration
Resistor Combinations
Resistance (Ω)
R88D-WNA5L-ML2 to WN01L-ML2
R88D-WN02L-ML2 to WN04L-ML2
R88D-WNA5H-ML2 to WN01H-ML2
R88D-WN02H-ML2 to WN04H-ML2
R88D-WN05H-ML2 to WN10H-ML2
R88D-WN15H-ML2
40
40
40
40
40
20
12
1
1, 2
1
1, 2
1, 2, 3
1, 2, 3, 4, 5
1, 2, 3, 4, 5, 6
R88D-WN20H-ML2 to WN30H-ML2
■ Wiring External Regeneration Resistance
● R88D-WNA5L-ML2/01L-ML2/02L-ML2/04L-ML2/A5H-ML2/01H-ML2/02H-ML2/
04H-ML2
Connect an External Regeneration Resistor between the B1 and B2 terminals.
External Regeneration Resistor
B1/
Servo Driver
B2
Note When using the R88A-RR22047S, connect the thermal switch output so that the power supply
will be shut off when open.
● R88D-WN05H-ML2/08H-ML2/10H-ML2/20H-ML2/30H-ML2
Remove the short-circuit wiring between B2 and B3, and then connect an External Regeneration
Resistor between the B1 and B2 terminals.
External Regeneration Resistor
B1/
Servo Driver
B2
B3
← Remove
Note 1. The short-circuit wiring between B2 and B3 must be removed.
Note 2. When using the R88A-RR22047S, connect the thermal switch output so that the power sup-
ply will be shut off when open.
3-37
System Design and Installation
Chapter 3
■ Setting Pn600 (Regeneration Resistor Capacity) for an External
Regeneration Resistor
Pn600 (Regeneration Resistor Capacity) must be set correctly when using an external regeneration
resistor. The regenerative energy in the Servo Driver is calculated based on the assumption that the
regeneration resistance that is built into the Servo Driver is connected. The following settings are
therefore recommended for Pn600 (Regeneration Resistor Capacity).
Servo Driver model
External
regeneration
resistance (Ω)
Absorption
capacity of
external
regeneration
resistor (W)
Regeneration
resistance built setting for Pn600
into Servo Driver
Recommended
(Ω)
R88D-WN05H/08H/10H-ML2 47
70
50
50
50
20
20
20
20
20
12
12
12
12
12
12
7
47
47
280
630
70
26
59
R88D-WN15H-ML2
47
16
47
280
630
140
560
70
66
47
148
16
23.5
23.5
47
66
R88D-WN20H/30H-ML2
27
47
280
630
140
560
840
110
247
27
47
23.5
23.5
15.7
110
110
3-38
System Design and Installation
Chapter 3
3-4 Adjustments and Dynamic Braking When Load Inertia Is
Large
The value that is given for the Servomotor's applicable load inertia is the value that will
not damage the Servo Driver's internal circuits (dynamic brake circuit, regenerative
circuit, etc.) when control is basically stable and the operating status is normal. When
the Servomotor is used at the applicable load inertia or below, there are certain
operating conditions and precautions that must be observed when making adjustments
and using the dynamic brake. For details on regenerative energy processing, refer to
3-3 Regenerative Energy Absorption.
3-4-1 Adjustments When Load Inertia Is Large
Operation is possible with a large load inertia as long as the load torque is within a range that allows
Servo Driver control (i.e., no larger than the rated torque and within the electronic thermal range:
these depend on the motor speed and acceleration/deceleration). If the load inertia ratio is large,
however, adjustment becomes difficult using only the rigidity setting and autotuning, as shown below.
The following table lists the adjustment criteria according to the load inertia.
Load inertia ratio
Adjustment criteria
Below 500%
Adjustment is possible using mainly the factory settings or the rigidity setting function
(Fn001).
500% to 1,000%
Adjustment is possible using mainly the rigidity setting and autotuning.
1,000% to 3,000% Adjustment may be possible using the rigidity setting and autotuning, but it may be nec-
essary to manually adjust settings such as the gain.
Above 3,000%
Adjustment will be difficult using the rigidity setting and autotuning. Set the load inertia
based on mechanism settings, and manually adjust the gain.
3-4-2 Dynamic Braking When Load Inertia Is Large
Dynamic braking is used to brake the Servomotor by consuming rotational energy using a resistor.
The Servomotor's rotational energy can be found by using the following equation.
Servomotor rotational energy - (1/2 × J × ω2) = 1/2 × J × (2 × π)2 × (N/60)2
J: Load inertia + Servomotor rotor inertia
N: Servomotor speed [r/min]
Therefore, if the load inertia ratio is large and the motor speed is high, the load on the dynamic brake
circuit will be great and there will be a risk of burnout. Burnout may also occur if the dynamic brake is
used repeatedly within a short period of time. Do not use the dynamic brake under conditions where
the maximum speeds or load inertia ratios shown in the following table are exceeded. For operating
conditions other than these, use the following equation: 1/2 × J × ω2 = Constant.
3-39
System Design and Installation
Chapter 3
Servomotor
Load inertia ratio
3,000% max.
2,000% max.
1,000% max.
2,500% max.
3,000-r/min Servomotors, 30 to 400 W
3,000-r/min Servomotors, 750 W
3,000-r/min Servomotors, 1 k to 3 kW
3,000-r/min Flat-type Servomotors, 100 W
3,000-r/min Flat-type Servomotors, 200 W or 400 W 1,500% max.
3,000-r/min Flat-type Servomotors, 750 W or 1.5 kW 1,000% max.
1,000-r/min Servomotors, 300 W to 2 kW
1,500-r/min Servomotors, 450 W to 1.8 kW
1,000% max.
1,000% max.
For Servomotors of 1.5 kW or less, observe the following precautions if there is a possibility of the
power being turned ON while the Servomotor is rotating.
In Servomotors of 1.5 kW or less, the dynamic brake circuit uses a relay. Normally, if an alarm occurs
while the Servo is OFF, the dynamic brake operates according to the function selection application
switch (Pn001.0, 1) when drive prohibition is being input. At 1.5 kW or less, however, the dynamic
brake operates regardless of this setting even if the main circuit power supply or the control power
supply is OFF.
Current flows to the relay while the dynamic brake is operating. If 2 (Stop Servomotor by free run) is
selected for the function selection application switch (Pn001.0: Stop selection for alarm generation
with Servo OFF), the relay turns OFF when the power is turned ON again.
If the power is turned from OFF to ON while the Servomotor is rotating, the relay operates while cur-
rent is flowing to it. This may cause the relay contacts to fuse.
For Servomotors of 1.5 kW or less, if there is a possibility of the power being turned ON during Ser-
vomotor rotation, either set 0 (Stop Servomotor by dynamic brake) for the function selection applica-
tion switch (Pn001.0: Stop selection for alarm generation with Servo OFF) or make sure that the
power will not be turned ON until the Servomotor has stopped.
3-40
Chapter 4
Operation
4-1 Operational Procedure
4-2 Preparing for Operation
4-3 User Parameters
4-4 Operation Functions
4-5 Trial Operation Procedure
4-6 Making Adjustments
4-7 Advanced Adjustment Functions
4-8 Using Displays
4-9 Using Monitor Output
Operation
Chapter 4
Precautions
!Caution
!Caution
!Caution
!Caution
!Caution
!Caution
Confirm that there will be no effect on the equipment, and then perform a test
operation. Not doing so may result in equipment damage.
Check the newly set parameters for proper execution before actually running
them. Not doing so may result in equipment damage.
Do not make any extreme adjustments or setting changes. Doing so may result in
unstable operation and injury.
Separate the Servomotor from the machine, check for proper operation, and then
connect to the machine. Not doing so may cause injury.
When an alarm occurs, remove the cause, reset the alarm after confirming safety,
and then resume operation. Not doing so may result in injury.
Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may
result in a malfunction.
4-2
Operation
Chapter 4
4-1 Operational Procedure
After mounting, wiring, and connecting a power supply, check the operation of the
Servomotor and Servo Driver. Then make the function settings as required according
to the use of the Servomotor and Servo Driver. If the parameters are set incorrectly,
there is a risk of an unforeseen Servomotor operation. Set the parameters in
accordance with the instructions in this manual.
1.Mounting and installation
Install the Servomotor and Servo Driver according to the installation conditions. (Do not connect
the Servomotor to the mechanical system before checking the no-load operation.) Refer to 3-1 In-
stallation Conditions.
2.Wiring and connections
Connect to power supply and peripheral devices. Specified installation and wiring requirements
must be satisfied, particularly for models conforming to the EC Directives. Refer to 3-2 Wiring.
3.Preparing for operation
Before turning ON the power supply, check the necessary items. Check by means of the displays
to see whether there are any internal errors in the Servo Driver. If using a Servomotor with an ab-
solute encoder, first set up the absolute encoder. Refer to 4-4-2 Speed Control (Speed).
4.Checking operation
Check the operation of the Servomotor and Servo Driver alone by performing a jogging operation
without a load. Refer to 4-4-5 Encoder Dividing Function (All Operating Modes).
5.Function settings
By means of the user parameters, set the functions according to the operating conditions. Refer
to 4-4-3 Torque Control (Torque) and 4-4-4 Forward and Reverse Drive Prohibit (All Operating
Modes).
6.Trial operation
Turn the power OFF then ON again to enable the parameter settings. If using a Servomotor with
an absolute encoder, set up the absolute encoder and set the Motion Control Unit's initial param-
eters. Turn ON the power, and check to see whether protective functions such as emergency stop
and operational limits are working reliably. Check operation at both low speed and high speed (us-
ing instructions from the Host Controller). Refer to 4-4-5 Encoder Dividing Function (All Operating
Modes).
7.Adjustments
Manually adjust the gain as required. Further adjust the various functions to further improve the
control performance as required. Refer to 4-4-6 Brake Interlock (All Operating Modes) and 4-4-7
Torque Limit Function (All Operating Modes).
8.Operation
Operation can now begin. If any trouble should occur, refer to Chapter 5 Troubleshooting.
4-3
Operation
Chapter 4
4-2 Preparing for Operation
This section explains the procedure following installation and wiring of the Servomotor
and Servo Driver, to prepare the mechanical system for operation. It explains what you
need to check both before and after turning ON the power. It also explains the setup
procedure required if using a Servomotor with an absolute encoder.
4-2-1 Turning Power ON and Checking Indicators
■ Items to Check Before Turning ON the Power
● Checking Power Supply Voltage
• Check to be sure that the power supply voltage is within the ranges shown below.
R88D-WN@L-ML2 (Single-phase 100 V AC input)
Main-circuit power supply: Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz
Control-circuit power supply: Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz
R88D-WNA5H-ML2/01H-ML2/02H-ML2/04H-ML2/08H-ML2 (Single-phase 200 V AC input)
Main-circuit power supply: Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz
Control-circuit power supply: Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz
R88D-WN05H-ML2/10H-ML2/15H-ML2/20H-ML2/30H-ML2 (Three-phase 200 V AC input)
Main-circuit power supply: Three-phase 200/230 V AC (170 to 253 V) 50/60 Hz
Control-circuit power supply: Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz
● Checking Terminal Block Wiring
• The main-circuit power supply inputs (L1/L2 or L1/L2/L3) and the control-circuit power supply inputs
(L1C/L2C) must be properly connected to the terminal block.
• The Servomotor's red (U), white (V), and blue (W) power lines and the yellow/green ground wire
( ) must be properly connected to the terminal block.
● Checking the Servomotor
• There should be no load on the Servomotor. (Do not connect to the mechanical system.)
• The power lines at the Servomotor must be securely connected.
● Checking the Encoder Connectors
• The Encoder Cable must be securely connected to the Encoder Connector (CN2) at the Servo
Driver.
• The Encoder Cable must be securely connected to the Encoder Connector at the Servomotor.
● Checking the I/O Connector
• The I/O Signal Cable must be securely connected to the I/O Connector (CN1).
4-4
Operation
Chapter 4
● Checking the MECHATROLINK-II Connections
• The MECHATROLINK-II Connector must be securely connected to the MECHATROLINK-II Con-
nector at the host controller.
• The MECHATROLINK-II Cable must be securely connected to the MECHATROLINK-II Connector
(CN6) at the Servo Driver.
• The termination resistance must be securely connected to the final Servo Driver.
■ Turning ON Power
• First carry out the preliminary checks, and then turn ON the control-circuit power supply. It makes
no difference whether or not the main-circuit power supply is also turned ON.
• The ALM output will take approximately 2 seconds to turn ON after the power has been turned ON.
Do not attempt to detect an alarm using the Host Controller during this time (when power is being
supplied with the Host Controller connected).
■ Checking Displays
• When the power is turned ON, one of the codes shown below will be displayed at either the indica-
tors or the Parameter Unit.
Normal
Error (Alarm Display)
Note 1. The alarm code (the number shown in the alarm display) changes depending on the con-
tents of the error.
Note 2. When using a Servomotor with an absolute encoder for the first time, A.810 (backup error)
will be displayed. Clear this error by setting up the absolute encoder. (Refer to 4-2-2 Abso-
lute Encoder Setup and Battery Changes).
• If the display is normal (i.e., no errors), manually turn the Servomotor shaft forward and reverse,
and check to be sure that it agrees with the positive and negative on the speed display. Display the
speed feedback with the Computer Monitor Software and manually turn the Servomotor shaft for-
ward and reverse.
■ Panel Operator Status Display
• Status Display (Bit Data)
Item
(1)
Bit data
Display contents
Servomotor rotation detection Lit while Servomotor is rotating.
Bit data
(2)
Servo ON/OFF
Lit when Servo is OFF.
Unlit when Servo is ON.
(1)
(2)
(3)
(3)
(4)
Command input detection
CONNECT
Lit while a command is being input.
Lit when CONNECT is complete.
(4)
4-5
Operation
Chapter 4
• Code Display
Code
Details
Forward rotation drive prohibited (POT is OFF) or
the forward software limit has been exceeded.
Reverse rotation drive prohibited (NOT is OFF) or
the reverse software limit has been exceeded.
Alarm display (Refer to 5-2 Alarms.)
@@
• Codes are displayed one character at a time on the Servo Driver's front panel display, as shown
below.
Example:When both forward rotation drive prohibit (P) and reverse rotation drive prohibit (n) are
ON:
Status display
Code display
Status display
(bit data)
Not lit
Not lit
Not lit
Example:A.E60
Status display
(bit data)
Not lit
Not lit
Not lit
Not lit
Not lit
4-2-2 Absolute Encoder Setup and Battery Changes
You must set up the absolute encoder if using a Servomotor with an absolute encoder.
Perform the setup if connecting a Battery Unit (R88A-BAT01W) to an absolute encoder
for the first time, or when setting the mechanical rotation data to 0 for a trial operation.
For the absolute encoder setup, refer to Computer Monitor Software procedure.
■ Cases where Setup is Required
● During Trial Operation
The absolute encoder's multi-turn data may become too large when connecting the Servomotor to
the mechanical system for trial operation, so the setup must be executed again.
● When Replacing the Battery Unit
The setup must be executed again if an alarm (A.810) occurs after the Battery Unit has been
replaced.
4-6
Operation
Chapter 4
Note If no alarm occurs after the Battery Unit has been replaced, there is no need to execute the
setup again or to initialize the Motion Control Unit settings.
For details on the Battery Units service life and replacement method, refer to 5-6 Replacing the
Absolute Encoder Battery (ABS).
● Other Cases
• If the Encoder Cable is removed from the connector (on either the Servo Driver or Servomotor
side), the data within the absolute encoder will be cleared. In this case, perform the setup once
again.
• If the Battery Unit has completely worn down, the data within the absolute encoder will be cleared.
In this case, replace the Battery Unit and perform the setup once again.
4-7
Operation
Chapter 4
4-3 User Parameters
Set and check the user parameters using the Setting Mode. Make sure you fully
understand the parameter meanings and how to set them before setting user
parameters in the system. Some parameters are enabled by turning OFF the Unit, then
turning it ON again. When changing these parameters, turn OFF the power (check that
the power lamp is not lit), then turn ON the power again.
4-3-1 Parameter Tables
• Some parameters are enabled by turning OFF the Unit, then turning it ON again. (See the tables
below.) When changing these parameters, turn OFF the power (check that the power lamp is not
lit), then turn ON the power again.
• The specific digit number of a parameter for which each digit number must be set separately is dis-
played in the table with “.0" added to the digit number. For example, Pn001.0 (i.e., digit No. 0 of
parameter No. Pn001).
• The default setting for parameters set using 5 digits are displayed in the table with the leftmost dig-
its not shown if they are 0 (e.g., if the default setting is 00080, 80 is entered in the table).
• Do not set parameters or digit numbers shown as “Not used.”
■ Function Selection Parameters (from Pn000)
Param- Parame- Digit
Name
Setting
Explanation
Default
setting
Unit
Setting Restart
range power?
eter No.
ter
No.
name
Pn000
Func-
0
Reverse rota- 0
tion
CCW direction is taken for positive com- 0000
mand
---
---
Yes
tion
selec-
tion
basic
switches
1
CW direction is taken for positive com-
mand
2 to 3
Not used.
1
2
Not used.
0
(Do not change setting.)
Unit No. set- 0 to F
ting
Servo Driver communications unit num-
ber setting (necessary for multiple Servo
Driver connections when using personal
computer monitoring software)
3
0
Not used.
0
0
1
(Do not change setting.)
Pn001
Func-
tion
Stop selec-
tion if an
alarm occurs
when Servo-
motor is OFF
Servomotor stopped by dynamic brake.
0002
---
---
Yes
Dynamic brake OFF after Servomotor
stopped
selec-
tion
applica-
tion
switches
1
2
0
Servomotor stopped with free run
1
Stop selec-
tion when
drive prohib-
ited is input
Stop according to Pn001.0 setting
(release Servomotor after stopping)
1
2
Stop Servomotor using torque set in
Pn406, and lock Servomotor after stop-
ping
Stop Servomotor using torque set in
Pn406, and release Servomotor after
stopping
2
3
AC/DC
0
1
0
AC power supply: AC power supplied
from L1, L2, (L3) terminals
power input
selection
DC power supply: DC power from +, −(2)
terminals
Not used.
(Do not change setting.)
4-8
Operation
Chapter 4
Param- Parame- Digit
Name
Setting
Explanation
Default
setting
Unit
Setting Restart
range power?
eter No.
ter
No.
name
Pn002
Func-
0
Torque com-
mand input
change (dur-
ing speed
control)
0
Do not use option command value.
0000
---
---
Yes
tion
1
2
3
Use option command value 1 as the
torque limit value.
selec-
tion
applica-
tion
switches
2
Use option command value 1 as the
torque feed forward command value.
Use option command value 1 or 2 as the
torque limit value, according to the for-
ward and reverse torque limits that are
specified.
1
2
Speed com-
mand input
change (dur-
ing torque
control)
0
1
Do not use option command value.
Use option command value 1 as the
speed limit value.
Operation
0
1
Use as absolute encoder
switch when
using abso-
lute encoder
Use as incremental encoder
3
0
1
2
3
Not used.
Not used.
Not used.
Not used.
Not used.
0
0
1
1
0
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
Pn004
Pn006
Func-
tion
0110
0002
---
---
---
---
Yes
selec-
tion
applica-
tion
switches
4
Func-
tion
selec-
tion
applica-
tion
switches
6
0 to 1 Analog moni- 00
tor 1 (AM)
Servomotor rotation speed:
1V/1000 r/min
---
signal selec-
tion
01
Speed command: 1 V/1000 r/min
02
Torque command: gravity compensation
torque (Pn422)
(1 V per 100%)
03
04
05
Position deviation: 0.05 V/1 command
unit
Position amp error (after electronic gear)
(0.05 V per encoder pulse unit)
Position command speed
(1 V/1,000 r/min)
06
07
08
Not used.
Not used.
Positioning completed command
(Positioning completed: 5 V; positioning
not completed: 0 V
09
0A
Speed feed forward (1 V/1,000 r/min)
Torque feed forward (1 V per 100%)
0B to 1F Not used.
2
3
Analog moni-
tor 1 signal
multiplier
0
1
2
3
4
0
1x
10x
selection
100x
1/10x
1/100x
Not used.
(Do not change setting.)
4-9
Operation
Chapter 4
Param- Parame- Digit
Name
Setting
Explanation
Default
setting
Unit
Setting Restart
range power?
eter No.
ter
No.
name
Pn007
Func-
0 to 1 Analog moni- 00
tor 2 (NM)
Servomotor rotation speed:
1V/1000 r/min
0000
---
---
---
tion
selec-
tion
signal selec-
01
Speed command: 1 V/1000 r/min
tion
applica-
tion
02
Torque command: gravity compensation
torque (Pn422)
(1 V per 100%)
switches
7
03
04
05
Position deviation: 0.05 V/1 command
unit
Position amp error (after electronic gear)
(0.05 V per encoder pulse unit)
Position command speed
(1 V/1,000 r/min)
06
07
08
Not used.
Not used.
Positioning completed command
(Positioning completed: 5 V; positioning
not completed: 0 V
09
0A
Speed feed forward (1 V/1,000 r/min)
Torque feed forward (1 V per 100%)
0B to 1F Not used.
2
Analog moni-
tor 2 signal
multiplier
0
1
2
3
4
0
0
1x
10x
selection
100x
1/10x
1/100x
3
0
Not used.
(Do not change setting.)
Pn008
Func-
tion
Lowered bat-
tery voltage
alarm/warn-
ing selection
Regard battery voltage drop as alarm
(A.830).
4000
---
---
Yes
selec-
tion
1
Regard battery voltage drop as warning
(A.930).
applica-
tion
switches
8
1
2
Not used.
0
0
1
(Do not change setting.)
Warnings detected.
Warning
detection
selection
Warnings not detected.
3
Not used.
4
(Do not change setting.)
■ Servo Gain Parameters (from Pn100)
Param- Parameter
Explanation (See note 1.)
Default
setting
Unit
Setting Restart
range power?
eter No.
name
Digit
No.
Name
Setting Explanation (See note 2.)
Pn100
Pn101
Speed loop Adjusts speed loop response.
gain
800
× 0.1 Hz
10 to
---
---
20000
Speed loop Speed loop integral time constant
integration
constant
2000
× 0.01 ms 15 to
51200
Pn102
Pn103
Pn104
Pn105
Position
Adjusts position loop response.
400
× 0.1/s
%
10 to
---
---
---
---
loop gain
20000
Inertia ratio Set using the ratio between the machine system inertia and the Ser- 300
vomotor rotor inertia.
0 to
20000
Speed loop Adjusts speed loop response (enabled by gain switching input).
gain 2
800
× 0.1 Hz
10 to
20000
Speed loop Speed loop integral time constant (enabled by gain switching input). 2000
integration
constant 2
× 0.01 ms 15 to
51200
Pn106
Pn107
Position
Adjusts position loop response (enabled by gain switching input).
Sets position control bias.
400
0
× 0.1/s
10 to
---
loop gain 2
20000
Bias rota-
tional speed
r/min
0 to 450 ---
4-10
Operation
Chapter 4
Param- Parameter
Explanation (See note 1.)
Setting Explanation (See note 2.)
Default
setting
Unit
Setting Restart
range power?
eter No.
name
Digit
No.
Name
Pn108
Pn109
Bias addi-
tion band
Sets the position control bias operation start using deviation counter
pulse width.
7
0
Command 0 to 250 ---
unit
Feed-for-
ward
amount
Position control feed-forward compensation value
%
0 to 100 ---
Pn10A
Pn10B
Feed-for-
Sets position control feed-forward command filter.
0
× 0.01 ms 0 to
6400
---
---
ward com-
mand filter
Speed con-
trol setting
0
P control
switching
conditions
0
1
2
3
Sets internal torque command
value conditions (Pn10C).
0004
---
---
Sets speed command value condi-
tions (Pn10d).
Sets acceleration command value
conditions (Pn10E)
Sets deviation pulse value condi-
tions (Pn10F)
4
No P control switching function
PI control
1
2
3
Speed con-
trol loop
0
Yes
1
IP control
switching
2 to 3
Not used.
Position loop
control
method
0
Standard position control
Less deviation control
Not used.
1
2 to 3
0
Not used.
(Do not change setting.)
Pn10C P control
switching
Sets level of torque command to switch from PI control to P control. 200
%
0 to 800 ---
(torque
command)
Pn10D P control
switching
Sets level of speed command to switch from PI control to P control.
0
0
r/min
r/min/s
0 to
---
---
10000
(speed com-
mand)
Pn10E
P control
switching
(accelera-
tion com-
mand)
Sets level of acceleration command to switch from PI control to P
control.
0 to
30000
Pn10F
Pn110
P control
switching
(deviation
pulse)
Sets level of deviation pulses to switch from PI control to P control.
10
Command 0 to
---
unit
10000
Normal
autotuning
switches
0
1
Normal auto-
tuning
2
(Do not change setting.)
0012
---
---
Yes
method
Speed feed-
back com-
pensation
function
0
ON
1
OFF
2 to 3
Not used.
selection
2
3
Not used.
Not used.
0
0
(Do not change setting.)
(Do not change setting.)
Pn111
Speed feed- Adjusts speed loop feedback gain.
100
%
1 to 500 ---
back com-
pensating
gain
Pn119
Pn11A
Pn11E
Pn11F
Not used.
Not used.
Not used.
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
500
1000
1000
0
---
---
---
---
---
---
---
---
---
---
Position
integral time
constant
Position loop integral time constant
× 0.1 ms
0 to
50000
Pn12B
Not used.
(Do not change setting.)
400
---
---
---
4-11
Operation
Chapter 4
Param- Parameter
Explanation (See note 1.)
Setting Explanation (See note 2.)
Default
setting
Unit
Setting Restart
range power?
eter No.
name
Digit
No.
Name
Pn12C Not used.
Pn12D Not used.
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
2000
400
400
2000
400
0
---
---
---
---
---
ms
---
---
---
---
---
---
---
---
---
---
---
Pn12E
Pn12F
Pn130
Pn131
Not used.
Not used.
Not used.
Gain switch- Switching time from No. 1 gain to No. 2 gain
ing time 1
0 to
65535
Pn132
Pn135
Gain switch- Switching time from No. 2 gain to No. 1 gain
ing time 2
0
0
ms
ms
0 to
---
---
65535
Gain switch- The time from when gain switching condition A is satisfied until
0 to
65535
ing waiting
time 1
switching from the No. 1 gain to the No. 2 gain begins.
Pn136
Pn139
Gain switch- The time from when gain switching condition B is satisfied until
0
ms
---
0 to
---
ing waiting
time 2
switching from the No. 2 gain to the No. 1 gain begins.
65535
Automatic
gain
0
Gain switch-
ing selection
switch
0
1
Manual gain switching
0000
---
Yes
Automatic switching pattern 1
Automatic switching from No. 1
gain to No. 2 gain when gain
switching condition A is satisfied.
Automatic switching from No. 2
gain to No. 1 gain when gain
switching condition B is satisfied.
changeover
related
switches 1
2 to 4
0
Not used.
1
Gain switch-
ing condition
A
Positioning completed output 1
(INP1) ON
1
2
3
4
Positioning completed output 1
(INP1) OFF
Positioning completed output 2
(INP2) ON
Positioning completed output 2
(INP2) OFF
The position command filter out-
put is 0, and also the position com-
mand input is 0.
5
The position command input is not
0.
2
3
Gain switch- 0 to 5
Same as above.
ing condition
B
Not used.
0
(Do not change setting.)
Pn144
Pn150
Not used.
(Do not change setting.)
1000
0210
---
---
---
---
---
Predictive
control
selection
switches
0
Predictive
control selec-
tion
0
1
2
0
1
2
0
Predictive control not used.
Predictive control used.
Yes
Not used. (Do not change setting.)
Predictive control for tracking
Predictive control for positioning
(Do not change setting.)
1
Predictive
control type
2
3
Not used.
Not used.
(Do not change setting.)
Pn151
Predictive
control
Adjusts acceleration and deceleration response for predictive control. 100
%
0 to 300 ---
accelera-
tion/deceler-
ation gain
Pn152
Pn1A0
Predictive
control
Adjusts position deviation for predictive control.
100
60
%
%
0 to 300 ---
1 to 500 ---
weighting
ratio
Servo rigid- Adjusts the Servo rigidity for the No. 1 gain.
ity
4-12
Operation
Chapter 4
Param- Parameter
Explanation (See note 1.)
Setting Explanation (See note 2.)
Default
setting
Unit
Setting Restart
range power?
eter No.
name
Digit
No.
Name
Pn1A1
Pn1A2
Servo rigid- Adjusts the Servo rigidity for the No. 2 gain.
ity 2
60
72
%
1 to 500 ---
Speed feed- Sets the filter time constant for No. 1 gain speed feedback.
× 0.01 ms 30 to
---
---
---
---
back filter
time con-
stant
3200
Pn1A3
Pn1A4
Pn1A7
Speed feed- Sets the filter time constant for No. 2 gain speed feedback.
72
36
× 0.01 ms 30 to
back filter
time con-
stant 2
3200
Torque com- Sets the filter time constant for the torque command.
× 0.01 ms 0 to
mand filter
time con-
stant 2
2500
Utility con-
trol switches
0
Integral com-
pensation
processing
0
1
2
Integral compensation processing 1121
---
---
not executed.
Integral compensation processing
executed.
Integral compensation is executed
for No. 1 gain and not for No. 2
gain for less-deviation gain switch-
ing.
3
Integral compensation is executed
for No. 2 gain and not for No. 1
gain for less-deviation gain switch-
ing.
1
2
3
Not used.
Not used.
Not used.
2
1
1
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
Pn1A9
Utility inte-
gral gain
Adjusts the auxiliary integral responsive.
37
60
Hz
Hz
0 to 500 ---
0 to 500 ---
Pn1AA Position pro- Adjusts the position proportional responsive.
portional
gain
Pn1AB Speed inte- Adjusts the speed integral responsive.
gral gain
0
Hz
Hz
0 to 500 ---
Pn1AC Speed pro- Adjusts the speed proportional responsive.
120
0 to
---
---
portional
gain
2000
Pn1B5
Not used.
(Do not change setting.)
150
---
---
Note 1. Explanation for parameters set using 5 digits.
Note 2. Explanation for parameters requiring each digit No. to be set separately.
■ Position Control Parameters (from Pn200)
Param- Parame-
eter No. ter name
Explanation
Default
setting
Unit
Setting
range
Restart
power?
Digit
No.
Name
Setting
Explanation
Pn200
Pn205
Not used.
0
Not used.
Not used.
Not used.
Not used.
0
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
0100
---
---
Yes
1
2
3
0
1
0
Absolute
encoder
multi-turn
limit set-
ting
Sets the multi-turn limit for when a Servomotor with an absolute
encoder is used.
65535
Rotation
0 to 65535
Yes
4-13
Operation
Chapter 4
Param- Parame-
eter No. ter name
Explanation
Setting
Default
setting
Unit
Setting
range
Restart
power?
Digit
No.
Name
Explanation
Pn207
Position
control
settings 2
0
Not used.
Not used.
0
(Do not change setting.)
(Do not change setting.)
Disabled
0010
---
---
Yes
1
2
1
0
1
Backlash
compensa-
tion selec-
tion
Compensates to forward rota-
tion side.
2
0
1
Compensates to reverse rota-
tion side.
3
INP 1 output
timing
When the position deviation is
below the INP1 range.
When the position deviation is
below the INP1 range and also
the command after the position
command filter is 0.
2
When the absolute value for the
position deviation is below the
INP1 range (Pn522) and also the
position command input is 0.
Pn209
Pn20A
Pn20E
Not used. (Do not change setting.)
Not used. (Do not change setting.)
0
---
---
---
---
---
---
32768
4
Yes
Yes
Electronic Sets the pulse rate for the command pulses and Servomotor
gear ratio movement distance.
1 to
1073741824
G1
(numera-
tor)
0.001 ≤ Pn20E/Pn210 ≤ 1000
Pn210
Electronic
gear ratio
G2
(denomi-
nator)
1
---
1 to
1073741824
Yes
Pn212
Pn214
Encoder
divider
rate
Sets the number of output pulses per Servomotor rotation.
1000
0
Pulses/
rotation
16 to
Yes
---
1073741824
Backlash Mechanical system backlash amount (the mechanical gap
Command −32767 to
unit 32767
compen-
sation
amount
between the drive shaft and the shaft being driven)
Pn215
Backlash Sets the backlash compensation time constant.
0
× 0.01 ms 0 to 65535
---
compen-
sation
time con-
stant
Pn216
Pn217
Pn281
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
0
---
---
---
---
---
---
---
0
---
20
Yes
■ Speed Control Parameters (from Pn300)
Param- Parameter
Explanation
Default
setting
Unit
Setting Restart
range power?
eter No.
name
Digit
No.
Name
Setting
Explanation
Pn300
Pn301
Pn302
Pn303
Pn304
Not used.
Not used.
Not used.
Not used.
Jog speed
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
600
100
200
300
500
---
---
---
---
---
---
---
---
---
---
---
---
---
Sets rotation speed during jog operation.
r/min
0 to
10000
Pn305
Pn306
Soft start
accelera-
tion time
Sets acceleration time during speed control soft start.
Sets deceleration time during speed control soft start.
0
0
ms
0 to
---
---
10000
Soft start
decelera-
tion time
ms
0 to
10000
4-14
Operation
Chapter 4
Param- Parameter
Explanation
Setting
Default
setting
Unit
Setting Restart
range power?
eter No.
name
Digit
No.
Name
Explanation
Pn307
Pn308
Not used.
(Do not change setting.)
40
0
---
---
---
---
Speed feed- Sets constant during filter of speed feedback.
× 0.01 ms 0 to
back filter
time con-
stant
65535
Pn310
Vibration
detection
switches
0
Vibration
detection
selection
0
1
Vibration detection not used.
0000
---
---
---
Gives warning (A.911) when vibra-
tion is detected.
2
Gives warning (A.520) when vibra-
tion is detected.
1
2
3
Not used.
Not used.
Not used.
0
0
0
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
Pn311
Pn312
Vibration
detection
sensitivity
Sets the vibration detection sensitivity.
100
50
%
50 to
500
---
---
Vibration
detection
level
Sets the vibration detection level
r/min
0 to
5000
■ Torque Control Parameters (from Pn400)
Param- Parameter
Explanation
Default
setting
Unit
Setting Restart
range power?
eter No.
name
Digit
No.
Name
Setting
Explanation
Pn400
Pn401
Not used.
(Do not change setting.)
30
40
---
---
---
---
1st step 1st Sets the filter time constant for internal torque commands.
× 0.01 ms 0 to
torque com-
mand filter
time con-
stant
65535
Pn402
Pn403
Pn404
Forward
Forward rotation output torque limit (rated torque ratio).
Reverse rotation output torque limit (rated torque ratio).
350
350
%
%
%
0 to 800 ---
0 to 800 ---
0 to 800 ---
torque limit
Reverse
torque limit
Forward
rotation
external cur-
rent limit
Output torque limit during input of forward rotation current limit (rated 100
torque ratio)
Pn405
Reverse
Output torque limit during input of reverse rotation current limit (rated 100
torque ratio)
%
0 to 800 ---
0 to 800 ---
rotation
external cur-
rent limit
Pn406
Pn407
Pn408
Emergency Deceleration torque when an error occurs (rated torque ratio)
stop torque
350
%
Speed limit Sets the speed limit in torque control mode.
3000
0000
r/min
---
0 to
---
---
10000
Torque com- 0
mand set-
ting
Selectsnotch
filter 1 func-
tion.
0
1
Notch filter 1 not used.
---
Notch filter 1 used for torque com-
mands.
1
2
Not used.
0
0
1
(Do not change setting.)
Notch filter 2 not used.
Selectsnotch
filter 2 func-
tion.
Notch filter 2 used for torque com-
mands.
3
Not used.
0
(Do not change setting.)
Pn409
Pn40A
Notch filter
1 frequency
Sets notch filter 1 frequency for torque command.
2000
70
Hz
50 to
2000
---
---
---
Notch filter
1 Q value
Sets Q value of notch filter 1.
× 0.01
Hz
50 to
1000
Pn40C Notch filter
2 frequency
Sets the notch filter 2 frequency for torque commands.
2000
50 to
2000
4-15
Operation
Chapter 4
Param- Parameter
Explanation
Setting
Default
setting
Unit
Setting Restart
range power?
eter No.
name
Digit
No.
Name
Explanation
Pn40D Notch filter
2 Q value
Sets Q value of notch filter 2.
70
× 0.01
50 to
1000
---
---
Pn40F
2nd step
2nd torque
command
filter fre-
quency
Sets the filter frequency for internal torque commands.
2000
Hz
100 to
2000
Pn410
Pn411
2nd step
Sets the torque command filter Q value.
70
0
× 0.01
µs
50 to
1000
---
---
2nd torque
command
filter Q value
3rd step
Sets the filter time constant for internal torque commands.
0 to
65535
torque com-
mand filter
time con-
stant
Pn412
1st step 2nd Sets the filter time constant for No. 2 gain internal torque commands. 100
× 0.01 ms 0 to
65535
---
torque com-
mand filter
time con-
stant
Pn413
Pn414
Pn420
Not used.
Not used.
(Do not change setting.)
(Do not change setting.)
100
100
100
---
---
%
---
---
---
---
---
Damping for Sets the vibration suppression value while stopped.
10 to
100
vibration
suppres-
sion on
stopping
Pn421
Vibration
suppres-
sion start-
ing time
Sets the time from when the position command becomes 0 until
damping for vibration suppression on stopping begins.
1000
ms
0 to
65535
---
Pn422
Pn456
Gravity
Sets the gravity compensation torque.
0
× 0.01%
−20000 ---
to
compensa-
tion torque
20000
Sweep
Sets the sweep torque command amplitude.
15
%
1 to 800 ---
torque com-
mand ampli-
tude
■ Sequence Parameters (from Pn500)
Param- Parame-
eter No. ter name
Explanation
Default
setting
Unit
Setting
range
Restart
power?
Digit
No.
Name
Setting
Explanation
Pn501
Pn502
Not used. (Do not change setting.)
10
---
---
---
---
Rotation
Sets the number of rotations for the Servomotor rotation detection 20
r/min
1 to 10000
speed for output (TGON).
motor
rotation
detection
Pn503
Speed
Sets the allowable fluctuation (number of rotations) for the speed 10
conformity output (VCMP).
r/min
0 to 100
---
confor-
mity sig-
nal output
width
Pn506
Pn507
Brake tim- Sets the delay from the brake command to the Servomotor turn-
0
× 10 ms
0 to 50
---
---
ing 1
ing OFF.
Brake
Sets the number of rotations for outputting the brake command.
100
r/min
0 to 10000
command
speed
Pn508
Pn509
Brake tim- Sets the delay time from the Servomotor turning OFF to the brake 50
× 10 ms
10 to 100
---
---
ing 2
command output.
Momen-
tary hold
time
Sets the time during which alarm detection is disabled when a
power failure occurs.
20
ms
20 to 1000
4-16
Operation
Chapter 4
Param- Parame-
eter No. ter name
Explanation
Setting
Default
setting
Unit
Setting
range
Restart
power?
Digit
No.
Name
Explanation
Pn50A
Input sig-
nal selec-
tions 1
0
Not used.
Not used.
Not used.
1
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
1881
---
---
Yes
1
2
3
8
8
0
POT (for-
ward drive
prohibited
input) sig-
nal Input
terminal
Allocated to CN1, pin 13: Valid
for low input
1
2
3
4
5
6
Allocated to CN1, pin 7: Valid for
low input
Allocated to CN1, pin 8: Valid for
low input
allocation
Allocated to CN1, pin 9: Valid for
low input
Allocated to CN1, pin 10: Valid
for low input
Allocated to CN1, pin 11: Valid
for low input
Allocated to CN1, pin 12: Valid
for low input
7
8
9
Always enabled.
Always disabled.
Allocated to CN1, pin 13: Valid
for high input
A
Allocated to CN1, pin 7: Valid for
high input
B
Allocated to CN1, pin 8: Valid for
high input
C
Allocated to CN1, pin 9: Valid for
high input
D
Allocated to CN1, pin 10: Valid
for high input
E
Allocated to CN1, pin 11: Valid
for high input
F
Allocated to CN1, pin 12: Valid
for high input
Pn50B
Input sig-
nal selec-
tions 2
0
NOT
0 to F
Same as Pn50A.3.
NOT (reverse drive prohibited)
signal allocation
8882
---
---
Yes
(reverse
drive prohib-
ited input)
signal Input
terminal
allocation
1
2
3
0
1
2
3
0
1
2
3
Not used.
Not used.
Not used.
Not used.
Not used.
Not used.
Not used.
Not used.
Not used.
Not used.
Not used.
8
8
8
8
8
8
8
8
8
8
8
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
Pn50C Input sig-
nal selec-
8888
8888
---
---
---
---
Yes
Yes
tions 3
Pn50D Input sig-
nal selec-
tions 4
4-17
Operation
Chapter 4
Param- Parame-
eter No. ter name
Explanation
Setting
Default
setting
Unit
Setting
range
Restart
power?
Digit
No.
Name
Explanation
Pn50E
Output
signal
selec-
tions 1
0
INP1 (posi-
tioning com-
pleted 1)
signal out-
put terminal
allocation
0
Not used.
0000
---
---
Yes
1
2
3
Allocated to CN1 pins 1, 2
Allocated to CN1 pins 23, 24
Allocated to CN1 pins 25, 26
1
2
VCMP
0 to 3
Same as Pn50E.0.
(speed con-
formity) sig-
nal output
terminal
VCMP (speed coincidence) sig-
nal allocation
allocation
TGON (ser- 0 to 3
vomotor
rotation
detection)
Same as Pn50E.0.
TGON (Servomotor rotation
detection) signal allocation
signal out-
put terminal
allocation
3
0
1
READY
0 to 3
Same as Pn50E.0.
READY (servo ready) signal allo-
cation
(servo
ready) sig-
nal output
terminal
allocation
Pn50F
Output
signal
selec-
tions 2
CLIMT (cur- 0 to 3
rent limit
detection)
signal out-
put terminal
allocation
Same as Pn50E.0.
CLIMT (current limit detection)
signal allocation
0100
---
---
Yes
VLIMT
0 to 3
Same as Pn50E.0.
VLIMT (speed limit detection)
signal allocation
(speed limit
detection)
signal out-
put terminal
allocation
2
3
0
BKIR (brake 0 to 3
interlock)
Same as Pn50E.0.
BKIR (brake interlock) signal
allocation.
signal out-
put terminal
allocation
WARN
0 to 3
Same as Pn50E.0.
WARN (warning) signal alloca-
tion
(warning)
signal out-
put terminal
allocation
Pn510
Output
signal
selec-
tions 3
INP2 (posi- 0 to 3
tioning com-
pleted 2)
signal out-
put terminal
allocation
Same as Pn50E.0.
INP2 (positioning completed 2)
signal allocation
0000
---
---
Yes
1
2
3
Not used.
Not used.
Not used.
0
0
0
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
4-18
Operation
Chapter 4
Param- Parame-
eter No. ter name
Explanation
Setting
Default
setting
Unit
Setting
range
Restart
power?
Digit
No.
Name
Explanation
Pn511
Input sig-
nal selec-
tions 5
0
DEC signal
input termi-
nal alloca-
tion
0
Allocated to CN1, pin 13: Valid
for low input
6543
---
---
Yes
1
2
3
4
5
6
Allocated to CN1, pin 7: Valid for
low input
Allocated to CN1, pin 8: Valid for
low input
Allocated to CN1, pin 9: Valid for
low input
Allocated to CN1, pin 10: Valid
for low input
Allocated to CN1, pin 11: Valid
for low input
Allocated to CN1, pin 12: Valid
for low input
7
8
9
Always enabled.
Always disabled.
Allocated to CN1, pin 13: Valid
for high input
A
B
C
D
E
F
Allocated to CN1, pin 7: Valid for
high input
Allocated to CN1, pin 8: Valid for
high input
Allocated to CN1, pin 9: Valid for
high input
Allocated to CN1, pin 10: Valid
for high input
Allocated to CN1, pin 11: Valid
for high input
Allocated to CN1, pin 12: Valid
for high input
1
EXT1 sig-
nal input ter-
minal
0 to 3
4
Always disabled.
Allocated to CN1, pin 10: Valid
for low input
allocation
5
6
Allocated to CN1, pin 11: Valid
for low input
Allocated to CN1, pin 12: Valid
for low input
7
Always enabled.
Always disabled.
Always disabled.
8
9 to C
D
Allocated to CN1, pin 10: Valid
for high input
E
Allocated to CN1, pin 11: Valid
for high input
F
Allocated to CN1, pin 12: Valid
for high input
2
3
EXT2 sig-
nal input ter-
minal
0 to F
Same as for Pn511.1.
EXT2 signal allocation
allocation
EXT3 sig-
nal input ter-
minal
0 to F
Same as for Pn511.1.
EXT3 signal allocation
allocation
4-19
Operation
Chapter 4
Param- Parame-
eter No. ter name
Explanation
Setting
Default
setting
Unit
Setting
range
Restart
power?
Digit
No.
Name
Explanation
Pn512
Output
signal
reverse
0
Output sig-
nal reverse
for CN1 pins
1, 2
0
Not reversed.
0000
---
---
Yes
1
Reversed.
1
2
3
Output sig-
nal reverse
for CN1 pins
23, 24
0
1
Not reversed.
Reversed.
Output sig-
nal reverse
for CN1 pins
25, 26
0
1
Not reversed.
Reversed.
Not used.
0
(Do not change setting.)
Pn513
Pn515
Pn51B
Pn51E
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
0321
8888
1000
100
---
---
---
%
---
---
---
Yes
Yes
---
Deviation Sets the detection level for the deviation counter overflow warn-
10 to 100
---
counter
overflow
warning
level
ing.
(A warning is output for Pn520 × Pn51E/100 or higher.)
Pn520
Pn522
Pn524
Pn526
Deviation Sets the deviation counter overflow alarm detection level.
262144 Command 1 to
---
---
---
---
counter
overflow
level
Pn520 ≥ (Max. feed speed [command unit/s]/Pn102) × 2.0
unit
1073741823
Position-
ing com-
pleted
Setting range for positioning completed range 1 (INP1)
3
3
Command 0 to
unit
1073741823
range 1
Position-
ing com-
pleted
Setting range for positioning completed range 2 (INP2)
Command 1 to
unit
1073741823
range 2
Deviation Sets the deviation counter overflow alarm detection level for Servo 262144 Command 1 to
counter
overflow
level at
ON.
unit
1073741823
Servo-ON
Pn528
Pn529
Deviation Sets the deviation counter overflow warning detection level for
100
%
10 to 100
---
---
counter
overflow
warning
level at
Servo ON.
Servo-ON
Speed
Sets the speed limit for when the Servo turns ON with position
10000
r/min
0 to 10000
limit level deviation accumulated.
at Servo-
ON
Pn52A
Pn52F
Not used. (Do not change setting.)
Not used. (Do not change setting.)
20
---
---
---
---
---
---
FFF
4-20
Operation
Chapter 4
Param- Parame-
eter No. ter name
Explanation
Setting
Default
setting
Unit
Setting
range
Restart
power?
Digit
No.
Name
Explanation
Pn530
Program
JOG oper-
ation
0
Program
JOG operat-
ing pattern
0
(Waiting time Pn535 → Forward 0000
movement Pn531) × Number of
movement operations Pn536
---
---
---
related
1
2
(Waiting time Pn535 → Reverse
movement Pn531) × Number of
movement operations Pn536
switches
(Waiting time Pn535 → Forward
movement Pn531) × Number of
movement operations Pn536
(Waiting time Pn535 → Reverse
movement Pn531) × Number of
movement operations Pn536
3
(Waiting time Pn535 → Reverse
movement Pn531) × Number of
movement operations Pn536
(Waiting time Pn535 → Forward
movement Pn531) × Number of
movement operations Pn536
4
5
(Waiting time Pn535 → Forward
movement Pn531 → Waiting
time Pn535 → Reverse move-
ment Pn531) × Number of move-
ment operations Pn536
(Waiting time Pn535 → Reverse
movement Pn531 → Waiting
time Pn535 → Forward move-
ment Pn531) × Number of move-
ment operations Pn536
1
2
3
Not used.
Not used.
Not used.
0
0
0
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
Pn531
Pn533
Pn534
Program
JOG
Sets the program JOG movement distance.
32768
500
Command 1 to
---
---
---
unit
1073741824
move-
ment dis-
tance
Program
JOG
move-
ment
speed
Sets the program JOG operation movement speed.
r/min
1 to 10000
2 to 10000
Program
JOG
Sets the acceleration/deceleration time for program JOG opera-
tion.
100
ms
accelera-
tion/decel-
eration
time
Pn535
Pn536
Program
Sets the delay time from the program JOG operation start input
100
1
ms
0 to 10000
1 to 1000
---
---
JOG wait- until operation starts.
ing time
Numberof Sets the number of repetitions of the program JOG operations.
Times
program
JOG
move-
ments
Pn540
Pn550
Gain limit Sets the gain limit.
2000
0
× 0.1 Hz
× 0.1 V
10 to 2000
---
---
Analog
monitor 1
offset volt-
age
Sets the analog monitor 1 offset voltage.
−10000 to
10000
Pn551
Analog
monitor 2
offset volt-
age
Sets the analog monitor 2 offset voltage.
0
× 0.1 V
−10000 to
---
10000
4-21
Operation
Chapter 4
■ Other Parameters (from Pn600)
Param- Parame-
eter No. ter name
Explanation
Default
setting
Unit
Setting
range
Restart
power?
Digit
No.
Name
Setting
Explanation
Pn600
Pn800
Regener- Setting for regeneration resistance load ratio monitoring calcula-
0
× 10 W
0 to (varies by ---
model) (See
note 2.)
ation
tions
resistor
capacity
(See note
1.)
Communi-
cations
control
0
MECHA-
0
1
Normal
0040
---
---
---
TROLINK-II
communica-
tions check
mask
Ignore communications errors
(A.E6@).
Ignore WDT errors (A.E5@).
Ignore communications errors
(A.E6@) and WDT errors
(A.E5@).
2
3
1
Warning
check mask
0
1
Normal
Ignore data setting warning
(A. 94@).
2
Ignore command warning
(A. 95@).
3
4
Ignore A.94@ and A.95@.
Ignore communications warn-
ing (A. 96@).
5
6
7
Ignore A.94@ and A.96@.
Ignore A.95@ and A.96@.
Ignore A.94@, A.95@ and
A.96@.
2
Communi-
cationserror
count at sin-
gle trans-
0 to F
Detects communications errors
(A.E60) if they occur consecu-
tively for the set value plus two
times.
mission
3
0
Not used.
0
0
1
2
3
(Do not change setting.)
Pn801
Function
selection
applica-
tion 6
(software
LS)
Software
limit function
Software limit enabled.
0003
---
---
---
Forward software limit disabled.
Reverse software limit disabled.
Forward/reverse software limits
disabled.
1
2
Not used.
0
0
(Do not change setting.)
Software
limit check
using refer-
ence
No software limit check using
reference
1
Software limit check using refer-
ence
3
Not used.
0
(Do not change setting.)
Pn802
Pn803
Not used. (Do not change setting.)
0000
10
---
---
---
---
Zero point Sets the origin position detection range.
width
Command 0 to 250
unit
Pn804
Pn806
Pn808
Forward
software
limit
Sets the software limit for the positive direction.
Note: Pn806 must be set lower than Pn804.
8191
Command −1073741823 ---
91808
unit
to
1073741823
Reverse
software
limit
Sets the software limit for the negative direction.
Note: Pn806 must be set lower than Pn804.
−8191
Command −1073741823 ---
91808
unit
to
1073741823
Absolute
encoder
zero point
position
offset
Sets the encoder position and machine coordinate system offsets
for when an absolute encoder is used.
0
Command −1073741823 ---
unit
to
1073741823
4-22
Operation
Chapter 4
Param- Parame-
eter No. ter name
Explanation
Setting
Default
setting
Unit
Setting
range
Restart
power?
Digit
No.
Name
Explanation
Pn80A
Pn80B
First step Sets the step 1 acceleration for when two-step acceleration is
100
100
0
× 10000
1 to 65535
1 to 65535
0 to 65535
1 to 65535
1 to 65535
0 to 65535
---
---
---
---
---
---
---
---
linear
used.
Command
unit/s2
accelera-
tion
parameter
Second
step lin-
Sets the step 2 acceleration for when two-step acceleration is
executed, or the one-step acceleration parameter for when one-
× 10000
Command
unit/s2
ear accel- step acceleration is executed.
eration
parameter
Pn80C Accelera- Sets the switching speed for the step 1 and step 2 acceleration
× 100
tion
when two-step acceleration is executed.
Command
unit/s
parame-
ter switch-
ing speed
Note: When used as one-step acceleration, 0 must be set.
Pn80D First step Sets the step 1 deceleration for when two-step deceleration is
100
100
0
× 10000
linear
used.
Command
unit/s2
decelera-
tion
parameter
Pn80E
Pn80F
Pn810
Pn811
Second
step lin-
Sets the step 2 deceleration for when two-step deceleration is
executed, or the one-step deceleration parameter for when one-
× 10000
Command
unit/s2
ear decel- step deceleration is executed.
eration
parameter
Decelera- Sets the switching speed for the step 1 and step 2 deceleration
× 100
tion
when two-step deceleration is executed.
Command
unit/s
parame-
ter switch-
ing speed
Note: When used as one-step acceleration, 0 must be set.
Exponen- Sets the bias for when an exponential filter is used for the posi-
tial accel- tion command filter.
eration/
decelera-
tion bias
0
Command 0 to 32767
unit/s
Exponen- Sets the time constant for when an exponential filter is used for
0
× 0.1 ms
0 to 5100
tial accel- the position command filter.
eration/
decelera-
tion time
constant
Pn812
Moving
average
time
Sets the average movement time for when S-curve acceleration/
deceleration is used, and an average movement filter is used for
the position command filter.
0
× 0.1 ms
0 to 5100
---
---
---
Pn813
Pn814
Not used. (Do not change setting.) (See note 3.)
0
---
Final Sets the distance from the external signal input position when
travel dis- external positioning is executed.
tance for
external
position-
ing
100
Command −1073741823 ---
unit
to
1073741823
Note: For a negative direction or if the distance is short, opera-
tion is reversed after decelerating to a stop.
Pn816
Zero point
return
mode set-
tings
0
Zero point
return direc-
tion
0
1
Forward direction
Reverse direction
0000
---
---
---
1
2
3
Not used.
Not used.
Not used.
0
0
0
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
Pn817
Pn818
Zero point Sets the origin search speed after the deceleration limit switch
50
5
× 100
0 to 65535
0 to 65535
---
---
return
signal turns ON.
Command
unit/s
approach
speed 1
Zero point Sets the origin search speed after the deceleration limit switch
× 100
return
approach
speed 2
signal turns ON.
Command
unit/s
4-23
Operation
Chapter 4
Param- Parame-
eter No. ter name
Explanation
Setting
Default
setting
Unit
Setting
range
Restart
power?
Digit
No.
Name
Explanation
Pn819
Final
Sets the distance from the latch signal input position to the origin, 100
Command −1073741823 ---
travel dis- for when origin search is executed.
unit
to
tance to
return to
zero point
1073741823
Note: If the final travel distance is in the opposite direction from
the origin return direction or if the distance is short, operation is
reversed after decelerating to a stop.
Pn81B
Not used. (Do not change setting.)
0
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
Pn81C Not used. (Do not change setting.)
Pn81D Not used. (Do not change setting.)
0
0
Pn81E
Pn81F
Pn820
Pn822
Pn824
Pn825
Not used. (Do not change setting.)
0000
0
Not used. (Do not change setting.)
Not used. (Do not change setting.)
0
Not used. (Do not change setting.)
0
Not used. (Do not change setting.) (See note 4.)
Not used. (Do not change setting.) (See note 5.)
Not used. (Do not change setting.)
0000
0000
Pn900
to
Pn910
Pn920
to
Pn95F
Not used. (Do not change setting.)
---
---
---
Note 1. The normal setting is 0. If an external regeneration resistor is used, refer to 3-3-3 Regener-
ative Energy Absorption by External Regeneration Resistance for the recommended setting.
Note 2. The upper limit is the maximum output capacity (W) of the applicable Servo Driver.
Note 3. If the Servo Driver is used with the CJ1W-MCH71 or CS1W-MCH71, this parameter will be
set to 0032.
If parameters are edited with the WMON-ML2 connected, this parameter will set to 0000.
If this happens, you must reset this parameter to 0032 from the CJ1W-MCH71 or CS1W-
MCH71.
Note 4. If the Servo Driver is used with the CJ1W-MCH71 or CS1W-MCH71, this parameter will be
set to 0023. If parameters are edited with the WMON-ML2 connected, this parameter will set
to 0000. If this happens, you must reset this parameter to 0023 from the CJ1W-MCH71 or
CS1W-MCH71.
Note 5. If the Servo Driver is used with the CJ1W-MCH71 or CS1W-MCH71, this parameter will be
set to 0024. If parameters are edited with the WMON-ML2 connected, this parameter will set
to 0000. If this happens, you must reset this parameter to 0024 from the CJ1W-MCH71 or
CS1W-MCH71.
4-3-2 Important Parameters
This section explains the user parameters you need to set and check before using the
Servomotor and Servo Driver. If these parameters are set incorrectly, there is a risk of
the Servomotor not rotating, and of a malfunction. Set the parameters to suit your
system.
4-24
Operation
Chapter 4
■ Reverse Rotation Mode Settings (Pn000.0)
Pn000.0
Function selection basic switches -- Reverse rotation (All operation modes)
Setting
range
0, 1
Unit
---
Default
setting
0
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
CCW direction is taken for positive command (counterclockwise seen from the Servomotor out-
put shaft)
CW direction is taken for positive command (clockwise seen from the Servomotor output shaft)
• This parameter sets the Servomotor's direction of rotation.
• Even if 1 is set, the Servo Driver's encoder output phase (A/B phase) does not change (i.e., the
Servomotor's direction of rotation is simply reversed).
• For example, with a pulse command, the motor will rotate counterclockwise for a counterclockwise
command if the Reverse Rotation Mode Setting is set to 0 and will rotate clockwise for a counter-
clockwise command if the Reverse Rotation Mode Setting is set to 1.
■ Alarm Stop Selection (Pn001.0)
Pn001.0
Function selection application switches 1 -- Stop selection if an alarm occurs when Servomotor
is OFF (All operation modes)
Setting
range
0 to 2
Unit
---
Default
setting
2
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
2
Stop Servomotor using dynamic brake (dynamic brake stays ON after Servomotor has stopped).
Stop Servomotor using dynamic brake (dynamic brake released after Servomotor has stopped).
Stop Servomotor using free run.
• Select the stopping process for when the Servo is turned OFF or an alarm occurs.
Note Dynamic Brake Operation when Power Is Turned OFF
The dynamic brake will remain ON if the main circuit or control circuit power supplies are
turned OFF for Servo Drivers of the capacities listed below. This means that it will be slightly
more difficult to turn the motor shaft by hand than it is when the dynamic brake is OFF. To
release the dynamic brake, disconnect the Servo Motor wiring (U, V, or W). Always confirm that
any disconnected wires are connected properly before turning ON the power supplies again.
■ Overtravel Stop Selection (Pn001.1)
Pn001.1
Function selection application switches 1 -- Stop selection when drive prohibited is input (Posi-
tion, speed)
Setting
range
0 to 2
Unit
---
Default
setting
0
Restart
power?
Yes
4-25
Operation
Chapter 4
Setting Explanation
Setting
Explanation
0
1
Stop according to the setting of Pn001.0 (Servo released after Servomotor has stopped)
Stop the Servomotor using the torque set in Pn406 (emergency stop torque), then locks the
Servo.
2
Stop the Servomotor using the torque set in Pn406 (emergency stop torque), then releases the
Servo (dynamic brake is turned OFF).
• Select the stopping process for when overtravel occurs.
Stopping Methods when Forward/Reverse Drive Prohibit is OFF
Deceleration Method
Stopped Status
Servo unlocked
Pn001.0
"0" or "1"
Dynamic brake
Pn001.1
"0"
"2"
POT (NOT) is OFF
Free run
Pn001.1
"2"
Servo unlocked
"1" or "2"
Emergency stop torque (Pn406)
See note 1.
"1"
Servo locked
Note 1. The position loop is disabled when the Servo stops in servolock mode during position con-
trol.
Note 2. During torque control, the stopping process depends on Pn001.0 (the Pn001.1 setting does
not matter).
Note 3. With a vertical load, the load may fall due to its own weight if it is left at a drive prohibit input.
We recommend that you set the stop method for the drive prohibit input (Pn001.1) for decel-
erating with the emergency stop torque, and then set stopping with the servo locked (SV: 1)
to prevent the load from falling.
■ I/O Signal Allocation (Pn50A, Pn50B, Pn50E to Pn512)
• With the OMNUC W Series, you can freely change the I/O signal allocation.
• If using an OMRON position controller (Position Control Unit or Motion Control Unit), you do not
need to change the default settings.
4-26
Operation
Chapter 4
• The default allocations are as follows:
CN1,pin
No.
Signal name
Condition
Input
signal
7
POT (Forward drive prohibit input)
NOT (Reverse drive prohibit input)
DEC (Origin return deceleration LS)
EXT1 (External latch signal 1)
EXT2 (External latch signal 2)
EXT3 (External latch signal 3)
Enabled when the CN1-7 input signal turns ON
(L level).
8
Enabled when the CN1-8 input signal turns ON
(L level).
9
Enabled when the CN1-9 input signal turns ON
(L level).
10
11
12
Enabled when the CN1-10 input signal turns
ON (L level).
Enabled when the CN1-11 input signal turns
ON (L level).
Enabled when the CN1-12 input signal turns
ON (L level).
Output 1/2
signal
BKIR (Brake interlock output)
General-purpose output signal
General-purpose output signal
23/24
(Not allocated.)
(Not allocated.)
25/26
● Input Signal Selections (Pn50A, Pn50B, Pn511)
Pn50A.0
Input signal selections 1 -- Not used.
--- Unit ---
Setting
range
Default
setting
1
8
8
Restart
power?
Yes
Yes
Yes
Note Do not change setting.
Pn50A.1
Input signal selections 1 -- Not used.
--- Unit ---
Setting
range
Default
setting
Restart
power?
Note Do not change setting.
Pn50A.2
Input signal selections 1 -- Not used.
--- Unit ---
Setting
range
Default
setting
Restart
power?
Note Do not change setting.
Pn50A.3
Input signal selections 1 -- POT (forward drive prohibited) signal input terminal allocation (All
operation modes)
Setting
range
0 to F
Unit
---
Default
setting
1
Restart
power?
Yes
4-27
Operation
Chapter 4
Setting Explanation
Setting
Explanation
Allocated to CN1-13 pin: enabled using L input
Allocated to CN1-7 pin: enabled using L input
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Allocated to CN1-8 pin: enabled using L input
Allocated to CN1-9 pin: enabled using L input
Allocated to CN1-10 pin: enabled using L input
Allocated to CN1-11 pin: enabled using L input
Allocated to CN1-12 pin: enabled using L input
Always ON
Always OFF
Allocated to CN1-13 pin: enabled using H input
Allocated to CN1-7 pin: enabled using H input
Allocated to CN1-8 pin: enabled using H input
Allocated to CN1-9 pin: enabled using H input
Allocated to CN1-10 pin: enabled using H input
Allocated to CN1-11 pin: enabled using H input
Allocated to CN1-12 pin: enabled using H input
• If set to 7 (always ON), the Servo is in always overtravel status (i.e., forward rotation is always drive-
prohibited).
• If set to 8 (always OFF), the Servo drive prohibition is OFF (i.e., the forward rotation drive is permit-
ted).
• The POT signal permits forward rotation drive upon input.
Pn50B.0
Input signal selections 2 -- NOT (reverse drive prohibited) signal input terminal allocation (All
operation modes)
Setting
range
0 to F
Unit
---
Default
setting
2
Restart
power?
Yes
• Settings are the same as for Pn50A.3.
• If set to 7 (always ON), the Servo is in always in overtravel status (i.e., reverse rotation is always
drive-prohibited).
• If set to 8 (always OFF), the Servo drive prohibition is OFF (i.e., the reverse rotation drive is permit-
ted).
• The NOT signal permits reverse rotation drive upon input.
Pn50B.1
Input signal selections 2 -- Not used.
--- Unit ---
Setting
range
Default
setting
8
8
Restart
power?
Yes
Yes
Note Do not change setting.
Pn50B.2
Input signal selections 2 -- Not used.
--- Unit ---
Setting
range
Default
setting
Restart
power?
Note Do not change setting.
4-28
Operation
Chapter 4
Pn50B.3
Input signal selections 2 -- Not used.
--- Unit ---
Setting
range
Default
setting
8
Restart
power?
Yes
Note Do not change setting.
Pn511.0
Input signal selections 5 -- DEC (origin return deceleration LS) signal input terminal allocation
(All operation modes)
Setting
range
0 to F
Unit
---
Default
setting
3
Restart
power?
Yes
• Settings are the same as for Pn50A.3.
• When “7” (always enabled) is set, the deceleration switch is always enabled.
• When “8” (always disabled) is set, the deceleration switch is always disabled.
Pn511.1
Input signal selections 5 -- EXT1 (external latch signal 1) signal input terminal allocation (All
operation modes)
Setting
range
0 to F
Unit
---
Default
setting
4
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0 to 3
Always OFF
4
Allocated to CN1-10 pin: enabled using L input
Allocated to CN1-11 pin: enabled using L input
Allocated to CN1-12 pin: enabled using L input
Always ON
5
6
7
8
Always OFF
9 to C
Always OFF
D
E
F
Allocated to CN1-10 pin: enabled using H input
Allocated to CN1-11 pin: enabled using H input
Allocated to CN1-12 pin: enabled using H input
• When “7” (always enabled) is set, the external latch signal is always enabled.
• When “8” (always disabled) is set, the external latch signal is always disabled.
Pn511.2
Input signal selections 5 -- EXT2 (external latch signal 2) signal input terminal allocation (All
operation modes)
Setting
range
0 to F
Unit
---
Default
setting
5
Restart
power?
Yes
• Settings are the same as for Pn511.1.
• When “7” (always enabled) is set, the deceleration switch is always enabled.
• When “0 to 3” or “8 to C” (always disabled) is set, the deceleration switch is always disabled.
Pn511.3
Input signal selections 5 -- EXT3 (external latch signal 3) signal input terminal allocation (All
operation modes)
Setting
range
0 to F
Unit
---
Default
setting
6
Restart
power?
Yes
4-29
Operation
Chapter 4
• Settings are the same as for Pn511.1.
• When “7” (always enabled) is set, the deceleration switch is always enabled.
• When “0 to 3” or “8 to C” (always disabled) is set, the deceleration switch is always disabled.
● Output Signal Selections (Pn50E to Pn510, Pn512)
• Output signal selection is performed in Pn50E to Pn510, and whether each signal should be
reversed is set in Pn512.
• You can allocate multiple output signals to the same pin. Such signals are output separately as an
OR operation.
• The default setting is for BKIR (brake interlock output) to be allocated to pins No. 1 and 2.
Pn50E.0
Output signal selections 1 -- INP1 (positioning completed 1) signal output terminal allocation
(Position)
Setting
range
0 to 3
Unit
---
Default
setting
0
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
2
3
No output
Allocated to pins CN1-1 and 2 (pin 2 is the COM port)
Allocated to pins CN1-23 and 24 (pin 24 is the COM port)
Allocated to pins CN1-25 and 26 (pin 26 is the COM port)
Pn50E.1
Output signal selections 1 -- VCMP (speed conformity) signal output terminal allocation (Speed)
Setting
range
0 to 3
Unit
---
Default
setting
0
Restart
power?
Yes
Pn50E.2
Output signal selections 1 -- TGON (Servomotor rotation detection) signal output terminal allo-
cation (All operation modes)
Setting
range
0 to 3
Unit
---
Default
setting
0
Restart
power?
Yes
Pn50E.3
Output signal selections 1 -- READY (Servo ready) signal output terminal allocation (All opera-
tion modes)
Setting
range
0 to 3
Unit
---
Default
setting
0
Restart
power?
Yes
Pn50F.0
Output signal selections 2 -- CLIMT (current limit detection) signal output terminal allocation (All
operation modes)
Setting
range
0 to 3
Unit
---
Default
setting
0
Restart
power?
Yes
Pn50F.1
Output signal selections 2 -- VLIMT (speed limit detection) signal output terminal allocation
(Torque)
Setting
range
0 to 3
Unit
---
Default
setting
0
Restart
power?
Yes
4-30
Operation
Chapter 4
Pn50F.2
Output signal selections 2 -- BKIR (brake interlock) signal output terminal allocation (All opera-
tion modes)
Setting
range
0 to 3
Unit
---
Default
setting
1
Restart
power?
Yes
Pn50F.3
Output signal selections 2 -- WARN (warning) signal output terminal allocation (All operation
modes)
Setting
range
0 to 3
Unit
---
Default
setting
0
Restart
power?
Yes
Pn510.0
Output signal selections 3 -- INP2 (positioning completed 2) output terminal allocation (Position)
Setting
range
0 to 3
Unit
---
Default
setting
0
Restart
power?
Yes
• Parameter settings are the same as for Pn50E.0.
Pn512.0
Output signal reverse -- Pins CN1-1 and 2 output signal reverse (All operation modes)
Setting
range
0, 1
Unit
---
Default
setting
0
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
Not reversed.
Reversed.
• Select the characteristics of the output signal allocated to pins CN1-1 and 2.
• If you set 1 (reverse), ON/OFF outputs are reversed.
Pn512.1
Output signal reverse -- Pins CN1-23 and 24 output signal reverse (All operation modes)
Setting
range
0, 1
Unit
---
Default
setting
0
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
Not reversed.
Reversed.
Pn512.2
Output signal reverse -- Pins CN1-25 and 26 output signal reverse (All operation modes)
Setting
range
0, 1
Unit
---
Default
setting
0
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
Not reversed.
Reversed.
4-31
Operation
Chapter 4
4-3-3 Parameter Details
This section explains all user parameters not already explained in 4-3-2 Important
Parameters. Make sure you fully understand the meaning of each parameter before
making any changes to parameter settings. Be sure not to change parameters
designated “Not used.”, and digit No. settings.
■ Function Selection Parameters (from Pn000)
● Function Selection Basic Switches (Pn000: Default Setting 0010)
Pn000.0
Function selection basic switches -- Reverse rotation (All operation modes)
Setting
range
0, 1
Unit
---
Default
setting
0
Restart
power?
Yes
Yes
Yes
Note Refer to 4-3-2 Important Parameters.
Pn000.1
Function selection basic switches -- Not used
Setting
range
---
Unit
---
Default
setting
0
Restart
power?
Note Do not change setting.
Pn000.2
Function selection basic switches -- Unit No. setting (All operation modes)
Setting
range
0 to F
Unit
---
Default
setting
0
Restart
power?
Setting Explanation
Setting
Explanation
0 to F
Sets the Servo Driver unit number
• This setting is required when multiple Servo Drivers are connected and Computer Monitor Software
is used.
Pn000.3
Function selection basic switches -- Not used.
Setting
range
---
Unit
---
Default
setting
0
Restart
power?
Yes
Note Do not change setting.
● Function Selection Application Switches 1 (Pn001: Default setting 0000)
Pn001.0
Function selection application switches 1 -- Stop selection if an alarm occurs when Servomotor
is OFF (All operation modes)
Setting
range
0 to 2
Unit
---
Default
setting
2
Restart
power?
Yes
Note Refer to 4-3-2 Important Parameters.
4-32
Operation
Chapter 4
Pn001.1
Function selection application switches 1 -- Stop selection when drive prohibited is input (Posi-
tion, speed)
Setting
range
0 to 2
Unit
---
Default
setting
0
Restart
power?
Yes
Note Refer to 4-3-2 Important Parameters.
Pn001.2
Function selection application switches 1 -- AC/DC power input selection (All operation modes)
Setting
range
0, 1
Unit
---
Default
setting
0
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
AC power supply: AC power supplied from L1, L2, (L3) terminals
−
−
2 termi-
+
+
,
DC power supply input: DC power from B1/
nals.
,
terminals, or DC power from B1/
• Select setting 1 if using a DC power supply.
• If using a DC power supply, perform the following operations.
Control circuit power supply: Supply DC power to L1C and L2C. There is no polarity.
+
Main circuit power supply: Supply DC power as follows: Positive voltage to B1/ 1 terminal, and
−
−
or 2 terminal.
ground to
External regeneration resistance terminals: Remove the short bar from between B2 and B3 so that
B1, B2, and B3 are open. (For Servo Drivers without B3, open B1 and B2.)
Use 270 to 320 VDC as the input voltage. (100-V input models do not handle DC inputs.)
Note 1. Always set this parameter to 1 when using a DC power supply. If a DC power supply is con-
nected with this parameter set to 0, the regeneration absorption circuit will operate, possibly
damaging the Servo Driver. When changing the setting from 0 to 1, either the main circuit
power supply must be OFF, or the external regeneration resistance terminals must be open.
Note 2. If using a DC power supply, the regeneration absorption circuit inside the Servo Driver will
not operate. The regeneration power returns to the DC power supply, so make sure the DC
power supply can absorb the regeneration power.
Note 3. If using a DC power supply, the residual voltage in the main-circuit power supply is not dis-
charged rapidly when the power is turned OFF. Be sure to mount a discharge circuit on the
DC power supply. Also, check that the charge indicator is not lit before storing the power sup-
ply input when the power supply has been turned OFF (the discharge time for the Servo
Driver is approximately 30 minutes.)
Pn001.3
Function selection application switches 1 -- Not used.
Setting
range
---
Unit
---
Default
setting
0
Restart
power?
Yes
Note Do not change setting.
4-33
Operation
Chapter 4
● Function Selection Application Switches 2 (Pn002: Default Setting 0000)
Pn002.0
Function selection application switches 2 -- Torque command input change (Speed)
Setting
range
0 to 3
Unit
---
Default
setting
0
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
2
3
Function not used.
Option command value used as torque limit value.
Option command value used as torque feed forward command value.
Option command value used as torque limit value, according to forward/reverse rotation current
limit designation.
• This parameter sets the option command value function for speed control.
• When 1 or 3 is set, the torque limit operates according to the option command value.
• When 2 is set, the torque feed forward operates according to the option command value.
• For details on the torque limit function, refer to 4-4-7 Torque Limit Function (All Operating Modes).
For details on the torque feed forward function, refer to 4-7-3 Torque Feed-forward Function
(Speed).
Note Other torque limit functions include Pn402 (forward torque limit), Pn403 (reverse torque limit),
Pn404 (Forward rotation external current limit), and Pn405 (Reverse rotation external current
limit). The smallest output torque from among the enabled limitations is limited.
Pn002.1
Function selection application switches 2 -- Speed command input change (Torque)
Setting
range
0, 1
Unit
---
Default
setting
0
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
Function not used.
Option command value used as analog speed limit.
• This parameter sets the option command value function for torque control.
• When 1 is set, the speed limit operates according to the option command value.
• For details on the speed limit function, refer to 4-4-10 Speed Limit Function (Torque).
Note Other speed limitation functions include Pn407 (speed limit). The speed is limited to the lower
value.
Pn002.2
Function selection application switches 2 -- Operation switch when using an absolute encoder
(All operation modes, absolute)
Setting
range
0, 1
Unit
---
Default
setting
0
Restart
power?
Yes
4-34
Operation
Chapter 4
Setting Explanation
Setting
Explanation
0
1
Use as an absolute encoder.
Use as an incremental encoder.
• When 1 is set, the absolute encoder operates as an incremental encoder (backup battery not nec-
essary).
Pn002.3
Function selection application switches 2 -- Not used.
Setting
range
---
Unit
---
Default
setting
0
Restart
power?
Yes
Note Do not change setting.
● Unused Parameters (Pn004)
Pn004
Not used.
---
Setting
range
Unit
---
Default
setting
0110
Restart
power?
Yes
Note Do not change setting.
● Function Selection Application Switches 6 (Pn0006; Default 0002)
Pn006.0-1 Function selection application switches 6 -- Analog monitor 1 signal selection (All operation
modes)
Setting
range
00 to 1F
Unit
---
Default
setting
02
Restart
power?
No
Setting Explanation
Setting
Explanation
00
Servomotor rotation speed: 1 V/1000 r/min
Speed command: 1 V/1000 r/min
01
02
Torque command: gravity compensation torque (Pn422): (1 V per 100%)
Position deviation: 0.05 V/1 command unit
Position amp error (after electronic gear) (0.05 V per encoder pulse unit)
Position command speed (1 V/1,000 r/min)
Not used.
03
04
05
06
07
Not used.
08
Positioning completed command: (Positioning completed: 5 V; positioning not completed: 0 V)
09
Speed feed forward (1 V/1,000 r/min)
Torque feed forward (1 V per 100%)
Not used.
0A
0B to 1F
Note 1. The value derived from subtracting the Pn422 gravity compensation torque from the torque
command value output from the Servopack is output for monitoring.
Note 2. For speed control, the position deviation monitor signal is 0.
4-35
Operation
Chapter 4
Pn006.2
Function selection application switches 6 -- Analog monitor 1 signal multiplier selection (All
operation modes)
0 to 4 Unit
Setting
range
---
Default
setting
0
Restart
power?
No
Setting Explanation
Setting
Explanation
0
1
2
3
4
1x
10x
100x
1/10x
1/100x
Pn006.3
Not used.
---
Setting
range
Unit
---
Default
setting
0
Restart
power?
No
Note Do not change setting.
● Function Selection Application Switches 7 (Pn007; Default: 0000)
Pn007.0-1 Function selection application switches 7 -- Analog monitor 2 signal selection (All operation
modes)
Setting
range
00 to 1F
Unit
---
Default
setting
00
Restart
power?
No
Setting Explanation
Setting
Explanation
00
Servomotor rotation speed: 1 V/1000 r/min
Speed command: 1 V/1000 r/min
01
02
Torque command: gravity compensation torque (Pn422): (1 V per 100%)
Position deviation: 0.05 V/1 command unit
Position amp error (after electronic gear) (0.05 V per encoder pulse unit)
Position command speed (1 V/1,000 r/min)
Not used.
03
04
05
06
07
Not used.
08
Positioning completed command: (Positioning completed: 5 V; positioning not completed: 0 V)
09
Speed feed forward (1 V/1,000 r/min)
Torque feed forward (1 V per 100%)
Not used.
0A
0B to 1F
Note 1. The value derived from subtracting the Pn422 gravity compensation torque from the torque
command value output from the Servopack is output for monitoring.
Note 2. For speed control, the position deviation monitor signal is 0.
4-36
Operation
Chapter 4
Pn007.2
Function selection application switches 7: Analog monitor 2 signal multiplier selection (All oper-
ation modes)
Setting
range
0 to 4
Unit
---
Default
setting
0
Restart
power?
No
Setting Explanation
Setting
Explanation
0
1
2
3
4
1x
10x
100x
1/10x
1/100x
Pn007.3
Not used.
---
Setting
range
Unit
---
Default
setting
0
Restart
power?
No
Note Do not change setting.
● Function Selection Application Switches 8 (Pn008; Default: 4000)
Pn008.0
Function selection application switches 8 -- Lowered battery voltage alarm/warning selection
(All operation modes)
Setting
range
0, 1
Unit
---
Default
setting
0
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
Regard battery voltage drop as alarm (A.830).
Regard battery voltage drop as warning (A.930).
Pn008.1
Not used.
Setting
range
---
Unit
---
Default
setting
0
Restart
power?
Yes
Note Do not change setting.
Pn008.2
Function selection application switches 8 -- Warning detection selection (All operation modes)
Setting
range
0, 1
Unit
---
Default
setting
0
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
Warnings detected.
Warnings not detected.
4-37
Operation
Chapter 4
• When 1 (warnings not detected) is set, the following warnings are not detected.
A.900, A.901, A.910, A.911, A.920, A.930
Pn008.3
Not used.
---
Setting
range
Unit
---
Default
setting
4
Restart
power?
Yes
Note Do not change setting.
■ Gain Parameters (from Pn100)
Pn100
Speed loop gain (Position, speed)
10 to 20000 Unit × 0.1 Hz
Setting
range
Default
setting
800
Restart
power?
No
• This gain adjusts the speed loop response.
• Increase the setting (i.e., increase the gain) to raise Servo rigidity. Generally, the greater the inertia
ratio, the higher the setting. There is a risk of oscillation, however, if the gain is too high.
Overshoots when speed loop gain is high.
(Oscillates when gain is too high.)
Servomotor speed
(speed monitor)
When speed loop gain is low.
Time
Pn101
Speed loop integration constant (Position, speed)
Setting
range
15 to 51200 Unit
× 0.01 ms
Default
setting
2000
Restart
power?
No
• Sets the speed loop integral time constant.
• The higher the setting, the lower the response, and the lower the resiliency to external force. There
is a risk of oscillation if the setting is too low.
Overshoots when speed loop integration constant is short.
Servomotor speed
When speed loop integration
constant is long.
Time
4-38
Operation
Chapter 4
Pn102
Position loop gain (Position)
10 to 20000 Unit
Setting
range
× 0.1/s
Default
setting
400
Restart
power?
No
• Adjust the position loop response to suit the mechanical rigidity.
• Servo system response is determined by the position loop gain. Servo systems with a high loop
gain have a high response, and positioning is fast. To raise the position loop gain, you must improve
mechanical rigidity and raise the specific oscillation. This should be 500 to 700 (0.1/s) for ordinary
machine tools, 300 to 500 (0.1/s) for general-use and assembly machines, and 100 to 300 (0.1/s)
for production robots. The default position loop gain is 400 (0.1/s), so be sure to lower the setting for
machines with low rigidity.
• Raising the position loop gain in systems with low mechanical rigidity or systems with low specific
oscillation may result in machine resonance, causing an overload alarm to occur.
• If the position loop gain is low, you can shorten the positioning time using feed forward. You can
also shorten the positioning time using the bias function.
Position loop gain is generally expressed as follows:
Command pulse frequency (pulses/s)
Position loop gain (Kp) =
(0.1/s)
Deviation counter residual pulses (pulses)
When the position loop gain is manipulated, the response is as shown in the diagram below.
When position loop gain is high
Servomotor speed
When position loop gain is low
Time
Pn103
Inertia ratio (Position, speed)
0 to 20000 Unit
Setting
range
%
Default
setting
300
Restart
power?
No
• Set the mechanical system inertia (load inertia for Servomotor shaft conversion) using the ratio (%)
of the Servomotor rotor inertia. If the inertia ratio is set incorrectly, the Pn103 (inertia ratio) value will
also be incorrect.
Pn104
Speed loop gain 2 (Position, speed)
10 to 20000 Unit × 0.1 Hz
Setting
range
Default
setting
800
Restart
power?
No
No
Pn105
Speed loop integration constant 2 (Position, speed)
Setting
range
15 to 51200 Unit
× 0.01 ms
Default
setting
2000
Restart
power?
4-39
Operation
Chapter 4
Pn106
Position loop gain 2 (Position)
10 to 20000 Unit × 0.1/s
Setting
range
Default
setting
400
Restart
power?
No
• These parameters are gain and time constants selected when using gain switching under the fol-
lowing conditions.
• When automatic gain switching is set, and the switching conditions are met.
→ Pn139.2 (Gain switching condition B) must be set.
Refer to 4-7-4 Automatic Gain Switching (Position) for details.
• If the mechanical system inertia changes greatly or if you want to change the response for when the
Servomotor is rotating and when it is stopped, you can achieve the appropriate control by setting
the gain and time constant beforehand for each of these conditions, and then switch according to
the conditions.
Note 1. Automatic gain switching is enabled for position control only. When position control is not
used, the Servomotor operates using No. 1 gain (Pn100, Pn101, Pn102).
Note 2. When automatic gain switching is used, set No. 1 gain for gain during operation, and set No.
2 gain for gain while stopped.
Pn107
Bias rotational speed (Position)
0 to 450 Unit r/min
Setting
range
Default
setting
0
7
Restart
power?
No
No
Pn108
Bias addition band (Position)
0 to 250 Unit Command Default
unit setting
Setting
range
Restart
power?
• These two parameters set the position control bias.
• This function shortens the positioning time by adding the number of bias rotations to the speed
command (i.e., commands to the speed control loop).
• When the deviation counter residual pulses exceed the Pn108 (bias addition band) setting, the
speed set in Pn107 (bias rotational speed) is added to the speed command, and when they are
within the limits for Pn108, it stops being added.
Note 1. Set Pn107 to 0 if not using bias function.
Note 2. If the bias rotation speed is too great, the Servomotor operation may become unstable. The
optimum value will vary depending on the load, gain, and bias addition range, so check and
adjust the Servomotor response. (Gradually increase the value, starting from Pn107 = 0.)
Bias function operation
Speed command (command pulse frequency)
Servomotor speed
Bias function not used.
Bias function used.
Pn107 added to speed command
when residual pulses exceed Pn108
Time
4-40
Operation
Chapter 4
Pn109
Feed-forward amount (Position)
0 to 100 Unit
Setting
range
%
Default
setting
0
Restart
power?
No
• Sets the feed-forward compensation value during positioning.
• When performing feed-forward compensation, the effective Servo gain rises, improving response.
There is almost no effect, however, on systems where the position loop gain is sufficiently high.
• Use to shorten positioning time.
Note Setting a high value may result in machine vibration. Set the feed-forward amount for general
machinery to 80% maximum. (Check and adjust machine response.)
Pn10A
Feed-forward command filter (Position)
0 to 6400 Unit × 0.01 ms
Setting
range
Default
setting
0
Restart
power?
No
• Sets the feed-forward primary (lag) command filter during position control.
• If the positioning completed signal is interrupted (i.e., repeatedly turns ON and OFF) because of
performing feed-forward compensation, and a speed overshoot is generated, alleviate the problem
by setting the primary lag filter.
● Speed Control Setting (Pn10B: Default Setting 0004)
Pn10B.0
Speed control setting -- P control switching conditions (Position, speed)
Setting
range
0 to 4
Unit
---
Default
setting
4
Restart
power?
No
Setting Explanation
Setting
Explanation
0
1
2
3
4
Internal torque command (Pn10C) condition (Position, speed)
Speed command (Pn10D) condition (Position, speed)
Acceleration command (Pn10E) condition (Position, speed)
Deviation pulse (Pn10F) condition (Position)
P control switching function not used. (Position, speed)
• Sets the speed control loop switching function from PI control to P control.
• Normally, using the speed loop gain and the position loop gain set by means of the auto-tuning
operation will provide adequate control. (Consequently, there is normally no need to change the
setting.)
• When PI control is always being used, switching to P control may help if the Servomotor speed
overshoots or undershoots (i.e., the effective Servo gain is reduced by switching to P control to sta-
bilize the Servo System). The positioning time can also be shortened in this way.
• If the output torque is saturated during acceleration and deceleration, set speed control to 0
(switching by internal torque command), or 2 (switching by acceleration command).
• If the speed control overshoots or undershoots without the output torque being saturated during
acceleration and deceleration, set speed control to 1 (switching by speed command), or 3 (switch-
ing by deviation pulse value).
4-41
Operation
Chapter 4
• If the setting is made from 0 to 3 (i.e., if P control switching is used), set the switching condition to
Pn10C to Pn10F.
Note Setting Pn10B.1 (speed control loop switching) to 1 (IP control) changes the parameter to
switch from IP control to P control.
Pn10B.1
Speed control setting -- Speed control loop switching (Position, speed)
Setting
range
0, 1
Unit
---
Default
setting
0
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
PI control
IP control
• Set the speed control loop to either PI control or IP control.
• There is normally no need to change the setting.
• If you cannot shorten positioning time in PI control, change the setting to 1 (IP control).
Pn10B.2
Speed control setting -- Position loop control method (Position)
Setting
range
0 to 3
Unit
---
Default
setting
0
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
2
3
Standard position control
Less-deviation control
Not used.
Not used.
Pn10B.3
Speed control setting -- Not used.
--- Unit ---
Setting
range
Default
setting
0
Restart
power?
No
No
Note Do not change setting.
Pn10C
P control switching (torque command) (Position, speed)
Setting
range
0 to 800
Unit
%
Default
setting
200
Restart
power?
• You must set Pn10C if you set Pn10B.0 (P control switching condition) to 0 (switching by internal
torque command).
• Set the condition to switch to P control using Servomotor rated torque ratio (%).
• The Servo switches to P control if the internal torque command exceeds the setting level.
Pn10D
P control switching (speed command) (Position, speed)
Setting
range
0 to 10000 Unit
r/min
Default
setting
0
Restart
power?
No
4-42
Operation
Chapter 4
• You must set Pn10D if you set Pn10B.0 (P control switching condition) to 1 (switching by speed
command).
• Set the speed to switch to P control.
• The Servo switches to P control if the speed command exceeds the setting level.
Pn10E
P control switching (acceleration command) (Position, speed)
Setting
range
0 to 30000 Unit
r/min/s
Default
setting
0
Restart
power?
No
• You must set Pn10E if you set Pn10B.0 (P control switching condition) to 2 (switching by accelera-
tion command).
• Set the acceleration to switch to P control.
• The Servo switches to P control if the acceleration command value exceeds the setting level.
Pn10F
P control switching (deviation pulse) (Position)
0 to 10000 Unit Command Default
unit setting
Setting
range
10
Restart
power?
No
• You must set Pn10F if you set Pn10B.0 (P control switching condition) to 3 (switching by deviation
pulse).
• Set the deviation pulse to switch to P control.
• The Servo switches to P control if the deviation counter residual pulses exceed the setting level.
Pn110.0
Normal autotuning switches -- Not used.
--- Unit ---
Setting
range
Default
setting
2
Restart
power?
Yes
Note Do not change setting.
Pn110.1
Normal autotuning switches -- Speed feedback compensation function selection (Position,
speed)
Setting
range
0, 1
Unit
---
Default
setting
1
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
Speed feedback compensation function ON
Speed feedback compensation function OFF
• This function shortens positioning time.
• Use this function to lower speed loop feedback gain, and to raise speed loop gain and position loop
gain. In this way, you can improve command response and shorten positioning time. Positioning
time cannot be shortened, however, when external force is applied as with the vertical shaft,
because response to external interference is lowered.
• If 0 (function ON) is set, set Pn111 (speed feedback compensating gain).
Pn110.2
Normal autotuning switches -- Not used.
--- Unit ---
Setting
range
Default
setting
0
Restart
power?
Yes
4-43
Operation
Chapter 4
Note Do not change setting.
Pn110.3
Normal autotuning switches -- Not used.
--- Unit ---
Setting
range
Default
setting
0
Restart
power?
Yes
Note Do not change setting.
Pn111
Speed feedback compensating gain (Position, speed)
Setting
range
1 to 500
Unit
%
Default
setting
100
Restart
power?
No
• Use this parameter to adjust the speed loop feedback gain for when Pn110.1 (speed feedback com-
pensation function selection) is set to ON.
• The smaller the setting, the higher you can raise the speed loop gain and position loop gain. If the
setting is too small, however, responses may be unstable.
Note 1. Correctly set Pn103 (inertia ratio), perform the usual manual adjustment, then adjust the
speed feedback compensation. After manual adjustment, manually readjust the setting to
approximately 90%. Then, readjust repeatedly while gradually reducing the setting to find
the optimum setting.
Note 2. Refer to 4-7-5 Speed Feedback Compensation (Position, Speed) for details.
Pn119
Not used.
---
Setting
range
Unit
---
---
---
Default
setting
500
1000
1000
0
Restart
power?
No
No
No
No
Note Do not change setting.
Pn11A
Not used.
---
Setting
range
Unit
Default
setting
Restart
power?
Note Do not change setting.
Pn11E
Not used.
---
Setting
range
Unit
Default
setting
Restart
power?
Note Do not change setting.
Pn11F
Position integral time constant (Position)
0 to 50000 Unit × 0.1 ms
Setting
range
Default
setting
Restart
power?
• Set the integral time constant for the position loop.
Note Enabled for synchronous operations such as electronic cam and electronic shaft.
4-44
Operation
Chapter 4
● Unused Gain Parameters (Pn12B to Pn130)
Note Do not change the settings of the following parameters.
Pn12B
Not used.
---
Setting
range
Unit
Unit
Unit
Unit
Unit
Unit
---
---
---
---
---
---
Default
setting
400
Restart
power?
No
No
No
No
No
No
Pn12C
Not used.
---
Setting
range
Default
setting
2000
400
Restart
power?
Pn12D
Not used.
---
Setting
range
Default
setting
Restart
power?
Pn12E
Not used.
---
Setting
range
Default
setting
400
Restart
power?
Pn12F
Not used.
---
Setting
range
Default
setting
2000
400
Restart
power?
Pn130
Not used.
---
Setting
range
Default
setting
Restart
power?
● Automatic Gain Switching (Pn131 to Pn139)
Pn131
Gain switching time 1 (Position)
0 to 65535 Unit ms
Setting
range
Default
setting
0
0
0
0
Restart
power?
No
No
No
No
Pn132
Gain switching time 2 (Position)
0 to 65535 Unit ms
Setting
range
Default
setting
Restart
power?
Pn135
Gain switching waiting time 1 (Position)
0 to 65535 Unit ms
Setting
range
Default
setting
Restart
power?
Pn136
Gain switching waiting time 2 (Position)
0 to 65535 Unit ms
Setting
range
Default
setting
Restart
power?
4-45
Operation
Chapter 4
• The following diagram shows the relation between the gain switching waiting time and the gain
switching time constant. In this example, the gain is switched from position loop gain (Pn102) to No.
2 position loop gain (Pn106) in automatic gain switching pattern 1, in which the turning ON of the
positioning completed signal (INP1) is taken as the switching condition. From the point at which the
INP1 signal turns ON and the switching condition is met, operation is paused for the delay time set
in Pn135, and then, during the switching time set in Pn131, the gain is changed in a straight line
from Pn102 to Pn106.
Switching Delay Time and Switching Time
Delay time
Pn135
Switching time
Pn131
Pn102
Position loop gain
Pn106
No. 2 position loop gain
INP1
Switching condition A met.
• In addition to the standard PI and I-P control, automatic gain switching is also possible with less-
deviation control. The gain combinations for less-deviation control are provided in 4-7-4 Automatic
Gain Switching (Position). The settings for the switching condition, the gain switching waiting time,
and the switching time are the same as for PI and I-P control. For details on adjustment methods for
less-deviation control, refer to 4-7-9 Less-deviation Control (Position).
Pn139.0
Automatic gain changeover related switches 1 -- Gain switching selection switch (Position)
Setting
range
0 to 4
Unit
---
Default
setting
0
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
Manual gain switching
Automatic switching pattern 1
Automatic switching from No. 1 gain to No. 2 gain when gain switching condition A is satisfied.
Automatic switching from No. 2 gain to No. 1 gain when gain switching condition B is satisfied.
2 to 4
Not used.
Pn139.1
Automatic gain changeover related switches 1 -- Gain switching condition A (Position)
Setting
range
0 to 5
Unit
---
Default
setting
0
Restart
power?
Yes
4-46
Operation
Chapter 4
Setting Explanation
Setting
Explanation
Positioning completed output 1 (INP1) ON
Positioning completed output 1 (INP1) OFF
0
1
2
3
4
5
Positioning completed output 2 (INP2) ON
Positioning completed output 2 (INP2) OFF
The position command filter output is 0, and also the position command input is 0.
The position command input is not 0.
Pn139.2
Automatic gain changeover related switches 1 -- Gain switching condition B (Position)
Setting
range
0 to 5
Unit
---
Default
setting
0
Restart
power?
Yes
• Settings are the same as for Pn139.1.
Pn139.3
Automatic gain changeover related switches 1 -- Not used.
Setting
range
---
Unit
---
Default
setting
0
Restart
power?
Yes
Note Do not change setting.
Pn144
Not used.
---
Setting
range
Unit
---
Default
setting
1000
Restart
power?
No
Note Do not change setting.
● Predictive Control (Pn150 to Pn152)
Pn150.0
Predictive control selection switches -- Predictive control selection. (Position)
Setting
range
0 to 2
Unit
---
Default
setting
0
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
2
Predictive control not used.
Predictive control used.
Not used.
Pn150.1
Predictive control selection switches -- Predictive control type (Position)
Setting
range
0, 1
Unit
---
Default
setting
1
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
Predictive control for tracking
Predictive control for positioning
4-47
Operation
Chapter 4
Pn150.2
Predictive control selection switches -- Not used.
Setting
range
---
Unit
---
Default
setting
2
0
Restart
power?
Yes
Note Do not change setting.
Pn150.3
Predictive control selection switches -- Not used.
Setting
range
---
Unit
---
Default
setting
Restart
power?
Yes
Note Do not change setting.
Pn151
Predictive control acceleration/deceleration gain (Position)
Setting
range
0 to 300
Unit
%
Default
setting
100
Restart
power?
No
• If the value is increased, the settling time will be shortened, but the maximum position deviation will
not significantly change. If the set value is too large, overshooting will occur. The diagram shows an
example of position deviation during operation by trapezoidal speed command. By increasing the
predictive control acceleration/deceleration gain, the position deviation is changed from the broken
line to the solid line, i.e., the settling time is shortened.
Position error
Predictive control acceleration/deceleration
gain (Pn151) increased.
Time
Pn152
Predictive control weighting ratio (Position)
Setting
range
0 to 300
Unit
%
Default
setting
100
Restart
power?
No
• If the value is increased, tracking deviation will be reduced. If the positioning completed range is
large, the settling time will also be reduced. If the set value is too long, the torque may oscillate and
overshooting may occur. The diagram shows an example of position deviation during operation by
trapezoidal speed command. By increasing the predictive control weighting ratio, the position devi-
ation is changed from the broken line to the solid line and the settling time is shortened.
4-48
Operation
Chapter 4
Predictive control weighting
ratio (Pn152) increased.
Position error
Time
● Less-deviation Control Parameters (Pn1A0 to Pn1AC)
Pn1A0
Servo rigidity (Position)
1 to 500 Unit
Setting
range
%
Default
setting
60
60
72
72
36
Restart
power?
No
No
No
No
No
Pn1A1
Servo rigidity 2 (Position)
1 to 500 Unit
Setting
range
%
Default
setting
Restart
power?
Pn1A2
Speed feedback filter time constant (Position)
Setting
range
30 to 3200 Unit
× 0.01 ms
Default
setting
Restart
power?
Pn1A3
Speed feedback filter time constant 2 (Position)
Setting
range
30 to 3200 Unit
× 0.01 ms
Default
setting
Restart
power?
Pn1A4
Torque command filter time constant 2 (Position)
Setting
range
0 to 2500
Unit
× 0.01 ms
Default
setting
Restart
power?
• For details on the less-deviation control function, refer to 4-7-9 Less-deviation Control (Position).
Pn1A7.0
Utility control switches -- Integral compensation processing (Position)
Setting
range
0 to 3
Unit
---
Default
setting
1
Restart
power?
No
Setting Explanation
Setting
Explanation
0
1
2
Integral compensation processing is not executed.
Integral compensation processing is executed.
Integral compensation is executed for No. 1 gain and not for No. 2 gain for less-deviation gain
switching.
3
Integral compensation is executed for No. 2 gain and not for No. 1 gain for less-deviation gain
switching.
4-49
Operation
Chapter 4
Pn1A7.1
Utility control switches -- Not used.
--- Unit ---
Setting
range
Default
setting
2
1
1
Restart
power?
No
Note Do not change setting.
Pn1A7.2
Utility control switches -- Not used.
--- Unit ---
Setting
range
Default
setting
Restart
power?
No
No
Note Do not change setting.
Pn1A7.3
Utility control switches -- Not used.
Setting
range
---
Unit
---
Default
setting
Restart
power?
Note Do not change setting.
Pn1A9
Utility integral gain (Position)
Setting
range
0 to 500
Unit
Hz
Default
setting
37
Restart
power?
No
No
No
No
No
Pn1AA
Position proportional gain (Position)
0 to 500 Unit Hz
Setting
range
Default
setting
60
Restart
power?
Pn1AB
Speed integral gain (Position)
0 to 500 Unit Hz
Setting
range
Default
setting
0
Restart
power?
Pn1AC
Speed proportional gain (Position)
Setting
range
0 to 2000
Unit
Hz
Default
setting
120
150
Restart
power?
Pn1B5
Not used.
---
Setting
range
Unit
---
Default
setting
Restart
power?
Note Do not change setting.
■ Position Control Parameters (from Pn200)
● Position Control Setting 1 (Pn200: Default Setting 0100)
Pn200
Not used.
---
Setting
range
Unit
---
Default
setting
0100
Restart
power?
Yes
4-50
Operation
Chapter 4
Note Do not change setting.
Pn205
Absolute encoder multi-turn limit setting (All operation modes, absolute)
Setting
range
0 to 65535 Unit
Rotation
Default
setting
65535
Restart
power?
Yes
• Sets the amount of multi-turn rotation when using a Servomotor with an absolute encoder.
• If using an absolute encoder, the counter counts the number of rotations from the setup position,
and outputs the number of rotations from the Servo Driver.
• With the default setting (Pn205 = 65535), the Servomotor multi-turn data will be as follows:
+32767
Forward
Reverse
Multi-turn data
0
Servomotor rotations
−32768
• With the default settings changed (i.e., Pn205 ≠ 65535), the Servomotor multi-turn data will be as
follows:
Pn205 set value
Forward
Reverse
Multi-turn data
0
Servomotor rotations
That is, when the default settings are changed (i.e., Pn205 ≠ 65535), the Servomotor multi-turn data
will be only in the positive direction. If you want to set the multi-turn limit as high as possible, with the
entire operating area positive, set a number such as 65534. To return multi-turn data to 0 at every m
turns of the motor (e.g., turn-tables), set Pn205 to m-1.
Note If Pn205 is changed, the limit to the number of rotations in the encoder memory and the limit to
the number of rotations in the Servo Driver memory will no longer agree, so an A.CC0 alarm
(multi-turn limit nonconformity) will be generated. To cancel this alarm, the setting for the num-
ber of multi-turns must be changed in the System Check Mode.
● Position Control Settings 2 (Pn207: Default Setting 0010)
Pn207.0
Position control settings 2 -- Not used.
--- Unit ---
Setting
range
Default
setting
0
Restart
power?
Yes
Yes
Note Do not change setting.
Pn207.1
Position control settings 2 -- Not used.
--- Unit ---
Setting
range
Default
setting
1
Restart
power?
4-51
Operation
Chapter 4
Note Do not change setting.
Pn207.2
Position control function 2 -- Backlash compensation selection (Position)
Setting
range
0 to 2
Unit
---
Default
setting
0
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
2
Disabled
Compensates to forward rotation side.
Compensates to reverse rotation side.
• For details, refer to 4-7-12 Backlash Compensation (Position).
Pn207.3
Position control function 2 -- INP 1 output timing (Position)
Setting
range
0 to 2
Unit
---
Default
setting
0
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
1
When the position deviation is below the INP1 range.
When the position deviation is below the INP1 range and also the command after the position
command filter is 0.
2
When the absolute value for the position deviation is below the INP1 range (Pn522) and also the
position command input is 0.
Pn209
Not used.
Setting
range
---
Unit
---
---
Default
setting
0
Restart
power?
No
Note Do not change setting.
Pn20A
Not used.
---
Setting
range
Unit
Default
setting
32768
Restart
power?
Yes
Note Do not change setting.
Pn20E
Electronic gear ratio G1 (numerator) (Position)
Setting
range
1 to
1073741824
Unit
---
Default
setting
4
1
Restart
power?
Yes
Yes
Pn210
Electronic gear ratio G2 (denominator) (Position)
Setting
range
1 to
1073741824
Unit
---
Default
setting
Restart
power?
• Sets the pulse rate for command pulses and the Servomotor travel amount.
4-52
Operation
Chapter 4
• When G1/G2 is 1, inputting (encoder resolution × 4) pulses will rotate the Servomotor once. (The
Servo Driver operates internally at a multiple of 4.)
• Set within a range of 0.001 ≤ G1/G2 ≤ 1,000.
Note For details on the electronic gear function, refer to 4-4-9 Electronic Gear Function (Position).
Pn212
Encoder divider rate (All operation modes)
Setting
range
16 to
1073741824
Unit
Pulses/rota- Default
tion setting
1000
Restart
power?
Yes
• Sets the number of output pulses from the Servo Driver.
• The encoder resolution for each Servomotor is shown below. Set this resolution as the upper limit.
INC
3,000-r/min Servomotor (30 to 750 W): 2,048 pulses/rotation
3,000-r/min Servomotor (1 to 3 kW): 32,768 pulses/rotation
3,000-r/min flat-type Servomotor: 2,048 pulses/rotation
1,000-r/min Servomotor: 32,768 pulses/rotation
ABS 3,000-r/min Servomotor (30 to 750 W): 16,384 pulses/rotation
3,000-r/min Servomotor (1 to 3 kW): 32,768 pulses/rotation
3,000-r/min flat-type Servomotor: 16,384 pulses/rotation
1,000-r/min Servomotor: 32,768 pulses/rotation
1,500-r/min Servomotor: 32,768 pulses/rotation
Note 1. If a value greater than the encoder resolution is set, the encoder resolution will be taken as
the divider rate.
Note 2. For details on the encoder divider rate, refer to 4-4-5 Encoder Dividing Function (All Oper-
ating Modes).
Pn214
Backlash compensation amount (Position)
Setting
range
−32767 to
Unit
Command Default
unit setting
0
0
Restart
power?
No
No
32767
Pn215
Backlash compensation time constant (Position)
Setting
range
0 to 65535 Unit
× 0.01 ms
Default
setting
Restart
power?
Note For details, refer to 4-7-12 Backlash Compensation (Position).
Pn216
Not used.
---
Setting
range
Unit
---
---
Default
setting
0
Restart
power?
No
No
Note Do not change setting.
Pn217
Not used.
---
Setting
range
Unit
Default
setting
0
Restart
power?
Note Do not change setting.
4-53
Operation
Chapter 4
Pn281
Not used.
---
Setting
range
Unit
---
Default
setting
20
Restart
power?
Yes
Note Do not change setting.
■ Speed Control Parameters (from Pn300)
Pn300
Not used.
---
Setting
range
Unit
---
Default
setting
600
Restart
power?
No
Note Do not change setting.
Pn301
Not used.
---
Setting
range
Unit
---
---
---
Default
setting
100
200
300
500
Restart
power?
No
No
No
No
Note Do not change setting.
Pn302
Not used.
---
Setting
range
Unit
Default
setting
Restart
power?
Note Do not change setting.
Pn303
Not used.
---
Setting
range
Unit
Default
setting
Restart
power?
Note Do not change setting.
Pn304
Jog speed (All operation modes)
0 to 10000 Unit r/min
Setting
range
Default
setting
Restart
power?
• Sets the speed for when the jog operation is used.
Note If a value that exceeds the maximum Servomotor rotation speed is set, that value will be
regarded as the maximum Servomotor rotation speed.
Pn305
Soft start acceleration time (Speed)
0 to 10000 Unit ms
Setting
range
Default
setting
0
0
Restart
power?
No
No
Pn306
Soft start deceleration time (Speed)
0 to 10000 Unit ms
Setting
range
Default
setting
Restart
power?
4-54
Operation
Chapter 4
• Sets the acceleration and deceleration time for soft start using speed control.
• Set the acceleration time from Servomotor rotation speed = 0 (r/min.) to the maximum rotation
speed in Pn305, and set the deceleration time from the maximum rotation speed to the Servomotor
rotation speed = 0 (r/min.) in Pn306.
• Set both Pn305 and Pn306 to 0 if using a position controller with acceleration and deceleration
functions, or if not using speed control and internally-set speed control.
Note Refer to 4-4-8 Soft Start Function (Speed) for details.
Pn307
Not used.
---
Setting
range
Unit
---
Default
setting
40
Restart
power?
No
No
Note Do not change setting.
Pn308
Speed feedback filter time constant (Position, speed)
Setting
range
0 to 65535 Unit
× 0.01 ms
Default
setting
0
Restart
power?
• Sets the filter time constant (primary filter) for speed feedback.
• Set this parameter if the speed loop gain cannot be raised due to factors such as mechanical sys-
tem vibration.
Pn310.0
Vibration detection switches -- Vibration detection selection (All operation modes)
Setting
range
0 to 2
Unit
---
Default
setting
0
Restart
power?
No
Setting Explanation
Setting
Explanation
0
1
2
Vibration detection not used.
Gives warning (A.911) when vibration is detected.
Gives warning (A.520) when vibration is detected.
Pn310.1
Vibration detection switches -- Not used.
Setting
range
---
Unit
---
Default
setting
0
0
Restart
power?
No
No
Note Do not change setting.
Pn310.2
Vibration detection switches -- Not used.
--- Unit ---
Setting
range
Default
setting
Restart
power?
Note Do not change setting.
4-55
Operation
Chapter 4
Pn310.3
Vibration detection switches -- Not used.
--- Unit ---
Setting
range
Default
setting
0
Restart
power?
No
Note Do not change setting.
Pn311
Vibration detection sensitivity (All operation modes)
Setting
range
50 to 500
Unit
%
Default
setting
100
50
Restart
power?
No
No
Pn312
Vibration detection level (All operation modes)
Setting
range
0 to 5000
Unit
r/min
Default
setting
Restart
power?
• Pn312 is set by the vibration detection level initialization by Computer Monitor Software, so there is
no need for the user to directly adjust this parameter. Detection sensitivity is set by Pn311 (Vibra-
tion detection sensitivity).
• Detection level initialization for vibration detection:
This function detects vibration in machine operation and automatically sets the vibration detection
level (Pn312) so that the vibration alarm (A.520) and vibration warning (A.911) can be more accu-
rately detected.
Use this function when the vibration alarm (A.520) and vibration warning (A.911) are not output with
the appropriate timing when vibration is detected at the default setting for the vibration detection
level (Pn312). Aside from that situation, there is no need to execute this function.
When the vibration detection function detects a certain level of vibration at the Servomotor rotation
speed and the detection level in the equation below is exceeded, an alarm or warning is generated
according to the vibration detection switches (Pn310) setting.
Depending on the conditions of the machinery being used, there may be a difference in detection
sensitivity between vibration alarms and warnings. If that occurs, a minute adjustment in detection
sensitivity can be set in Pn311 (detection sensitivity) in the equation below.
Vibration detection level (Pn312 [r/min]) × Pn311 [%])
Detection level =
100
Note 1. Vibration may be difficult to detect due to an inappropriate Servo gain setting. Moreover, not
all vibration that occurs can be detected. Use a uniform criterion for detected results.
Note 2. Set the appropriate inertia rate (Pn103). If the setting inappropriate, it may result in errone-
ous detection of vibration alarms or warnings, or in detection failure.
Note 3. To execute this function, the commands that the user is actually using must be input.
Note 4. Execute this function in the operating conditions under which the vibration detection level is
to be initialized. If this function is executed with the Servomotor rotating at low speed, vibra-
tion will be detected as soon as the Servo is turned ON. “Error” will be displayed if this func-
tion is executed while the Servomotor is operating at 10% or less of its maximum rotation
speed.
■ Torque Control Parameters (from Pn400)
Pn400
Not used.
---
Setting
range
Unit
---
Default
setting
30
Restart
power?
No
4-56
Operation
Chapter 4
Note Do not change setting.
Pn401
1st step 1st torque command filter time constant (All operation modes)
Setting
range
0 to 65535 Unit
× 0.01 ms
Default
setting
40
Restart
power?
No
• Sets the (primary) filter time constant for the internal torque command.
• When the mechanical resonance frequency is within the response frequency of the Servo loop,
Servomotor vibration will occur. In order to prevent this from occurring, set the torque command fil-
ter time constant.
The relationship between the filter time constant and the cut-off frequency can be found by means
of the following formula:
fc (Hz) = 1 / (2πT)
: T= Filter time constant (s), fc: cut-off frequency.
Set the cut-off frequency to below the mechanical resonance frequency.
Pn402
Forward torque limit (All operation modes)
Setting
range
0 to 800
Unit
%
Default
setting
350
350
Restart
power?
No
No
Pn403
Reverse torque limit (All operation modes)
Setting
range
0 to 800
Unit
%
Default
setting
Restart
power?
• Set Pn402 (forward torque limit) and Pn403 (reverse torque limit) using the ratio (%) of the Servo-
motor rated torque for each.
Note These following torque limit functions are available: Analog torque limit (Pn002.0 = 1 or 3),
Pn402 (forward torque limit), Pn403 (reverse torque limit), Pn404 (forward rotation external cur-
rent limit), and Pn405 (reverse rotation external current limit). The output torque is limited by
the smallest of the enabled limit values. Refer to 4-4-7 Torque Limit Function (All Operating
Modes) for details.
Pn404
Forward rotation external current limit (All operation modes)
Setting
range
0 to 800
Unit
%
Default
setting
100
Restart
power?
No
No
Pn405
Reverse rotation external current limit (All operation modes)
Setting
range
0 to 800
Unit
%
Default
setting
100
Restart
power?
• Set in Pn404 the torque limit for when the forward torque limit is input, and set in Pn405 the torque
limit for when the reverse torque limit is input, using the ratio (%) of the Servomotor rated torque for
each.
Note The following torque limit functions are available: Analog torque limit (Pn002.0 = 1 or 3), Pn402
(forward torque limit), Pn403 (reverse torque limit), Pn404 (forward rotation external current
limit), and Pn405 (reverse rotation external current limit). The output torque is limited by the
smallest of the enabled limit values. Refer to 4-4-7 Torque Limit Function (All Operating Modes)
for details.
4-57
Operation
Chapter 4
Pn406
Emergency stop torque (Position, speed)
0 to 800 Unit
Setting
range
%
Default
setting
350
Restart
power?
No
• Set the deceleration torque if overtravel occurs using the ratio (%) of the Servomotor rated torque.
Note This parameter is enabled when Pn001.1 (stop selection when drive prohibited is input) is set
to 1 or 2 (i.e., stop using Pn406).
Pn407
Speed limit (Torque)
0 to 10000 Unit
Setting
range
r/min
Default
setting
3000
Restart
power?
No
• Set the speed limit for Torque Control Mode.
Note The following speed limit functions are available: Analog speed limit (when Pn002.1 = 1), and
Pn407 (speed limit). The speed limit is set to whichever is the smaller. Refer to 4-4-3 Torque
Control (Torque) for details.
● Torque Command Setting (Pn408: Default Setting 0000)
Pn408.0
Torque command settings -- Selects notch filter 1 function (All operation modes)
Setting
range
0, 1
Unit
---
Default
setting
0
Restart
power?
No
Setting Explanation
Setting
Explanation
0
1
Notch filter 1 function not used.
Notch filter 1 used in torque commands. (Set the frequency using Pn409, and set the Q value
using Pn40A).
• Set whether or not to use notch filter 1 for internal torque commands (current loop commands).
• Use the notch filter to prevent mechanical resonance. This function can be used to raise the speed
loop gain and to shorten positioning time.
Note 1. With W-series AC Servo Drivers, two notch filters can be set: notch filter 1 and notch filter 2.
Note 2. For details on notch filters, refer to 4-7-10 Torque Command Filter (All Operating Modes).
Pn408.1
Torque command settings -- Not used.
--- Unit ---
Setting
range
Default
setting
0
Restart
power?
No
No
Note Do not change setting.
Pn408.2
Torque command settings -- Selects notch filter 2 function (All operation modes)
Setting
range
0, 1
Unit
---
Default
setting
0
Restart
power?
4-58
Operation
Chapter 4
Setting Explanation
Setting
Explanation
0
1
Notch filter 2 function not used.
Notch filter 2 used in torque commands. (Set the frequency using Pn40B, and set the Q value in
Pn40C.)
• Set whether or not to use notch filter 2 for internal torque commands (current loop commands).
• Use the notch filter to prevent mechanical resonance. This function can be used to increase the
speed loop gain and to shorten positioning time.
Note 1. With W-series AC Servo Drivers, two notch filters can be set: notch filter 1 and notch filter 2.
Note 2. For details on notch filters, refer to 4-7-10 Torque Command Filter (All Operating Modes).
Pn408.3
Torque command settings -- Not used.
--- Unit ---
Setting
range
Default
setting
0
Restart
power?
No
No
Note Do not change setting.
Pn409
Notch filter 1 frequency (All operation modes)
Setting
range
50 to 2000 Unit
Hz
Default
setting
2000
Restart
power?
• Enabled when Pn408.0 (notch filter 1 function selection) is set to 1.
• Sets the mechanical resonance frequency.
Note For details on notch filters, refer to 4-7-10 Torque Command Filter (All Operating Modes).
Pn40A
Notch filter 1 Q value (All operation modes)
Setting
range
50 to 1000 Unit
× 0.01
Default
setting
70
Restart
power?
No
• Enabled when Pn408.0 (notch filter 1 function selection) is set to 1.
• Sets the Q value for notch filter 1.
Note For details on notch filters, refer to 4-7-10 Torque Command Filter (All Operating Modes).
Pn40C
Notch filter 2 frequency (All operation modes)
Setting
range
50 to 2000 Unit
Hz
Default
setting
2000
Restart
power?
No
• Enabled when Pn408.2 (notch filter 2 function selection) is set to 1.
• Sets the mechanical resonance frequency.
Note For details on notch filters, refer to 4-7-10 Torque Command Filter (All Operating Modes).
Pn40D
Notch filter 2 Q value (All operation modes)
Setting
range
50 to 1000 Unit
× 0.01
Default
setting
70
Restart
power?
No
4-59
Operation
Chapter 4
• Enabled when Pn408.2 (notch filter 2 function selection) is set to 1.
• Set the Q value for notch filter 2.
Note For details on notch filters, refer to 4-7-10 Torque Command Filter (All Operating Modes).
Pn40F
2nd step 2nd torque command filter frequency (All operation modes)
Setting
range
100 to 2000 Unit
Hz
Default
setting
2000
Restart
power?
No
No
No
No
No
Pn410
2nd step 2nd torque command filter Q value (All operation modes)
Setting
range
50 to 1000 Unit
× 0.01
Default
setting
70
Restart
power?
Pn411
3rd step torque command filter time constant (All operation modes)
Setting
range
0 to 65535 Unit
µs
Default
setting
0
Restart
power?
Pn412
1st step 2nd torque command filter time constant (All operation modes)
Setting
range
0 to 65535 Unit
× 0.01 ms
Default
setting
100
Restart
power?
Pn413
Not used.
Setting
range
---
Unit
---
Default
setting
100
Restart
power?
Note Do not change setting.
Pn414
Not used.
---
Setting
range
Unit
---
Default
setting
100
Restart
power?
No
Note Do not change setting.
Pn420
Damping for vibration suppression on stopping (Position)
Setting
range
10 to 100
Unit
%
Default
setting
100
Restart
power?
No
No
Pn421
Vibration suppression starting time (Position)
Setting
range
0 to 65535 Unit
ms
Default
setting
1000
Restart
power?
Note For details on vibration suppression when stopped, refer to 4-7-11 Vibration Suppression when
Stopping (Position).
Pn422
Gravity compensation torque
Setting
range
−20000 to
20000
Unit
× 0.01%
Default
setting
0
Restart
power?
No
4-60
Operation
Chapter 4
Pn456
Sweep torque command amplitude
1 to 800 Unit
Setting
range
%
Default
setting
15
Restart
power?
No
Note Detection accuracy tends to increase with a higher command amplitude, but mechanical vibra-
tion and noise are temporarily increased. When changing the command amplitude, increase
the amplitude value little by little while observing the conditions.
■ Sequence Parameters (from Pn500)
Pn501
Not used.
---
Setting
range
Unit
---
Default
setting
10
Restart
power?
No
No
Note Do not change setting.
Pn502
Rotation speed for motor rotation detection (All operation modes)
Setting
range
1 to 10000 Unit
r/min
Default
setting
20
Restart
power?
• Set the rotation speed for outputting TGON (Servomotor rotation detection output).
• TGON turns ON when the Servomotor rotation speed is greater than the set value.
Note Related parameter: Pn50E.2 (TGON signal output terminal allocation).
Pn503
Speed conformity signal output width (Speed)
Setting
range
0 to 100
Unit
r/min
Default
setting
10
Restart
power?
No
• Set the allowable fluctuation range (rotation speed) for outputting VCMP (speed conformity output)
during speed control.
• VCMP turns ON when the difference between the speed command value and Servomotor rotation
speed is less than the set value.
Note Related parameter: Pn50E.1 (VCMP signal output terminal allocation).
Pn506
Brake timing 1 (all operation modes)
0 to 50 Unit × 10 ms
Setting
range
Default
setting
0
Restart
power?
No
No
No
Pn507
Brake command speed (all operation modes)
Setting
range
0 to 10000 Unit
r/min
Default
setting
100
50
Restart
power?
Pn508
Brake timing 2 (all operation modes)
10 to 100 Unit × 10 ms
Setting
range
Default
setting
Restart
power?
4-61
Operation
Chapter 4
• This parameter sets the BKIR (brake interlock output) timing to control the electromagnetic brake
ON/OFF when a Servomotor with a brake is used.
• This setting prevents damage to the machinery and the Servomotor holding brake.
• Pn506 (brake timing 1): Set the lag time from BKIR OFF to Servo OFF.
• Pn507 (brake command speed): Set the rotation speed for turning OFF BKIR.
• Pn508 (brake timing 2): Set the standby time from Servo OFF to BKIR OFF.
• When RUN is OFF while the Servomotor is stopped, first turn OFF BKIR, wait for the duration set in
Pn506, then turn OFF the Servo.
• When RUN is OFF while the Servomotor is stopped, if a Servo alarm occurs, and the main circuit
power supply is OFF, the Servomotor will decelerate and the rotation speed will fall. When the rota-
tion speed falls to below the Pn507 setting, BKIR will be turned OFF.
Note 1. Related parameter: Pn50F.2 (BKIR signal output terminal allocation).
Note 2. Refer to 4-4-6 Brake Interlock (All Operating Modes) for details of brake interlock functions.
Pn509
Momentary hold time (All operation modes)
Setting
range
20 to 1000 Unit
ms
Default
setting
20
Restart
power?
No
• Sets the time during which alarm detection is disabled if a momentary power failure occurs.
• When the power supply voltage to the Servo Driver is OFF, the Servo Driver detects that the power
supply is OFF and turns OFF the Servo. The 20 ms default setting means that if the power supply
voltage is recovered within 20 ms, operation will continue without the Servo being turned OFF.
• In the following cases, the Servo is turned OFF regardless of the Pn509 setting:
• If the load is too great, and A.410 (insufficient voltage) occurs during a momentary power stop-
page.
• If the control power supply falls during a momentary power stoppage, and cannot be con-
trolled.
Pn50A
Input signal selection 1 (All operation
modes)
Default set- 1881
ting
Restart
power?
Yes
Pn50B
Input signal selection 2 (All operation
modes)
Default set- 8882
ting
Restart
power?
Yes
Note Refer to 4-3-2 Important Parameters.
Pn50C
Pn50D
Input signal selection 3 (All operation
modes)
Default set- 8888
ting
Restart
power?
Yes
Yes
Input signal selection 4 (All operation
modes)
Default set- 8888
ting
Restart
power?
Note Do not change setting.
Pn50E
Output signal selection 1 (All operation Default set- 0000
modes) ting
Restart
power?
Yes
4-62
Operation
Chapter 4
Pn50F
Output signal selection 2 (All operation Default set- 0100
modes) ting
Restart
power?
Yes
Pn510
Pn511
Pn512
Output signal selection 3 (All operation Default set- 0000
Restart
power?
Yes
Yes
Yes
modes)
ting
Input signal selection 5 (All operation
modes)
Default set- 6543
ting
Restart
power?
Output signal reverse (All operation
modes)
Default set- 0000
ting
Restart
power?
Note Refer to 4-3-2 Important Parameters.
Pn513
Not used.
Default set- 0321
ting
Restart
power?
Yes
Yes
Note Do not change setting.
Pn515
Not used.
Default set- 8888
ting
Restart
power?
Note Do not change setting.
Pn51B
Not used.
---
Setting
range
Unit
---
Default
setting
1000
Restart
power?
No
No
Note Do not change setting.
Pn51E
Deviation counter overflow warning level (Position)
Setting
range
10 to 100
Unit
%
Default
setting
100
Restart
power?
• Set the deviation counter overflow warning detection level using the ratio (%) for Pn520 (deviation
counter overflow level).
• When the deviation counter residual pulses exceed the set value, a deviation counter overflow
warning (A.900) will occur.
Pn520
Deviation counter overflow level (Position)
Setting
range
1 to
1073741823
Unit
Command Default
unit setting
262144
Restart
power?
No
• Set the deviation counter overflow alarm detection level for position control.
• A Servo alarm occurs when the accumulated pulses in the deviation counter exceed the set value.
• Set the deviation counter overflow level to the number of command units suitable for the system
and operation pattern (e.g., the number of command units required for 2 to 3 rotations).
4-63
Operation
Chapter 4
Pn522
Positioning completed range 1 (Position)
Setting
range
0 to
1073741823
Unit
Command Default
unit setting
3
Restart
power?
No
• Set the deviation counter value for outputting INP1 (positioning completed 1) during position con-
trol.
• INP1 turns ON when the accumulated pulses in the deviation counter fall below the set value.
Note Related parameters: Pn50E.0 (INP1 signal output terminal allocation), Pn524 (Positioning
completed range 2)
Pn524
Positioning completed range 2 (Position)
Setting
range
1 to
1073741824
Unit
Command Default
unit setting
3
Restart
power?
No
• Set the deviation counter value for outputting INP2 (positioning completed 2) during position con-
trol.
• INP2 turns ON when the accumulated pulses in the deviation counter fall below the set value.
• For example, using INP2 as a near signal output, processing time can be shortened by receiving
the INP2 signal and preparing the next sequence by the time positioning is completed (i.e., by the
time INP1 turns ON). In that case, set a number greater for Pn524 that is greater than the setting for
Pn522.
Note Related parameters: Pn510.0 (INP2 signal output terminal allocation), Pn522 (Positioning
completed range 1)
Pn526
Deviation counter overflow level at Servo-ON (Position)
Setting
range
1 to
1073741823
Unit
Command Default
unit setting
262144
Restart
power?
No
• Set the deviation counter overflow alarm detection level for Servo ON.
• A Servo alarm occurs when the accumulated pulses in the deviation counter exceed the set value.
Pn528
Deviation counter overflow warning level at Servo-ON (Position)
Setting
range
10 to 100
Unit
%
Default
setting
100
Restart
power?
No
• Set the deviation counter overflow warning detection level for Servo ON to a percentage of Pn526
(deviation counter overflow alarm level at Servo-ON ).
• The deviation counter overflow warning at Servo ON (A.901) is generated when the accumulated
pulses in the deviation counter exceed the set value.
Pn529
Speed limit level at Servo-ON (Position)
0 to 10000 Unit r/min
Setting
range
Default
setting
10000
Restart
power?
No
• Set the speed limit to use if the Servo is turned ON when there are position deviation pulses in the
deviation counter.
4-64
Operation
Chapter 4
Pn52A
Not used.
---
Setting
range
Unit
---
---
Default
setting
20
Restart
power?
No
Note Do not change setting.
Pn52F
Not used.
---
Setting
range
Unit
Default
setting
FFF
Restart
power?
No
Note Do not change setting.
■ Program JOG: Pn530 to Pn536
Pn530.0
Program JOG operation related switches -- Program JOG operating pattern (All operation
modes)
Setting
range
0 to 5
Unit
---
Default
setting
0
Restart
power?
No
Setting Explanation
Setting
Explanation
0
1
2
(Waiting time Pn535 → Forward movement Pn531) × Number of movement operations Pn536
(Waiting time Pn535 → Reverse movement Pn531) × Number of movement operations Pn536
(Waiting time Pn535 → Forward movement Pn531) × Number of movement operations Pn536
(Waiting time Pn535 → Reverse movement Pn531) × Number of movement operations Pn536
3
4
5
(Waiting time Pn535 → Reverse movement Pn531) × Number of movement operations Pn536
(Waiting time Pn535 → Forward movement Pn531) × Number of movement operations Pn536
(Waiting time Pn535 → Forward movement Pn531 → Waiting time Pn535 → Reverse movement
Pn531) × Number of movement operations Pn536
(Waiting time Pn535 → Reverse movement Pn531 → Waiting time Pn535 → Forward movement
Pn531) × Number of movement operations Pn536
Pn530.1
Program JOG operation related switches -- Not used.
Setting
range
---
Unit
---
Default
setting
0
0
0
Restart
power?
No
No
No
Note Do not change setting.
Pn530.2
Program JOG operation related switches -- Not used.
Setting
range
---
Unit
---
Default
setting
Restart
power?
Note Do not change setting.
Pn530.3
Program JOG operation related switches -- Not used.
Setting
range
---
Unit
---
Default
setting
Restart
power?
4-65
Operation
Chapter 4
Note Do not change setting.
Pn531
Program JOG movement distance (All operation modes)
Setting
range
1 to
1073741824
Unit
Command Default
unit setting
32768
Restart
power?
No
No
No
No
No
Pn533
Program JOG movement speed (All operation modes)
Setting
range
1 to 10000 Unit
r/min
Default
setting
500
Restart
power?
Pn534
Program JOG acceleration/deceleration time (All operation modes)
Setting
range
2 to 10000 Unit
ms
Default
setting
100
Restart
power?
Pn535
Program JOG waiting time (All operation modes)
Setting
range
0 to 10000 Unit
ms
Default
setting
100
Restart
power?
Pn536
Number of program JOG movement (All operation modes)
Setting
range
1 to 1000
Unit
Times
Default
setting
1
Restart
power?
Note For details on the program JOG function, refer to 4-4-13 Program JOG Operation.
Pn540
Gain limit (Position, speed)
10 to 2000 Unit
Setting
range
× 0.1 Hz
Default
setting
2000
Restart
power?
No
• As the value is increased, response improves but vibration becomes easier. Likewise, as the value
is decreased, operation becomes more stable but response declines.
Pn550
Analog monitor 1 offset voltage (All operation modes)
Setting
range
−10000 to
Unit
× 0.1 V
Default
setting
0
0
Restart
power?
No
No
10000
Pn551
Analog monitor 2 offset voltage (All operation modes)
Setting
range
−10000 to
10000
Unit
× 0.1 V
Default
setting
Restart
power?
• When Pn006 is set to 0102, Pn422 [%] to 10.0, and Pn550 to 3.0 [V]:
Analog monitor 1: Torque command
= {(−1) × (Torque command [%] − 10%) × 10} + 3 [V]
If the torque here is 52%
= {(−1) × (52 [%] − 10 [%]) × 1 [V]/100 [%]} + 3 [V]
= −7.2 [V] (Analog monitor 1 output voltage)
■ Other Parameters (from Pn600)
Pn600
Regeneration resistor capacity (All operation modes)
Setting
range
0 to (varies Unit
by model)
× 10 W
Default
setting
0
Restart
power?
No
4-66
Operation
Chapter 4
• If using an External Regeneration Resistor or External Regeneration Resistance Unit, set the
regeneration absorption amount. Set the regeneration absorption amount for when the temperature
rises above 120°C, not the nominal amount. (Refer to 3-3-3 Regenerative Energy Absorption by
External Regeneration Resistance for details.)
• A.920 (Regenerative overload warning and A.320 (Regenerative overload alarm) are detected
based on the set value.
Note If an External Regeneration Resistor or External Regeneration Resistance Unit is not con-
nected, set Pn600 to 0.
Pn800.0
Communications control -- MECHATROLINK-II communications check mask (All operation
modes)
Setting
range
0 to 3
Unit
---
Default
setting
0
Restart
power?
No
Setting Explanation
Setting
Explanation
0
1
2
3
Normal
Ignore communications errors (A.E6@).
Ignore WDT errors (A.E5@).
Ignore communications errors (A.E6@) and WDT errors (A.E5@).
• This function is used for ignoring communications alarm checks in operations such as debugging
during trial operation.
When it is used for normal operation,0 (with check) must be set.
Pn800.1
Communications control -- Warning check mask (All operation modes)
Setting
range
0 to 7
Unit
---
Default
setting
4
Restart
power?
No
Setting Explanation
Setting
Explanation
0
1
2
3
4
5
6
7
Normal
Ignore data setting warning (A. 94@).
Ignore command warning (A. 95@).
Ignore A.94@ and A.95@.
Ignore communications warning (A. 96@).
Ignore A.94@ and A.96@.
Ignore A.95@ and A.96@.
Ignore A.94@, A.95@ and A.96@.
• Depending on the setting for Pn800.1, warnings are not detected for A. 94@, A. 95@, and A. 96@.
(Warnings are detected for A. 94@ and A. 95@ A. in the default settings.)
4-67
Operation
Chapter 4
• When connecting to the CJ1W-NCF71 or CS1W-NCF71, always use the default setting (4) or a set-
ting of 0.
Pn800.2
Communications control -- Communications error count at single transmission (All operation
modes)
Setting
range
0 to F
Unit
---
Default
setting
0
Restart
power?
No
Setting Explanation
Setting
Explanation
0 to F
Detects communications errors (A.E60) if errors occur consecutively for the set value plus two
times.
Pn800.3
Communications control -- Not used.
Setting
range
---
Unit
---
Default
setting
0
Restart
power?
No
Note Do not change setting.
Pn801.0
Function selection application 6 (software LS) -- Software limit function (All operation modes)
Setting
range
0 to 3
Unit
---
Default
setting
3
Restart
power?
No
Setting Explanation
Setting
Explanation
0
1
2
3
Software limit enabled.
Forward software limit disabled.
Reverse software limit disabled.
Forward/reverse software limits disabled.
• Enables or disables software limits. Software limit function settings are executed according to the
next user constant. Software limits are enabled in the cases described below. In all other cases,
software limits do not go into effect even when the software limit range is exceeded.
When the origin is established (when the No-origin Flag is OFF for the CJ1W-NCF71, CS1W-
MCH71, CJ1W-MCH71)
When an infinite length axis is used (CS1W-MCH71, CJ1W-MCH71)
Set enable/disable with the above setting method described above.
Pn801.1
Function selection application 6 (software LS) -- Not used.
Setting
range
---
Unit
---
Default
setting
0
Restart
power?
No
Note Do not change setting.
Pn801.2
Function selection application 6 (software LS) -- Software limit check using reference (Position)
Setting
range
0, 1
Unit
---
Default
setting
0
Restart
power?
No
4-68
Operation
Chapter 4
Setting Explanation
Setting
Explanation
0
1
No software limit check using reference
Software limit check using reference
• Sets whether or not the software limit check will be in effect when position commands are input.
If the software limit is reached or exceeded when the target position is input, the specified target
value is decelerated to a stop at the software limit's set position.
• When connecting to the CJ1W-NCF71 or CS1W-NCF71, always use the default setting (0: No soft-
ware limit check using reference).
Pn801.3
Function selection application 6 (software LS) -- Not used.
Setting
range
---
Unit
---
Default
setting
0
Restart
power?
No
No
No
Note Do not change setting.
Pn802
Not used.
---
Setting
range
Unit
---
Default
setting
0000
Restart
power?
Note Do not change setting.
Pn803
Zero point width (Position)
0 to 250 Unit
Setting
range
Command Default
unit setting
10
Restart
power?
Note This parameter sets origin position detection (ZPOINT).
Pn804
Forward software limit (All operation modes)
Setting
range
−1073741823 Unit
to
1073741823
Command Default
unit setting
819191808 Restart
power?
No
No
Pn806
Reverse software limit (All operation modes)
Setting
range
−1073741823 Unit
to
Command Default
unit setting
−819191808 Restart
power?
1073741823
• This parameter sets the software limits in the + and − directions.
The area is set to match the direction, so be sure to set the − direction limit lower than the + direc-
tion limit.
Pn808
Absolute encoder zero point position offset (All operation modes, absolute)
Setting
range
−1073741823 Unit
to
1073741823
Command Default
unit setting
0
Restart
power?
No
• The encoder position and machine coordinate system position (APOS) offsets for when an absolute
encoder is used can be set.
4-69
Operation
Chapter 4
• The settings are shown below. To take the machine coordinate system origin (0) as the encoder
position (X), set Pn808 to −X.
Origin
Machine coordinate system position (APOS)
Pn808
Encoder position ×
Encoder position
Encoder position: origin
● Acceleration/Deceleration Speed Parameters (Pn80A to Pn812)
Pn80A
First step linear acceleration parameter (Position)
1 to 65535 Unit Default
Setting
range
× 10000
100
Restart
power?
No
No
Command setting
2
unit/s
• Sets the step 1 acceleration speed for when two-step acceleration is used.
Pn80B
Second step linear acceleration parameter (Position)
1 to 65535 Unit Default
Setting
range
× 10000
100
Restart
power?
Command setting
2
unit/s
• Sets the step 2 acceleration for when two-step acceleration is executed, or the one-step accelera-
tion parameter for when one-step acceleration is executed.
Pn80C
Acceleration parameter switching speed (Position)
Setting
range
0 to 65535 Unit
× 100 Com- Default
mand unit/s setting
0
Restart
power?
No
• Sets the switching speed for the step 1 and step 2 acceleration for when two-step acceleration is
executed. When using one-step acceleration, set the acceleration parameter switching speed
(Pn80C) to 0.
Pn80D
First step linear deceleration parameter (Position)
1 to 65535 Unit Default
Setting
range
× 10000
100
Restart
power?
No
Command setting
2
unit/s
• Sets the step 1 deceleration for when two-step acceleration is used.
Pn80E
Second step linear deceleration parameter (Position)
1 to 65535 Unit Default
Setting
range
× 10000
100
Restart
power?
No
Command setting
2
unit/s
• Sets the step 2 deceleration for when two-step deceleration is executed. When using one-step
acceleration, set Pn80E as the one-step deceleration parameter.
4-70
Operation
Chapter 4
Pn80F
Deceleration parameter switching speed (Position)
Setting
range
0 to 65535 Unit
× 100 Com- Default
mand unit/s setting
0
Restart
power?
No
• This parameter sets the switching speed for the step 1 and step 2 deceleration when two-step
deceleration is executed. When using one-step acceleration, set the deceleration parameter switch-
ing speed (Pn80F) to 0.
Pn810
Exponential acceleration/deceleration bias (Position)
0 to 32767 Unit Command Default
unit/s setting
Setting
range
0
Restart
power?
No
• Sets the bias for when an exponential filter is used for the position command filter.
Pn811
Exponential acceleration/deceleration time constant (Position)
Setting
range
0 to 5100
Unit
× 0.1 ms
Default
setting
0
Restart
power?
No
• This parameter sets the time constant for when an exponential filter is used for the position com-
mand filter.
Pn812
Moving average time (Position)
0 to 5100 Unit × 0.1 ms
Setting
range
Default
setting
0
Restart
power?
No
• Sets the average movement time for when and an average movement filter is used for the position
command filter. Set when using S-curve acceleration/deceleration.
Pn813
Not used.
---
Setting
range
Unit
---
Default
setting
0
Restart
power?
No
• If the Servo Driver is used with the CJ1W-MCH71 or CS1W-MCH71, this parameter will be set to
0032.
If parameters are edited with the WMON-ML2 connected, this parameter will set to 0000.
If this happens, you must reset this parameter to 0032 from the CJ1W-MCH71 or CS1W-MCH71.
Note Do not change setting.
Pn814
Final travel distance for external positioning (Position)
Setting
range
−1073741823 Unit
to
1073741823
Command Default
unit setting
100
Restart
power?
No
• Sets the distance from the external signal input position when external positioning is executed. For
a negative direction or if the distance is short, operation is reversed after decelerating to a stop.
● Origin Search Parameters (Pn816 to Pn819)
Pn816.0
Zero point return mode settings -- Zero point return direction (Position)
Setting
range
0, 1
Unit
---
Default
setting
0
Restart
power?
No
4-71
Operation
Chapter 4
Setting Explanation
Setting
Explanation
0
1
Forward
Reverse
• Sets the direction for executing origin search.
Pn816.1
Zero point return mode settings -- Not used.
Setting
range
---
Unit
---
Default
setting
0
Restart
power?
No
No
No
Note Do not change setting.
Pn816.2
Zero point return mode settings -- Not used.
Setting
range
---
Unit
---
Default
setting
0
Restart
power?
Note Do not change setting.
Pn816.3
Zero point return mode settings -- Not used.
Setting
range
---
Unit
---
Default
setting
0
Restart
power?
Note Do not change setting.
Pn817
Zero point return approach speed 1 (Position)
Setting
range
0 to 65535 Unit
× 100 Com- Default
50
Restart
power?
No
No
mand unit/s setting
• Sets the origin search speed after the deceleration limit switch signal turns ON.
Pn818
Zero point return approach speed 2 (Position)
Setting
range
0 to 65535 Unit
× 100 Com- Default
mand unit/s setting
5
Restart
power?
• Sets the origin search speed from when the deceleration limit switch signal turns ON until it turns
OFF.
Pn819
Final travel distance to return to zero point (Position)
Setting
range
−1073741823 Unit
to
1073741823
Command Default
unit/s setting
100
Restart
power?
No
• Sets the distance from the latch signal input position to the origin, for when origin search is exe-
cuted. If the final travel distance is in the opposite direction from the origin return direction or if the
distance is short, operation is reversed after decelerating to a stop.
Pn81B
Not used.
---
Setting
range
Unit
---
Default
setting
0
Restart
power?
No
4-72
Operation
Chapter 4
Note Do not change setting.
Pn81C
Not used.
---
Setting
range
Unit
---
---
Default
setting
0
0
Restart
power?
No
Note Do not change setting.
Pn81D
Not used.
---
Setting
range
Unit
Default
setting
Restart
power?
No
Note Do not change setting.
● Input Signal Monitor Parameter (Pn81E)
Pn81E
Not used.
---
Setting
range
Unit
---
---
Default
setting
0000
Restart
power?
No
No
Note Do not change setting.
Pn81F
Not used.
---
Setting
range
Unit
Default
setting
0
Restart
power?
Note Do not change setting.
● Latch Area Parameters (Pn820, Pn822)
Pn820
Not used.
---
Setting
range
Unit
Unit
---
---
Default
setting
00000000
00000000
Restart
power?
No
No
Pn822
Not used.
---
Setting
range
Default
setting
Restart
power?
Note Do not change setting.
● Option Monitor Parameters (Pn824, Pn825)
Pn824
Not used.
---
Setting
range
Unit
---
Default
setting
0000
Restart
power?
No
• If the Servo Driver is used with the CJ1W-MCH71 or CS1W-MCH71, this parameter will be set to
0032. If parameters are edited with the WMON-ML2 connected, this parameter will set to 0000. If
this happens, you must reset this parameter to 0032 from the CJ1W-MCH71 or CS1W-MCH71.
4-73
Operation
Chapter 4
Note Do not change setting.
Pn825
Not used.
---
Setting
range
Unit
---
Default
setting
0000
Restart
power?
No
• If the Servo Driver is used with the CJ1W-MCH71 or CS1W-MCH71, this parameter will be set to
0024. If parameters are edited with the WMON-ML2 connected, this parameter will set to 0000. If
this happens, you must reset this parameter to 0024 from the CJ1W-MCH71 or CS1W-MCH71.
Note Do not change setting.
● Other Unused Parameters
Pn900 to
Pn910
Not used.
Setting
range
---
Unit
---
---
Default
setting
---
---
Restart
power?
No
No
Note Do not change setting.
Pn920 to
Pn95F
Not used.
---
Setting
range
Unit
Default
setting
Restart
power?
Note Do not change setting.
4-74
Operation
Chapter 4
4-4 Operation Functions
4-4-1 Position Control (Position)
■ Functions
• Position control is performed according to commands from MECHATROLINK-II.
• The motor is rotated by the command value multiplied by the gear ratio (Pn20E, Pn210).
Controller
(MECHATROLINK-II Model)
OMNUC W-series Servo Driver
Position Control Mode
Motion Control Unit
CS1W-MCH71
CJ1W-MCH71
Electronic gears
(Pn20E, Pn210)
OMNUC W-series
Servomotor
Positioning command
executed.
G1/G2
Position Control Unit
CJ1W-NCF71
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn20E
Electronic gear ratio
G1 (numerator)
Set the pulse rates for the position command
value and the Servomotor travel amount.
4-4-9 Electronic
Gear Function
(Position)
0.001 ≤ G1/G2 ≤ 1000
Pn210
Electronic gear ratio
G2 (denominator)
■ Related Functions
• The main functions related to position control that can be used during position control are as fol-
lows:
Function name
Explanation
Reference
Feed-forward function Adds the position command value differential to the speed loop 4-7-2 Feed-for-
to reduce positioning time.
ward Function
(Position)
Bias function
Calculates number of bias rotations for the speed loop to reduce 4-7-1 Bias Func-
positioning time.
tion (Position)
Torque limit function
Limits the Servomotor's torque output.
4-4-7 Torque Limit
Function (All Oper-
ating Modes)
P control switching
function
Switches the speed control loop automatically from PI control to 4-7-7 P Control
P control to lower Servo rigidity. (Switching conditions can be
selected.)
Switching (Posi-
tion, Speed)
4-75
Operation
Chapter 4
■ Applicable Controller Commands
Controller
Commands and instructions
CJ1W-NCF71
According to absolute and relative move commands.
CS1W-MCH71
CJ1W-MCH71
According to axis move instructions (MOVE, MOVL, MOVEC, etc.).
Note For details on commands and instructions, refer to the manual for the specific Unit.
4-4-2 Speed Control (Speed)
■ Function
• Speed control is performed according to commands from MECHATROLINK-II.
Controller
OMNUC W-series Servo Driver
(MECHATROLINK-II Model)
Motion Control Unit
CS1W-MCH71
CJ1W-MCH71
Speed Control Mode
OMNUC W-series
Servomotor
Speed command
Position Control Unit
CJ1W-NCF71
■ Related Functions
• The main functions related to speed control that can be used during speed control are as follows:
Function name
Explanation
Reference
Soft start function
Sets the soft start for the speed command.
4-4-8 Soft Start
Function (Speed)
Torque limit function
This function limits the Servomotor's output torque output.
4-4-7 Torque Limit
Function (All Oper-
ating Modes)
P control switching
function
Switches the speed control loop automatically from PI control to 4-7-7 P Control
P control to lower Servo rigidity (you can select the switching
conditions).
Switching (Posi-
tion, Speed)
■ Applicable Controller Commands
Controller
Commands and instructions
CJ1W-NCF71
According to speed control instructions.
CS1W-MCH71
CJ1W-MCH71
According to speed control instructions (SPEED, SPEEDR).
Note For details on commands and instructions, refer to the manual for the specific Unit.
4-76
Operation
Chapter 4
4-4-3 Torque Control (Torque)
■ Function
• Torque control is performed according to commands from MECHATROLINK-II.
Controller
OMNUC W-series Servo Driver
(MECHATROLINK-II Model)
Motion Control Unit
CS1W-MCH71
CJ1W-MCH71
Torque Control Mode
OMNUC W-series
Servomotor
Torque command
Position Control Unit
CJ1W-NCF71
■ Related Functions
• Functions related to torque control that can be used during torque control are as follows:
Function name
Explanation
Reference
Torque limit function
This function limits the Servomotor's torque output.
4-4-7 Torque Limit
Function (All Oper-
ating Modes)
Speed limit function
This function limits the Servomotor rotation speed from becom- 4-4-10Speed Limit
ing too high. Function (Torque)
Note Servomotor rotation speed during torque control changes depending on the Servomotor load
conditions (friction, external force, inertia). Apply safety measures at the machinery to prevent
Servomotor runaway.
■ Applicable Controller Commands
Controller
Commands and instructions
According to torque control commands.
According to torque control commands (TORQUE, TORQUER).
CJ1W-NCF71
CS1W-MCH71
CJ1W-MCH71
Note For details on commands and instructions, refer to the manual for the specific Unit.
4-77
Operation
Chapter 4
4-4-4 Forward and Reverse Drive Prohibit (All Operating
Modes)
■ Functions
• When forward drive prohibit (POT: CN1-7) and reverse drive prohibit (NOT: CN1-8) are OFF, stops
the Servomotor rotating (Pin No. is allocated in the default settings).
• You can stop the Servomotor from rotating beyond the device's movement range by connecting a lit
input.
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn50A.3
Pn50B.0
Input signal selection You must allocate both POT and NOT.
4-3-2 Important
Parameters
1: POT signal selection
Input signal selection
Note: As the default setting, they are allocated
to CN1 pins 7 and 8.
2: NOT signal selec-
tion
Pn001
Pn406
Function selection
application switch 1
Set the stop method when POT and NOT in
Pn001.1 (stop selection for drive prohibition
input) are OFF.
If Pn001.1 is set to 0 (stop according to
Pn001.0 setting), be sure to set Pn001.0 (stop
selection for alarm generation with Servo OFF).
4-3-2 Important
Parameters
Emergency stop
torque
If Pn001.1 is set to 1 or 2, set emergency stop 4-3-3 Parameter
torque in Pn406.
Details
■ Operation
Stopping Methods when Forward/Reverse Drive Prohibit is OFF
Deceleration Method
Stopped Status
Servo unlocked
Pn001.0
"0" or "1"
Dynamic brake
Pn001.1
"0"
"2"
POT (NOT) is OFF
Free run
Pn001.1
"2"
Servo unlocked
"1" or "2"
Emergency stop torque (Pn406)
See note 1.
"1"
Servo locked
Note 1. If the Servomotor stops in this mode during position control, the position loop is disabled.
Note 2. The position method used during torque control depends on Pn001.0 setting (the P001.1
setting is unrelated).
Note 3. With a vertical load, the load may fall due to its own weight if it is left at a drive prohibit input.
We recommend that you set the stop method for the drive prohibit input (Pn001.1) for decel-
erating with the emergency stop torque, and then set stopping with the servo locked (SV: 1)
to prevent the load from falling.
4-78
Operation
Chapter 4
ON
OFF
ON
POT (forward
drive prohibited)
→ Forward direction
Position
Position
NOT (reverse
drive prohibited)
Reverse direction ←
OFF
Only forward drive allowed
Both forward and reverse
drive allowed
Only reverse drive allowed
Note 1. When a command to travel in a prohibited direction within the drive prohibit area is input, the
Servomotor is stopped using the method set in Pn001.1. If a command to travel in the op-
posite direction is input, the Servomotor automatically resumes operation.
Note 2. With position control, the feedback pulses and command pulses continue to be counted
without the deviation counter's residual pulses being reset. If the drive prohibit input turns
ON in this state (i.e., drive permitted), the position will be shifted by the amount of the resid-
ual pulses.
4-4-5 Encoder Dividing Function (All Operating Modes)
■ Functions
• With this function, any number of pulses can be set for encoder signals output from the Servo
Driver.
• The number of pulses per Servomotor revolution can be set within a range of 16 to (number of
encoder resolution pulses). The upper limit is 1,073,741,824 pulses/rotation.
• Use this function for the following applications:
When using a controller with a low response frequency.
When it is desirable to set a pulse rate that is easily divisible.
(For example, in a mechanical system in which a single Servomotor revolution corresponds to a
travel of 10 mm, if the resolution is 5 µm/pulse, set the encoder divider rate to 2,000 (pulses/revolu-
tion).
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn212
Encoder divider rate
Set the number of encoder pulses to be output. 4-3-3 Parameter
(See notes 1, 2, and 3). Details
Note 1. The default setting is 1,000 (pulses/rotation), and the setting range is 16 to 1,073,741,824
(pulses/rotation).
Note 2. These parameters are enabled when the power is turned ON again after having been turned
OFF. (Check to see that the LED display has gone OFF.)
Note 3. If a value greater than the encoder resolution is set, operation will proceed according to the
formula: (divider rate setting) = (encoder resolution)
4-79
Operation
Chapter 4
• For Servomotors with encoders of 17-bit resolution (32,768 encoder pulses/rotation) or greater, set
the value at the increments shown below when the encoder divider rate (Pn212) is set.
Conforming
encoder
resolution
Encoder divider rate
Pn212 (Pulses/revolution)
Pn212 setting conditions
Servomotor rotation
speed upper limit (r/min)
at the set encoder divider
rate
17 bits min.
16 to 16384
1-pulse increments
2-pulses increments
4-pulse increments
8-pulse increments
16-pulse increments
6000
5
16386 to 32768
32772 to 65536
65544 to 131072
131088 to 262144
984 × 10 /Pn212
18 bits min.
19 bits min.
20 bits
Note If the above setting range or setting conditions are not satisfied, a dividing pulse output setting
error alarm (A.041) will be output. Also, if the Servomotor rotation speed upper limit for the set
encoder divider rate is exceeded, a dividing pulse output overspeed alarm (A.511) will be out-
put.
■ Setting Example
• Encoder with 17-bit resolution:
Pn212 can be set to 25,000 pulses/rotation, but Pn212 cannot be set to 25,001 pulses/rotation or
A.041 will be output.
■ Output Example
• When Pn212 is set to 16 (16 pulse outputs per rotation)
Set value: 16
PAO
PBO
1 rotation
■ Operation
• Incremental pulses are output from the Servo Driver through a frequency divider.
Encoder
E
Driver
Phase A
Phase B
Phase Z
Frequency
divider
S
Processing
circuitry
• The output phases of the encoder signal output from the Servo Driver are as shown below (when
divider ratio Pn212 = encoder resolution).
Forward rotation side
Reverse rotation side
Phase A
Phase B
Phase Z
Phase A
Phase B
Phase Z
4-80
Operation
Chapter 4
• When the encoder divider rate is set to other than 2n (16,384, 8,192, 4,096, 2,048, 1,024, etc.), the
phase difference for phases A and B is not 90°, but scatters for time T. (See the diagram below.)
Phase A
t1 = nT, t2 = (n + 1)T
Phase B
t1
t2
t1
t1
t1
t1
t2
In this diagram, T represents the processing circuit output between phase A and phase B, and n is
an integer that satisfies the following formula (with digits below the decimal point discarded).
n = resolution/encoder divider rate
Phase A
Input to frequency divider
(processing circuit output)
Phase B
T
4-4-6 Brake Interlock (All Operating Modes)
■ Precautions for Using Electromagnetic Brake
• The electromagnetic brake Servomotor with a brake is a non-excitation brake especially for holding.
First stop the Servomotor, then turn OFF the power supply to the brake before setting the parame-
ters. If the brake is applied while the Servomotor is operating, the brake disk may become damaged
or malfunction due to friction, causing damage to the Servomotor.
■ Function
• You can set the BKIR (brake interlock) signal output timing to turn ON and OFF the electromagnetic
brake.
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn50F.2
Output signal selec-
tions 2: BKIR signal
selection
Be sure to allocate BKIR. (See note.)
4-4-3 Torque Con-
trol (Torque)
Pn506
Pn507
Pn508
Brake timing 1
This parameter sets the BKIR output timing.
Pn506: Sets lag time from BKIR OFF to Servo Reverse Drive Pro-
OFF.
4-4-4 Forward and
Brake command speed
Brake timing 2
hibit (All Operat-
Pn507: Sets the rotation speed for turning BKIR ing Modes)
OFF.
Pn508: Sets the standby time from Servo OFF
to BKIR OFF.
Note As the default setting, BKIR is allocated to CN1 pins 1 and 2.
4-81
Operation
Chapter 4
■ Operation
● RUN Timing (When Servomotor Is Stopped)
ON
RUN
OFF
0 to 35 ms
Approx. 2 ms
ON
BKIR (brake interlock)
OFF
ON
Brake power supply
OFF
200 ms max.
100 ms max.
ON
Brake operation
OFF
+V
Speed command
or pulse command
See note 1.
−V
Pn506 (See note 2.)
Servomotor
energizing
Energized
Deenergized
Note 1. The time from turning ON the brake power supply to the brake being released is 200 ms
max. Set the speed command (pulse command) to be given after the brake has been re-
leased, taking this delay into account.
Note 2. The time from turning OFF the brake power supply to the brake engaging is 100 ms max. If
using the Servomotor on a vertical axis, set Pn506 (brake timing 1) so that the Servomotor
deenergizes after the brake has engaged, taking this delay into account.
● Power Supply Timing (when Servomotor Is Stopped)
ON
Main circuit power supply
OFF
25 to 35 ms
ON
BKIR (brake interlock)
OFF
Pn506 (See note.)
Servomotor
energized
Energized
Deenergized
Note The time from turning OFF the brake power supply to the brake engaging is 100 ms max. If
using the Servomotor on a vertical axis, set Pn506 (brake timing 1) so that the Servomotor
deenergizes after the brake has engaged, in consideration of this delay.
4-82
Operation
Chapter 4
● RUN, Error, and Power Supply Timing (When Servomotor Is Stopped)
ON
Main circuit power supply
OFF
ON
RUN
OFF
ON
ALM (alarm output)
OFF
(See note 2.)
ON
BKIR (brake interlock)
OFF
Energized
Servomotor
energized
Deenergized
Approx. 10 ms
(See note 1.)
Braking using dynamic brake
(when Pn001.0 = 0)
Servomotor rotation speed
PN507 (brake command speed)
Note 1. During the approximately 10 ms from the Servomotor deenergizing to dynamic brake being
applied, the Servomotor will continue to rotate due to its momentum.
Note 2. If the Servomotor rotation speed falls below the speed set in Pn507 (brake command speed)
or the time set in Pn508 (brake timing 2) after the Servomotor deenergizes is exceeded, the
BKIR (brake interlock) signal is turned OFF.
4-4-7 Torque Limit Function (All Operating Modes)
■ Functions
• The torque limit function limits the Servomotor's output torque.
• This function can be used to protect the Servomotor and mechanical system by preventing exces-
sive force or torque on the mechanical system when the machine (moving part) pushes against the
workpiece with a steady force, such as in a bending machine.
4-83
Operation
Chapter 4
• There are four methods that can be used to limit the torque (pin No. is allocated at the factory):
Function
CJ1W-NCF71
CS1W-MCH71
CJ1W-MCH71
Limiting steady torque during opera-
Limit the steady force applied during normal operation with user
tion with user parameters (all operation parameters Pn402 (forward torque limit) and Pn403 (reverse torque
modes) limit).
Limiting torque when an external signal Limit the torque with user parameters Pn404 (For- ---
turns ON with user parameters (all
operation modes)
ward rotation external current limit) and Pn405
(Reverse rotation external current limit), by turning
ON the axis operation output bit area's forward and
reverse rotation current limit designation and start-
ing axis operation.
Limiting torque with option command
values (speed)
Use option command values as torque limit values. ---
Limiting torque when an external signal Limit torque using option command values as
turns ON with option command values torque limit values by turning ON the axis operation
---
(speed)
output bit area's forward and reverse rotation cur-
rent limit designation and starting axis operation.
Note For details on commands and instructions, refer to the manual for the specific Unit.
• When torque limit is ON, CLIMT (current limit detection) signal is output (if the signal has been allo-
cated using parameter Pn50F.0).
• If multiple torque limits are enabled, the output torque is limited to the minimum limit value.
■ Parameters Requiring Settings
● Limiting Steady Torque During Operation with User Parameters (All Operating
Modes)
Parameter
No.
Parameter name
Explanation
Reference
Pn402
Forward torque limit
Set the output torque limit for the forward direc- 4-3-3 Parameter
tion as a percentage of the rated torque (setting Details
range: 0% to 800%).
Pn403
Reverse torque limit
Set the output torque limit for the reverse direc- 4-3-3 Parameter
tion as a percentage of the rated torque (setting Details
range: 0% to 800%).
Note 1. Set these parameters to 350 (the default setting) when the torque limit function is not being
used.
Note 2. If the connected Servomotor is set to a value greater than the maximum momentary torque,
the maximum momentary torque will become the set limit.
4-84
Operation
Chapter 4
● Limiting Operation with External Signals (All Operating Modes) (CJ1W-NCF71 Only)
Parameter
No.
Parameter name
Explanation
Reference
Pn404
Forward rotation exter- Set the output torque limit when the forward
nal current limit
4-3-3 Parameter
rotation current limit designation is ON as a per- Details
centage of the Servomotor rated torque (setting
range: 0% to 800%).
Pn405
Reverse rotation exter- Set the output torque limit when the reverse
nal current limit rotation current limit designation is ON as a per- Details
4-3-3 Parameter
centage of the Servomotor rated torque (setting
range: 0% to 800%).
Note If the connected Servomotor is set to a value greater than the maximum momentary torque,
the maximum momentary torque will become the set limit.
● Limiting Torque with Option Command Values (Speed) (CJ1W-NCF71 Only)
• When 1 is set for Pn002.0 (Torque command input change), torque limit values can be specified
with option command values.
Unit: %; command range: 0 to 399% (% of Servomotor momentary maximum torque)
• Limiting torque by option command values operates by taking option command value 1 as the for-
ward torque limit and option command value 2 as the reverse torque limit.
Parameter
No.
Parameter name
Explanation
Reference
Pn002.0
Torque command input Set Pn002.0 to 1 (option command value used 4-3-3 Parameter
switching as torque limit command). Details
● Limiting Torque with Option Command Values by Turning ON External Signals
(Speed) (CJ1W-NCF71 Only)
• If 3 is set for Pn002.0 (Torque command input switching), torque limit values can be specified with
option command values when the forward or reverse rotation current limit designation is turned ON.
Unit: %; command range: 0 to 399% (% of Servomotor momentary maximum torque)
• When the forward rotation current limit designation turns ON, option command value 1 is taken as
the forward torque limit and the torque limit functions for forward rotation.
• When the reverse rotation current limit designation turns ON, option command value 2 is taken as
the reverse torque limit and the torque limit functions for reverse rotation.
Parameter
No.
Parameter name
Explanation
Reference
Pn002.0
Torque command input Set Pn002.0 to 3 (Option command value used 4-3-3 Parameter
switching
as torque limit value, according to the forward/ Details
reverse rotation current limit designation).
4-85
Operation
Chapter 4
4-4-8 Soft Start Function (Speed)
■ Functions
• This function accelerates and decelerates the Servomotor in the set acceleration and deceleration
times.
• You can set the acceleration and deceleration independently of each other using the trapezoidal
acceleration and deceleration curve.
• The soft start processes speed command value switching to reduce shock during acceleration and
deceleration.
• This function is effective for simple positioning and speed switching operations.
Note Do not use this function for a position controller with an acceleration/deceleration function.
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn305
Soft start acceleration Set the acceleration time from 0 (r/min.) to the 4-4-4 Forward and
time
maximum rotation speed (setting range: 0 to
10,000 (ms)).
Reverse Drive Pro-
hibit (All Operat-
ing Modes)
Pn306
Soft start deceleration Set the deceleration time from maximum rota- 4-4-4 Forward and
time
tion speed to 0 (r/min.) Setting range: 0 to
10,000 (ms).
Reverse Drive Pro-
hibit (All Operat-
ing Modes)
Note 1. If not using the soft start function, set this parameter to 0 (default setting).
Note 2. The actual acceleration and deceleration time is as follows:
speed command (r/min.)
Actual acceleration (deceleration time) =
× soft start acceleration (deceleration) time
maximum No. rotations (r/min.)
Servomotor speed
+r/min
Max. No. rotations
(See note.)
Speed command
0
Time
Actual acceleration time
Actual deceleration time
Pn305
Pn306
Note The maximum rotation speeds are as follows:
• 3,000-r/min. Servomotor: 5,000 r/min.
• 3,000-r/min. Flat-style Servomotor: 5,000 r/min.
• 1,000-r/min. Servomotor: 2,000 r/min.
• 1,500-r/min. Servomotor (450 W to 1.8 kW): 3,000 r/min.
4-86
Operation
Chapter 4
4-4-9 Electronic Gear Function (Position)
■ Functions
• This function rotates the Servomotor for the number of pulses obtained by multiplying the command
pulses by the electronic gear ratio.
• This function is enabled under the following conditions.
When fine-tuning the position and speed of two lines that are to be synchronous.
When using a position controller with a low command pulse frequency.
When you want to set the travel distance for machinery per pulse to 0.01 mm, for example.
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn20E
Electronic gear ratio
G1 (numerator)
Set the pulse rate for the command pulse and 4-3-3 Parameter
Servomotor travel distance. When G1/G2 = 1, if Details
the pulse (encoder resolution × 4) is input, the
Servomotor will rotate once (i.e., the internal
Pn210
Electronic gear ratio
G2 (denominator)
driver will rotate × 4). (See note 1.)
Note 1. Set within the range 0.001 ≤ G1/G2 ≤ 1000.
Note 2. These parameters become effective when the power is turned ON again after having been
turned OFF. (Check to see that the LED display has gone OFF.)
Note 3. With the default setting (G1/G2 = 4), the Servomotor will rotate once when the encoder res-
olution pulses are input.
Note 4. One position deviation (deviation counter) display and positioning completed range pulse
make one input pulse. (This is called a command unit.)
■ Operation
● Servomotor with 2,048 (Pulses/Rotation) Encoder
• When set to G1/G2 = 8192/1000, the operation is the same as for a 1,000-pulses/rotation Servo-
motor.
Servomotor
(Encoder resolution:
Servo Driver
2,048 pulses/rotation)
Electronic
gear
G1
8,192 pulses
Position command
1000
G2
8192
1000
=
1 rotation (8,192 pulses)
4-87
Operation
Chapter 4
4-4-10 Speed Limit Function (Torque)
■ Functions
• This function limits Servomotor rotation speed when torque control is used.
• Set a limit so that the Servomotor rotation speed does not exceed the maximum speed of the
mechanical system.
• Outside of the speed limit range, a torque in proportion to the difference from the speed limit value
is generated to slow down the Servomotor rotation speed. In such cases the number of Servomotor
rotations does not necessarily match the speed limit value. (The number of Servomotor rotations
varies depending on the load.)
• The two ways to limit the speed are given in the following table. The Controllers that support each
method are also shown.
Function
CJ1W-NCF71
CS1W-MCH71
CJ1W-MCH71
Limiting using a constant fixed speed
limit (parameter setting) for torque con-
trol
Use Pn407 (speed limit).
Limiting the speed by means of an
option command value
Use option command value 1 as the speed control ---
value.
Note For details on commands and instructions, refer to the manual for the specific Unit.
• When the speed limit is in operation, VLIMT (speed limit detection) is output (when the signal has
been allocated in Pn50F.1).
• When there are multiple speed limit functions in effect, Servomotor rotation speed is limited by the
smallest value.
■ Parameters Requiring Settings
● Limiting Using a Constant Fixed Speed Limit (Parameter Setting) for Torque Control
Parameter
No.
Parameter name
Explanation
Reference
Pn407
Speed limit
Set the speed limit for torque control.
Setting range: 0 to 10,000 (r/min).
4-3-3 Parameter
Details
● Limiting Speeds with Option Command Values (CJ1W-NCF71 Only)
• When 1 is set for Pn002.1 (Speed command input change), speed limit values can be specified with
option command value 1.
Unit: 0.001%; command range: 0 to 100.000% (% of maximum number of Servomotor rotations)
• Speed limits based on option command values are the same for forward and reverse rotation.
Parameter
No.
Parameter name
Explanation
Reference
Pn002.1
Speed command input Set Pn002.1 to 1 (option command value used 4-3-3 Parameter
change as speed limit command). Details
4-88
Operation
Chapter 4
4-4-11 Acceleration/Deceleration Function (Position)
■ Functions
• This function sets the speed during acceleration and deceleration to two levels.
• The setting is made by a host device from MECHATROLINK-II.
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn80A
First-step linear accel- Sets the step 1 acceleration for when two-step 4-3-3 Parameter
eration parameter
acceleration is used.
Details
Pn80B
Pn80C
Second-step linear
Sets the step 2 acceleration for when two-step 4-3-3 Parameter
acceleration parameter acceleration is executed. When using one-step Details
acceleration, set this parameter as a one-step
acceleration parameter.
Acceleration parame- Sets the switching speed for the step 1 and step 4-3-3 Parameter
ter switching speed
2 acceleration when two-step acceleration is
executed. When using one-step acceleration,
set 0 for this parameter.
Details
Pn80D
Pn80E
First-step linear decel- Sets the step 1 deceleration for when two-step 4-3-3 Parameter
eration parameter
deceleration is used.
Details
Second-step linear
Sets the step 2 deceleration for when two-step 4-3-3 Parameter
deceleration parame- deceleration is executed. When using one-step Details
ter
deceleration, set this parameter as a one-step
deceleration parameter.
Pn80F
Deceleration parame- Sets the switching speed for the step 1 and step 4-3-3 Parameter
ter switching speed
2 deceleration when two-step deceleration is
executed. When using one-step deceleration,
set 0 for this parameter.
Details
Pn810
Pn811
Exponential accelera- Sets the bias for when an exponential filter is
tion/deceleration bias used for the position command filter.
4-3-3 Parameter
Details
Exponential accelera- Sets the time constant for when an exponential 4-3-3 Parameter
tion/deceleration time filter is used for the position command filter.
constant
Details
Pn812
Moving average time
Sets the moving average time for when and an 4-3-3 Parameter
average movement filter is used for the position Details
command filter. Set when using S-curve accel-
eration/deceleration.
Note When trapezoidal acceleration/deceleration (not using two-step acceleration/deceleration) is
executed, set Pn80C and Pn80F to 0, set the acceleration speed in Pn80B, and set the decel-
eration speed in Pn80E.
4-89
Operation
■ Operation
Speed
Chapter 4
Pn80B
Pn80C
Pn80E
Pn80F
Pn80A
Pn80D
Time
4-4-12 Sequence Input Signals (All Operating Modes)
■ Functions
• These are sequence input signals for controlling Servo Driver operation. They must be connected
as required.
• Used for purposes such as latching the feedback position.
■ Parameters Requiring Settings
• Input Signals
Parameter
No.
Parameter name
Explanation
Reference
Pn511.1
Pn511.2
Pn511.3
Input signal selections External latch signals 1, 2, and 3
4-3-2 Important
Parameters
5 -- EXT1 signal allo-
cation
Note: As the default setting, the signals are
allocated to CN1 pins 10, 11, and 12.
Input signal selections
5 -- EXT2 signal allo-
cation
Input signal selections
5 -- EXT3 signal allo-
cation
■ Connection
• Connect sequence input signals as shown in the following diagram.
4-90
Operation
Chapter 4
Servo Driver
+24-V voltage
+24 V
CN1
6
3.3 kΩ
+24VIN
Photocoupler
Host device
13
9
DEC
POT
7
NOT
8
EXT1
EXT2
EXT3
10
11
12
0 V
4-4-13 Program JOG Operation
This is an auxiliary function that enables continuous automatic operation, determined by preset oper-
ating patterns, movement distances, movement speeds, acceleration/deceleration times, and num-
bers of repeat operations, to be executed using a Digital Operator. Just like the JOG operation mode,
this function can operate a Servomotor for trial operation without being connected to a host device.
Also, continually repeated operations according to position control are enabled, making it possible to
check command units and the electronic gear, and to execute simple positioning operations.
4-91
Operation
Chapter 4
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn530.0
Program JOG opera-
tion related switches --
Program JOG operat-
ing pattern
Set the program JOG operating pattern.
4-3-3 Parameter
Details
Pn531
Program JOG move-
ment distance
Set the program JOG movement distance.
Setting range: 1 to 1,073,741,824 (command
units)
4-3-3 Parameter
Details
Pn533
Pn534
Program JOG move-
ment speed
Sets the program JOG movement speed.
Setting range: 1 to 10,000 (r/min)
4-3-3 Parameter
Details
Program JOG acceler- Set the acceleration/deceleration time for pro- 4-3-3 Parameter
ation/deceleration time gram JOG operation. Details
Setting range: 2 to 10,000 (ms)
Program JOG waiting Set the program JOG waiting time (the time that 4-3-3 Parameter
Pn535
Pn536
time
the Servomotor is to be stopped).
Setting range: 0 to 10,000 (ms)
Details
Number of program
JOG movements
Sets the number of repetitions of the operating 4-3-3 Parameter
pattern set in Pnn530.0, under the conditions
set in Pn531 to Pn535.
Details
Setting range: 1 to 1,000 (times)
■ Precautions
The following restrictions apply during operation.
• When setting this function, set the operating range for the machinery and the safe operating speed
in user constants such as the program JOG movement distance and the program JOG movement
speed.
• This function is executed with the Servo Driver in Servo ready status. It cannot be executed while
the Servo is ON.
• If the Servo ON command is ON, turn it OFF.
• If user parameter Pn50A.1 is set to 7 and Servo-ON is selected to be always enabled, clear the
always enabled setting for the Servo-ON signal.
• The mode during program JOG operation is the position control mode, but pulse command inputs
to the Servo Driver are prohibited and not received.
• The overtravel function is disabled in JOG mode, but it is enabled for program JOG operation.
• The SEN signal is always enabled when an absolute encoder is used.
• Functions such as position command filters, that can be used for position control, can be used.
• This function cannot be executed when Pn200.2 is set to 1 (Deviation counter not reset when Servo
is OFF).
4-92
Operation
Chapter 4
■ Program Operating Patterns
Pn530.0: 0 (Waiting time Pn535 → Forward movement Pn531) × Number of movement operations
Pn536
Speed line dia-
Number of travel operations Pn536
gram
Pn531
Travel
distance
Pn531
Travel
distance
Pn531
Travel
distance
Travel speed
Pn533
Speed 0
Up Key ON
Acceleration/
deceleration
time Pn534
Waiting time
Pn535
Waiting time
Waiting time
Pn535
Pn535
Servomotor oper-
ating status
(Stopped) (Forward
operation)
(Stopped) (Forward (Stopped) (Forward
operation) operation)
Pn530.0: 1 (Waiting time Pn535 → Reverse movement Pn531) × Number of movement operations
Pn536
Speed line dia-
Number of travel operations Pn536
gram
Speed 0
Pn531
Travel
distance
Pn531
Travel
distance
Pn531
Travel
distance
Travel speed
Pn533
Down Key ON
Acceleration/
deceleration
time Pn534
Waiting time
Waiting time
Waiting time
Pn535
Pn535
Pn535
Servomotor oper-
ating status
(Stopped) (Reverse
operation)
(Stopped) (Reverse (Stopped) (Reverse
operation) operation)
4-93
Operation
Chapter 4
Pn530.0: 2 (Waiting time Pn535 → Forward movement Pn531) × Number of movement operations
Pn536
(Waiting time Pn535 → Reverse movement Pn531) × Number of movement operations
Pn536
Speed line dia-
gram
Number of travel operations Pn536
Number of travel operations Pn536
Acceleration/
deceleration
time Pn534
Pn531
Travel
distance
Pn531
Travel
distance
Waiting time
Pn535
Waiting time
Pn535
Travel speed
Pn533
Speed 0
Travel speed
Pn533
Up Key ON
Pn531
Travel
distance
Pn531
Travel
distance
Acceleration/
deceleration
time Pn534
Waiting time
Waiting time
Pn535
Pn535
Servomotor oper-
ating status
(Stopped) (Forward
operation)
(Stopped) (Forward
operation)
(Stopped) (Reverse (Stopped) (Reverse
operation) operation)
Pn530.0: 3 (Waiting time Pn535 → Reverse movement Pn531) × Number of movement operations
Pn536
(Waiting time Pn535 → Forward movement Pn531) × Number of movement operations
Pn536
Speed line dia-
gram
Number of travel operations Pn536
Number of travel operations Pn536
Acceleration/
deceleration
Waiting time
Pn535
time Pn534
Waiting time
Pn535
Down Key ON
Waiting time
Pn535
Pn531
Travel
distance
Pn531
Travel
distance
Travel speed
Pn533
Speed 0
Pn531
Travel
distance
Pn531
Travel
distance
Waiting time
Pn535
Travel
speed
Pn533
Acceleration/
deceleration
time Pn534
Servomotor oper-
ating status
(Stopped) (Reverse (Stopped) (Reverse (Stopped) (Forward
operation) operation) operation)
(Stopped) (Forward
operation)
4-94
Operation
Chapter 4
Pn530.0: 4 (Waiting time Pn535 → Forward movement Pn531 → Waiting time Pn535 → Forward
movement Pn531) × Number of movement operations Pn536
Speed line dia-
gram
Number of travel operations Pn536
Pn531
Travel
distance
Travel speed
Pn533
Speed 0
Travel speed
Pn533
Up Key ON
Waiting time
Pn535
Pn531
Travel
distance
Waiting time
Pn535
Acceleration/
deceleration
time Pn534
Servomotor oper-
ating status
(Stopped) (Forward (Stopped) (Reverse
operation) operation)
(Stopped)
Pn530.0:5 (Waiting time Pn535 → Reverse movement Pn531 → Waiting time Pn535 → Reverse
movement Pn531) × Number of movement operations Pn536
Speed line dia-
gram
Number of travel operations Pn536
Acceleration/decel-
eration time Pn534
Pn531
Travel
distance
Waiting time
Pn535
Waiting time
Pn535
Down Key ON
Speed 0
Travel speed
Pn533
Pn531
Travel
distance
Servomotor oper-
ating status
(Stopped) (Reverse (Stopped) (Forward
operation) operation)
(Stopped)
4-95
Operation
Chapter 4
4-5 Trial Operation Procedure
When you have finished installation, wiring, verifying Servomotor and Servo Driver
operations (i.e., jog operation), and setting the user parameters, perform a trial
operation. The main purpose of a trial operation is to confirm that the Servo System is
operating correctly electrically. Make sure that the host controller and all the
programming devices are connected, then turn ON the power. First perform a trial
operation at low speed to confirm that the system is operating correctly. Next, perform
a normal run pattern to confirm that the system is operating correctly.
Note 1. If an error occurs during the trial operation, refer to Troubleshooting to eliminate the cause.
Then check for safety and reset the alarm, and then retry the trial operation.
Note 2. If the system vibrates due to insufficient gain adjustment, making it difficult to check the op-
eration, refer to 4-6 Making Adjustments, and adjust the gain.
■ Preparation for Trial Operation
● Turn OFF the Power
Some parameters are enabled by turning OFF the Unit, then turning it ON again. Consequently, first
turn OFF the power to the control circuits and main circuits.
● Mechanical System Connection
Firmly connect the Servomotor shaft and the load (i.e., the mechanical system). Tighten screws to
make sure they are not loose.
● Absolute Encoder Setup ABS
If using Servomotor with an absolute encoder, refer to 4-2-2 Absolute Encoder Setup and Battery
Changes for the setup procedure. After performing a jog operation, the amount of multi-turn rotation
may be too large, so when connecting the absolute encoder to the mechanical system, be sure to set
the rotation speed to zero.
● Turning OFF the Servomotor
Set up the system so that the power and the RUN command can be turned OFF to enable turning
OFF Servomotor immediately if an error occurs in the machinery.
■ Trial Operation
1.Turn ON the Power Supply.
• Turn ON the power supply to the control circuits and main circuits, and then turn ON the RUN
command.
• Check that the Servomotor is ON.
4-96
Operation
Chapter 4
2.Low-speed Operation
• Send a low speed command from the host controller to rotate the Servomotor. (The definition
of low speed varies depending on the mechanical system, but a rough estimate is 1/10 to 1/5
normal operating speed.)
• Check the following items.
Is the emergency stop operating correctly?
Are the limit switches operating correctly?
Is the operating direction of the machinery correct?
Are the operating sequences correct?
Are there any abnormal sounds or vibration?
Is any error (or alarm) generated?
Note 1. If anything abnormal occurs, refer to Chapter 5 Troubleshooting and apply the appropriate
countermeasures.
Note 2. If the system vibrates due to insufficient gain adjustment, making it difficult to check the op-
eration, refer to 4-6 Making Adjustments, and adjust the gain.
3.Operation Under Actual Load Conditions
• Operate the Servomotor in a regular pattern and check the following items.
Is the operating speed correct? (Use the speed feedback monitor.)
Is the load torque roughly equivalent to the measured value? (Use the torque command monitor and
the accumulated load monitor.)
Are the positioning points correct?
When an operation is repeated, is there any discrepancy in positioning?
Are there any abnormal sounds or vibration?
Is either the Servomotor or the Servo Driver abnormally overheating?
Is any error (or alarm) generated?
Note 1. Refer to 4-9 Using Monitor Output for how to display the speed feedback monitor, torque
command monitor, and the cumulative load rate monitor.
Note 2. If anything abnormal occurs, refer to Chapter 5 Troubleshooting and apply the appropriate
countermeasures.
Note 3. If the system vibrates due to insufficient gain adjustment impeding, making it difficult to
check the operation, refer to 4-6 Making Adjustments, and adjust the gain.
4.Completing the Trial Operation
• Performing the above completes the trial operation. Next, adjust the gain to improve command
efficiency. (Refer to 4-6 Making Adjustments for details.)
4-97
Operation
Chapter 4
4-6 Making Adjustments
The OMNUC R88D-WN@@@-ML2 Series is equipped with a responsive auto-tuning
function. When auto-tuning cannot be used, make adjustments manually.
4-6-1 Adjustment Methods
The Servo gain can be adjusted either using auto-tuning for simple adjustment or using manual
adjustment. auto-tuning is performed using the Computer Monitor Software. The features of the vari-
ous means of adjustment are listed in the following table. Select the method that is most suitable for
the purpose.
Note Refer to 6-3 Restrictions.
Adjustment method
Advanced auto-tuning An automatic operation pattern is used to Use this method to automatically calcu-
with inertia automatically calculated the inertia ratio late the Servo gain. A stroke must be pro-
Description
Guidelines for selection
and set the Servo gain and notch filter.
vided for the automatic operation pattern.
Gain adjustment is possible only using
the automatic operation pattern.
Advanced auto-tuning An automatic operation pattern is used to Use this method when manually setting
without inertia automatically set the Servo gain and the Servo gain in Pn103. A stroke must
notch filter. The inertia ratio is not calcu- be provided for the automatic operation
lated.
pattern. Gain adjustment is possible only
using the automatic operation pattern.
One-parameter auto- One parameter is set to adjust and bal-
Use this method when manually setting
the Servo gain in Pn103. Machine
response can be monitored while chang-
ing just one parameter to reduce the trou-
ble of manual tuning. The results are
judged by the user.
tuning
ance the following four parameters.
These are adjusted during operation from
the host.
• Position loop gain
• Speed loop gain
• Speed loop integration constant
• Torque command filter time constant
Manual tuning
The Servo gain parameters are adjusted Use this method when suitable adjust-
at the discretion of the user.
ments cannot be achieved using autotun-
ing.
4-6-2 Advanced Auto-tuning
■ What is Advanced Auto-tuning?
• Advanced auto-tuning is a control function that estimates the operating inertia, increases the Servo
gain, and automatically seeks a no-vibration range that matches the characteristics of the machin-
ery.
• Advanced auto-tuning is executed from the Computer Monitor Software.
4-98
Operation
Chapter 4
Note Advanced auto-tuning cannot be used in the following cases.
• When the load inertia fluctuates at 200 ms or less.
• When the load rigidity is low and mechanisms (such as belt drive inputs) tends to vibrate, or
viscosity friction is high.
• When the range of movement is narrow, e.g., only several rotations.
• When movement is possible only in a fixed direction.
• When P (proportional) control is used.
Use the following method to make adjustments if any of the above conditions apply, or if operation is
not satisfactory when normal auto-tuning is executed.
• Set Pn103 (Inertia ratio), and then execute one-parameter tuning or manual adjustment.
■ User Parameters Related to Advanced Auto-tuning
• The following user parameters are set automatically by advanced auto-tuning.
Pn100 Speed loop gain
Pn101 Speed loop integration constant
Pn102 Position loop gain
Pn103 Inertia ratio
Pn401 1st step 1st torque command filter time constant
• The following parameters are also set automatically as required.
Pn408.0 Torque command setting -- Notch filter selection 1
Pn409 Notch filter 1 frequency
Pn408.2 Torque command setting -- Notch filter selection 2
Pn40C Notch filter 2 frequency
• If the electronic gear ratio is not set within the following range, an A042 error (parameter combina-
tion error) will occur. Always set the electronic gear ratio within the following range.
Electronic gear ratio (Pn20E/Pn210) ≤ 218
4-6-3 One-parameter Tuning
■ What is One-parameter Tuning?
• One-parameter tuning is a function that smoothly changes the status of four gain parameters
(Pn100, Pn101, Pn102, Pn401) during operation by changing just one tuning level.
• One-parameter tuning is used to adjust the Servo gain at the user's discretion, while checking
Servo and machinery responses.
■ Parameters Related to One-parameter Tuning
• The following user parameters are set automatically by one-parameter tuning.
Pn100 Speed loop gain
Pn101 Speed loop integration constant
Pn102 Position loop gain
Pn401 1st step 1st torque command filter time constant
4-99
Operation
Chapter 4
4-6-4 Manual Tuning
■ Rigidity Settings During Tuning
• If the gain is adjusted as an initial setting using manual tuning, tuning can be performed compara-
tively quickly. Therefore it is recommended that the rigidity be set first.
• Select the rigidity setting to suit the mechanical system from the following 10 levels.
• The speed loop handles both PI and I-P control.
Switching between PI and I-P control is performed by means of the Pn10B.1 setting. Setting
Pn10B.1 to 0 switches to PI control, and setting it to 1 switches to I-P control. The new setting is
enabled by turning the power OFF and back ON after the setting has been made.
1.Speed Loop PI Control
Response
Rigidity
setting
Position Speed loop Speed loop 1st step 1st
Representative
applications (mechanical
system)
loop gain
gain
(Hz)
Pn100
integration
constant
(ms)
torque
command
filter time
constant
(ms)
−1
(s )
Pn102
Pn101
Pn401
Low
01
15.0
15.0
60.00
45.00
30.00
2.50
2.00
1.30
Articulated robots, har-
monic drives, chain drives,
belt drives, rack and pinion
drives, etc.
02
03
20.0
30.0
20.0
30.0
Medium
High
04
40.0
40.0
20.00
1.00
XY tables, Cartesian-coor-
dinate robots, general-pur-
pose machinery, etc.
05
06
07
08
09
10
60.0
60.0
15.00
10.00
8.00
7.00
6.00
5.00
0.70
0.50
0.40
0.35
0.30
0.25
Ball screws (direct cou-
pling), feeders, etc.
80.0
80.0
100.0
120.0
140.0
160.0
100.0
120.0
140.0
160.0
Note Make sure that the location of the decimal point is correct when setting the parameters.
2.Speed Loop I-P Control
Response
Rigidity
setting
Position Speed loop Speed loop 1st step 1st
Representative
applications (mechanical
system)
loop gain
gain
(Hz)
integration
constant
(ms)
torque
command
filter time
constant
(ms)
−1
(s )
Pn102
Pn100
Pn101
Pn401
Low
01
15.0
15.0
18.00
14.00
9.00
2.50
2.00
1.30
Articulated robots, har-
monic drives, chain drives,
belt drives, rack and pinion
drives, etc.
02
03
20.0
30.0
20.0
30.0
Medium
04
40.0
40.0
7.00
1.00
XY tables, Cartesian-coor-
dinate robots, general-pur-
pose machinery, etc.
4-100
Operation
Chapter 4
Response
Rigidity
setting
Position Speed loop Speed loop 1st step 1st
Representative
applications (mechanical
system)
loop gain
gain
(Hz)
Pn100
integration
constant
(ms)
torque
command
filter time
constant
(ms)
−1
(s )
Pn102
Pn101
Pn401
High
05
60.0
60.0
4.50
3.50
3.00
2.50
2.00
2.00
0.70
0.50
0.40
0.35
0.30
0.25
Ball screws (direct cou-
pling), feeders, etc.
06
07
08
09
10
80.0
80.0
100.0
120.0
140.0
160.0
100.0
120.0
140.0
160.0
Note 1. Make sure that the location of the decimal point is correct when setting the parameters.
Note 2. The Servo System loop gain will rise in response to a higher rigidity setting, shortening the
positioning time. If the setting is too large, however, the machinery may vibrate. In that case,
make the setting smaller.
■ Manual Tuning-related User Parameters
• The following user parameters are set by manual tuning.
Pn100 Speed loop gain
Pn101 Speed loop integration constant
Pn102 Position loop gain
Pn103 Inertia ratio
Pn401 1st step 1st torque command filter time constant
■ Manually Adjusting Servo Gain
1.Increase the speed loop gain (Pn100) as much as possible without having the machinery vibrate,
and simultaneously reduce the speed loop integration constant (Pn101).
2.Adjust the 1st step 1st torque command filter time constant (Pn401) and set it so there is no vibra-
tion.
3.Repeat steps 1 and 2, and return 10% to 20% from the changed values.
4.For position control, increase the position loop gain (Pn102) to the point where the machinery does
not vibrate.
4-101
Operation
Chapter 4
Position control loop
Position
Speed control loop
Move
com-
mand
Speed pattern
Speed
Servomotor
Speed
Tf
Current
conver-
sion unit
Power
conver-
sion unit
Deviation
counter
M
Speed
com-
control unit
KV, Ti
loop gain
Kp
Time
mand
Speed loop
Current loop
PG
Position loop
Encoder
Servopack
Host device
Kp: Position loop gain (Pn102)
(provided by user)
Kv: Speed loop gain (Pn100)
Ti: Speed loop integration constant (Pn101)
Tf: First-level No. 1 torque command filter time constant (Pn401)
■ Procedure for Adjusting Gain
• A Servo System control block is configured of a position loop, a speed loop, and a current loop.
• The current loop is the most interior, followed by the speed loop and then the position loop.
• An output from an exterior loop is an input for an interior loop. As a condition for the exterior loop to
operate properly, the interior loop must be able to give a sufficient response to that input. In other
words, high response is required from the interior loop. Also, when adjusting gain, the adjustment
proceeds from the interior loop gain.
• In order for the current loop to have a sufficient response, it is adjusted at the time of shipping.
Therefore first adjust the speed loop, and then the position loop.
• The speed loop adjustment increases tracking for speed commands. Perform this adjustment in
servolock status, while checking the Servo rigidity (the force holding the position against external
force).
• The position loop adjustment increases tracking for position commands. Input the position com-
mand in the actual operating pattern while checking the positioning time.
4-102
Operation
Chapter 4
4-7 Advanced Adjustment Functions
4-7-1 Bias Function (Position)
■ Functions
• The bias function shortens positioning time by adding bias revolutions to speed commands (i.e.,
commands to the speed control loop).
• If the residual pulses in the deviation counter exceed the setting in Pn108 (bias addition band), the
speed set in Pn107 (bias rotational speed) is added to the speed command, and when the residual
pulses in the deviation counter are within the setting in Pn108, adding to the number of bias rota-
tions stops.
• By setting the following user constants and providing a bias to the speed command unit in the
Servo Driver, the settling time can be shortened during positioning control.
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn107
Bias rotational speed Set the rotation speed to be added to the bias 4-3-3 Parameter
(setting range: 0 to 450 (r/min.)). Details
Pn108
Bias addition band
Set the residual pulses to be added to the num- 4-3-3 Parameter
ber of bias rotations using command units (set- Details
ting range: 0 to 250 (command units)).
Note 1. When not using the bias function, set Pn107 to 0.
Note 2. If the bias rotational speed is set too high, it will cause Servomotor operation to be unstable.
The optimum setting depends on the load, the gain, and the bias addition band, so adjust
the setting while observing the Servomotor response. (Begin with a bias setting of Pn107 =
0, and gradually increase it.)
■ Setting Procedure
• Complete the gain adjustment before adjusting the bias.
• Increase the Pn107 (bias rotational speed) setting until positioning time is minimal. At this point, if
there are no problems with using overshoot, adjustments are complete.
• If the overshoot is too large, increase Pn108 (bias addition band) to reduce it.
• To shorten positioning time, make the settings according to the mechanical conditions. The bias
addition band (Pn108) is the value that indicates by position deviation pulses the timing for adding
the bias (Pn107). Bias is added when the position deviation pulses exceed the set value for the bias
addition band.
4-103
Operation
Chapter 4
■ Operation
Speed command
When bias is set
No bias
Bias addition band
(Pn108)
Bias
(Pn107)
Position error pulses
Bias
(Pn107)
Bias addition band
(Pn108)
4-7-2 Feed-forward Function (Position)
■ Functions
• This function shortens positioning time by automatically, in the Servo Driver, adding the position
command value differential to the speed loop.
• Perform feed-forward compensation to increase Servo gain efficiency, thus improving response.
There is very little effect, however, on systems with sufficiently high position loop gain.
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn109
Feed forward amount Set the feed-forward gain (setting rage: 0 to 100 4-3-3 Parameter
(%)).
Details
Pn10A
Feed forward com-
mand filter
Set the feed-forward command filter (primary
lag). (Setting range: 0 to 6400 (× 0.01 ms).)
4-3-3 Parameter
Details
Note When not using the feed-forward function, set Pn10A to 0.
■ Setting Procedure
• Finish adjusting the gain before adjusting the feed-forward.
• Increase the Pn109 (feed-forward amount) setting until positioning time is minimal. At this point, if
there are no problems with using overshoot, adjustments are complete. A high setting may cause
the machinery to vibrate. With ordinary machinery, set the gain to 80% maximum. (Adjust the gain
while checking the machine response.)
• If the overshoot is too large, increase Pn10A (feed-forward command filter) to reduce the it.
• In the Servo Driver, feed forward compensation is applied to position control. This function is used
to shorten positioning time. If the value is set too high, the machinery may vibrate. Set it to 80% or
less.
4-104
Operation
Chapter 4
■ Operation
Differential
Pn109
Pn10A
Speed command
+
Position command
+
+
Position loop
gain (Kp)
−
Encoder feedback
4-7-3 Torque Feed-forward Function (Speed)
■ Functions
• The torque feed-forward function reduces the acceleration time by adding the torque feed-forward
command value to the current loop.
• Normally a differential value is generated in the controller and this value is input as the torque feed-
forward command value.
Controller
Servo Driver
(MECHATROLINK-II)
Position Control Unit
CJ1W-NCF71
Communi-
cations I/F
processing
Torque
FF com-
pensation
Pn100
Pn101
Pn401
+
+
Current
loop
Speed
loop
Speed command
+
−
−
Speed
Current
detection
detection
Pn212
Encoder divider
rate
E
M
Block Diagram: Torque Feed-forward Function Used
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn002.0
Torque command input Set Pn002.0 to 2 (Option command value used 4-3-3 Parameter
switching as torque feed-forward command value) Details
4-105
Operation
Chapter 4
■ Operation
+
Speed command value
0
+
Torque feed-forward
command value
−
+
Without the torque feed-forward function
Servomotor output torque
−
Without the torque feed-forward function
+r/min
Servomotor operation
0
Note If torque feed-forward is input when the Servomotor's rotation speed is fixed, the rotation speed
won't match the speed command. Design the Controller's circuit so that torque feed-forward is
applied only when the Servomotor is accelerating or decelerating.
■ Applicable Controller Commands
Controller
Commands and instructions
According to option command values during speed control.
Not available.
CJ1W-NCF71
CS1W-MCH71
CJ1W-MCH71
Note For details on commands and instructions, refer to the manual for the specific Unit.
4-7-4 Automatic Gain Switching (Position)
■ Functions
• This function switches the speed loop and position loop gain.
• When Pn139.0 (Gain switching selection switch) is set to 1, and the conditions set in Pn139.1 (Gain
switching condition A) and Pn139.2 (Gain switching condition B) are satisfied, the No. 1 gain and
the No. 2 gain are switched alternately. Switching from the No. 1 gain to the No. 2 gain occurs when
gain switching condition A is satisfied, and switching from the No. 2 gain to the No. 1 gain occurs
when gain switching condition B is satisfied.
4-106
Operation
Chapter 4
● Gain Switching Combinations
Switched
gain
Speed loop gain
Speed loop integral
time constant
Position loop gain
Torque command
filter
No. 1 gain Pn100 Speed loop
gain
Pn101 Speed loop
integration
Pn102 Position loop
gain
Pn401 1st step 1st
torque com-
constant
mand filter
time constant
No. 2 gain Pn104 Speed loop
gain 2
Pn105 Speed loop
integration
Pn106 Position loop
gain 2
Pn412 1st step 2nd
torque com-
constant 2
mand filter
time constant
● Automatic Gain Switching Pattern
• Automatic Switching Pattern 1 (Pn139.0: 1)
Waiting time 1
Switching time 1 Pn131
Pn135
Condition A
Pn139.1
No. 1 gain
Pn100
No. 2 gain
Pn104
Pn101
Pn105
Pn102
Pn106
Pn401
Pn412
Condition B
Pn139.2
Waiting time 2
Switching time 2 Pn132
Pn136
• Even when the switching conditions are met, switching is not executed during the gain switching
waiting time. This is effective for when switching conditions are not stable, or when detailed timing is
set. The switching time is set to reduce shock during gain switching, and the gain is directly
switched during this time. The gain switching waiting time and switching time can be set for No. 1 to
No. 2 and No. 2 to No. 1 gain as shown in the following table.
● Automatic Gain Switching
Parameter setting Switching condition
Switching gain
No. 1 to No. 2 gain
No. 2 to No. 1 gain
Gain switching
waiting time
Gain switching
time
Pn139.0: 1 Condition A met.
Waiting time 1
Pn135
Switching time 1
Pn131
(Automatic switch- Pn139.1
ing pattern 1)
Condition B met.
Waiting time 2
Pn136
Switching time 2
Pn132
Pn139.2
● Gain Switching Waiting Time and Gain Switching Time
• The following diagram shows the relationship between the gain switching waiting time and the gain
switching time constant. In this example, automatic gain switching pattern 1 takes the turning ON of
positioning completed signal 1 (INP1) as the condition, and operation is switched from the position
loop gain (Pn102) to the No. 2 position loop gain (Pn106). The switching condition is satisfied when
the INP1 signal turns ON, and then, from that point, operation pauses for the delay time set in
Pn135. Then the gain is directly changed from Pn102 to Pn106 during the switching time set in
Pn131.
4-107
Operation
Chapter 4
Waiting time Switching time
Pn135 Pn131
Pn102
Position loop gain
Pn106
No. 2 position
loop gain
INP1
Switching condition A met.
• Automatic gain switching is also possible with less-deviation control, in addition to the standard PI
and I-P control. The following table shows the gain combinations for less-deviation control. The
method for setting the switching conditions, and the settings for the gain switching waiting time and
gain switching time are the same as for PI and I-P control. For details on adjusting less-deviation
control, refer to 4-7-9 Less-deviation Control (Position).
● Automatic Gain Switching Combinations for Less-deviation Control
Switching Servo rigidity Speed feedback filter
gain time constant
Integral compensation processing Pn1A7.0
0
1
2
3
No. 1 gain Servo rigidity Speed feedback filter Disabled
Enabled
Enabled
Disabled
Pn1A0
time constant
Pn1A2
No. 2 gain Servo rigidity 2 Speed feedback filter Disabled
Enabled
Disabled
Enabled
Pn1A1
time constant 2
Pn1A3
• Observe the following points when using the gain switching function.
The control method corresponds to less-deviation control as well as to IP and I-P control.
If automatic switching is interrupted in progress by an event such as Servo OFF or an alarm, the
No. 1 gain is set.
4-108
Operation
Chapter 4
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn139.0
Pn139.1
Automatic gain
changeover related
switches 1 -- Gain
switching selection
switch
Set Pn139.0 to 1 (Automatic switching pattern 4-3-3 Parameter
1) in order to use the automatic gain switching Details
function.
Automatic gain
Set the condition for switching from No. 1 gain 4-3-3 Parameter
changeover related
switches 1 -- Gain
switching condition A
to No. 2.
Details
Pn131
Pn135
Gain switching time 1 Set the switching time for switching from No. 1 4-3-3 Parameter
gain to No. 2.
Details
Setting range: 0 to 65,535 (ms)
Gain switching waiting Set the time for starting to switch from No. 1
4-3-3 Parameter
Details
time 1
gain to No. 2 after gain switching condition A
has been satisfied.
Setting range: 0 to 65,535 (ms)
Pn139.2
Automatic gain
Set the switching time for switching from No. 2 4-3-3 Parameter
gain to No. 1. Details
changeover related
switches 1 -- Gain
switching condition B
Pn132
Pn136
Gain switching time 2 Set the switching time for switching from No. 2 4-3-3 Parameter
gain to No. 1.
Details
Setting range: 0 to 65,535 (ms)
Gain switching waiting Set the time for starting to switch from No. 2
4-3-3 Parameter
Details
time 2
gain to No. 1 after gain switching condition B
has been satisfied.
Setting range: 0 to 65,535 (ms)
Pn104
Pn105
No. 2 speed loop gain Set the speed loop gain for the No. 2 gain.
Setting range: 10 to 20,000 (× 0.1 Hz)
No.2 speed loop inte- Set the speed loop integral time constant for the 4-3-3 Parameter
4-3-3 Parameter
Details
gration constant
No. 2 gain.
Details
Setting range: 15 to 51,200 (× 0.01 ms)
Pn106
No. 2 position loop
gain.
Set the position loop gain for the No. 2 gain.
Setting range: 10 to 20,000 (× 0.01/s)
4-3-3 Parameter
Details
4-7-5 Speed Feedback Compensation (Position, Speed)
■ Functions
• This function shortens positioning time.
• This function works to lower the speed loop feedback gain, and raise the speed loop gain and posi-
tion loop gain. Consequently, response to commands is improved, and positioning time can be
shortened. Noise sensitivity is lowered, however, so positioning time cannot be shortened where
there is external force applied, such as with the vertical axis.
• Using speed feedback compensation is effective in suppressing vibration and raising the speed
loop gain. If the speed loop gain can be raised, the position loop gain can be raised as well, so this
can effectively reduce the settling time for positioning.
4-109
Operation
Chapter 4
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn110.1
Normal autotuning
switches -- Speed
feedback compensa-
tion function selection
To use the speed feedback compensation func- 4-3-3 Parameter
tion, set Pn110.1 to 0 (speed feedback com-
pensation function ON).
Details
Pn111
Speed feedback com- Adjusts the speed loop feedback gain.
pensating gain Setting range: 1 to 500 (%)
4-3-3 Parameter
Details
• Reduce the setting value for Pn111 (speed feedback compensating gain) to increase the speed
loop gain and position loop gain. If the value is too small, the response may vibrate.
• For this function to be used, it is a prerequisite that the inertia ratio (Pn103) value be correctly set.
Make sure that the inertia ratio is set correctly.
■ Setting Procedure
• To perform adjustment, monitor position deviation and torque commands. Either monitor the analog
monitor output or use Computer Monitor Software.
• Follow 4-6-4 Manual Tuning to adjust Pn100 (speed loop gain), Pn101 (speed loop integration con-
stant), Pn102 (position loop gain), and Pn401 (1st step 1st torque command filter time constant) to
quickly set the position deviation to zero without the torque command vibrating.
• After completing tuning, lower Pn111 to 10, and adjust Pn100, Pn101, Pn102, and Pn401 in the
same way.
• Repeat this adjustment procedure and perform optional adjustment.
■ Adjustment Example
Speed
command
Position
deviation output
Speed loop gain,
speed loop integra-
tion constant
1st step 1st tor-
que command
filter time con-
stant (Pn401)
Torque command
Speed feedback
Position loop
gain (Pn102)
(Pn100, Pn101)
Speed feedback
compensation (Pn111)
Speed feedback
compensation function
selection (Pn110.1)
Speed feedback compensation function
This section describes the adjustment method for when speed loop gain cannot be raised due to
vibration in the mechanical system. If speed loop feedback compensation is added, be sure to moni-
tor position deviation and torque commands with the analog monitor while adjusting the Servo gain.
(Refer to 4-9 Using Monitor Output.)
1.Set user constant Pn110 to 0002.
• Speed feedback compensation will be used.
4-110
Operation
Chapter 4
2.Gradually raise the speed loop gain (Pn100) with PI control, while lowering the speed loop inte-
gration constant (Pn101). At this time, equalize the set values for the speed loop gain (Pn100) and
the position loop gain (Pn102). The relationship between the speed loop gain and the integral time
constant is shown in the equation below. Take the value derived from this equation as the criterion
for the integration constant (Pn101) set value.
Speed loop integration constant (Pn101) = 4000/2π × Pn100 set value
Speed loop gain setting unit: [× 0.1 Hz]
When setting the speed loop integration constant (Pn101), confirm the unit. The setting unit for
Pn101 is [× 0.01ms]. This differs from the setting units for speed loop gain [× 0.1 Hz] and position
loop gain [× 0.1/s], but the numbers set are the same.
3.Repeat step 2 and raise the gain while monitoring the settling time conditions with an analog mon-
itor position deviation and the vibration conditions with a torque command. If oscillation can be
heard or if vibration increases too much, gradually increase the 1st step 1st torque command filter
time constant (Pn401).
4.Raise only the position loop gain little by little. When the gain has been raised to approximately
the limit, go to the next step. Lower the speed feedback compensation gain (Pn111) from 100% to
90%. Then repeat steps 2 and 3 above.
5.Further lower the speed feedback compensation gain from 90%, and repeat steps 2 to 4 to shorten
the settling time. If the speed feedback compensation value is lowered too much, however, the re-
sponse waveform will oscillate.
6.Seek the lowest settling time, in a range where torque command waveforms and position deviation
monitored by the analog monitor do not become unstable through oscillation.
7.The Servo gain adjustment is complete at the point where the positioning time cannot be short-
ened any further.
Note When the speed feedback compensation function is used, the speed loop gain and position
loop gain can normally be raised. However, if the compensation value is greatly changed with
the speed loop gain and position loop gain raised, or if the speed feedback compensation func-
tion is disabled (i.e., Pn110.1 set to 1), the machinery may strongly vibrate and cause damage
to the machinery.
4-7-6 Speed Feedback Filter (Position, Speed)
■ Functions
• This function sets the primary filter for the speed feedback gain.
• Use the filter function when you cannot raise the speed loop feedback due to mechanical system
vibration, etc.
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn308
Speed feedback filter Set the filter time constant for the speed feed- 4-3-3 Parameter
time constant back. (Setting range: 0 to 65535 (× 0.01 ms).) Details
4-111
Operation
Chapter 4
• Set the primary delay filter for the speed loop speed feedback. The feedback speed will be evened
out and vibration will be reduced. If a large value is entered, it will contribute to delay and response
will be reduced.
■ Setting Procedure
• Measure the machinery vibration cycle, and set Pn508 (speed feedback filter time constant) to that
value.
4-7-7 P Control Switching (Position, Speed)
■ Functions
• For speed control, to suppress overshooting during acceleration and deceleration.
• For position control, to suppress undershooting during positioning operations and shorten the set-
tling time.
■ Operation Examples
Speed
Overshooting
Actual Servomotor movement
Command
Time
Undershooting
Settling time
• The P control switching function automatically switches the control mode from PI control to P con-
trol, with the status amount in the Servo Driver above or below the detection point set by the user
constant.
Note 1. The P control switching function is used when it is necessary to push Servo Driver perfor-
mance to it's limits in order to obtain especially high-speed positioning. To perform adjust-
ments, it is necessary to monitor the speed response waveform.
Note 2. In normal operation, sufficient control can be executed by means of the speed loop gain and
position loop gain set by auto-tuning operations. Also, even when overshooting or under-
shooting occurs, it can be suppressed by setting the acceleration/deceleration time constant
for the host device and the soft start time (Pn305, Pn306) and the position command accel-
eration/deceleration time constant (Pn216) for the Servo Driver.
4-112
Operation
Chapter 4
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn10B.0
Pn10C
Speed control setting - Sets the condition for switching the speed loop 4-3-3 Parameter
- P control switching
condition
from PI control to P control. Use Pn10C to
Pn10F to make the switching level settings.
Details
P control switching
(torque command)
Set when Pn10B.0 = 0 (switch using internal
4-3-3 Parameter
torque command value). Set the conditions for Details
switching to P control using the ratio (%) of the
Servomotor rated torque. (Setting range: 0 to
800%)
Pn10D
Pn10E
Pn10F
P control switching
(speed command)
Set when Pn10B.0 = 1 (switch using speed
command value). Set the speed (r/min.) to
switch to P control. (Setting range: 0 to
10,000 r/min)
4-3-3 Parameter
Details
P control switching
(acceleration com-
mand)
Set when Pn10B.0 = 2 (switch using accelera- 4-3-3 Parameter
tion command value). Set the acceleration (r/
min./s) to switch to P control. (Setting range: 0
to 30,000 r/min/s)
Details
P control switching
(deviation pulse)
Set when Pn10B.0 = 3 (switch using deviation 4-3-3 Parameter
pulse value). Set the deviation pulse value
(command unit) to switch to P control. (Setting
range: 0 to 10,000 command units)
Details
● P Control Switching Condition Taken as Internal Torque Command (Pn10B.0 = 0)
• When the torque command is equal to or greater than the torque set in the user constant (Pn10C),
the speed loop is switched to P control. For the Servo Driver this mode is set at the factory as the
standard setting. The torque command level is set to 200%.
Torque command
+Pn10C
Torque
command
Servomotor
speed
0
Command speed
Speed
−Pn10C
P
PI control
PI
P
PI control
• Operation Example
When P control switching is not used, and PI control is always used, the torque during acceleration
and deceleration may be saturated and the Servomotor speed may overshoot or undershoot. Using
P control switching suppresses torque saturation and eliminates Servomotor speed overshooting
and undershooting.
Without P control switching
With P control switching
Overshooting
Servo-
motor
speed
Servomotor
speed
Under-
shooting
Time
Time
4-113
Operation
Chapter 4
● P Control Switching Condition Taken as Speed Command (Pn10B.0 = 1)
• When the speed command is equal to or greater than the speed set in the user constant (Pn10D),
the speed loop is switched to P control.
Speed command
Speed
Pn10D
Servomotor
speed
Time
PI
P control
PI control
• Operation Example
Used to shorten the settling time. In general, the speed loop gain must be raised in order to shorten
the settling time, but in this case overshooting and undershooting are suppressed.
Without P control switching
With P control switching
Speed
command
Servomotor
speed
Servomotor
speed
Long settling time
Speed loop gain raised.
Overshooting
Servo-
motor
speed
Servomotor
speed
Under-
shooting
Settling time
Time
● P Control Switching Condition Taken as Acceleration Speed (Pn10B.0 = 2)
• When the Servomotor acceleration speed is equal to or greater than the acceleration speed set in
the user constant (Pn10E), the speed loop is switched to P control.
Servomotor acceleration speed
+Pn10E
Acceleration
speed
Servomotor
speed
0
Command speed
Speed
−Pn10E
PI control
P PI control
PI
P
• Operation Example
When P control switching is not used, and PI control is always used, the torque during acceleration
and deceleration may be saturated and the Servomotor speed may overshoot or undershoot. Using
P control switching suppresses torque saturation and eliminates Servomotor speed overshooting
and undershooting.
Without P control switching
With P control switching
Overshooting
Servo-
motor
speed
Servomotor
speed
Under-
shooting
Time
Time
4-114
Operation
Chapter 4
● P Control Switching Condition Taken as Position Deviation Pulses (Pn10B.0 = 3)
• When the Servomotor position deviation pulses are equal to or greater than the number of pulses
set in the user constant (Pn10F), the speed loop is switched to P control.
Command
Servomotor speed
Pn10F
Speed
Position
deviation
pulses
Time
PI
P control
PI control
• Operation Example
Used to shorten the settling time. In general, the speed loop gain must be raised in order to shorten
the settling time, but in this case overshooting and undershooting are suppressed.
Without P control switching
With P control switching
Speed
command
Servomotor
speed
Servomotor
speed
Long settling time
Speed loop gain raised.
Overshooting
Servomotor
speed
Servo-
motor
speed
Under-
shooting
Settling time
Time
4-7-8 Predictive Control (Position)
Predictive control is a method for minimizing future deviation by using machine characteristics and
target values in position control mode to predict deviation.
The R88D-WN@@@-ML2 Servo Driver provides two types of predictive control: predictive control for
positioning, which aims at shortening the settling time, and predictive control for tracking, which aims
at reducing tracking deviation.
With predictive control for positioning, future position commands are predicted in order to execute
high-speed positioning. With predictive control for tracking, on the other hand, the tracking of position
commands that are input is retained.
The adjustment method is to simply enable predictive control, and then the recommended value is
calculated and set according to the position loop gain (Kp) set at that time. If required, the adjustment
can be further refined by means of user constants for minute adjustment.
4-115
Operation
Chapter 4
Predictive control position response
Position command (host command)
Position
Predictive control used.
Predictive control not used.
Time
Predictive control position deviation response
Position deviation
Predictive control used. Predictive control not used.
Time
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn150.0
Predictive control
selection switches --
Predictive control
selection
In order to use the predictive control function,
set 1 (Predictive control used) for Pn150.0.
4-3-3 Parameter
Details
Pn150.1
Pn151
Pn152
Predictive control
switches -- Predictive
control type
Set the predictive control type.
4-3-3 Parameter
Details
Predictive control
acceleration/decelera- dictive control.
tion gain
Set the acceleration/deceleration gain for pre- 4-3-3 Parameter
Details
Setting range: 0 to 300 (%)
Predictive control
weighting ratio
Set the position deviation ratio for predictive
control.
4-3-3 Parameter
Details
Setting range: 0 to 300 (%)
■ Predictive Control Type (Pn150.1)
• Predictive control for tracking (Pn150.1 = 0)
This function operates by retaining the tracking for position commands that are input. Use it when
there is a need to retain the shape of position command tracking. The beginning of operation is
delayed by several ms, however, from when the command is executed, so the positioning settling
time is longer than the positioning predictive control.
4-116
Operation
Chapter 4
• Predictive control for positioning (Pn150.1 = 1)
This function operates by anticipating future position commands. It starts operation simultaneous-
ly with a command and is effective in shortening positioning time.
The tracking is different from the command tracking shape. With machinery that is prone to vibra-
tion, the vibration may increase when stopping. In that case, even with a positioning application,
use predictive control for tracking.
Predictive control for
positioning:
Enables high-speed positioning.
Predictive control for tracking:
Retains command shape.
Position
Position command
Position propor-
tional control
Time
■ Predictive Control Acceleration/Deceleration Gain (Pn151)
As this value is increased, the settling time is shortened without significantly changing the maximum
position deviation. If the value is set too high, overshooting will occur. The following diagram shows
an example of position deviation during operation by a trapezoidal speed command. Raising the pre-
dictive control acceleration/deceleration gain changes the position deviation from the dotted line to
the solid line and shortens the settling time.
Position deviation
Predictive control acceleration/deceleration
gain (Pn151) is raised.
Time
■ Predictive Control Weighting Ratio (Pn152)
As this value is increased, the tracking deviation is reduced. If the positioning completed range is
large, this is also effective in shortening the settling time. If the value is set too high, torque vibration
and overshooting may occur. The following diagram shows an example of position deviation during
operation by a trapezoidal speed command. Raising the predictive control weighting ratio changes
the position deviation from the dotted line to the solid line and lowers the tracking deviation.
4-117
Operation
Chapter 4
Predictive control weighting
ratio (Pn152) is raised.
Position deviation
Time
■ Procedure for Adjusting Predictive Control
• Use the following procedure for adjusting predictive control.
1.Adjust by normal control.
Functions such as one-parameter tuning or auto-tuning can be used.
2.Change the predictive control selection switches.
Change the predictive control selection switches to use predictive control. After changing the
switch, the power must be turned OFF and back ON.
3.Adjust the predictive control parameters.
Adjust the predictive control parameters as required, while checking the response.
4-118
Operation
Chapter 4
Start operation with the predictive
control OFF (Pn150.0 = 0), and adjust
the parameters such as the Kp and Ky
filters.
Related parameters
Pn150: Predictive control selection
switch
Pn151: Predictive control
acceleration/deceleration gain
Pn152: Predictive control weighting ratio
Pn102: Position loop gain
One-parameter tuning
Advanced auto-tuning can be used.
Tracking control
Positioning control?
Tracking control?
Positioning control
Set the predictive control type to
positioning (Pn150.1 = 1).
Set the predictive control type to
tracking (Pn150.1 = 0).
Turn ON predictive control
(Pn150.0 = 1), and turn ON the
power.
Predictive control will be set
automatically, linked to the
position loop gain (Pn102).
Operates with predictive
control basic adjustments.
Specifications
satisfied or
No
adjustment limited?
Performance
Eliminate overshooting
Yes
improvement?
Eliminate
overshooting?
Lower the predictive control
Performance improvement
acceleration/deceleration gain
(Pn151) or the predictive con-
trol weighting ratio (Pn152)
while checking for overshoot-
ing due to position deviation.
Shorten settling
time?
Reduce tracking
deviation?
Reduce tracking deviation
Eliminate
overshooting?
No
Shorten settling time.
Yes
Raise the predictive con-
trol acceleration/deceler-
ation gain (Pn151) to a
range where overshoot-
ing does not occur.
Increase the predictive control
weighting ratio (Pn152) to a
range where overshooting
does not occur and the torque
waveform does not oscillate.
Lower the position gain
(Pn102) while checking for
overshooting due to position
deviation.
End
■ Applicable Restriction
• Advanced auto-tuning cannot be used while the predictive control function is in use (Pn150.0 = 1).
4-119
Operation
Chapter 4
4-7-9 Less-deviation Control (Position)
Less-deviation control is a method for shortening the settling time and lowering tracking deviation by
reducing as much as possible the deviation during movement in position control mode. Using less-
deviation one-parameter tuning makes it easy to perform adjustments. Also, when even higher per-
formance is required, user adjustment constants for less-deviation control can be used to make
minute adjustments.
Position
Position command
(host command)
No-deviation control used.
No-deviation control not used.
Time
Position
deviation
No-deviation
control not used.
No-deviation
control used.
Time
No-deviation control response waveform examples
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn10B.2
Speed control setting - To execute less-deviation control, set Pn10B.2 4-3-3 Parameter
- Position loop control to 1.
method
Details
Pn1A0
Pn1A1
Pn1A2
Servo rigidity
Set the Servo rigidity for the No. 1 gain.
Setting range: 1 to 500 (%)
4-3-3 Parameter
Details
Servo rigidity 2
Set the Servo rigidity for the No. 2 gain.
Setting range: 1 to 500 (%)
4-3-3 Parameter
Details
Speed feedback filter Set the speed feedback filter time constant for 4-3-3 Parameter
time constant
the No. 1 gain.
Details
Setting range: 30 to 3,200 (× 0.01 ms)
Pn1A3
Pn1A4
Speed feedback filter Set the speed feedback filter time constant for 4-3-3 Parameter
time constant 2
the No. 2 gain.
Setting range: 30 to 3,200 (× 0.01 ms)
Details
Torque command filter Adjust for less-deviation control (set Pn10B.2 to 4-3-3 Parameter
time constant 2
1).
Details
Setting range: 0 to 2,500 (× 0.01 ms)
Pn1A7.0
Utility control switches Set the integral compensation processing for
-- Integral compensa- the No. 1 gain and the No. 2 gain during less-
4-3-3 Parameter
Details
tion processing
deviation gain switching.
4-120
Operation
Chapter 4
Parameter
No.
Parameter name
Explanation
Reference
Pn1A9
Pn1AA
Pn1AB
Pn1AC
Utility integral gain
Adjust the auxiliary integral gain.
Setting range: 0 to 500 (Hz)
4-3-3 Parameter
Details
Position proportional
gain
Adjust the position proportional gain.
Setting range: 0 to 500 (Hz)
4-3-3 Parameter
Details
Speed integral gain
Adjust the speed integral gain.
Setting range: 0 to 500 (Hz)
4-3-3 Parameter
Details
Speed proportional
gain
Adjust the speed proportional gain
Setting range: 0 to 2,000 (Hz)
4-3-3 Parameter
Details
■ Procedure for Adjusting Less-deviation Control
• Execute and adjust less-deviation control according to the following flowchart. The inertia ratio must
be set first, and then the notch filter if required. Then select less-deviation control and turn the
power OFF and back ON.
4-121
Operation
Chapter 4
Start
Set the inertia ratio.
Manually set Pn103 or use
the inertia calculation
function.
Set the notch filter.
Measure the frequency and
set the notch filter if
required.
Set the no-deviation con-
trol selection (Pn10B.2 =
1).
Turn ON the power.
Execute less-deviation
one-parameter tuning.
Suitable
result
achieved?
No
Increase the value of
Pn1A2.
Yes
End
Yes
Vibration?
No
Increase Pn1A4 to a
value where there is
no vibration.
Increase Pn1AA to a
value where there is
no vibration.
Increase Pn1A9 to a
value where there is no
vibration. (See note.)
Note: For Pn1A9, take a fac-
tor of 0.8 of Pn1AA as
the upper limit.
End
4-122
Operation
Chapter 4
■ Less-deviation Gain Switching
• For details on gain switching when using less-deviation control, refer to the information on Auto-
matic Gain Switching Combinations for Less-deviation Control in 4-7-4 Automatic Gain Switching
(Position).
■ Function Limitations when Less-deviation Control is Used
• Auxiliary Functions
The following auxiliary functions will not operate effectively even if they are selected.
Advanced auto-tuning
One-parameter tuning
• Control Methods used for Normal Position Control
The following control methods will not operate.
Feed forward
P control switching function
Speed feedback compensation
Predictive control
Average movement filter
4-7-10 Torque Command Filter (All Operating Modes)
As shown in the following diagram, three torque command filters and two notch filters are wired in
series in the torque command filter, and they are used independently. The notch filters can be
enabled or disables by parameter settings.
Torque-related
function switch
Pn408
2nd step
1st step
1st torque
command
filter
3rd step
torque
Torque
command
before filter
Torque
command
after filter
Notch
filter 2
Notch
filter 1
Pn409
Pn40A
2nd torque
command
filter
command
filter
Pn40C
Pn40D
Pn40F
Pn410
Pn401
Pn411
Secondary
delay filter
Primary
delay filter
Notch filter
Primary delay filter
Notch filter
4-123
Operation
Chapter 4
■ Torque Command Filter
● Functions
If vibration thought to be caused by the Servo Driver occurs in the machinery, adjusting the torque
command filter time constant may cause the vibration to subside. The lower the value is set, the bet-
ter the response of the control that can be achieved. There are limits, however, depending on the
conditions of the machinery.
● Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn401
1st step 1st torque
command filter time
constant
Set the step 1 torque time constant for the
torque command.
Setting range: 0 to 65,535 (× 0.01 ms)
4-3-3 Parameter
Details
Pn40F
2nd step 2nd torque
command filter fre-
quency
When using the 2nd step 2nd torque command 4-3-3 Parameter
filter frequency, set a number other than
2,000 Hz.
Details
Setting range: 100 to 2,000 (Hz)
Pn410
Pn411
2nd step 2nd torque
command filter Q value value.
Setting range: 50 to 1,000 (× 0.01)
3rd step torque com-
mand filter time con-
stant
Set the 2nd step 2nd torque command filter Q 4-3-3 Parameter
Details
Set the 3rd step torque command filter time
constant.
4-3-3 Parameter
Details
Setting range: 0 to 65,535 (µs)
Note The unit for the 3rd step torque command filter time constant is different from the units for the
step 1 and step 2. The 2nd step 2nd torque command filter will be disabled if Pn40F (2nd step
2nd torque command filter frequency) is set to 2,000 Hz.
■ Notch Filter
● Functions
• A notch filter can be set for internal torque commands (commands to the current loop). A notch filter
is a function for lowering the response of the frequency that is set. The degree to which the
response is to be lowered is set by the Q value.
• If mechanical resonance is occurring, a notch filter can be used to prevent it. This makes it possible
to shorten positioning time by raising the speed loop gain.
• With W-series AC Servo Drivers, two notch filters (notch filters 1 and 2) can be set.
Note This is a filter setting for the purpose of preventing machine resonance that cannot be elimi-
nated by simply adjusting the gain. If it not set carefully, it may have the unintended effect of
making machine operation unstable. Adjust the setting while monitoring machine operation by
means such as the torque command monitor. Also, provide an emergency stop switch that can
be pressed to immediately stop the machinery.
4-124
Operation
Chapter 4
● Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn408.0
Torque command set- When using notch filter 1, set Pn408.0 to 1
ting -- Selects notch fil- (Notch filter 1 used).
ter 1 function
4-3-3 Parameter
Details
Pn409
Notch filter 1 frequency Set the machine resonance frequency.
Setting range: 50 to 2,000 (Hz)
4-3-3 Parameter
Details
Pn40A
Pn408.2
Notch filter 1 Q value
Set the Q value for notch filter 1.
Setting range: 50 to 1,000 (× 0.01)
4-3-3 Parameter
Details
Torque command set- When using notch filter 2, set Pn408.2 to 1
ting -- Selects notch fil- (Notch filter 2 used).
ter 2 function
4-3-3 Parameter
Details
Pn40C
Pn40D
Notch filter 2 frequency Set the machine resonance frequency.
Setting range: 50 to 2,000 (Hz)
4-3-3 Parameter
Details
Notch filter 2 Q value
Set the Q value for notch filter 2.
Setting range: 50 to 1,000 (× 0.01)
4-3-3 Parameter
Details
Note 1. The Q value determines the notch filter characteristics. The smaller the Q value is set, the
larger the frequencies that lower response, so current loop response for frequencies other
than for resonance frequencies is lowered. If the Q value is increased, the frequencies that
lowers response can be reduced to the resonance frequencies. If the resonance frequencies
vary due to influences such as the load or temperature, the effectiveness of the notch filter
is decreased. Therefore determine the optimum setting while making adjustments.
Note 2. Be very careful when setting the notch frequency (Pn409 or Pn40C). Do not set the notch
frequency near the speed loop response frequency. Set the frequency at least four times
greater than speed loop response frequency, or it may cause damage to the machinery.
Note 3. Make sure that the Servomotor is stopped while the notch filter frequency (Pn409, Pn40C)
is being changed. The Servomotor will vibrate if the frequency is changed during operation.
4-125
Operation
Chapter 4
Q value = 0.7
Q value = 1.0
Notch filter
Notch filter
100
0
100
0
Gain
(db)
Gain
(db)
−100
−200
−300
−100
−200
−300
104
103
102
102
103
104
Frequency (Hz)
Frequency (Hz)
Notch filter
Notch filter
0
0
−100
−200
−300
−400
−100
−200
−300
−400
Unit
(deg)
Unit
(deg)
104
103
102
102
103
104
Frequency (Hz)
Frequency (Hz)
● Setting Procedure
• Raise the value of Pn100 (speed loop gain) and measure the torque vibration frequency with the
machinery barely vibrating. Either monitor the analog monitor output (torque command monitor) or
use Computer Monitor Software.
• Set the measured frequency in Pn409 (or Pn40C).
• Minutely adjust Pn409 (or Pn40C) in order to minimize output vibration.
• Gradually increase the Q value (Pn40A or Pn40C) in a range where vibration does become too
great.
• Again adjust Pn100 (Speed loop gain), Pn101 (Speed loop integration constant), Pn102 (Position
loop gain), and Pn401 (1st step 1st torque command filter time constant according to the procedure
described in 4-6-4 Manual Tuning.
4-126
Operation
Chapter 4
4-7-11 Vibration Suppression when Stopping (Position)
■ Functions
When the Servo gain is increased, there may be vibration (such as the limit cycle) while stopped,
even though there is no vibration while moving. It was previously necessary to lower the response to
a gain where vibration while stopped subsided, sacrificing response during movement. To suppress
the vibration while movement is stopped, this function lowers the internal Servo gain only while
movement is stopped. Use this function by adjusting the parameters given below. After the vibration
suppression starting time (Pn421) has elapsed from the point where the position command is 0, the
internal Servo gain will change to the percentage set for the damping for vibration suppression on
stopping (Pn420).
Position command
Position command = 0
Servo gain
K
K
Pn421
K × Pn420/100
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn420
Damping for vibration Sets the gain reduction rate for when the Servo- 4-3-3 Parameter
suppression on stop-
ping
motor is stopped.
Setting range: 10 to 100%
Details
Pn421
Vibration suppression Set the time for Pn420 to be enabled after the 4-3-3 Parameter
starting time
motor stops.
Details
Setting range: 0 to 65,535 (ms)
Note Use when the damping for vibration suppression on stopping (Pn420) is 50% or higher, and the
vibration suppression starting time (Pn421) is 10 ms or longer. If a low value is set, the
response characteristics may be lowered and vibration may occur.
4-127
Operation
Chapter 4
4-7-12 Backlash Compensation (Position)
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn207.2
Position control set-
tings 2 -- Backlash
compensation selec-
tion
To execute backlash compensation in the for-
ward command direction, set Pn207.2 to 1 (For- Details
ward compensation). To execute backlash
compensation in the reverse command direc-
tion, set Pn207.2 to 2 (Reverse compensation).
4-3-3 Parameter
Pn214
Pn215
Backlash compensa-
tion amount
Set the compensation amount in command
units.
Setting range: −32,767 to 32,767 (command
units)
4-3-3 Parameter
Details
Backlash compensa-
tion time constant
Set the time constant for backlash compensa- 4-3-3 Parameter
tion.
Details
Setting range: 0 to 65,535 (× 0.01 ms)
■ When Pn207.2 = 1
• Executes in the forward direction the amount of backlash compensation set in Pn214.
Machinery
Servomotor axis
Forward
Machinery
Servomotor axis
■ When Pn207.2=2
• Executes in the reverse direction the amount of backlash compensation set in Pn214.
Machinery
Servomotor axis
Reverse
Machinery
Servomotor axis
4-128
Operation
Chapter 4
4-7-13 Position Integration (Position)
■ Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn11F
Position integral time
constant
Set the integral time constant for the position
loop.
4-3-3 Parameter
Details
Setting range: 0 to 50,000 (× 0.1 ms)
Note Effective for synchronous operations such as electronic cam and electronic shift.
4-129
Operation
Chapter 4
4-8 Using Displays
OMNUC C-series AC Servomotors have unique Servo software that enables
quantitative monitoring in real time, on digital displays, of changes in a variety of
characteristics. Use these displays for checking the various characteristics during
operation.
4-8-1 Power, Charge, and COM Indicators
• There are three indicators on the Servo Driver itself: Power, charge, and COM.
With front cover open
DF0300413 PC
S/N D0039C242510001
ON
1
2
3
4
Power supply indicator
COM indicator
POWER
COM
200
V
R88D-WN01H-ML2
Charge indicator
AC SERVO DRIVER
POWER
COM
100W
SW1
C
N
6
A/B
CHARGE
L1
■ Indicators
Symbol
Name
Color
Green
Red
Function
POWER
Power supply indicator
Charge indicator
Lit when control power supply is normal.
CHARGE
Lit when main-circuit power supply is charging.
With Servo Drivers of 1 kW or less, lights dimly
when the control power supply is ON.
COM
COM indicator
Green
Lights while MECHATROLINK-II communications
are in progress.
Note The indicator stays lit while the main circuit capacitor remains charged even after the power is
turned OFF. Do not touch the Servo Driver terminal.
4-130
Operation
Chapter 4
4-8-2 Status Display Mode
• The Status Display Mode indicates the internal status of the driver using bit display (LED ON/OFF),
and symbol display (7-segment LEDs).
• Status Display Mode is the mode in which the Servo Driver starts when the power supply is first
turned ON.
Status Display Mode Normal: Bit display
Error: Symbol display (Example: A.020)
Status
Not lit
Not lit
Not lit
Not lit
display
■ Bit Data Display Contents
Servo ON/OFF
Rotation detected
CONNECT
Detection during command input
Bit data
Contents
Servomotor rotation detection Lit during Servomotor rotation.
Servo ON/OFF
Lit when Servo is OFF. Not lit while Servo is ON.
Lit during command input.
Command input detection
CONNECT
Lit when MECHATROLINK-II communications begin.
■ Symbol Display Contents
Bit data
Contents
Alarm display (Refer to alarm table.)
a.@@@
4-131
Operation
Chapter 4
4-9 Using Monitor Output
OMNUC W-series AC Servo Drivers output in analog form the Servomotor rotation
speed, torque command, position difference, and other proportional voltage amounts
from the Analog Monitor Output Connector (CN5). This function can be used in
situations such as making fine gain adjustments or when a meter is attached to the
control panel. Select the monitor items using parameters Pn006.0 to Pn006.1 and
Pn007.0 to Pn007.1. Also, use parameters Pn006.2 and Pn007.2 to change scaling
and Pn550 and Pn551 to adjust the offset.
■ Analog Monitor Output Connector (CN5)
• The Analog Monitor Output Connector (CN5) is located inside the top cover of the Servo Driver.
Analog Monitor Output
Connector (CN5)
DF0300413 PC
S/N D0039C242510001
CN5 pin distribution (front panel view)
ON
1
2
3
4
POWER
COM
Driver pin header: DF11-4DP-2DS
Cable connector socket: DF11-4DS-2C
Cable connector contact: DF11-2428SCF
(Manufactured by Hirose.)
1
2
3
4
View with upper cover open
Pin No.
Symbol
NM
Name
Function and interface
1
2
Analog monitor 2
Default setting: Speed monitor 1 V/1000 r/min. (change
using Pn007.0-1)
AM
Analog monitor 1
Default setting: Current monitor 1 V/rated torque
(change using Pn006.0-1)
3
4
GND
GND
Analog monitor ground
Analog monitor ground
Ground for analog monitors 1 and 2
Note 1. Displays status with no change to scaling.
Note 2. Maximum output voltage is 8 V. Exceeding this value may result in an abnormal output.
(Clamped at 8 V.)
Note 3. Output accuracy is approximately 15%.
4-132
Operation
Chapter 4
■ Analog Monitor Output Circuit
Servo Driver
47 Ω
47 Ω
CN5-1 NM (analog monitor 2)
CN5-2 AM (analog monitor 1)
CN5-3 GND (analog monitor ground)
CN5-4 GND (analog monitor ground)
■ Analog Monitor Cable (R88A-CMW001S)
Use this cable to connect the Servo Driver's Analog Monitor Connector (CN5)
7.3
1000
Servo Driver
R88D-WT@
External devices
t = 6
Servo Driver
Symbol
NM
No.
1
Red
Connector socket model
DF11-4DS-2C (Hirose)
Connector socket model
DF11-2428SCF (Hirose)
White
Black
Black
AM
2
GND
GND
3
4
Cable: AWG24 × 4C UL1007
■ Monitored Item Selection
Pn006.0-1 Function selection application switches 6 -- Analog monitor 1 signal selection (All operation
modes)
Setting
range
00 to 1F
Unit
---
Default
setting
2
Restart
power?
No
Pn007.0-1 Function selection application switches 7 -- Analog monitor 2 signal selection (All operation
modes)
Setting
range
00 to 1F
Unit
---
Default
setting
0
Restart
power?
No
4-133
Operation
Chapter 4
Setting Explanation
Setting
Explanation
Servomotor rotation speed: 1 V/1000 r/min
Speed command: 1 V/1000 r/min
00
01
02
Torque command -- Gravity compensation torque (Pn422): 1 V/100% or rated torque
Position deviation (See note.): 0.05 V/1 command
Position amp deviation (See note.): 0.05 V/ encoder pulse unit
Position command speed (Rotation speed calculation): 1 V/1,000 r/min
Not used.
03
04
05
06
07
Not used.
08
Positioning completed: Positioning completed, 5 V; positioning not completed, 0 V
Speed feed forward: 1 V/1,000 r/min
09
0A
0B to 1F
Torque feed forward: 1 V/100% of rated torque
Not used.
• Set values are the same as for Pn006.0-1 and Pn007.0-1.
Note 1. Displays status without offset adjustment and scaling changes.
Note 2. For speed control, the position deviation monitor signal becomes 0.
Pn006.2
Function selection application switches 6 -- Analog monitor 1 signal multiplier selection (All
operation modes)
Setting
range
0 to 4
Unit
---
Default
setting
0
Restart
power?
No
Pn007.2
Function selection application switches 7 -- Analog monitor 2 signal multiplier selection (All
operation modes)
Setting
range
0 to 4
Unit
---
Default
setting
0
Restart
power?
No
Setting Explanation
Setting
Explanation
0
1
2
3
4
1x
10x
100x
1/10x
1/100x
• Set values are the same as for Pn006.2 and Pn007.2.
Pn550
Analog monitor 1 offset voltage (All operation modes)
Setting
range
−10000 to
Unit
× 0.1 V
Default
setting
0
0
Restart
power?
No
No
10000
Pn551
Analog monitor 2 offset voltage (All operation modes)
Setting
range
−10000 to
10000
Unit
× 0.1 V
Default
setting
Restart
power?
4-134
Operation
Chapter 4
• When Pn006 = 0102, Pn422 = 100 [%], and Pn550 =3.0 [V]
Analog monitor 1 = Torque command
= {(−1) × (Torque command [%] − 10%) × 10} + 3 [V]
If the torque here is 52%
= {(−1) × (52 [%] − 10%) × 1 [V]/100 [%] × 10} + 3 [V]
= −7.2 [V] (Analog monitor 1 output voltage)
Note The analog monitor output voltage is 8 V max. If 8 V is exceeded, the output is fixed at 8 V.
4-135
Operation
Chapter 4
4-136
Chapter 5
Troubleshooting
5-1 Measures when Trouble Occurs
5-2 Alarms
5-3 Troubleshooting
5-4 Overload Characteristics (Electronic Thermal
Characteristics)
5-5 Periodic Maintenance
5-6 Replacing the Absolute Encoder Battery (ABS)
Troubleshooting
Chapter 5
5-1 Measures when Trouble Occurs
5-1-1 Preventive Checks Before Trouble Occurs
This section explains the preventive checks and analysis tools required to determine
the cause of trouble when it occurs.
■ Check the Power Supply Voltage
• Check the voltage to the power supply input terminals.
Main-circuit Power Supply Input Terminals (L1, L2, (L3))
R88D-WN@H-ML2
(50 to 400 W, 750W): Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz
(500 W to 3 kW): 3-phase 200/230 V AC (170 to 253 V) 50/60 Hz
R88D-WN@L-ML2 (50 to 400 W): Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz
Control-circuit Power Supply Input Terminals (L1C, L2C)
R88D-WN@H-ML2: Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz
R88D-WN@L-ML2: Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz
If the voltage falls outside of this range, there is a risk of malfunction, so make sure that the power
supply is correct.
• Make sure that the voltage of the sequence input power supply (+24 VIN Terminal (CN1-6 pin)) is
within the range 23 to 25 VDC. If the voltage falls outside of this range, there is a risk of malfunc-
tion, so make sure that the power supply is correct.
■ Selecting Analysis Tools
● Check Whether an Alarm Has Occurred
• If an alarm has occurred, check the alarm code (A.@@@), and perform analysis depending on the
alarm code.
• If an alarm has not occurred, perform analysis depending on the error.
Note Refer to 5-3 Troubleshooting in either case.
● Types of Analysis Tools
• The types of analysis tools are as follows:
Servo Driver Indicators and Parameter Unit
• Perform analysis using the display (7-segment LEDs) and the operation keys on the front panel of
the Servo Driver. This manual explains analysis using these methods.
5-2
Troubleshooting
Chapter 5
Computer Monitor Software
• Install and use the Computer Monitor Software. The following three items are required: A Windows
95/98-compatible computer, Computer Monitor Software, and R88A-CCW002P@ Connecting
Cable.
• Refer to the Computer Monitor Software for operation details.
5-1-2 Precautions
When checking and verifying I/O after trouble has occurred, the Servo Driver may
suddenly start to operate or suddenly stop, so take precautions. Also, do not attempt
operations not specified in this manual.
■ Precautions
• Disconnect any cables before checking if they have burned out. Even if you have checked the con-
duction of the wiring, there is a risk of conduction due to the return circuit.
• If the encoder signal is lost, the Servomotor may run away, or an error may be generated. Make
sure the Servomotor is disconnected from the mechanical system before checking the encoder sig-
nal.
• When measuring the encoder output, measure using the ground (CN1-16 pin) as standard. If mea-
suring using an oscilloscope, measure using the differential between CH1 and CH2 to reduce inter-
ference from noise.
• When performing tests, first check that there are no personnel inside the machine facilities, and that
the facilities will not be damaged even if the Servomotor runs away. Also, check that even if the Ser-
vomotor runs away, you can immediately stop the machine using an emergency stop before per-
forming the tests.
■ Checking Alarm Codes at the Controller
• The alarm codes that occur at the Servo Driver with regard to CS1W-MCH71 and CJ1W-MCH71
Motion Control Units and CJ1W-NCF71 Position Control Units are stored in the Controller as shown
below.
● Controller Alarm Codes
• Alarm codes such as the following are stored at the Controller for alarms that occur at the Servo
Driver.
Controller alarm (error) code: 40@@ (Hex)
The leftmost two digits from the Servo Driver's 3-digit alarm code are entered at the two boxes
(@@).
Example:Deviation counter overflow alarm at Servo-ON (A.d01).
The alarm code stored at the Controller is 40D0 (hex).
5-3
Troubleshooting
Chapter 5
● Controller Storage Area
Controller
Storage variable/bit name
System variable
Error log
Storage data
Motion Control Unit
CS1W-MCH71
CJ1W-MCH71
Stored as detailed codes for the error
log.
Position Control Unit
CJ1W-NCF71
Input Area for individual axis operation Stored as error codes for errors occur-
Axis alarm codes ring for individual axes.
Note For details on the above variable/bit areas, refer to the users manual for the specific Controller.
5-1-3 Replacing the Servomotor and Servo Driver
Perform the following procedure to replace the Servomotor or Servo Driver.
■ Replacing the Servomotor
1.Replace the Servomotor.
2.Perform origin teaching (if using position control).
• When replacing the Servomotor, the Servomotor's specific origin position (Z-phase) may slip,
so be sure to perform origin teaching.
• Refer to the manual for the position controller you use for how to perform origin teaching.
3.Set up the absolute encoder (ABS).
• If using a Servomotor with an absolute encoder, when replacing the Servomotor, the absolute
data in the absolute encoder will be cleared, so you need to set up the data again. Also, the
rotation limit data will be different from before you replaced the Servomotor, so initialize the
Motion Control Unit settings.
Note Refer to 4-2-2 Absolute Encoder Setup and Battery Changes for details.
• Also, if you have changed the setting in Pn205 (absolute encoder multi-turn limit setting), an
A.CC (rotation speed mismatch) alarm will occur, so change the rotation limit setting (Fn013)
using system check mode.
■ Replacing the Servo Driver
1.Make a note of the parameters.
• If using Computer Monitor Software, start the program, and transfer and save all the parame-
ters in the Servo Driver to the personal computer.
• If not using Computer Monitor Software, transfer all of the parameters saved in the host to the
Servo Driver.
2.Replace the Servo Driver.
3.Set the parameters.
• If using Computer Monitor Software, transfer all the parameters stored in the personal com-
puter to the Servo Driver.
5-4
Troubleshooting
Chapter 5
• If using Computer Monitor Software, transfer all of the parameters saved in the host to the Ser-
vo Driver. Refer to the manuals for the host for operating procedures.
4.Set up the absolute encoder (ABS).
• If using a Servomotor with an absolute encoder, when replacing the Servomotor, the absolute
data in the absolute encoder will be cleared, so you need to reset the data. Also, the multi-turn
data will be different from before the Servo Driver was replaced. If the host device is a CS1W-
MCH71 or CJ1W-MCH71, make the initial settings for the host device.
Note Refer to 4-2-2 Absolute Encoder Setup and Battery Changes for details.
5-5
Troubleshooting
Chapter 5
5-2 Alarms
If the Servo Driver detects an error, ALM (alarm output) and ALO1 to ALO3 (alarm
codes) are output, the power drive circuit in the Servo Driver turns OFF, and the alarm
is displayed. If the Servo Driver detects a warning (e.g., overload warning or
regenerative overload warning), WARN (warning output) and ALO1 to ALO3 (warning
codes) are output, and the warning is displayed. (Operation continues.)
Note 1. Warning outputs and warning codes are output only if the parameters have been set
(Pn50F.3, Pn001.1).
Note 2. Refer to 5-3-1 Error Diagnosis Using Alarm Display for appropriate alarm countermeasures.
Note 3. Cancel the alarm using one of the following methods. (Remove the cause of the alarm first.)
• Turn OFF the power supply, then turn it ON again.
• Input a RESET signal from the host device.
The following alarms can only be cancelled by turning OFF the power supply, then turning it ON
again: A.02@, A.04@, A.100, A.810, A.820, A.840, A.850, A.860, A.b@@, A.C8@, A.C9@, A.CA0,
A.Cb0, A.CC0, A.E02, A.E07, A.E08, A.E09, A.EA0, and A.EA1.
Note 4. When an alarm occurs, the Servo Driver stops the Servomotor by the following methods.
• DB stop: The Servomotor is stopped according to the method set in Pn001.0.
• Zero-speed stop: The speed command at the Servo Driver is set to zero, and then the Servo-
motor is stopped according to the method set in Pn001.0.
■ Alarm Table
Display
Error detection function
Cause of error
Stopping
method at
alarm
Alarm reset
possible?
a.020
Parameter checksum error The Servo Driver's internal param- DB stop
No
1
eter data is abnormal.
a.021
a.022
a.023
a.02a
a.02b
a.030
a.040
a.04a
Parameter format error 1
The Servo Driver's internal param- DB stop
eter data is abnormal.
No
No
No
No
No
Yes
No
No
System parameter check- The Servo Driver's internal param- DB stop
sum error 1 eter data is abnormal.
Parameter password error The Servo Driver's internal param- DB stop
eter data is abnormal.
Parameter checksum error The Servo Driver's internal param- DB stop
eter data is abnormal.
System parameter check- The Servo Driver's internal param- DB stop
sum error 2 eter data is abnormal.
1
2
Main circuit detection error There is an error in the detection
data for the power supply circuit.
DB stop
Parameter setting error 1
A parameter value exceeds the set- DB stop
ting range.
Parameter setting error 2
A parameter value exceeds the set- DB stop
ting range.
5-6
Troubleshooting
Chapter 5
Display
Error detection function
Cause of error
Stopping
method at
alarm
Alarm reset
possible?
a.041
Dividing pulse output set- The encoder divider rate setting is DB stop
No
ting error
out of range or the set conditions
are not satisfied.
a.042
a.050
Parameter combination
error
A combination of multiple parame- DB stop
ters is set out of range.
No
Combination error
The combined capacity of the Ser- DB stop
vomotor and the Servo Driver is
unsuitable.
Yes
a.0b0
Servo ON command
invalid alarm
After a function for executing Servo DB stop
ON by means of Computer Monitor
Software was used, an attempt was
made to execute Servo ON using a
host command.
Yes
a.100
a.300
Overcurrent or overheat-
ing of radiation shield
An overcurrent has occurred, or the DB stop
Servo Driver's radiation shield has
overheated.
No
Regeneration error
The regeneration resistance is dis- DB stop
connected or the regeneration tran-
sistor is faulty.
Yes
a.320
a.330
Regeneration overload
The regenerative energy exceeds Zero-speed
Yes
Yes
the regeneration resistance.
stop
Main circuit power supply The method for providing power to DB stop
setting error
Overvoltage
Low voltage
Overspeed
the main circuit does not match the
Pn001 setting.
a.400
a.410
a.510
a.511
The main-circuit DC voltage is
abnormally high.
DB stop
Yes
Yes
Yes
Yes
The main-circuit DC voltage is low. Zero-speed
stop
The Servomotor's rotation speed is DB stop
abnormally high.
Dividing pulse output over- The Servomotor rotation speed
DB stop
speed
upper limit set for the encoder
divider rate setting (Pn212) was
exceeded.
a.520
a.521
a.710
Vibration alarm
Abnormal vibration was detected in DB stop
the Servomotor rotation speed.
Yes
Yes
Yes
Auto-tuning alarm
The inertia ratio was in error during DB stop
auto-tuning.
Overload (momentary
maximum load)
Operated for several seconds to
several tens of seconds at a torque stop
greatly exceeding the rating.
Zero-speed
a.720
a.730
Overload (continual maxi- Operated continually at a torque
DB stop
Yes
Yes
mum load)
exceeding the rating.
DB overload
During DB (dynamic braking) oper- DB stop
ation, rotation energy exceeds the
DB capacity.
a.740
a.7a0
Inrush resistance overload The main-circuit power supply has DB stop
frequently and repeatedly been
Yes
Yes
turned ON and OFF.
Overheat
The Servo Driver's radiation shield Zero-speed
overheated. stop
5-7
Troubleshooting
Chapter 5
Display
Error detection function
Cause of error
Stopping
method at
alarm
Alarm reset
possible?
a.810
Encoder backup error
The encoder power supply was
completely down, and position data
was cleared.
DB stop
No
a.820
a.830
a.840
a.850
a.860
a.b31
a.b32
Encoder checksum error
Encoder battery error
Encoder data error
The encoder memory checksum
results are in error.
DB stop
No
Yes
No
No
No
No
No
The absolute encoder backup bat- DB stop
tery voltage has dropped.
The encoder's internal data is in
error.
DB stop
Encoder overspeed
The encoder rotated at high speed DB stop
when the power was ON.
Encoder overheat
The encoder's internal temperature DB stop
is too high.
Current detection error 1
Current detection error 2
Current detection error 3
The phase-U current detector is in DB stop
error.
The phase-V current detector is in DB stop
error.
a.b33
a.b6a
The current detector is in error.
DB stop
No
No
MECHATROLINK commu- The MECHATROLINK communica- DB stop
nications ASIC error 1 tions ASIC is in error.
MECHATROLINK commu- A fatal error occurred in the
a.b6b
DB stop
No
nications ASIC error 2
System alarm 0
System alarm 1
System alarm 2
System alarm 3
System alarm 4
MECHATROLINK communications
ASIC.
a.bf0
a.bf1
a.bf2
a.bf3
a.bf4
Servo Driver internal program error DB stop
0 occurred.
No
No
No
No
No
Servo Driver internal program error DB stop
1 occurred.
Servo Driver internal program error DB stop
2 occurred.
Servo Driver internal program error DB stop
3 occurred.
Servo Driver internal program error DB stop
4 occurred.
a.c10
a.c80
Runaway detected
Multi-turn data error
Servomotor runaway occurred.
DB stop
DB stop
Yes
No
Absolute encoder multi-turn data
was cleared or could not be set
correctly.
a.c90
Encoder communications No communication possible
DB stop
No
error
between the encoder and Servo
Driver.
a.c91
a.c92
Encoder communications An error occurred in the encoder's DB stop
position data error position data calculations.
Encoder communications An error occurred in the timer for
No
No
DB stop
timer error
communications between the
encoder and Servo Driver.
a.ca0
a.cb0
Encoder parameter error
Encoder echo-back error
Encoder parameters are corrupted. DB stop
No
No
The contents of communications
with the encoder are wrong.
DB stop
5-8
Troubleshooting
Chapter 5
Display
Error detection function
Cause of error
Stopping
method at
alarm
Alarm reset
possible?
a.cc0
Multi-turn limit discrepancy The multi-turn limits for the encoder DB stop
and the Servo Driver do not match.
No
a.d00
a.d01
Deviation counter overflow Position deviation pulses exceeded DB stop
the level set for Pn520.
Yes
Yes
Deviation counter overflow When Servo ON was executed, the DB stop
alarm at Servo-ON
accumulated number of position
deviation pulses reached or
exceeded the number set for
Pn526.
a.d02
Deviation counter overflow If Servo ON is executed with posi- Zero stop
Yes
alarm by speed limit at
Servo-ON
tion deviation pulses accumulated,
the speed is limited by the setting
in Pn529. A command pulse was
input during this period, without the
limit being cleared, and the setting
in Pn520 was exceeded.
a.e00
a.e01
a.e02
a.e07
a.e08
a.e09
a.e40
COM alarm 0
COM alarm 1
COM alarm 2
COM alarm 7
COM alarm 8
COM alarm 9
Servo Driver COM error 0
occurred.
Zero-speed
stop
Yes
Yes
No
Servo Driver COM error 1
occurred.
Zero-speed
stop
Servo Driver COM error 2
occurred.
DB stop
Servo Driver COM error 7
occurred.
DB stop
No
Servo Driver COM error 8
occurred.
Zero-speed
stop
No
Servo Driver COM error 9
occurred.
Zero-speed
stop
No
MECHATROLINK-II trans- There is an error in the setting for Zero-speed
mission cycle setting error the MECHATROLINK-II communi- stop
cations transmission cycle.
Yes
a.e50
a.e51
a.e60
a.e61
MECHATROLINK-II syn-
chronization error
A synchronization error occurred
during MECHATROLINK-II commu- stop
nications.
Zero-speed
Yes
Yes
Yes
Yes
MECHATROLINK-II syn-
chronization failure
A synchronization failure occurred Zero-speed
during MECHATROLINK-II commu- stop
nications.
MECHATROLINK-II com- Communications errors occurred
munications error
Zero-speed
stop
continuously during MECHA-
TROLINK-II communications.
MECHATROLINK-II trans- An error occurred in the transmis- Zero-speed
mission cycle error
sion cycle during MECHA-
TROLINK-II communications.
stop
a.ea0
a.ea1
a.ea2
DRV alarm 0
DRV alarm 1
DRV alarm 2
Servo Driver DRV error 0 occurred. DB stop
Servo Driver DRV error 1 occurred. DB stop
No
No
Yes
Servo Driver DRV error 2 occurred. Zero-speed
stop
5-9
Troubleshooting
Chapter 5
Display
Error detection function
Cause of error
Stopping
method at
alarm
Alarm reset
possible?
a.ed0
a.f10
Internal command error
Missing phase detected
A command error occurred in the
Servo Driver.
Zero-speed
stop
Yes
Yes
One phase from the three-phase
main circuit power supply is not
connecting.
Zero-speed
stop
■ Warning Table
Display
Warning detection
function
Meaning
a.900
Deviation counter overflow The accumulated position deviation pulses equaled or exceeded the
parameter (Pn520 × Pn51E/100) setting.
a.901
a.910
a.911
Deviation counter overflow The accumulated position deviation pulses when the Servo turned
at Servo-ON
ON equaled or exceeded the parameter (Pn526 × Pn528/100) set-
ting.
Overload
This is a warning before the overload alarm (A.710 or A.720) is
reached. If operation continues at this point, an alarm may be gener-
ated.
Vibration
Faulty oscillation was detected in the Servomotor rotation speed.
The detection level is the same as for A520, but the difference is in
whether an alarm or warning is to be set by the Pn310 vibration
detection switches.
a.920
Regeneration overload
This is the warning display before the regenerative overload alarm
(A.320) is reached. If operation continues at this point, an alarm may
be generated.
a.930
a.941
a.94a
a.94b
Absolute encoder battery This is the warning display indicating that the absolute encoder bat-
warning tery voltage is low.
Parameter change requir- A parameter requiring the power to be turned ON again was
ing restarting
changed.
Data setting warning 1
(parameter No.)
There is an error in a command parameter number.
Data setting warning 2 (out The setting outside of the command data range.
of range)
If the Servo Driver is connected to the CJ1W-MCH71 or CS1W-
MCH71, the option monitor parameters may not be set correctly.
Check the setting of Pn813 and change it to 0032 hex if any other
value is set.
a.94c
a.94d
a.95a
a.95b
Data setting warning 3
(calculation error)
A calculation error was detected.
Data setting warning 4
(parameter size)
A non-conforming data size was detected.
Command warning 1 (com- A command was specified even though the command conditions
mand conditions not met) were not completely met.
Command warning 2
An unsupported command was specified.
(unsupported command)
a.95c
a.95d
a.95e
a.960
Command warning 3
Command warning 4
Command warning 5
Command conditions set by parameters were not met.
Command interference (mainly latch command interference)
Sub-command and main command interference
MECHATROLINK-II com- A communications error occurred during MECHATROLINK-II com-
munications warning munications.
5-10
Troubleshooting
Chapter 5
Note 1. When Pn008.2 is set to 1 (Warnings not detected), the following warnings are not detected.
A.900, A.901, A.910, A.911, A.920, A.930
Note 2. Depending on the setting for Pn800.1 (Warning check mask), A.94@, A.95@, and A.96@
warnings may not be detected. With the default setting, A.94@, A.95@, and A.96@ warnings
are detected.
5-11
Troubleshooting
Chapter 5
5-3 Troubleshooting
If an error occurs in the machinery, check the type of error using the alarm indicators
and operation status, verify the cause, and take appropriate countermeasures.
5-3-1 Error Diagnosis Using Alarm Display
Display
Error
Status when
error occurs
Cause of error
Countermeasures
a.020
Parameter check- Occurs when the
• The control voltage drops • Correct the power supply
sum error 1
control circuit
power supply is
turned ON.
to a range of 30 to 60 V
AC.
and initialize the parame-
ters.
• The control circuit power • A constant was input
supply was interrupted again after parameter ini-
during parameter setting. tialization processing.
• The upper limit for the
number of parameter
writes was exceeded
(e.g., parameters were
changed by the host
device with every scan).
• Replace the Servo
Driver.
(Correct the parameter
writing method.)
• The Servo Driver
EEPROM and peripheral
circuits are defective.
• Replace the Servo
Driver.
a.021
Parameter format Occurs when
• The Servo Driver soft-
ware is too old for the
current parameters.
• Replace the Servo
Driver.
error 1
attempting to
power up again
after a parameter
is written using the
parameter copy
function.
• Write only parameters
that are supported by the
software version of the
Servo Driver.
a.022
a.023
System parameter Occurs when the
checksum error 1 control circuit
power supply is
• The control voltage drops • Correct the power supply
to a range of 30 to 60 V
AC.
and initialize the parame-
ters.
turned ON.
• Replace the Servo
Driver.
Parameter pass-
word error 1
Occurs when the
control circuit
power supply is
turned ON.
• The Servo Driver board is • Replace the Servo
defective. Driver.
5-12
Troubleshooting
Chapter 5
Display
a.02a
Error
Status when
error occurs
Cause of error
Countermeasures
Parameter check- Occurs when the
• The control voltage drops • Correct the power supply
sum error 2
control circuit
power supply is
turned ON.
to a range of 30 to 60 V
AC.
and initialize the parame-
ters.
• The control circuit power • A constant was input
supply was interrupted again after parameter ini-
during parameter setting. tialization processing.
• The upper limit for the
number of parameter
writes was exceeded
(e.g., parameters were
changed by the host
device with every scan).
• Replace the Servo
Driver.
(Correct the parameter
writing method.)
a.02b
a.030
System parameter Occurs when the
checksum error 2 control circuit
power supply is
• The control voltage drops • Correct the power supply
to a range of 30 to 60 V
AC.
and initialize the parame-
ters.
turned ON.
• The Servo Driver
EEPROM and peripheral
circuits are defective.
• Replace the Servo
Driver.
Main circuit detec- Occurs when the
• Servo Driver is defective. • Replace the Servo
Driver.
tion error
control circuit
power supply is
turned ON or dur-
ing operation.
a.040
a.04a
a.041
Parameter setting Occurs when the
• A value outside of the
setting range was set in
the parameters.
• Reset the parameters
within the setting range.
error 1
control circuit
power supply is
turned ON.
Parameter setting
error 2
• The Servo Driver
EEPROM and peripheral
circuits are defective.
• Replace the Servo
Driver.
Dividing pulse out- Occurs when the
• The encoder dividing
pulses set in Pn212 are
out of range or do not
meet the setting condi-
tions.
• Set an appropriate value
for Pn212.
put setting error
control circuit
power supply is
turned ON.
5-13
Troubleshooting
Chapter 5
Display
a.042
Error
Status when
error occurs
Cause of error
Countermeasures
Parameter combi- Occurs when pow- • Due to the change in the • Lower the value for the
nation error
ering up again
electronic gear ratio
electronic gear ratio
(Pn20E, Pn210).
after changing the
electronic gear
ratio (Pn20E,
Pn210), or after
changing to a Ser-
vomotor with a dif-
ferent number of
encoder pulses.
(Pn20E, Pn210) or the
Servomotor, the speed
for the program JOG
operation command was
out of the setting range.
Occurs when the
setting for the pro-
gram JOG speed
(Pn533) is
• Due to the change in the • Increase the program
program JOG speed
(Pn533), the speed for
the program JOG opera-
tion command was out of
the setting range.
JOG speed (Pn533).
changed.
Occurs when pow- • Due to the change in the • Set the electronic gear
ering up again and
attempting to exe-
cute advanced
auto-tuning after
changing the elec-
tronic gear ratio
(Pn20E, Pn210),
or after changing
to a Servomotor
with a different
number of encoder
pulses.
electronic gear ratio
(Pn20E, Pn210) or the
Servomotor, the travel
speed for advanced auto-
tuning was out of the set-
ting range.
ratio within the following
range.
Electronic gear ratio
(Pn20E/Pn210) ≤ 218
a.050
Combination error Occurs when the
control circuit
• The Servo Driver capac- • Match the Servo Driver
ity and the Servomotor
capacity do not match.
Servomotor capacity /
Servo Driver capacity ≤
1/4, or Servomotor
capacity / Servo Driver
capacity ≥ 4
capacity to the capacity
of the Servomotor.
power supply is
turned ON.
• There is an error in a
parameter written for the
encoder.
• Replace the Servomotor
(encoder)
• The Servo Driver board is • Replace the Servo
defective.
Driver.
a.060
Servo ON com-
Occurs when the
• A Servo ON command
was input when a Servo
ON command invalid
alarm was in effect.
• Turn the control circuit
power supply OFF and
back ON.
mand invalid alarm Servo is turned
ON after one of the
following functions
is used: JOG, ori-
gin search, pro-
gram JOG,
EasyFFT.
5-14
Troubleshooting
Chapter 5
Display
a.100
Error
Status when
error occurs
Cause of error
Countermeasures
Overcurrent or
overheating of
radiation shield
Occurs when the
control circuit
power supply is
turned ON.
• An overload alarm has
been reset several times
by turning OFF the
power.
• Change the alarm reset
method.
• There is a faulty connec- • Replace the Servo
tion between the Servo
Driver board and the
thermoswitch.
Driver.
• The Servo Driver board is • Replace the Servo
defective. Driver.
Occurs when main • There is a faulty connec- • Correct the wiring.
circuit power sup-
ply is turned ON,
or when an over-
current occurs dur-
ing Servomotor
operation.
tion between U, V, W, and
the ground.
• The ground wire is mak- • Correct the wiring.
ing contact with another
terminal.
• There is a short between • Correct or replace the
the ground and the U-,
V-, or W- phase wire in
the Servomotor's main-
circuit cable.
Servomotor's main-cir-
cuit cable.
• There is a short between • Correct or replace the
the U-, V-, and W- phase
wires in the Servomo-
tor's main-circuit cable.
Servomotor's main-cir-
cuit cable.
• The wiring for the regen- • Correct the wiring.
eration resistance is
incorrect.
• There is a short between • Replace the Servo
the Servo Driver U-, V-,
and W- phase wires and
the ground.
Driver.
• Servo Driver is defective. • Replace the Servo
(The current feedback
circuit, power transistor,
or board is defective.)
Driver.
• There is a short between • Replace the Servomotor.
the Servomotor U-, V-,
and W- phase wires and
the ground.
• There is a short between • Replace the Servomotor.
the Servomotor U-, V-,
and W- phase wires.
• The DB circuit is defec-
tive.
• Replace the Servo
Driver.
(Lighten the load or lower
the rotation speed used.)
5-15
Troubleshooting
Chapter 5
Display
a.100
Error
Status when
error occurs
Cause of error
Countermeasures
Overcurrent or
overheating of
radiation shield
Occurs when main • The DB has frequent use. • Replace the Servo
circuit power sup-
ply is turned ON,
or when an over-
current occurs dur-
ing Servomotor
operation.
(A DB overload alarm
occurred.)
Driver.
(Reduce the frequency of
DB use.)
• An overload alarm has
been reset several times
by turning OFF the
power.
• Change the alarm reset
method.
• Was the load excessive, • Recheck the load and
or was the regeneration
processing capacity
exceeded?
operating conditions.
• The Servo Driver was
mounted in an unsuit-
• Reduce the Servo
Driver's ambient temper-
able way (direction, spac- ature to 55°C or below.
ing). (Is there heat
radiation in the or is there
a heating effect from the
surroundings?)
• The Servo Driver's fan is • Replace the Servo
stopped.
Driver.
• Servo Driver is defective. • Replace the Servo
Driver.
5-16
Troubleshooting
Chapter 5
Display
a.300
Error
Status when
error occurs
Cause of error
Countermeasures
Regeneration error Occurs when the
control circuit
• The Servo Driver board is • Replace the Servo
defective. Driver.
power supply is
turned ON.
Occurs when the
main circuit power
supply is turned
ON.
• For models of 400 W and • Connect regeneration
below, a value other than
zero is set for Pn600, and
there is no external
regeneration resistance
installed.
resistance, or set Pn600
to zero if regeneration
resistance is not
required.
• Check whether the
regeneration resistance
wiring is defective, loose,
or disconnected.
• Correct the wiring for the
external regeneration
resistance.
• Servo Driver is defective. • Correct the wiring for the
(The regeneration tran-
sistor or the voltage
detection component is
defective.)
external regeneration
resistance.
Occurs during nor- • Check whether the
• Correct the wiring for the
external regeneration
resistance.
mal operation.
regeneration resistance
wiring is defective, loose.
• For models of 500 W or • Correct the wiring.
greater, the jumper
between B2 and B3 is
disconnected.
• The regeneration resis-
tance is disconnected. (Is
the regenerative energy
increasing?)
• Replace the regenera-
tion resistance or replace
the Servo Driver.
(Recheck the load and
operating conditions.)
• Servo Driver is defective. • Replace the Servo
(The regeneration tran-
sistor or the voltage
detection component is
defective.)
Driver.
5-17
Troubleshooting
Chapter 5
Display
a.320
Error
Status when
error occurs
Cause of error
Countermeasures
Regeneration
overload
Occurs when the
control circuit
power supply is
turned ON.
• The Servo Driver board is • Replace the Servo
defective. Driver.
Occurs when the
main circuit power
supply is turned
ON.
• The power supply voltage • Correct the voltage.
is 270 V or higher.
Occurs during nor- • Regenerative energy is
• Reselect the regenera-
tion resistance amount,
or recheck the load con-
ditions and operating
conditions.
mal operation.
excessive.
(Large increase in
regeneration resis-
tor temperature)
• Regeneration is continu-
ous.
Occurs during nor- • The capacity set in
• Correct the setting for
Pn600.
mal operation.
Pn600 is smaller than the
external regeneration
resistance capacity.
(Small increase in
regeneration resis-
tor temperature)
• Servo Driver is defective. • Replace the Servo
Driver.
Occurs during Ser- • Regenerative energy is
• Reselect the regenera-
tion resistance amount,
or recheck the load con-
ditions and operating
conditions.
vomotor decelera-
tion.
excessive.
a.330
Main circuit power Occurs when the
• The Servo Driver board is • Replace the Servo
defective. Driver.
supply setting
error
control circuit
power supply is
turned ON.
Occurs when the
main circuit power
supply is turned
ON.
• While in DC power sup- • For AC power supply
ply input mode, AC power
was supplied via L1 and
L2 (or L1, L2, and L3).
input, set Pn001.2 to 0.
For DC power supply
input, set Pn001.2 to 1.
• While in AC power supply
input mode, DC power
was supplied via B1/ +
−
and
terminals.
• Pn600 is not set to 0
even though no regener-
ation resistance is con-
nected.
5-18
Troubleshooting
Chapter 5
Display
a.400
Error
Status when
error occurs
Cause of error
Countermeasures
Overvoltage
Occurs when the
control circuit
power supply is
turned ON.
• The Servo Driver board is • Replace the Servo
defective.
Driver.
Occurs when the
main circuit power
supply is turned
ON.
• The AC power supply
voltage is 290 V or
higher.
• Set the AC power supply
voltage in the correct
range.
• Servo Driver is defective. • Replace the Servo
Driver.
Occurs during nor- • Check the AC power sup- • Set the AC power supply
mal operation.
ply voltage. (Was there
an excessive change in
voltage?)
voltage in the correct
range.
• The operating rotation
frequency is high, and
the load inertia is exces-
sive. (The regeneration
capacity is insufficient.)
• Recheck the load and
operating conditions.
(Check the load inertia
and minus load specifica-
tions.)
• Servo Driver is defective. • Replace the Servo
Driver.
Occurs during Ser- • The operating rotation
• Check the load and oper-
ating conditions.
vomotor decelera-
tion.
frequency is high, and
the load inertia is exces-
sive.
5-19
Troubleshooting
Chapter 5
Display
a.410
Error
Status when
error occurs
Cause of error
Countermeasures
Low voltage
Occurs when the
control circuit
power supply is
turned ON.
• The Servo Driver board is • Replace the Servo
defective.
Driver.
Occurs when the
main circuit power
supply is turned
ON.
• The AC power supply
voltage is 120 V or lower. voltage in the correct
range.
• Set the AC power supply
• The Servo Driver fuse is • Replace the Servo
burned out.
Driver.
• Inrush current limit resis- • Replace the Servo
tance disconnection
(Check whether there is
Driver. (Check the power
supply voltage and
an error in the power sup- reduce the frequency at
ply voltage or an inrush
current limit resistance
overload.)
which the main circuit is
switched ON and OFF.)
• Servo Driver is defective. • Replace the Servo
Driver.
Occurs during nor- • The AC power supply
• Set the AC power supply
voltage in the correct
range.
mal operation.
voltage is low. (Check
whether there was a
large voltage drop.)
• A momentary power
interruption occurred.
• Reset the alarm to
restore operation.
• The Servomotor main-cir- • Correct or replace the
cuit cable is short-cir-
cuited.
Servomotor main-circuit
cable.
• The Servomotor is short- • Replace the Servomotor.
circuited.
• Servo Driver is defective. • Replace the Servo
Driver.
5-20
Troubleshooting
Chapter 5
Display
a.510
Error
Status when
error occurs
Cause of error
Countermeasures
Overspeed
Occurs when the
control circuit
power supply is
turned ON.
• The Servo Driver board is • Replace the Servo
defective. Driver.
Occurs when the
Servo is turned
ON.
• The U, V, and W phases • Correct the Servomotor
are wired out of order in
the Servomotor.
wiring.
• The encoder wiring is
incorrect.
• Correct the encoder wir-
ing.
• Noise in the encoder wir- • Implement measures
ing is causing malfunc-
tioning.
against noise in the
encoder wiring.
• Servo Driver is defective. • Replace the Servo
Driver.
Occurs at start of • The U, V, and W phases • Correct the Servomotor
Servomotor opera-
tion or at high-
speed rotation.
are wired out of order in
the Servomotor.
wiring.
• The encoder wiring is
incorrect.
• Correct the encoder wir-
ing.
• Noise in the encoder wir- • Implement measures
ing is causing malfunc-
tioning.
against noise in the
encoder wiring.
• Position, speed com-
mand inputs are exces-
sive.
• Lower the command
value.
• The command input gain • Correct the command
setting is incorrect. input gain.
• The Servo Driver board is • Replace the Servo
defective.
Driver.
a.511
a.520
Dividing pulse out- Occurs during Ser- • The dividing pulse fre-
• Lower the setting for the
encoder divider rate
(Pn212)
put overspeed
Vibration alarm
vomotor operation.
quency equaled or
exceeded 1.6 MHz.
• Lower the Servomotor
rotation speed.
Occurs during Ser- • An abnormal oscillation
vomotor operation.
• Lower the Servomotor
rotation speed.
was detected in the Ser-
vomotor's rotation speed.
• Lower the speed loop
gain (Pn100).
• The inertia ratio (Pn103) • Set a suitable value for
value is greater than the
actual value, or it is
greatly fluctuating.
the inertia ratio (Pn103).
a.521
Auto-tuning alarm Occurs during
advanced auto-
• The motor speed oscil-
lated during operation.
• Without using advanced
auto-tuning, set Pn103
by calculating the inertia
ratio from various
tuning.
machine elements.
5-21
Troubleshooting
Chapter 5
Display
a.710
Error
Status when
error occurs
Cause of error
Countermeasures
Overload (momen- Occurs when the
• The Servo Driver board is • Replace the Servo
tary maximum
load)
control circuit
power supply is
turned ON.
defective.
Driver.
Occurs when the
Servo is turned
ON.
• Servomotor wiring is
incorrect (faulty wiring or
connections).
• Correct the Servomotor
wiring.
a.720
Overload (contin-
ual maximum load)
• Encoder wiring is incor- • Correct the encoder wir-
rect (faulty wiring or con-
nections).
ing.
• Servo Driver is defective. • Replace the Servo
Driver.
Occurs without the • Servomotor wiring is
• Correct the Servomotor
wiring.
Servomotor rotat-
ing by command
input.
incorrect (faulty wiring or
connections).
• Encoder wiring is incor- • Correct the encoder wir-
rect (faulty wiring or con-
nections).
ing.
• The starting torque
exceeds the maximum
torque.
• Recheck the load condi-
tions, the operating con-
ditions, and the
Servomotor capacity.
• Servo Driver is defective. • Replace the Servo
Driver.
a.730
DB overload
Occurs when the
control circuit
power supply is
turned ON.
• The Servo Driver board is • Replace the Servo
defective.
Driver.
Occurs during Ser- • The Servo Driver board is • Replace the Servo
vomotor opera-
tion, except with
Servo OFF.
defective.
Driver.
Occurs with Servo • The rotation energy dur- • Check the following
OFF during Servo-
motor operation.
ing DB stops exceeds the
DB resistance capacity.
items.
(1) Lower the Servomo-
tor's operating rotation
frequency.
(2) Reduce the load inertia.
(3) Reduce the frequency
of DB stops.
• Servo Driver is defective. • Replace the Servo
Driver.
5-22
Troubleshooting
Chapter 5
Display
a.740
Error
Status when
error occurs
Cause of error
Countermeasures
Inrush resistance Occurs when the
overload
• The Servo Driver board is • Replace the Servo
defective. Driver.
control circuit
power supply is
turned ON.
Occurs at times
other than when
the main-circuit
power supply is
turned ON and
OFF.
• The Servo Driver board is • Replace the Servo
defective.
Driver.
Occurs when the
main-circuit power
supply is turned
ON and OFF.
• The allowable main-cir-
cuit power supply ON/
OFF frequency was
exceeded for the inrush
current limit resistance.
• Reduce the main circuit
power supply ON/OFF
frequency
(to 5 times/min).
• Servo Driver is defective. • Replace the Servo
Driver.
5-23
Troubleshooting
Chapter 5
Display
a.7a0
Error
Overheat
Status when
error occurs
Cause of error
Countermeasures
Occurs when the • Servo Driver is defective. • Replace the Servo
control circuit
power supply is
turned ON.
Driver.
• An overload alarm has
been reset several times
by turning OFF the
power.
• Change the alarm reset
method.
Overheating of
radiation shield
occurs when the
main circuit power
supply is turned
ON, or during Ser-
vomotor operation.
• The load exceeds the
rated load.
• Recheck the load condi-
tions, the operating con-
ditions, and the
Servomotor capacity.
• The Servo Driver's ambi- • Reduce the Servo
ent temperature exceeds
55°C.
Driver's ambient temper-
ature to 55°C or below.
• Servo Driver is defective. • Replace the Servo
Driver.
• An overload alarm has
been reset several times
by turning OFF the
power.
• Change the alarm reset
method.
• There is a faulty connec- • Replace the Servo
tion between the Servo
Driver board and the Ser-
vomotor switch.
Driver.
• Was the load excessive, • Recheck the load and
or was the regeneration
processing capacity
exceeded?
operating conditions.
• The Servo Driver was
mounted in an unsuit-
• Reduce the Servo
Driver's ambient temper-
able way (direction, spac- ature to 55°C or below.
ing). (Is there heat
radiation in the panel or
is there a heating effect
from the surroundings?)
• The Servo Driver's fan is • Replace the Servo
stopped.
Driver.
5-24
Troubleshooting
Chapter 5
Display
a.810
Error
Status when
error occurs
Cause of error
Countermeasures
Encoder backup
error
Occurs when the
control circuit
power supply is
turned ON.
(Setting: Pn002.2
= 1)
• The Servo Driver board is • Replace the Servo
defective. (When abso-
lute values are used
incrementally.)
Driver.
Occurs when the
control circuit
power supply is
turned ON.
Used with absolute
value (setting:
Pn002.2 = 0).
• The power was turned
ON for the first time to the
absolute encoder.
• Execute the encoder's
setup operation.
• The encoder cable was
disconnected.
• Check the connections
and execute the
encoder's setup opera-
tion.
• The encoder power sup- • Restore power to the
ply (+5 V) from the Servo
Driver and the battery
power supply are both
down.
encoder (e.g., replacing
the battery), and then
execute the encoder's
setup operation.
• Absolute encoder is
defective.
• If the alarm is still not
cleared even after exe-
cuting the setup opera-
tion again, then replace
the encoder.
• Servo Driver is defective. • Replace the Servo
Driver.
a.820
Encoder check-
sum error
Occurs when the
control circuit
power supply is
turned ON or dur-
ing operation.
• Encoder is defective.
(Encoder self-diagnosis)
• If the problem continues
to occur frequently even
after the encoder has
been set up, replace the
Servomotor.
• Servo Driver is defective. • Replace the Servo
Driver.
Occurs when the
SENSOR ON
(SENS_ON) com-
mand is executed.
• Encoder is defective.
(Encoder self-diagnosis)
• If the problem continues
to occur frequently even
after the encoder has
been set up, replace the
Servomotor.
a.830
Encoder battery
error
Occurs when the
control circuit
power supply is
turned ON.
(Setting: Pn002 =
1)
• The Servo Driver board is • Replace the Servo
defective. (When abso-
lute values are used
incrementally.)
Driver.
Occurs when the
control circuit
power supply is
turned ON.
Used with absolute
value (setting:
Pn002.2 = 0).
• The battery has a faulty • Correct the battery con-
connection or is discon-
nected.
nections.
• The battery voltage is
lower than the prescribed
value (2.7 V).
• Replace the battery and
turn ON the encoder
power again.
• The Servo Driver board is • Replace the Servo
defective. Driver.
5-25
Troubleshooting
Chapter 5
Display
a.840
Error
Status when
error occurs
Cause of error
Countermeasures
Encoder data error Occurs when the
control circuit
• The encoder is malfunc- • If the problem continues
tioning.
to occur frequently after
the encoder power is
turned ON again, replace
the Servomotor.
power supply is
turned ON.
• The Servo Driver board is • Replace the Servo
defective. Driver.
• The encoder is malfunc- • Correct the encoder's
Occurs during
operation.
tioning.
peripheral wiring (sepa-
rating the encoder and
power lines, grounding,
etc.).
• Encoder is defective.
• If the problem occurs fre-
quently, replace the Ser-
vomotor.
• The Servo Driver board is • Replace the Servo
defective. Driver.
• The Servomotor is rotat- • Set the Servomotor to
a.850
Encoder over-
speed
Occurs when the
control circuit
power supply is
turned ON.
ing at 200 r/min or more
when the encoder power
is turned ON (or when
the SEN signal turns ON
for an absolute encoder).
rotate at less than
200 r/min when the
encoder power is turned
ON.
• Encoder is defective.
• Replace the Servomotor.
• The Servo Driver board is • Replace the Servo
defective.
Driver.
Occurs during
operation.
• Encoder is defective.
• Replace the Servomotor.
• The Servo Driver board is • Replace the Servo
defective.
Driver.
a.860
Encoder overheat Occurs when the • Encoder is defective.
control circuit
• Replace the Servomotor.
• The Servo Driver board is • Replace the Servo
power supply is
turned ON.
defective.
Driver.
Occurs during
operation.
• The Servomotor's ambi- • Lower the Servomotor's
ent temperature is too
high.
ambient temperature to
40°C or less.
• The Servomotor load is
greater than the rated
load.
• Operate the Servomotor
with a load that is no
more than the rated load.
• Encoder is defective.
• Replace the Servomotor.
• The Servo Driver board is • Replace the Servo
defective.
Driver.
a.b31
a.b32
Current detection Occurs when the
• The phase-U current
detection circuit is defec-
tive.
• Replace the Servo
Driver.
error 1
control circuit
power supply is
turned ON or dur-
ing operation.
Current detection
error 2
• The phase-V current
detection circuit is defec-
tive.
5-26
Troubleshooting
Chapter 5
Display
a.b33
Error
Status when
error occurs
Cause of error
Countermeasures
Current detection Occurs when the
• The current detection cir- • Replace the Servo
error 3
Servo is turned
ON.
cuit is defective.
Driver.
• The Servomotor’s main
circuit cable is broken.
• Correct the Servomotor
wiring.
a.b6a
a.b6b
MECHATROLINK Occurs when the
• The MECHATROLINK
communications ASIC is
defective.
• Replace the Servo
Driver.
communications
ASIC error 1
control circuit
power supply is
turned ON or dur-
ing operation.
MECHATROLINK
communications
ASIC error 2
a.bf0
a.bf1
a.bf2
a.bf3
a.bf4
a.c10
System alarm 0
System alarm 1
System alarm 2
System alarm 3
System alarm 4
Occurs when the
control circuit
power supply is
turned ON.
• The Servo Driver board is • Replace the Servo
defective. Driver.
Runaway detected Occurs when the
control circuit
• The Servo Driver board is • Replace the Servo
defective. Driver.
power supply is
turned ON.
Occurs when the
Servo is turned
ON or when a
• The U, V, and W phases • Correct the Servomotor
are wired out of order in
the Servomotor.
wiring.
command is input.
• Encoder is defective.
• Replace the Servomotor.
• Servo Driver is defective. • Replace the Servo
Driver.
a.c80
Multi-turn data
error
Occurs when the
control circuit
power supply is
turned ON.
• Encoder is defective.
• Replace the Servomotor.
• The Servo Driver board is • Replace the Servo
defective.
Driver.
Occurs when an
encoder alarm is
reset.
• Encoder is defective.
• Replace the Servomotor.
• The Servo Driver board is • Replace the Servo
defective.
Driver.
a.c90
Encoder communi- Occurs when the
• The encoder wiring is
incorrect or the contact is
faulty.
• Correct the encoder wir-
ing.
cations error
control circuit
power supply is
turned ON or dur-
ing operation.
• The encoder cable is car- • For the cable specifica-
rying noise that does not tions, us twisted-pair wire
accord with the specifica- or twisted-pair bound
tions.
shielded wire, core wire
2
of 0.12 mm min., made
of tin-coated soft copper.
• The encoder cable is car- • Use a maximum wiring
rying noise because the
distance is too long.
distance of 20 m.
5-27
Troubleshooting
Chapter 5
Display
a.c91
Error
Status when
error occurs
Cause of error
Countermeasures
Encoder communi- Occurs when the
cations position
data error
• The encoder cable is
crimped, and deteriora-
tion of the insulation is
allowing noise to affect
the signal line.
• Correct the cable installa-
tion.
control circuit
power supply is
turned ON or dur-
ing operation.
• The encoder cable is
bundled with, or close to,
• Arrange the cable so that
the encoder cable is not
lines carrying a large cur- affected by surges.
rent.
• The electric potential of
the FG is fluctuating due
• Ground the machinery to
prevent branching to the
to influence from machin- encoder's FG.
ery (such as welders) in
the vicinity of the Servo-
motor.
a.c92
Encoder communi- Occurs when the
cations timer error control circuit
power supply is
• Noise is being carried to • Implement measures
the line for signals com-
ing from the encoder.
against noise in the
encoder wiring.
turned ON or dur-
ing operation.
• The encoder is sub-
• Reduce machine vibra-
jected to excessive vibra- tion or securely mount
tion and shock.
the Servomotor.
• Encoder is defective.
• Replace the Servomotor.
• The Servo Driver board is • Replace the Servo
defective.
Driver.
a.ca0
Encoder parame- Occurs when the
• Encoder is defective.
• Replace the Servomotor.
ter error
control circuit
power supply is
turned ON.
• The Servo Driver board is • Replace the Servo
defective. Driver.
5-28
Troubleshooting
Chapter 5
Display
a.cb0
Error
Status when
error occurs
Cause of error
Countermeasures
Encoder echo-
back error
Occurs when the
control circuit
power supply is
turned ON or dur-
ing operation.
• The encoder wiring is
incorrect or the contact is
faulty.
• Correct the encoder wir-
ing.
• The encoder cable is car- • For the cable specifica-
rying noise that does not tions, us twisted-pair wire
accord with the specifica- or twisted-pair bound
tions.
shielded wire, core wire
2
of 0.12 mm min., made
of tin-coated soft copper.
• The encoder cable is car- • Use a maximum wiring
rying noise because the
distance is too long.
distance of 20 m.
• The encoder cable is
crimped, and deteriora-
tion of the insulation is
allowing noise to affect
the signal line.
• Correct the cable installa-
tion.
• The encoder cable is
bundled with, or close to,
• Arrange the cable so that
the encoder cable is not
lines carrying a large cur- affected by surges.
rent.
• The electric potential of
the FG is fluctuating due
• Ground the machinery
ground to prevent
to influence from machin- branching to the
ery (such as welders) in
the vicinity of the Servo-
motor.
encoder's FG.
• Noise is being carried to • Implement measures
the line for signals com-
ing from the encoder.
against noise in the
encoder wiring.
• The encoder is sub-
• Reduce machine vibra-
jected to excessive vibra- tion or securely mount
tion and shock.
the Servomotor.
• Encoder is defective.
• Replace the Servomotor.
• The Servo Driver board is • Replace the Servo
defective. Driver.
• A Servo Driver parameter • Correct the setting for
is set incorrectly. Pn205 (0 to 65,535).
• The encoder's multi-turn • Change settings when an
a.cc0
Multi-turn limit dis- Occurs when the
crepancy
control circuit
power supply is
turned ON.
limit setting was omitted
or changed.
alarm occurs.
Occurs during
operation.
• The Servo Driver board is • Replace the Servo
defective. Driver.
5-29
Troubleshooting
Chapter 5
Display
a.d00
Error
Status when
error occurs
Cause of error
Countermeasures
Deviation counter Occurs when the
• The Servo Driver board is • Replace the Servo
overflow
control circuit
power supply is
turned ON.
defective.
Driver.
Occurs during
high-speed rota-
tion.
• The Servomotor's U, V,
and W wiring is incorrect
(faulty connections).
• Correct the Servomotor
wiring.
• Correct the encoder wir-
ing.
• The Servo Driver board is • Replace the Servo
defective.
Driver.
Occurs without
Servomotor rota-
tion when there is
a position com-
mand.
• The Servomotor's U, V,
and W wiring is faulty.
• Correct the Servomotor
wiring.
• The Servo Driver board is • Replace the Servo
defective.
Driver.
Occurs when oper- • Servo Motor gain is
• Increase the speed loop
gain (Pn100) and the
position loop gain
(Pn102).
ation is normal but
a long command is
sent.
poorly adjusted.
• The position command
pulse frequency is too
high.
• Increase/decrease the
position command pulse
frequency slowly.
• Use the smoothing func-
tion.
• Check the electronic gear
ratio.
• The deviation counter
overflow level (Pn520) is
not suitable.
• Correct the setting for
Pn520.
• The load conditions
(torque, inertia) do not
conform to the Servomo-
tor specifications.
• Check the load and the
Servomotor capacity.
a.d01
Deviation counter Occurs when the
overflow alarm at control circuit
• Position deviation pulses • Set so that the Servomo-
have accumulated exces- tor does not operate with
Servo-ON
power supply is
turned ON.
sively with the Servo
OFF.
the Servo OFF.
• Correct the detection
level.
• The Servomotor was
operated form outside
when the Servo was
OFF.
5-30
Troubleshooting
Chapter 5
Display
a.d02
Error
Status when
error occurs
Cause of error
Countermeasures
Deviation counter Occurs during Ser- • The Servo turned ON
overflow alarm by vomotor drive.
speed limit at
• Set so that the Servomo-
tor does not operate with
the Servo OFF.
with position deviation
pulses accumulated, and
command pulses were
input during operation at
the limit speed. Position
deviation pulses accumu-
lated exceeding the devi-
ation counter overflow
level (Pn520).
Servo-ON
• Correct the detection
level.
• Set a suitable value for
the limit speed level at
Servo-ON (Pn529).
a.e00
a.e01
a.e02
a.e07
a.e08
a.e09
a.e40
COM alarm 0
COM alarm 1
COM alarm 2
COM alarm 7
COM alarm 8
COM alarm 9
Occurs when the
control circuit
power supply is
turned ON.
• Servo Driver is defective. • Replace the Servo
Driver.
• The conditions in 6-3
Restrictions were not met • Make sure the conditions
when using the Com-
puter Monitor Software.
in 6-3 Restrictions are
met.
MECHATROLINK- Occurs when
• The MECHATROLINK-II • Set a suitable value for
II transmission
cycle setting error II communications
are started.
MECHATROLINK-
transmission cycle set-
ting is out of the range in
the specifications.
the MECHATROLINK-II
transmission cycle.
a.e50
a.e51
MECHATROLINK- Occurs during
II synchronization MECHATROLINK-
• The WDT data refreshing • Correct the WDT data
for the host device is not
correct.
refreshing for the host
device.
error
II communications.
• Servo Driver is defective. • Replace the Servo
Driver.
MECHATROLINK- Occurs when
• The WDT data refreshing • Correct the WDT data
II synchronization MECHATROLINK-
for the host device was
not correct when syn-
chronous communica-
tions started, so they
could not be started.
refreshing for the host
device.
failure
II synchronous
communications
are started.
• Servo Driver is defective. • Replace the Servo
Driver.
a.e60
MECHATROLINK- Occurs during
II communications MECHATROLINK-
• Correct the MECHA-
TROLINK-II wiring.
• Wire the MECHA-
TROLINK-II communica-
tions cable correctly.
Connect the terminator
correctly.
error
II communications.
• Servo Driver is defective. • Replace the Servo
Driver.
• A MECHATROLINK-II
data reception error
occurred due to noise.
• Implement measures
against noise (such as
using MECHATROLINK-
II communications cable,
checking the FG wiring,
and installing a ferrite
core in the MECHA-
TROLINK-II communica-
tions cable).
5-31
Troubleshooting
Chapter 5
Display
a.e61
Error
Status when
error occurs
Cause of error
Countermeasures
MECHATROLINK- Occurs during
II transmission
cycle error
• The MECHATROLINK-II • Eliminate the cause of
transmission cycle fluctu- fluctuation in the host
ated.
MECHATROLINK-
II communications.
device transmission
cycle.
• Servo Driver is defective. • Replace the Servo
Driver.
a.ea0
a.ea1
a.ea2
DRV alarm 0
DRV alarm 1
DRV alarm 2
Occurs when the • Servo Driver is defective. • Replace the Servo
control circuit
Driver.
power supply is
turned ON or dur-
ing operation.
a.ed0
Internal command Occurs when
• Parameters were edited • Do not edit parameters
error
MECHATROLINK-
at a personal computer
during MECHATROLINK- II communications.
II communications.
during MECHATROLINK-
II communications
are started, or dur-
ing operation.
• Servo Driver is defective. • Replace the Servo
Driver.
a.f10
Missing phase
detected
Occurs when the
control circuit
power supply is
turned ON.
• Servo Driver is defective. • Replace the Servo
Driver.
Occurs when the
main circuit power
supply is turned
ON.
• The three-phase power
supply is faulty.
• Correct the power supply
wiring.
• The three-phase power
supply is unbalanced.
• Correct the power supply
unbalance. (Switch the
phase.)
• Servo Driver is defective. • Replace the Servo
Driver.
Occurs during Ser- • There are faulty contacts • Correct the power supply
vomotor drive.
in the three-phase power
supply wiring.
wiring.
• The three-phase power
supply is unbalanced.
• Correct the power supply
imbalance.
• Servo Driver is defective. • Replace the Servo
Driver.
5-32
Troubleshooting
Chapter 5
5-3-2 Error Diagnosis Using Warning Indicators
Display
Error
Status when
error occurs
Cause of error
Countermeasures
a.900
Deviation counter Occurs during nor- • The Servo Driver board is • Replace the Servo
overflow
mal operation.
defective.
Driver.
• The Servomotor's U, V,
and W wiring is incorrect
(faulty connections).
• Correct the Servomotor
wiring.
• Correct the encoder wir-
ing.
• Servo Motor gain is
poorly adjusted.
• Increase the speed loop
gain (Pn100) and the
position loop gain
(Pn102).
• The position command
pulse frequency is too
high.
• Increase/decrease the
position command pulse
frequency slowly.
• Use the smoothing func-
tion.
• Check the electronic gear
ratio.
• A parameter setting
(Pn520: Deviation
counter overflow level) is
incorrect.
• Set a value other than
zero for Pn520.
• The load conditions
(torque, inertia) do not
conform to the Servomo-
tor specifications.
• Check the load and the
Servomotor capacity.
a.901
Deviation counter Occurs when the
overflow at Servo- Servo is turned
• Position deviation pulses • Set so that the Servomo-
have accumulated exces- tor does not operate with
ON
ON.
sively with the Servo
OFF.
the Servo OFF.
• Set so that position devi-
ation pulses are cleared
when the Servo is OFF.
• Position deviation pulses
were not set to be
cleared with the Servo
OFF, and the Servomo-
tor was operated from
outside.
• Correct the detection
level.
5-33
Troubleshooting
Chapter 5
Display
a.910
Error
Overload
Status when
error occurs
Cause of error
Countermeasures
Occurs when the • Servomotor wiring is
Servo is turned
ON.
• Correct the Servomotor
wiring.
incorrect (faulty wiring or
connections).
• Encoder wiring is incor- • Correct the encoder wir-
rect (faulty wiring or con-
nections).
ing.
• Servo Driver is defective. • Replace the Servo
Driver.
Occurs without
Servomotor rota-
tion by command
input.
• Servomotor wiring is
incorrect (faulty wiring or
connections).
• Correct the Servomotor
wiring.
• Encoder wiring is incor- • Correct the encoder wir-
rect (faulty wiring or con-
nections).
ing.
• The starting torque
exceeds the maximum
torque.
• Recheck the load condi-
tions, the operating con-
ditions, and the
Servomotor capacity.
• Servo Driver is defective. • Replace the Servo
Driver.
Occurs during nor- • The effective torque
• Recheck the load condi-
exceeds the rated torque. tions, the operating con-
ditions, and the
mal operation.
Servomotor capacity.
• The temperature is high • Lower the temperature in
in the Servo Driver's
panel
the panel to 55°C or less.
• Servo Driver is defective. • Replace the Servo
Driver.
a.911
Vibration
Occurs during nor- • The Servo Driver gain is • In order to set the correct
mal operation.
incorrect.
gain, lower the speed
loop gain (Pn100) and
the position loop gain
(Pn101), and increase fil-
ter time constants such
as the1st step 1st torque
command filter time con-
stant (Pn401).
• The inertia ratio (Pn103) • Set a suitable value for
value is greater than the
actual value, or it is
greatly fluctuating.
the inertia ratio (Pn103).
5-34
Troubleshooting
Chapter 5
Display
a.920
Error
Status when
error occurs
Cause of error
Countermeasures
Regeneration
overload
Occurs when the
control circuit
power supply is
turned ON.
• The Servo Driver board is • Replace the Servo
defective.
Driver.
Occurs during nor- • Regenerative energy is
• Reselect the regenera-
tion resistance amount,
or recheck the load con-
ditions and operating
conditions.
mal operation.
(Large increase in
regeneration resis-
tance tempera-
ture)
excessive.
• Regeneration is continu-
ous.
Occurs during nor- • The capacity set in
• Correct the setting for
Pn600.
mal operation.
(Small increase in
regeneration resis-
tance tempera-
ture)
Pn600 is smaller than the
external regeneration
resistance capacity.
• Servo Driver is defective. • Replace the Servo
Driver.
Occurs during Ser- • Regenerative energy is
• Reselect the regenera-
tion resistance amount,
or recheck the load con-
ditions and operating
conditions.
vomotor decelera-
tion.
excessive.
a.930
Absolute encoder Occurs when the
• The Servo Driver board is • Replace the Servo
defective. Driver.
battery warning
control circuit
power supply is
turned ON.
Occurs when the
control circuit
power supply is
turned ON.
(Setting: Pn002 =
1)
• The Servo Driver board is • Replace the Servo
defective. (When abso-
lute values are used
incrementally.)
Driver.
Occurs when four • The battery has a faulty • Correct the battery con-
seconds or more
have elapsed after
the control power
supply is turned
ON. Used with
absolute value
(setting: Pn002.2 =
0).
connection or is discon-
nected.
nections.
• The battery voltage is
lower than the prescribed
value (2.7 V).
• Replace the battery and
turn the encoder power
supply ON again.
• The Servo Driver board is • Replace the Servo
defective.
Driver.
a.941
a.94a
Parameter change Occurs when
• A parameter was
• Turn the power OFF and
back ON.
requiring restart
parameters are
changed.
changed that required
the power to be turned
OFF and back ON.
Data setting warn- Occurs when a
• An unusable parameter
number was used.
• Use a correct parameter
number.
ing 1 (parameter
No.)
PRM_RD,
PRM_W, or
PPRM_WR com-
mand is sent.
5-35
Troubleshooting
Chapter 5
Display
a.94b
Error
Status when
error occurs
Cause of error
Countermeasures
Data setting warn- Occurs when a
ing 2 (out of range) MECHATROLINK-
II command is
• An attempt was made to • Set a value in the setting
set a value outside of the
setting range for the com-
mand data.
range.
• Check the setting of
Pn813 and change it to
sent.
• If the Servo Driver is con- 0032 hex if any other
nected to the CJ1W-
MCH71 or CS1W-
value is set.
MCH71, the option moni-
tor parameters may not
be set correctly.
a.94c
Data setting warn- Occurs when a
• An error occurred in the • Set a value in the setting
ing 3 (calculation
error)
PRM_WR or
PPRM_WR com-
mand is sent.
calculation results for the
set value.
range for the parameter.
a.94d
a.95a
Data setting warn- Occurred during
• The parameter size set
by the command is not
correct.
• Use the correct parame-
ter size.
ing 4 (parameter
size)
MECHATROLINK-
II communications.
Commandwarning Occurred during
1 (command con- MECHATROLINK-
• The command transmis- • Satisfy all the command
sion conditions have not
been met.
transmission conditions
before sending the com-
mand.
ditions not met)
II communications.
a.95b
a.95c
Commandwarning Occurred during
• An unsupported com-
mand was received.
• Do not send unsupported
commands.
2 (unsupported
command)
MECHATROLINK-
II communications.
Commandwarning Occurred during
• A MECHATROLINK-II
• Set the parameters
3
MECHATROLINK-
II communications.
command cannot be exe- required for command
cuted according to the
setting conditions.
execution.
a.95d
a.95e
a.960
Commandwarning Occurred during
• The transmission condi- • Satisfy all the latch-
4
MECHATROLINK-
II communications.
tions for a latch-related
command have not been
satisfied.
related command trans-
mission conditions before
sending the command.
Commandwarning Occurred during
• The sub-command trans- • Satisfy all the sub-com-
5
MECHATROLINK-
II communications.
mission conditions have
not been satisfied.
mand transmission con-
ditions before sending
the command.
MECHATROLINK- Occurred during
II communications MECHATROLINK-
• Connection is faulty or
line is disconnected.
• Review the connector
wiring.
warning
II communications.
• Check for disconnec-
tions in the communica-
tions wiring.
• Communications error
due to noise or other fac-
tors.
• Implement noise counter-
measures.
• Check system operation
and, if there are no prob-
lems (or if the problems
are acceptable), set to
ignore the A.96@ warn-
ing using the warning
check mask.
5-36
Troubleshooting
Chapter 5
5-3-3 Troubleshooting by Means of Operating Status
Symptom
Probable cause
Items to check
Countermeasures
The Servomotor
does not start.
The control power supply • Check the voltage between • Correct the control power
is not ON.
the control power supply
terminals.
supply ON circuit.
The main circuit power
supply is not ON.
• Check the voltage between • Correct the main circuit
the main circuit power sup-
ply terminals.
power supply ON circuit.
The I/O (CN1) wiring is
faulty or disconnected.
• Check the condition and
wiring of the CN1 connec-
tor.
• Correct the CN1 wiring.
The Servomotor or
encoder wiring is
detached.
• Checking the wiring.
• Connect the wiring.
There is an overload.
• Operate without an over-
load.
• Either lighten the load or
change to a Servomotor
with greater capacity.
Speed and position com-
mands are not being input.
• Check the input pins.
• Correct the speed and
position inputs.
The input signal selections • Check the settings for the
• Correct Check the settings
for the input signal selec-
tions (Pn50A to Pn50D).
(Pn50A to Pn50D) are set
incorrectly.
input signal selections
(Pn50A to Pn50D).
The type of encoder being • Is it an incremental or an
• Match the setting in
used is different from the
parameter setting.
absolute encoder?
Pn002.2 to the type of
encoder that is being used.
The Servo-ON (SV-ON)
command is not being
sent.
• Check the host device com- • Specify the Servo-ON (SV-
mands. ON) command.
The sensor ON
• Check the host device com- • Send commands to the
(SENS_ON) command is
not being sent.
mands.
Servo Driver in the correct
sequence.
The forward drive prohibit • Check the POT and NOT
• Turn ON the POT and NOT
input signals.
(POT) and reverse drive
prohibit (NOT) input sig-
nals are remaining OFF.
input signals.
Servo Driver is defective.
• The Servo Driver board is • Replace the Servo Driver.
defective.
The Servomotor
operates momen-
tarily but then
stops.
Servomotor wiring is faulty. • Check the Servomotor wir- • Correct the Servomotor
ing. wiring.
• Check the encoder wiring. • Correct the encoder wiring.
Encoder wiring is faulty.
Wiring connections to the • Connections are unstable • Tighten any looseness at
Servomotor rota-
tion is unstable.
Servomotor are faulty.
at power line (phase U, V,
W) or encoder connectors.
the processing terminals
and connectors.
Servomotor
rotates without any
commands.
Servo Driver is defective.
• Servo Driver board is
defective.
• Replace the Servo Driver.
5-37
Troubleshooting
Chapter 5
Symptom
Probable cause
Items to check
Countermeasures
DB (dynamic
brake) does not
operate.
The parameter setting is
incorrect.
• Check the setting for
Pn001.0.
• Correct the parameter set-
ting.
DB resistance is discon-
nected.
• Is there excessive inertia,
rotation speed, or fre-
quency of DB use?
• Replace the Servo Driver
and check the load system.
DB drive circuit is defec-
tive.
• A DB circuit component is • Replace the Servo Driver.
defective.
The Servomotor is The mechanicalinstallation • Are Servomotor mounting • Tighten the mounting
making strange
noises.
is faulty.
screws loose?
screws.
• Are couplings off center?
• Center the couplings.
• Are couplings unbalanced? • Balance the couplings.
There is a problem with the • Check for sounds and
• If there are any abnormali-
ties, please contact an
OMRON representative.
bearings.
vibration around the bear-
ings.
The source of vibration is • Have any foreign objects
• Consult with the maker of
the machine.
in another machine.
gotten into the movable
parts of the machine, or is
there any damage or defor-
mation?
Noise is carried because
the input signal line specifi-
cations are incorrect.
• Is twisted-pair wire or
twisted-pair bound shielded
• Make sure that input signal
lines conform to the specifi-
cations.
2
core wire of 0.12 mm min.,
made of tin-coated soft
copper, being used?
Noise is carried because
the encoder cable specifi-
cations are incorrect.
• Is twisted-pair wire or
twisted-pair bound shielded
• Make sure that the encoder
cable conforms to the spec-
ifications.
2
core wire of 0.12 mm min.,
made of tin-coated soft
copper, being used?
The encoder cable is car- • Use a maximum wiring dis- • Make sure that the encoder
rying noise because the
distance exceeds the oper-
ating range.
tance of 50 m.
cable distance conforms to
the specifications.
Noise interference is
occurring because of dam-
age to the encoder cable.
• The encoder cable is
crimped, or deterioration of
the insulation is allowing
noise to affect the signal
line.
• Correct the cable installa-
tion.
There is excessive noise
interference to the encoder
cable.
• Is the encoder cable bun-
dled with, or close to, lines
carrying a large current?
• Arrange the cable so that
the encoder cable is not
affected by surges.
The electric potential of the • What is the grounding sta- • Ground the machinery to
FG is fluctuating due to
influence from machinery
(such as welders) in the
vicinity of the Servomotor.
tus of equipment such as
welding machines near the
Servomotor (e.g., imper-
fectly grounded, not
prevent branching to the
encoder's FG.
grounded at all)?
The Servo Driver pulse
count is incorrect due to
noise.
• Is noise being carried to the • Implement measures
line for signals coming from
the encoder?
against noise in the
encoder wiring.
5-38
Troubleshooting
Chapter 5
Symptom
Probable cause
Items to check
Countermeasures
The Servomotor is There is interference due
• Check for machine vibra-
tion or faulty Servomotor
mounting (mounting sur-
face precision, secure fas-
tening, centering, etc.).
• Lower machine vibration or
correct Servomotor mount-
ing.
making strange
noises.
to the encoder being sub-
jected to excessive vibra-
tion and shock.
Encoder is defective.
• Encoder is defective.
• Replace the Servomotor.
Servomotor oscil- The speed loop gain
• Default: Kv = 80.0/Hz
Refer to the instructions on
adjusting gain in the user's
manual.
• Correct the setting for the
speed loop gain (Pn100).
lates at approx.
200 to 400 Hz.
(Pn100) is set too high.
The position loop gain
(Pn102) is set too high.
• Default: Kv = 40.0/Hz
Refer to the instructions on
adjusting gain in the user's
manual.
• Correct the setting for the
position loop gain (Pn102).
The speed loop integral
time constant (Pn101) set-
ting is inappropriate.
• Default: Ti = 20.00 ms
Refer to the instructions on
adjusting gain in the user's
manual.
• Correct the setting for the
speed loop integral time
constant (Pn101).
The machine rigidity set-
ting is inappropriate.
• Check the machine rigidity • Correct the machine rigidity
setting.
setting.
The inertia ratio (Pn103)
data is inappropriate.
• Check the inertia ratio
(Pn103) data.
• Correct the inertia ratio
(Pn103) data.
Frequency over-
shooting when
starting and stop-
ping is too high.
The speed loop gain
(Pn100) is set too high.
• Default: Kv = 80.0 Hz
Refer to the instructions on
adjusting gain in the user's
manual.
• Correct the setting for the
speed loop gain (Pn100).
The position loop gain
(Pn102) is set too high.
• Default: Kp = 40.0/s
Refer to the instructions on
adjusting gain in the user's
manual.
• Correct the setting for the
position loop gain (Pn102).
The speed loop integral
time constant (Pn101) set-
ting is inappropriate.
• Default: Ti = 20.00 ms
Refer to the instructions on
adjusting gain in the user's
manual.
• Correct the setting for the
speed loop integral time
constant (Pn101).
The machine rigidity set-
ting is inappropriate.
• Check the machine rigidity • Correct the machine rigidity
setting.
setting.
The inertia ratio (Pn103)
data is inappropriate.
• Check the inertia ratio
(Pn103) data.
• Correct the inertia ratio
(Pn103) data.
• Use the Servomotor switch
function.
5-39
Troubleshooting
Chapter 5
Symptom
Probable cause
Items to check
Countermeasures
Absolute encoder Noise is carried because
position displace- the encoder cable specifi-
• Check whether the cable is • Make sure that the encoder
twisted-pair wire or twisted- cable conforms to the spec-
ment error (The
position in the host
device's memory
when the power is
turned OFF is dif-
ferent from the
position when the
power is next
cations are incorrect.
pair bound shielded core
ifications.
2
wire of 0.12 mm min.,
made of tin-coated soft
copper.
The encoder cable is car- • Use a maximum wiring dis- • Make sure that the encoder
rying noise because the
distance exceeds the oper-
ating range.
tance of 50 m.
cable distance conforms to
the specifications.
turned ON.)
Noise interference is
occurring because of dam-
age to the encoder cable.
• The encoder cable is
crimped, or deterioration of
the insulation is allowing
noise to affect the signal
line.
• Correct the cable installa-
tion.
There is excessive noise
interference to the encoder
cable.
• Is the encoder cable bun-
dled with, or close to, lines
carrying a large current?
• Arrange the cable so that
the encoder cable is not
affected by surges.
The electric potential of the • What is the grounding sta- • Ground the machinery to
FG is fluctuated due to
noise from machinery
(such as welders) in the
vicinity of the Servomotor.
tus of equipment such as
welding machines near the
Servomotor (e.g., imper-
fectly grounded, not
prevent branching to the
encoder's FG.
grounded at all)?
The Servo Driver pulse
count is incorrect due to
noise.
• Is noise being carried to the • Implement measures
line for signals coming from
the encoder?
against noise in the
encoder wiring.
There is interference due
to the encoder being sub-
jected to excessive vibra-
tion and shock.
• Check for machine vibra-
tion or faulty Servomotor
mounting (mounting sur-
face precision, secure fas-
tening, centering, etc.).
• Reduce machine vibration
or correct the Servomotor
mounting.
Encoder is defective.
• Encoder is defective.
• Replace the Servomotor.
(Pulses are not changing.)
Servo Driver is defective.
• Multi-turn data is not output • Replace the Servo Driver.
from the Servo Driver.
5-40
Troubleshooting
Chapter 5
Symptom
Probable cause
Items to check
Countermeasures
Overtravel (OT)
(Travelling outside prohibit input signal does
of the zone speci- not change. (POT (CN1-7
fied by the host
device)
The forward/reverse drive • Is the voltage correct for
• Use a +24-V external
power supply.
the external power supply
(+24 V) for input signals?
or NOT (CN1-8) is at H
level.)
• Is the operating status cor- • Correct the status of the
rect for the overtravel limit
switch?
overtravel limit switch.
• Is the wiring to the over-
travel limit switch correct?
• Correct the wiring to the
overtravel limit switch.
The forward/reverse drive • Does the external power
• Eliminate the fluctuation in
prohibit input signal is mal-
functioning. (Does the POT
or NOT signal sometimes
change?)
supply (+24 V) voltage fluc- the external power supply
tuate?
(+24 V) voltage.
• Is overtravel limit switch
operation unstable?
• Stabilize overtravel limit
switch operation.
• Is the overtravel limit switch • Correct the wiring to the
wiring correct (cable
undamaged, screws tight-
ened, etc.)
overtravel limit switch.
The forward/reverse drive • Check the POT signal
• Correct the POT signal
selection (Pn50A.3)
prohibit input signal (POT/
NOT) selection is incorrect.
selection (Pn50A.3).
• Check the NOT signal
selection (Pn50B.0)
• Correct the NOT signal
selection (Pn50B.0)
The Servomotor stopping • Is the free-run stopping
• Check the settings for
Pn001.0 and Pn001.1.
method selection is incor-
rect.
method selected for the
Servomotor?
• Is free-run set for torque
control?
• Check the settings for
Pn001.0 and Pn001.1.
The overtravel limit switch • The overtravel limit switch • Set the overtravel limit
position is inappropriate.
position is less than the
coasting amount.
switch position correctly.
Noise is carried because
the encoder cable specifi-
cations are incorrect.
• Is twisted-pair wire or
twisted-pair bound shielded
• Make sure that the encoder
cable conforms to the spec-
ifications.
2
core wire of 0.12 mm min.,
made of tin-coated soft
copper, being used?
The encoder cable is car- • Use a maximum wiring dis- • Make sure that the encoder
rying noise because the
distance exceeds the oper-
ating range.
tance of 50 m.
cable distance conforms to
the specifications.
Noise interference is
occurring because of dam-
age to the encoder cable.
• The encoder cable is
crimped, or deterioration of
the insulation is allowing
noise to affect the signal
line.
• Correct the cable installa-
tion.
There is excessive noise
interference to the encoder
cable.
• Is the encoder cable bun-
dled with, or close to, lines
carrying a large current?
• Arrange the cable so that
the encoder cable is not
affected by surges.
5-41
Troubleshooting
Chapter 5
Symptom
Probable cause
Items to check
Countermeasures
Overtravel (OT)
The FG is fluctuating due • What is the grounding sta- • Ground the machinery to
(Travelling outside to influence from machin-
of the zone speci- ery (such as welders) in
tus of equipment such as
welding machines near the
Servomotor (e.g., imper-
fectly grounded, not
prevent branching to the
encoder's FG.
fied by the host
device)
the vicinity of the Servomo-
tor.
grounded at all)?
The Servo Driver pulse
count is incorrect due to
noise.
• Is noise being carried to the • Implement measures
line for signals coming from
the encoder?
against noise in the
encoder wiring.
There is interference due
to the encoder being sub-
jected to excessive vibra-
tion and shock.
• Check for machine vibra-
tion or faulty Servomotor
mounting (mounting sur-
face precision, secure fas-
tening, centering, etc.).
• Reduce machine vibration
or correct the Servomotor
mounting.
Encoder is defective.
• Encoder is defective.
• Replace the Servomotor.
• Replace the Servo Driver.
Servo Driver is defective.
• Servo Driver is defective.
The position is dis- The coupling between the • Is the coupling between the • Correct the coupling
placed (without an machine and the Servomo-
machine and the Servomo-
tor displaced?
between the machine and
the Servomotor.
alarm being out-
put).
tor is faulty.
Noise is carried because
the input signal line specifi-
cations are incorrect.
• Is twisted-pair wire or
twisted-pair bound shielded
• Make sure that input signal
lines conform to the specifi-
cations.
2
core wire of 0.12 mm min.,
made of tin-coated soft
copper, being used?
Encoder is defective.
• Encoder is defective.
• Replace the Servomotor.
(Pulses are not changing.)
(Pulses are not changing.)
Servomotor is
overheating.
The ambient temperature • Measure the Servomotor's • Lower the ambient temper-
is too high.
ambient temperature.
ature to 40°C or less.
The Servomotor's surface • Visually check the surface. • Clean off dirt and oil from
is dirty.
the Servomotor's surface.
There is an overload.
• Operate without an over-
load.
• Recheck the load condi-
tions, the operating condi-
tions, and the Servomotor
capacity.
5-42
Troubleshooting
Chapter 5
5-4 Overload Characteristics (Electronic Thermal
Characteristics)
An overload protection (electronic thermal) function is built into the Servo Driver to
protect against Servo Driver or Servomotor overload. If an overload (A.710 to A.720)
does occur, first clear the cause of the error and then wait at least one minute for the
Servomotor temperature to drop before turning on the power again. If the power is
turned on again too soon, the Servomotor coil may be damaged.
■ Overload Characteristics Graph
Overload characteristics are shown in the following table. If, for example, a current of three times the
Servomotor's rated current flows continuously, it will be detected after approximately three seconds.
10000
1000
B
100
Operation time (s)
A
10
5
1
300
150
200
250
100
Load rate (%)
A : 3,000-r/min Servomotors, 30 to 400 W
3,000-r/min Flat-style Servomotors, 100 to 400 W
B : 3,000-r/min Servomotors, 750 W to 3 kW
3,000-r/min Flat-style Servomotors, 750 W to 1.5 kW
1,000-r/min Servomotors, 300 W to 2 kW
1,500-r/min Servomotors, 450 W to 1.8 kW
5-43
Troubleshooting
Chapter 5
Interpreting the Graph
If a current that is equivalent to the maximum torque is applied continuously to a Servomotor equiva-
lent to B in the above graph, an overload will be detected in approximately 5 s.
5-44
Troubleshooting
Chapter 5
5-5 Periodic Maintenance
Maintenance and Inspection Precautions
!WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so
may result in malfunction, fire, or electric shock.
!Caution
Resume operation only after transferring to the new Unit the contents of the data
required for operation. Not doing so may result in an unexpected operation.
Servomotors and Servo Drivers contain many components and will operate properly
only when each of the individual components is operating properly. Some of the
electrical and mechanical components require maintenance depending on application
conditions. In order to ensure proper long-term operation of Servomotors and Drivers,
periodic inspection and part replacement is required according to the life of the
components.
The periodic maintenance cycle depends on the installation environment and application conditions
of the Servomotor or Driver. Recommended maintenance times are listed below for Servomotors and
Drivers. Use these for reference in determining actual maintenance schedules.
■ Servomotors
• Recommended Periodic Maintenance
Bearings:
Reduction gear: 20,000 hours
Oil seal: 5,000 hours
20,000 hours
Application Conditions: Ambient Servomotor operating temperature of 40°C, within allowable shaft
load, rated operation (rated torque and r/m), installed as described in oper-
ation manual.
• The radial loads during operation (rotation) on timing pulleys and other components contacting
belts is twice the still load. Consult with the belt and pulley manufacturers and adjust designs and
system settings so that the allowable shaft load is not exceeded even during operation. If a Servo-
motor is used under a shaft load exceeding the allowable limit, the Servomotor shaft can break, the
bearings can burn out, and other problems can occur.
■ Servo Drivers
• Recommended Periodic Maintenance
Aluminum analytical capacitors: 50,000 hours, at an ambient Servo Driver operating temperature
of 40°C, rated operation (rated torque), installed as described in
operation manual.
Axle fan: 30,000 hours, at an ambient Servo Driver operating temperature of 40°C and an ambient
humidity of 65%.
5-45
Troubleshooting
Chapter 5
Absolute encoder backup battery: 50,000 hours, at an ambient Servo Driver operating tempera-
ture of 20°C.
• When using the Servo Driver under the continuous operation mode, cool the Servo Driver with fans
and air conditioners to maintain an ambient operating temperature below 40°C.
• The life of aluminum analytical capacitors is greatly affected by the ambient operating temperature.
Generally speaking, an increase of 10°C in the ambient operating temperature will reduce capacitor
life by 50%. We recommend that ambient operating temperature be lowered and the power supply
time be reduced as much as possible to lengthen the maintenance times for Servo Drivers.
• If the Servomotor or Servo Driver is not to be used for a long time, or if they are to be used under
conditions worse than those described above, a periodic inspection schedule of five years is recom-
mended. Please consult with OMRON to determine whether or not components need to be
replaced.
5-46
Troubleshooting
Chapter 5
5-6 Replacing the Absolute Encoder Battery (ABS)
Replace the absolute encoder backup battery if it has been used for at least five years,
or if an A.930 (battery warning) warning or an A.830 (battery error) alarm occurs.
■ Battery Model and Specifications
Item
Specification
Absolute Encoder Backup Battery Unit
Name
Model numbers
Battery model
Battery voltage
Current capacity
R88A-BAT01W
ER3V (Toshiba)
3.6 V
1,000 mA·h
Note Refer to 2-8 Absolute Encoder Backup Battery Specifications for dimensions and wiring
details.
■ Battery Replacement Procedure
• Replace the battery using the following replacement procedure. After replacing the battery, if a
A.810 (backup error) alarm does not occur, the replacement is completed. If an A.810 alarm
occurs, you need to set up the absolute encoder.
1.Turn ON the power supply to the Servo Driver's control circuit.
• Turn ON the power supply to the Servo Driver's control circuit only. This will supply power to
the absolute encoder.
Note If an A.930 warning occurs when the power supply is ON, turn OFF only the main circuit
power supply after completing operation and then perform the following replacement proce-
dure. If the control circuit power supply is turned OFF, the absolute data in the absolute en-
coder may be inadvertently cleared.
2.Replace the battery.
• Remove the old battery from the absolute encoder battery cable's battery holder, and discon-
nect the connector to the battery from the battery connector.
• Place the new battery in the battery holder, and insert the connector correctly into battery con-
nector.
3.Turn the power supply OFF, then ON again.
• After correctly connecting the new battery, turn OFF the power supply to the Servo Driver, then
turn it ON again.
• If a Servo Driver alarm is not displayed, battery replacement is completed.
Note If A.810 (backup error) is displayed, you need to set up the absolute encoder. Refer to 4-2-
2 Absolute Encoder Setup and Battery Changes, and perform the setup and make the initial
settings for the Motion Control Unit.
5-47
Troubleshooting
Chapter 5
5-48
Chapter 6
Appendix
6-1 Connection Examples
6-2 Parameter Setting Tables
6-3 Restrictions
Appendix
Chapter 6
6-1 Connection Examples
■ Connection Example: Connecting to SYSMAC CS1W-MCH71, CJ1W-
MCH71, CJ1W-NCF71 Position Control Units
Main circuit power supply
OFF
ON
NFB
MC
R
S
T
Main circuit contact
Surge killer
SUP
3-phase 200/230 V AC 50/60Hz
MC
X1
CJ1W-NCF71
CJ1W-MCH71
CS1W-MCH71
Class-3 ground
(100 Ω or less)
R88D-WN@-ML2
TB
L1C
L2C
L1
MECHATROLINK-II
Communications Cable
MC
CN6A/B
FNY-W6003-@
L2
L3
MLK
DC reactor
Terminating Resistor
FNY-W6022
B2
B3
R88M-W@
Power Cable
R88A-CAW@
R88A-CAW@R
Red
White
Blue
CN1
U
V
W
M
6
+24VI
24 V DC
Green/Yellow
7
8
POT
NOT
9
DEC
10
11
12
EXT1
EXT2
EXT3
Encoder Cable
R88A-CRW@
CN2
R88A-CAW@R
E
24 V DC
X1
3
4
ALM
ALMCOI
Note 1. The example shows a three-phase, 200-V AC input to the Servo Driver for the main circuit
power supply. Be sure to provide a power supply and wiring conforming to the power supply
specifications for the Servo Driver in use.
Note 2. Incorrect signal wiring can cause damage to Units and the Servo Driver.
Note 3. Leave unused signal lines open and do not wire them.
Note 4. The diode recommended for surge absorption is the ERB44-02 (Fuji Electric).
6-2
Appendix
Chapter 6
6-2 Parameter Setting Tables
■ Function Selection Parameters (from Pn000)
Param- Param- Digit
Name
Setting
Explanation
Default
setting
Unit
Setting Restart
Set
eter No.
eter
No.
range power? value
name
Pn000
Func-
tion
0
Reverse rota- 0
tion
CCW direction is taken for posi- 0000
tive command
---
---
Yes
0@0@
selec-
tion
1
CW direction is taken for positive
command
basic
switches
2 to 3
Not used.
1
2
Not used.
0
(Do not change setting.)
Unit No. set- 0 to F
ting
Servo Driver communications
unit number setting (necessary
for multiple Servo Driver connec-
tions when using personal com-
puter monitoring software)
3
0
Not used.
0
0
(Do not change setting.)
Pn001
Func-
tion
Stop selec-
tion if an
alarm occurs
when Servo-
motor is OFF
Servomotor stopped by dynamic 0002
brake.
---
---
Yes
0@@@
selec-
tion
1
2
0
Dynamic brake OFF after Servo-
motor stopped
applica-
tion
switches
1
Servomotor stopped with free
run
1
Stop selec-
tion when
drive prohib-
ited is input
Stop according to Pn001.0 set-
ting (release Servomotor after
stopping)
1
2
0
1
Stop Servomotor using torque
set in Pn406, and lock Servomo-
tor after stopping
Stop Servomotor using torque
set in Pn406, and release Servo-
motor after stopping
2
AC/DC
power input
selection
AC power supply: DC power
supplied from L1, L2, (L3) termi-
nals
DC power supply: DC power
from +1, − terminals
3
0
Not used.
0
0
(Do not change setting.)
Pn002
Func-
tion
Torque com-
mand input
change (dur-
ing speed
control)
Do not use option command
value.
0000
---
---
Yes
0@@@
selec-
tion
1
2
Use option command value 1 as
the torque limit value.
applica-
tion
switches
2
Use option command value 1 as
the torque feed forward com-
mand value.
3
Use option command value 1 or
2 as the torque limit value,
according to the forward and
reverse torque limits that are
specified.
1
Speed com-
mand input
change (dur-
ing torque
control)
0
1
Do not use option command
value.
Use option command value 1 as
the speed limit value.
2
3
Operation
0
1
Use as absolute encoder
switch when
using abso-
lute encoder
Use as incremental encoder
Not used.
0
(Do not change setting.)
6-3
Appendix
Chapter 6
Param- Param- Digit
Name
Setting
Explanation
Default
setting
Unit
Setting Restart
Set
eter No.
eter
No.
range power? value
name
Pn004
Func-
tion
0
1
2
3
Not used.
Not used.
Not used.
Not used.
0
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
0110
---
---
Yes
011@
1
1
0
selec-
tion
applica-
tion
switches
4
Pn006
Func-
tion
0 to 1 Analog moni- 00
tor 1 (AM)
Servomotor rotation speed: 1V/ 0002
1000 r/min
---
---
---
0@@@
selec-
tion
signal selec-
01
Speed command: 1 V/1000 r/min
tion
applica-
tion
switches
6
02
Torque command: gravity com-
pensation torque (Pn422)
(1 V per 100%)
03
04
Position deviation: 0.05 V/1 com-
mand unit
Position amp error (after elec-
tronic gear) (0.05 V per encoder
pulse unit)
05
Position command speed
(1 V/1,000 r/min)
06
07
08
Not used.
Not used.
Positioning completed command
(Positioning completed: 5 V;
positioning not completed: 0 V)
09
0A
Speed feed forward
(1 V/1,000 r/min)
Torque feed forward
(1 V per 100%)
0B to 1F Not used.
2
3
Analog moni-
tor 1 signal
multiplier
0
1
2
3
4
0
1x
10x
selection
100x
1/10x
1/100x
Not used.
(Do not change setting.)
6-4
Appendix
Chapter 6
Param- Param- Digit
Name
Setting
Explanation
Default
setting
Unit
Setting Restart
Set
eter No.
eter
No.
range power? value
name
Pn007
Func-
tion
0 to 1 Analog moni- 00
tor 2 (NM)
Servomotor rotation speed:
1V/1000 r/min
0000
---
---
---
0@@@
selec-
tion
signal selec-
01
Speed command: 1 V/1000 r/min
tion
applica-
tion
switches
7
02
Torque command: gravity com-
pensation torque (Pn422)
(1 V per 100%)
03
04
Position deviation: 0.05 V/1 com-
mand unit
Position amp error (after elec-
tronic gear) (0.05 V per encoder
pulse unit)
05
Position command speed
(1 V/1,000 r/min)
06
07
08
Not used.
Not used.
Positioning completed command
(Positioning completed: 5 V;
positioning not completed: 0 V)
09
0A
Speed feed forward
(1 V/1,000 r/min)
Torque feed forward (1 V per
100%)
0B to 1F Not used.
2
Analog moni-
tor 2 signal
multiplier
0
1
2
3
4
0
0
1x
10x
selection
100x
1/10x
1/100x
3
0
Not used.
(Do not change setting.)
Pn008
Func-
tion
Lowered bat-
tery voltage
alarm/warn-
ing selection
Regard battery voltage drop as
alarm (A.830).
4000
---
---
Yes
4@0@
selec-
tion
1
Regard battery voltage drop as
warning (A.930).
applica-
tion
switches
8
1
2
Not used.
0
0
1
(Do not change setting.)
Warnings detected.
Warning
detection
selection
Warnings not detected.
3
Not used.
4
(Do not change setting.)
■ Servo Gain Parameters (from Pn100)
Param- Parameter
Explanation (See note 1.)
Default
setting
Unit
Setting Restart
Set
eter No.
name
range power? value
Digit
No.
Name Setting Explanation (See note 2.)
Pn100
Pn101
Speed loop Adjusts speed loop response.
gain
800
× 0.1 Hz
10 to
---
---
20000
Speed loop Speed loop integral time constant
integration
constant
2000
× 0.01 ms 15 to
51200
Pn102
Pn103
Pn104
Pn105
Position
Adjusts position loop response.
400
× 0.1/s
%
10 to
---
---
---
---
loop gain
20000
Inertia ratio Set using the ratio between the machine system inertia and 300
the Servomotor rotor inertia.
0 to
20000
Speed loop Adjusts speed loop response (enabled by gain switching
gain 2 input).
800
× 0.1 Hz
10 to
20000
Speed loop Speed loop integral time constant (enabled by gain switching 2000
integration
constant 2
× 0.01 ms 15 to
input).
51200
Pn106
Position
Adjusts position loop response (enabled by gain switching
400
× 0.1/s
10 to
20000
---
loop gain 2 input).
6-5
Appendix
Chapter 6
Param- Parameter
Explanation (See note 1.)
Name Setting Explanation (See note 2.)
Default
setting
Unit
Setting Restart
Set
eter No.
name
range power? value
Digit
No.
Pn107
Pn108
Pn109
Bias rota-
Sets position control bias.
0
7
0
r/min
0 to 450 ---
tional speed
Bias addi-
tion band
Sets the position control bias operation start using deviation
counter pulse width.
Command 0 to 250 ---
unit
Feed-for-
ward
amount
Position control feed-forward compensation value
%
0 to 100 ---
Pn10A
Pn10B
Feed-for-
ward com-
mand filter
Sets position control feed-forward command filter.
0
× 0.01 ms 0 to
---
---
6400
Speed con-
trol settings
0
P control
switching
conditions
0
Sets internal torque com- 0004
mand value conditions
(Pn10C).
---
---
0@@@
1
2
Sets speed command
value conditions (Pn10d).
Sets acceleration com-
mand value conditions
(Pn10E)
3
4
Sets deviation pulse value
conditions (Pn10F)
No P control switching
function
1
2
3
Speed con-
trol loop
0
PI control
Yes
1
IP control
switching
2 to 3
Not used.
Position loop
control
method
0
Standard position control
Less deviation control
Not used.
1
2 to 3
0
Not used.
(Do not change setting.)
Pn10C P control
switching
Sets level of torque command to switch from PI control to P 200
control.
%
0 to 800 ---
(torque
command)
Pn10D P control
switching
Sets level of speed command to switch from PI control to P
control.
0
0
r/min
r/min/s
0 to
---
---
10000
(speed com-
mand)
Pn10E
P control
switching
(accelera-
tion com-
mand)
Sets level of acceleration command to switch from PI control
to P control.
0 to
30000
Pn10F
Pn110
P control
switching
(deviation
pulse)
Sets level of deviation pulses to switch from PI control to P
control.
10
Command 0 to
---
unit
10000
Normal
autotuning
switches
0
1
Normal auto-
tuning
2
(Do not change setting.)
0012
---
---
Yes
00@@
method
Speed feed-
back com-
pensation
function
0
ON
1
OFF
2 to 3
Not used.
selection
2
3
Not used.
Not used.
0
0
(Do not change setting.)
(Do not change setting.)
Pn111
Speed feed- Adjusts speed loop feedback gain.
100
%
1 to 500 ---
back com-
pensating
gain
Pn119
Pn11A
Pn11E
Not used.
Not used.
Not used.
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
500
---
---
---
---
---
---
---
---
---
500
1000
1000
1000
1000
6-6
Appendix
Chapter 6
Param- Parameter
Explanation (See note 1.)
Name Setting Explanation (See note 2.)
Default
setting
Unit
Setting Restart
Set
eter No.
name
range power? value
Digit
No.
Pn11F
Position
integral time
constant
Position loop integral time constant
0
× 0.1 ms
0 to
50000
---
Pn12B
Not used.
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
400
2000
400
400
2000
400
0
---
---
---
---
---
---
ms
---
---
---
---
---
---
---
---
---
---
---
---
---
400
Pn12C Not used.
Pn12D Not used.
2000
400
Pn12E
Pn12F
Pn130
Pn131
Not used.
Not used.
Not used.
400
2000
400
Gain switch- Switching time from No. 1 gain to No. 2 gain
ing time 1
0 to
65535
Pn132
Pn135
Gain switch- Switching time from No. 2 gain to No. 1 gain
ing time 2
0
0
ms
ms
0 to
---
---
65535
Gain switch- The time from when gain switching condition A is satisfied
0 to
65535
ing waiting
time 1
until switching from the No. 1 gain to the No. 2 gain begins.
Pn136
Pn139
Gain switch- The time from when gain switching condition B is satisfied
0
ms
---
0 to
---
ing waiting
time 2
until switching from the No. 2 gain to the No. 1 gain begins.
65535
Automatic
gain
changeover
related
0
Gain switch-
ing selection
switch
0
1
Manual gain switching
0000
---
Yes
0@@@
Automatic switching pat-
tern 1
Automatic switching from
No. 1 gain to No. 2 gain
when gain switching condi-
tion A is satisfied.
switches 1
Automatic switching from
No. 2 gain to No. 1 gain
when gain switching condi-
tion B is satisfied.
2 to 4
0
Not used.
1
Gain switch-
ing condition
A
Positioning completed out-
put 1 (INP1) ON
1
2
3
4
Positioning completed out-
put 1 (INP1) OFF
Positioning completed out-
put 2 (INP2) ON
Positioning completed out-
put 2 (INP2) OFF
The position command fil-
ter output is 0, and also
the position command
input is 0.
5
The position command
input is not 0.
2
3
Gain switch- 0 to 5
Same as above.
ing condition
B
Not used.
0
(Do not change setting.)
Pn144
Pn150
Not used.
(Do not change setting.)
1000
0210
---
---
---
---
---
1000
Predictive
control
selection
switches
0
Predictive
control selec-
tion
0
Predictive control not
used.
Yes
02@@
1
2
Predictive control used.
Not used. (Do not change
setting.)
1
Predictive
control type
0
1
Predictive control for track-
ing
Predictive control for posi-
tioning
2
3
Not used.
Not used.
2
0
(Do not change setting.)
(Do not change setting.)
6-7
Appendix
Chapter 6
Param- Parameter
Explanation (See note 1.)
Name Setting Explanation (See note 2.)
Default
setting
Unit
Setting Restart
Set
eter No.
name
range power? value
Digit
No.
Pn151
Predictive
control
accelera-
tion/deceler-
ation gain
Adjusts acceleration and deceleration response for predic-
tive control.
100
%
%
0 to 300 ---
0 to 300 ---
Pn152
Predictive
control
weighting
ratio
Adjusts position deviation for predictive control.
100
Pn1A0
Pn1A1
Pn1A2
Servo rigid- Adjusts the Servo rigidity for the No. 1 gain.
ity
60
60
72
%
%
1 to 500 ---
1 to 500 ---
Servo rigid- Adjusts the Servo rigidity for the No. 2 gain.
ity 2
Speed feed- Sets the filter time constant for No. 1 gain speed feedback.
× 0.01 ms 30 to
---
---
---
---
back filter
time con-
stant
3200
Pn1A3
Pn1A4
Pn1A7
Speed feed- Sets the filter time constant for No. 2 gain speed feedback.
72
36
× 0.01 ms 30 to
back filter
time con-
stant 2
3200
Torque com- Sets the filter time constant for the torque command.
× 0.01 ms 0 to
mand filter
time con-
stant 2
2500
Utility con-
trol switches
0
Integral com-
pensation
processing
0
1
2
Integral compensation pro- 1121
---
---
112@
cessing not executed.
Integral compensation pro-
cessing executed.
Integral compensation is
executed for No. 1 gain
and not for No. 2 gain for
less-deviation gain switch-
ing.
3
Integral compensation is
executed for No. 2 gain
and not for No. 1 gain for
less-deviation gain switch-
ing.
1
2
3
Not used.
Not used.
Not used.
2
1
1
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
Pn1A9
Utility inte-
gral gain
Adjusts the auxiliary integral response.
37
60
Hz
Hz
0 to 500 ---
0 to 500 ---
Pn1AA Position pro- Adjusts the position proportional response.
portional
gain
Pn1AB Speed inte- Adjusts the speed integral response.
gral gain
0
Hz
Hz
0 to 500 ---
Pn1AC Speed pro- Adjusts the speed proportional response.
120
0 to
---
---
portional
gain
2000
Pn1B5
Not used.
(Do not change setting.)
150
---
---
150
6-8
Appendix
Chapter 6
■ Position Control Parameters (from Pn200)
Param- Parame-
eter No. ter name
Explanation
Default
setting
Unit
Setting
range
Restart
Set
power? value
Digit
No.
Name
Setting
Explanation
Pn200
Not used.
0
Not used.
Not used.
Not used.
Not used.
0
0
1
0
(Do not change setting.) 0100
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
---
---
Yes
0100
1
2
3
Pn205
Pn207
Absolute
encoder
multi-turn
limit set-
ting
Sets the multi-turn limit for when a Servomotor with an
absolute encoder is used.
65535
Rotation
---
0 to 65535
Yes
Yes
Position
control
settings 2
0
1
2
Not used.
Not used.
0
1
0
1
(Do not change setting.) 0010
(Do not change setting.)
Disabled
---
@@10
Backlash
compensa-
tion selec-
tion
Compensates to for-
ward rotation side.
2
0
Compensates to reverse
rotation side.
3
INP 1 output
timing
When the position devia-
tion is below the INP1
range.
1
2
When the position devia-
tion is below the INP1
range and also the com-
mand after the position
command filter is 0.
When the absolute value
for the position deviation
is below the INP1 range
(Pn522) and also the
position command input
is 0.
Pn209
Pn20A
Pn20E
Not used. (Do not change setting.)
Not used. (Do not change setting.)
0
---
---
---
---
---
---
0
32768
Yes
Yes
32768
Electronic Sets the pulse rate for the command pulses and Servo
gear ratio Servomotor travel distance.
4
1 to
1073741824
G1
(numera-
tor)
0.001 ≤ Pn20E/Pn210 ≤ 1000
Pn210
Electronic
gear ratio
G2
(denomi-
nator)
1
---
1 to
1073741824
Yes
Pn212
Pn214
Encoder
divider
rate
Sets the number of output pulses per Servomotor rota-
tion.
1000
0
Pulses/
rotation
16 to
Yes
---
1073741824
Backlash Mechanical system backlash amount (the mechanical
Command −32767 to
unit 32767
compen-
sation
amount
gap between the drive shaft and the shaft being driven)
Pn215
Backlash Sets the backlash compensation time constant.
0
× 0.01 ms 0 to 65535
---
compen-
sation
time con-
stant
Pn216
Pn217
Pn281
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
0
---
---
---
---
---
---
---
0
0
---
0
20
Yes
20
6-9
Appendix
Chapter 6
■ Speed Control Parameters (from Pn300)
Param- Parameter
Explanation
Default
setting
Unit
Setting Restart
Set
eter No.
name
range power? value
Digit
No.
Name
Setting
Explanation
Pn300
Pn301
Pn302
Pn303
Pn304
Not used.
Not used.
Not used.
Not used.
Jog speed
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
600
100
200
300
500
---
---
---
---
---
---
---
---
---
---
---
---
---
600
100
200
300
Sets rotation speed during jog operation.
r/min
0 to
10000
Pn305
Pn306
Soft start
accelera-
tion time
Sets acceleration time during speed control soft start.
Sets deceleration time during speed control soft start.
(Do not change setting.)
0
0
ms
0 to
---
---
10000
Soft start
decelera-
tion time
ms
---
0 to
10000
Pn307
Pn308
Not used.
40
0
---
---
---
40
Speed feed- Sets constant during filter of speed feedback.
× 0.01 ms 0 to
65535
back filter
time con-
stant
Pn310
Vibration
detection
switches
0
Vibration
detection
selection
0
1
2
Vibration detection not
used.
0000
---
---
---
000@
Gives warning (A.911)
when vibration is detected.
Gives warning (A.520)
when vibration is detected.
1
2
3
Not used.
Not used.
Not used.
0
0
0
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
Pn311
Pn312
Vibration
detection
sensitivity
Sets the vibration detection sensitivity.
100
50
%
50 to
500
---
---
Vibration
detection
level
Sets the vibration detection level
r/min
0 to
5000
■ Torque Control Parameters (from Pn400)
Param- Parameter
Explanation
Default
setting
Unit
Setting Restart
Set
eter No.
name
range power? value
Digit
No.
Name
Setting
Explanation
Pn400
Pn401
Not used.
(Do not change setting.)
30
40
---
---
---
---
30
1st step 1st Sets the filter time constant for internal torque commands.
× 0.01 ms 0 to
torque com-
mand filter
time con-
stant
65535
Pn402
Pn403
Pn404
Forward
Forward rotation output torque limit (rated torque ratio).
Reverse rotation output torque limit (rated torque ratio).
350
350
100
%
%
%
0 to 800 ---
0 to 800 ---
0 to 800 ---
torque limit
Reverse
torque limit
Forward
rotation
external cur-
rent limit
Output torque limit during input of forward rotation current
limit (rated torque ratio)
Pn405
Pn406
Reverse
Output torque limit during input of reverse rotation current
limit (rated torque ratio)
100
%
%
0 to 800 ---
0 to 800 ---
rotation
external cur-
rent limit
Emergency Deceleration torque when an error occurs (rated torque ratio) 350
stop torque
6-10
Appendix
Chapter 6
Param- Parameter
Explanation
Setting
Default
setting
Unit
Setting Restart
Set
eter No.
name
range power? value
Digit
No.
Name
Explanation
Pn407
Pn408
Speed limit Sets the speed limit in torque control mode.
3000
0000
r/min
0 to
---
---
10000
Torque com- 0
mand set-
ting
Selectsnotch
filter 1 func-
tion.
0
1
Notch filter 1 not used.
---
---
0@0@
Notch filter 1 used for
torque commands.
1
2
Not used.
0
0
1
(Do not change setting.)
Notch filter 2 not used.
Selectsnotch
filter 2 func-
tion.
Notch filter 2 used for
torque commands.
3
Not used.
0
(Do not change setting.)
Pn409
Pn40A
Notch filter
1 frequency
Sets notch filter 1 frequency for torque command.
2000
70
Hz
50 to
2000
---
---
---
---
---
Notch filter
1 Q value
Sets Q value of notch filter 1.
× 0.01
Hz
50 to
1000
Pn40C Notch filter
2 frequency
Sets the notch filter 2 frequency for torque commands.
Sets Q value of notch filter 2.
2000
70
50 to
2000
Pn40D Notch filter
2 Q value
× 0.01
Hz
50 to
1000
Pn40F
2nd step
2nd torque
command
filter fre-
quency
Sets the filter frequency for internal torque commands.
2000
100 to
2000
Pn410
Pn411
2nd step
Sets the torque command filter Q value.
70
0
× 0.01
µs
50 to
1000
---
---
2nd torque
command
filter Q value
3rd step
Sets the filter time constant for internal torque commands.
0 to
65535
torque com-
mand filter
time con-
stant
Pn412
1st step 2nd Sets the filter time constant for No. 2 gain internal torque
100
× 0.01 ms 0 to
65535
---
torque com- commands.
mand filter
time con-
stant
Pn413
Pn414
Pn420
Not used.
Not used.
(Do not change setting.)
(Do not change setting.)
100
100
100
---
---
%
---
---
---
---
100
100
---
Damping for Sets the vibration suppression value while stopped.
10 to
100
vibration
suppres-
sion on
stopping
Pn421
Vibration
suppres-
sion start-
ing time
Sets the time from when the position command becomes 0 1000
until the stopped vibration suppression begins.
ms
0 to
65535
---
Pn422
Pn456
Gravity
Sets the gravity compensation torque.
0
× 0.01%
−20000 ---
to
compensa-
tion torque
20000
Sweep
Sets the sweep torque command amplitude.
15
%
1 to 800 ---
torque com-
mand ampli-
tude
6-11
Appendix
Chapter 6
■ Sequence Parameters (from Pn500)
Param- Parame-
eter No. ter name
Explanation
Default
setting
Unit
Setting
range
Restart
Set
power? value
Digit
No.
Name
Setting
Explanation
Pn501
Pn502
Not used. (Do not change setting.)
10
---
---
---
---
10
Rotation
Sets the number of rotations for the Servomotor rotation 20
r/min
1 to 10000
speed for detection output (TGON).
motor
rotation
detection
Pn503
Speed
Sets the allowable fluctuation (number of rotations) for the 10
speed conformity output (VCMP).
r/min
0 to 100
---
confor-
mity sig-
nal output
width
Pn506
Pn507
Brake tim- Sets the delay from the brake command to the Servomo-
0
× 10 ms
0 to 50
---
---
ing 1
tor turning OFF.
Brake
Sets the number of rotations for outputting the brake com- 100
r/min
0 to 10000
command mand.
speed
Pn508
Pn509
Brake tim- Sets the delay time from the Servomotor turning OFF to 50
× 10 ms
10 to 100
---
---
ing 2
the brake command output.
Momen-
tary hold
time
Sets the time during which alarm detection is disabled
when a power failure occurs.
20
ms
20 to 1000
Pn50A
Input sig-
nal selec-
tions 1
0
1
2
3
Not used.
Not used.
Not used.
1
8
8
0
(Do not change setting.) 1881
(Do not change setting.)
---
---
Yes
@881
(Do not change setting.)
POT (for-
ward drive
prohibited
input) sig-
nal Input
terminal
Allocated to CN1, pin 13:
Valid for low input
1
2
3
4
5
6
Allocated to CN1, pin 7:
Valid for low input
Allocated to CN1, pin 8:
Valid for low input
allocation
Allocated to CN1, pin 9:
Valid for low input
Allocated to CN1, pin 10:
Valid for low input
Allocated to CN1, pin 11:
Valid for low input
Allocated to CN1, pin 12:
Valid for low input
7
8
9
Always enabled.
Always disabled.
Allocated to CN1, pin 13:
Valid for high input
A
B
C
D
E
F
Allocated to CN1, pin 7:
Valid for high input
Allocated to CN1, pin 8:
Valid for high input
Allocated to CN1, pin 9:
Valid for high input
Allocated to CN1, pin 10:
Valid for high input
Allocated to CN1, pin 11:
Valid for high input
Allocated to CN1, pin 12:
Valid for high input
6-12
Appendix
Chapter 6
Param- Parame-
eter No. ter name
Explanation
Setting
Default
setting
Unit
Setting
range
Restart
Set
power? value
Digit
No.
Name
Explanation
Pn50B
Input sig-
nal selec-
tions 2
0
NOT
0 to F
Same as Pn50A.3.
NOT (reverse drive pro-
hibited) signal allocation
8882
---
---
Yes
888@
(reverse
drive prohib-
ited input)
signal Input
terminal
allocation
1
2
3
0
1
2
3
0
1
2
3
0
Not used.
Not used.
Not used.
Not used.
Not used.
Not used.
Not used.
Not used.
Not used.
Not used.
Not used.
8
8
8
8
8
8
8
8
8
8
8
0
1
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
Pn50C Input sig-
nal selec-
(Do not change setting.) 8888
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.) 8888
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
---
---
---
---
---
---
Yes
Yes
Yes
8888
tions 3
Pn50D Input sig-
nal selec-
8888
tions 4
Pn50E
Output
signal
selec-
tions 1
INP1 (posi-
tioning com-
pleted 1)
signal out-
put terminal
allocation
Not used.
0000
@@@@
Allocated to CN1 pins 1,
2
2
Allocated to CN1 pins
23, 24
3
Allocated to CN1 pins
25, 26
1
2
VCMP
0 to 3
Same as Pn50E.0.
(speed con-
formity) sig-
nal output
terminal
VCMP (speed coinci-
dence) signal allocation
allocation
TGON (ser- 0 to 3
vomotor
rotation
detection)
Same as Pn50E.0.
TGON (Servomotor rota-
tion detection) signal
allocation
signal out-
put terminal
allocation
3
0
1
READY
0 to 3
Same as Pn50E.0.
READY (servo ready)
signal allocation
(servo
ready) sig-
nal output
terminal
allocation
Pn50F
Output
signal
selec-
tions 2
CLIMT (cur- 0 to 3
rent limit
detection)
signal out-
put terminal
allocation
Same as Pn50E.0.
CLIMT (current limit
detection) signal alloca-
tion
0100
---
---
Yes
@@@@
VLIMT
0 to 3
Same as Pn50E.0.
VLIMT (speed limit
detection) signal alloca-
tion
(speed limit
detection)
signal out-
put terminal
allocation
2
3
BKIR (brake 0 to 3
interlock)
Same as Pn50E.0.
BKIR (brake interlock)
signal allocation.
signal out-
put terminal
allocation
WARN
0 to 3
Same as Pn50E.0.
WARN (warning) signal
allocation
(warning)
signal out-
put terminal
allocation
6-13
Appendix
Chapter 6
Param- Parame-
eter No. ter name
Explanation
Setting
Default
setting
Unit
Setting
range
Restart
Set
power? value
Digit
No.
Name
Explanation
Pn510
Output
signal
selec-
tions 3
0
INP2 (posi- 0 to 3
tioning com-
pleted 2)
Same as Pn50E.0.
INP2 (positioning com-
pleted 2) signal alloca-
tion
0000
---
---
Yes
000@
signal out-
put terminal
allocation
1
2
3
Not used.
Not used.
Not used.
0
0
0
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
6-14
Appendix
Chapter 6
Param- Parame-
eter No. ter name
Explanation
Setting
Default
setting
Unit
Setting
range
Restart
Set
power? value
Digit
No.
Name
Explanation
Pn511
Input sig-
nal selec-
tions 5
0
DEC signal
input termi-
nal alloca-
tion
0
1
2
3
4
5
6
Allocated to CN1, pin 13: 6543
Valid for low input
---
---
Yes
@@@@
Allocated to CN1, pin 7:
Valid for low input
Allocated to CN1, pin 8:
Valid for low input
Allocated to CN1, pin 9:
Valid for low input
Allocated to CN1, pin 10:
Valid for low input
Allocated to CN1, pin 11:
Valid for low input
Allocated to CN1, pin 12:
Valid for low input
7
8
9
Always enabled.
Always disabled.
Allocated to CN1, pin 13:
Valid for high input
A
B
C
D
E
F
Allocated to CN1, pin 7:
Valid for high input
Allocated to CN1, pin 8:
Valid for high input
Allocated to CN1, pin 9:
Valid for high input
Allocated to CN1, pin 10:
Valid for high input
Allocated to CN1, pin 11:
Valid for high input
Allocated to CN1, pin 12:
Valid for high input
1
EXT1 sig-
nal input ter-
minal
0 to 3
4
Always disabled.
Allocated to CN1, pin 10:
Valid for low input
allocation
5
6
Allocated to CN1, pin 11:
Valid for low input
Allocated to CN1, pin 12:
Valid for low input
7
Always enabled.
Always disabled.
Always disabled.
8
9 to C
D
Allocated to CN1, pin 10:
Valid for high input
E
Allocated to CN1, pin 11:
Valid for high input
F
Allocated to CN1, pin 12:
Valid for high input
2
3
EXT2 sig-
nal input ter-
minal
0 to F
Same as for Pn511.1.
EXT2 signal allocation
allocation
EXT3 sig-
nal input ter-
minal
0 to F
Same as for Pn511.1.
EXT3 signal allocation
allocation
6-15
Appendix
Chapter 6
Param- Parame-
eter No. ter name
Explanation
Setting
Default
setting
Unit
Setting
range
Restart
Set
power? value
Digit
No.
Name
Explanation
Pn512
Output
signal
reverse
0
Output sig-
nal reverse
for CN1 pins
1, 2
0
1
Not reversed.
Reversed.
0000
---
---
Yes
0@@@
1
2
3
Output sig-
nal reverse
for CN1 pins
23, 24
0
1
Not reversed.
Reversed.
Output sig-
nal reverse
for CN1 pins
25, 26
0
1
Not reversed.
Reversed.
Not used.
0
(Do not change setting.)
Pn513
Pn515
Pn51B
Pn51E
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
0321
8888
1000
---
---
---
%
---
---
---
Yes
Yes
---
0321
8888
1000
Deviation Sets the detection level for the deviation counter overflow 100
10 to 100
---
counter
overflow
warning
level
warning.
(A warning is output for Pn520 × Pn51E/100 or higher.)
Pn520
Pn522
Pn524
Pn526
Deviation Sets the deviation counter overflow alarm detection level. 262144 Command 1 to
---
---
---
---
counter
overflow
level
Pn520 ≥ (Max. feed speed [command unit/s]/Pn102) × 2.0
unit
1073741823
Position-
ing com-
pleted
Setting range for positioning completed range 1 (INP1)
3
3
Command 0 to
unit
1073741824
range 1
Position-
ing com-
pleted
Setting range for positioning completed range 2 (INP2)
Command 1 to
unit
1073741824
range 2
Deviation Sets the deviation counter overflow alarm detection level 262144 Command 1 to
counter
overflow
level at
for Servo ON.
unit
1073741823
Servo-ON
Pn528
Pn529
Deviation Sets the deviation counter overflow warning detection
100
%
10 to 100
---
---
counter
overflow
warning
level at
level for Servo ON.
Servo-ON
Speed
Sets the speed limit for when the Servo turns ON with
10000
r/min
0 to 10000
limit level position deviation accumulated.
at Servo-
ON
Pn52A
Pn52F
Not used. (Do not change setting.)
Not used. (Do not change setting.)
20
---
---
---
---
---
---
20
FFF
FFF
6-16
Appendix
Chapter 6
Param- Parame-
eter No. ter name
Explanation
Setting
Default
setting
Unit
Setting
range
Restart
Set
power? value
Digit
No.
Name
Explanation
Pn530
Program
JOG oper-
ation
0
Program
JOG operat-
ing pattern
0
1
2
(Waiting time Pn535 → 0000
Forward movement
Pn531) × Number of
movement operations
Pn536
---
---
---
000@
related
switches
(Waiting time Pn535 →
Reverse movement
Pn531) × Number of
movement operations
Pn536
(Waiting time Pn535 →
Forward movement
Pn531) × Number of
movement operations
Pn536
(Waiting time Pn535 →
Reverse movement
Pn531) × Number of
movement operations
Pn536
3
(Waiting time Pn535 →
Reverse movement
Pn531) × Number of
movement operations
Pn536
(Waiting time Pn535 →
Forward movement
Pn531) × Number of
movement operations
Pn536
4
5
(Waiting time Pn535 →
Forward movement
Pn531 → Waiting time
Pn535 → Reverse
movement Pn531) ×
Number of movement
operations Pn536
(Waiting time Pn535 →
Reverse movement
Pn531 → Waiting time
Pn535 → Forward
movement Pn531) ×
Number of movement
operations Pn536
1
2
3
Not used.
Not used.
Not used.
0
0
0
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
Pn531
Pn533
Pn534
Program
JOG
Sets the program JOG movement distance.
32768
500
Command 1 to
---
---
---
unit
1073741823
move-
ment dis-
tance
Program
JOG
move-
ment
speed
Sets the program JOG operation movement speed.
r/min
1 to 10000
2 to 10000
Program
JOG
Sets the acceleration/deceleration time for program JOG 100
operation.
ms
accelera-
tion/decel-
eration
time
6-17
Appendix
Chapter 6
Param- Parame-
eter No. ter name
Explanation
Setting
Default
setting
Unit
Setting
range
Restart
Set
power? value
Digit
No.
Name
Explanation
Pn535
Pn536
Program
Sets the delay time from the program JOG operation start 100
ms
0 to 10000
1 to 1000
---
JOG wait- input until operation starts.
ing time
Numberof Sets the number of repetitions of the program JOG opera- 1
Times
---
program
JOG
movement
tions.
Pn540
Pn550
Gain limit Sets the gain limit.
2000
0
× 0.1 Hz
× 0.1 V
10 to 2000
---
---
Analog
monitor 1
offset volt-
age
Sets the analog monitor 1 offset voltage.
−10000 to
10000
Pn551
Analog
monitor 2
offset volt-
age
Sets the analog monitor 2 offset voltage.
0
× 0.1 V
−10000 to
---
10000
■ Other Parameters (from 600)
Param- Parame-
eter No. ter name
Explanation
Default
setting
Unit
Setting
range
Restart
Set
power? value
Digit
No.
Name
Setting
Explanation
Pn600
Regener- Setting for regeneration resistance load ratio monitoring
0
× 10 W
0 to (varies by ---
model) (See
note 2.)
ation
calculations
resistor
capacity
(See note
1.)
Pn800
Communi-
cations
control
0
MECHA-
0
1
Normal
0040
---
---
---
0@@@
TROLINK-II
communica-
tions check
mask
Ignore communications
errors (A.E6@).
2
3
Ignore WDT errors
(A.E5@).
Ignore communications
errors (A.E6@) and
WDT errors (A.E5@).
1
Warning
check mask
0
1
Normal
Ignore data setting
warning (A. 94@).
2
Ignore command warn-
ing (A. 95@).
3
Ignore A.94@ and
A.95@.
4
Ignore communications
warning (A. 96@).
5
Ignore A.94@ and
A.96@.
6
Ignore A.95@ and
A.96@.
7
Ignore A.94@, A.95@
and A.96@.
2
3
Communi-
cationserror
count at sin-
gle trans-
0 to F
Detects communica-
tions errors (A.E60) if
errors occur consecu-
tively for the set value
plus two times.
mission
Not used.
0
(Do not change setting.)
6-18
Appendix
Chapter 6
Param- Parame-
eter No. ter name
Explanation
Setting
Default
setting
Unit
Setting
range
Restart
Set
power? value
Digit
No.
Name
Explanation
Pn801
Function
selection
applica-
tion 6
(software
LS)
0
Software
limit function
0
1
Software limit enabled. 0003
---
---
---
0@0@
Forward software limit
disabled.
2
3
Reverse software limit
disabled.
Forward/reverse soft-
ware limits disabled.
1
2
Not used.
0
0
(Do not change setting.)
Software
limit check
using refer-
ence
No software limit check
using reference
1
0
Software limit check
using reference
3
Not used.
(Do not change setting.)
0000
Pn802
Pn803
Not used. (Do not change setting.)
---
---
---
---
Zero point Sets the origin position detection range.
width
10
Command 0 to 250
unit
Pn804
Pn806
Pn808
Forward
software
limit
Sets the software limit for the positive direction.
Note: Pn806 must be set lower than Pn804.
8191
Command −1073741823 ---
91808
unit
to
1073741823
Reverse
software
limit
Sets the software limit for the negative direction.
Note: Pn806 must be set lower than Pn804.
−8191
Command −1073741823 ---
91808
unit
to
1073741823
Absolute
encoder
zero point
position
offset
Sets the encoder position and machine coordinate sys-
tem offsets for when an absolute encoder is used.
0
Command −1073741823 ---
unit
to
1073741823
Pn80A
Pn80B
First step Sets the step 1 acceleration for when two-step accelera- 100
× 10000
1 to 65535
1 to 65535
0 to 65535
1 to 65535
1 to 65535
0 to 65535
---
---
---
---
---
---
---
linear
tion is used.
Command
unit/s2
accelera-
tion
parameter
Second
step lin-
Sets the step 2 acceleration for when two-step accelera- 100
tion is executed, or the one-step acceleration parameter
× 10000
Command
unit/s2
ear accel- for when one-step acceleration is executed.
eration
parameter
Pn80C Accelera- Sets the switching speed for the step 1 and step 2 accel-
0
× 100
tion
eration when two-step acceleration is executed.
Command
unit/s
parame-
ter switch-
ing speed
Note: When used as one-step acceleration, 0 must be
set.
Pn80D First step Sets the step 1 deceleration for when two-step decelera- 100
× 10000
linear
tion is used.
Command
unit/s2
decelera-
tion
parameter
Pn80E
Pn80F
Pn810
Second
step lin-
Sets the step 2 deceleration for when two-step decelera- 100
tion is executed, or the one-step deceleration parameter
× 10000
Command
unit/s2
ear decel- for when one-step deceleration is executed.
eration
parameter
Decelera- Sets the switching speed for the step 1 and step 2 decel-
0
0
× 100
tion
eration when two-step deceleration is executed.
Command
unit/s
parame-
ter switch-
ing speed
Note: When used as one-step acceleration, 0 must be
set.
Exponen- Sets the bias for when an exponential filter is used for the
tial accel- position command filter.
eration/
decelera-
tion bias
Command 0 to 32767
unit/s
6-19
Appendix
Chapter 6
Param- Parame-
eter No. ter name
Explanation
Setting
Default
setting
Unit
Setting
range
Restart
Set
power? value
Digit
No.
Name
Explanation
Pn811
Exponen- Sets the time constant for when an exponential filter is
0
× 0.1 ms
0 to 5100
---
tial accel- used for the position command filter.
eration/
decelera-
tion time
constant
Pn812
Moving
average
time
Sets the moving average time for when S-curve acceler-
ation/deceleration is used, and an average movement fil-
ter is used for the position command filter.
0
0
× 0.1 ms
0 to 5100
---
---
Pn813
Pn814
Not used. (Do not change setting.)
---
---
0
Final
Sets the distance from the external signal input position 100
Command −1073741823 ---
travel dis- when external positioning is executed.
unit
to
tance for
external
position-
ing
1073741823
Note: For a negative direction or if the distance is short,
operation is reversed after decelerating to a stop.
Pn816
Zero point
return
mode set-
tings
0
Zero point
return direc-
tion
0
1
Forward direction
Reverse direction
0000
---
---
---
000@
1
2
3
Not used.
Not used.
Not used.
0
0
0
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
Pn817
Pn818
Pn819
Zero point Sets the origin search speed after the deceleration limit 50
× 100
0 to 65535
0 to 65535
---
---
return
switch signal turns ON.
Command
unit/s
approach
speed 1
Zero point Sets the origin search speed after the deceleration limit
5
× 100
return
switch signal turns ON.
Command
unit/s
approach
speed 2
Final
Sets the distance from the latch signal input position to
100
Command −1073741823 ---
travel dis- the origin, for when origin search is executed.
unit
to
tance to
return to
zero point
1073741823
Note: If the final travel distance is in the opposite direc-
tion from the origin return direction or if the distance is
short, operation is reversed after decelerating to a stop.
Pn81B
Not used. (Do not change setting.)
0
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
0
Pn81C Not used. (Do not change setting.)
Pn81D Not used. (Do not change setting.)
0
0
0
0
Pn81E
Pn81F
Pn820
Pn822
Pn824
Pn825
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
0000
0
0000
0
0
0
0
0
0000
0000
0000
0000
Pn900
to
Pn910
Pn920
to
Pn95F
Not used. (Do not change setting.)
---
---
---
Note 1. The normal setting is 0. If an external regeneration resistor is used, refer to 3-3-3 Regener-
ative Energy Absorption by External Regeneration Resistance for the recommended setting.
Note 2. The upper limit is the maximum output capacity (W) of the Servo Driver.
6-20
Appendix
Chapter 6
6-3 Restrictions
This section describes the restrictions for the following functions of the Computer Monitor Software. If
these restrictions are violated, a COM2 alarm (A.E02) may occur.
1.Advanced auto-tuning
2.Online vibration monitor
3.Easy FFT
4.Tracing
Functions that cannot be used together with the above functions are listed in the following table. Use
the default settings for any functions that cannot be used together with the above functions.
Function
Pn
number
Advanced auto-tuning
Online
vibration
monitor
Easy FFT
Tracing
Mode 0: With
inertia
Mode 1:
Without
inertia
Commands via
MECHATROLINK-
II
---
---
---
OK
---
OK
Jogging
---
---
---
---
Speed feed for-
ward compensa-
tion
Pn110.1
Pn10B.2
No
OK
No
No
No
Less-deviation
control
---
---
No
No
No
Predictive control Pn150.0
---
---
OK
No
OK
No
OK
OK
Automatic gain
switching
Pn139.0
No
OK
Backlash compen- Pn207.2
sation
No
OK
No
No
OK
Vibration detection Pn310.0
No
OK
No
No
OK
OK
OK
OK
No
OK
No
No
No
OK
No
No
OK
OK
OK
OK
Notch filter 1
Notch filter 2
Pn408.0
Pn408.2
Damping for vibra- Pn420
tion suppression
on stopping
Pn421
OK: Can be used together, No: Cannot be used together, ---: Not used together.
6-21
Appendix
Chapter 6
6-22
Index
brake interlock, 4-81
Brake Interlock Output (BKIR), 2-68
Brake Interlock Output Common (BKIRCOM), 2-68
A
Absolute Encoder Backup Battery
dimensions, 2-122
replacing, 5-47
specifications, 2-122
Absolute Encoder Battery Cable
specifications, 2-102, 2-112
C
cables
Analog Monitor Cable, 2-118
Computer Monitor Cables, 2-119
models, 2-3, 2-5
specifications, 2-93
charge indicator, 4-130
absolute encoders
setup, 4-6
specifications, 2-92
acceleration, 4-89
adjustment
CLIMT (Current Limit Detection Output), 2-67
CN1
precautions, 1-3
advanced auto-tuning, 4-98
Control I/O Connectors, 2-120
control inputs, 2-61
control outputs, 2-62
pin arrangement, 2-63
specifications, 2-60
alarm codes
checking, 5-3
Alarm Output (ALM), 2-66
Alarm Output Ground (ALMCOM), 2-66
alarms, 5-6
CN2
table, 5-6
troubleshooting, 5-12
specifications, 2-68
CN3
ALM (Alarm Output), 2-66
specifications, 2-69
ALMCOM (Alarm Output Ground), 2-66
Analog Monitor Cables, 2-118, 3-11, 4-133
analog monitor output connector (CN5), 4-132
specifications, 2-69
CN5, 4-132
Analog Monitor Cable, 2-118
specifications, 2-69
COM indicator, 4-130
communications
automatic gain switching, 4-106
auto-tuning, 4-98
specifications, 2-57
Computer Monitor Cables, 2-119, 3-11
Computer Monitor Software, 5-3
connecting cables, 3-8
B
connection examples, 6-2
backlash compensation, 4-128
connectors
Backup Battery - Input (BATGND), 2-64
Backup Battery + Input (BAT), 2-64
BAT (Backup Battery + Input), 2-64
BATGND (Backup Battery - Input), 2-64
conforming to EC Directives, 3-6
Control I/O Connectors, 2-120
Encoder Connectors, 2-120
specifications, 2-93
contactors, 3-30
Control I/O Connectors, 2-120
battery
replacing, 5-47
bias function, 4-103
bit data display, 4-131
BKIR (Brake Interlock Output), 2-68
BKIRCOM (Brake Interlock Output Common), 2-68
control inputs
list, 2-61
pin arrangement, 2-63
control output circuits, 2-64
I-1
Index
control outputs
F
pin arrangement, 2-63
feed-forward function, 4-104
Current Limit Detection Output (CLIMT), 2-67
Forward Drive Prohibit (POT), 2-65, 4-78
function selection parameters (from Pn000), 4-32
D
DEC (Origin Return Deceleration Switch Signal), 2-65
deceleration, 4-89
G
gain adjustment, 4-102
dimensions
Absolute Encoder Backup Battery, 2-122
AC Servo Drivers, 2-18
AC Servomotors, 2-25
with Economy Gears, 2-46
with Standard Gears, 2-36
Reactors, 2-124
displays, 4-130
bit data, 4-131
status, 4-131
gain parameters (from Pn100), 4-38
H
harmonic currents
countermeasures, 3-22
I
symbols, 4-131
drive prohibit, 4-78
dynamic brake, 4-25
I/O signals
specifications, 2-60
incremental encoders
specifications, 2-91
indicators, 4-130
INP1, INP2 (Positioning Completed Outputs 1, 2), 2-66
E
EC Directives
inspection
conforming connectors, 3-6
electronic gear, 4-87
electronic thermal characteristics, 5-43
EMC Directives
precautions, 5-45
installation
conditions, 3-3
precautions, 1-2, 3-2
wiring conditions, 3-23
Encoder Cables, 2-3, 2-4, 3-10
noise resistance, 3-31
specifications, 2-101, 2-110
L
less-deviation control, 4-120
Encoder Connectors, 2-120
encoder dividing function, 4-79
encoder input
M
specifications, 2-68
encoders
maintenance, 5-45
precautions, 1-4, 5-45
manual tuning, 4-100
specifications, 2-91, 2-92
error diagnosis
MECHATROLINK-II Cable, 2-93
MECHATROLINK-II Cables, 2-93, 3-9
alarms, 5-12
warning indicators, 5-33
MECHATROLINK-II communications
cable specifications, 2-93
setup, 2-58
specifications, 2-57
MECHATROLINK-II Terminating Resistor, 2-93
EXT1, EXT2, EXT3 (External Latch Signals 1, 2, 3), 2-66
External Latch Signals 1, 2, 3 (EXT1, EXT2, EXT3), 2-66
external regeneration resistance, 3-35
External Regeneration Resistor
specifications, 2-121
I-2
Index
MECHATROLINK-II Terminating Resistors, 2-93, 3-9
models, 2-2
stop selection when drive prohibited is input (Pn001.1),
4-25
function selection application switches 2
operation switch when using an absolute encoder
(Pn002.2), 4-34
N
speed command input change (Pn002.1), 4-34
torque command input change (Pn002.0), 4-34
function selection application switches 6
software limit function (Pn801.0), 4-68
function selection basic switches
NFB (no-fuse breakers), 3-20, 3-26
no-fuse breakers (NFB), 3-20, 3-26
noise filters, 3-28
noise resistance
Encoder Cables, 3-31
wiring, 3-19
nomenclature, 1-5
NOT (Reverse Drive Prohibit), 2-65
notch filter, 4-125
reverse rotation (Pn000.0), 4-25
Unit No. setting (Pn000.2), 4-32
gain parameters
automatic gain changeover related switches 1 (Pn131 to
Pn139), 4-45
bias addition band (Pn108), 4-40
bias rotational speed (Pn107), 4-40
feed-forward amount (Pn109), 4-41
feed-forward command filter (Pn10A), 4-41
inertia ratio (Pn103), 4-39
O
one-parameter tuning, 4-99
operation
less-deviation control parameters (Pn1A0 to Pn1AC),
4-49
precautions, 1-3
preparations, 4-4
procedure, 4-3
trial operation, 4-96
Origin Return Deceleration Switch Signal (DEC), 2-65
overload characteristics, 5-43
P control switching (acceleration command) (Pn10E),
4-43
P control switching (deviation pulse) (Pn10F), 4-43
P control switching (speed command) (Pn10D), 4-42
P control switching (torque command) (Pn10C), 4-42
P control switching conditions (Pn10B.0), 4-41
position loop control method (Pn10B.2), 4-42
position loop gain (Pn102), 4-39
position loop gain 2 (Pn106), 4-40
P
predictive control selection switches (Pn150 to Pn152),
P control switching, 4-112
4-47
speed control loop switching (Pn10B.1), 4-42
speed feedback compensating gain (Pn111), 4-44
parameter tables, 4-8, 6-3
function selection parameters (from Pn000), 4-8
other parameters (from Pn600), 4-22
position control parameters (from Pn200), 4-13
sequence parameters (from Pn500), 4-16
Servo gain parameters (from Pn100), 4-10
speed control parameters (from Pn300), 4-14
torque control parameters (from Pn400), 4-15
speed feedback compensation function selection
(Pn110.1), 4-43
speed loop gain (Pn100), 4-38
speed loop gain 2 (Pn104), 4-39
speed loop integration constant (Pn101), 4-38
speed loop integration constant 2 (Pn105), 4-39
I/O signal allocation (Pn50A, Pn50B, Pn50E to Pn512),
parameters
4-26
absolute encoder zero point position offset (Pn808), 4-69
important parameters, 4-24
input signal selections (Pn50A, Pn50B, Pn511), 4-27
input signal selections 1
acceleration/deceleration parameters (Pn80A to Pn812),
4-70
details, 4-32
POT (forward drive prohibited) signal (Pn50A.3), 4-27
input signal selections 2
final travel distance for external positioning (Pn814), 4-
71
NOT (reverse drive prohibited) signal (Pn50B.0), 4-28
input signal selections 5
forward software limit (Pn804), 4-69
function selection application switches 1
DEC (origin return deceleration LS) signal (Pn511.0),
4-29
stop selection if an alarm occurs when Servomotor is
OFF (Pn001.0), 4-25
I-3
Index
EXT1 (external latch signal 1) signal (Pn511.1), 4-29
EXT2 (external latch signal 2) signal (Pn511.2), 4-29
EXT3 (external latch signal 3) signal (Pn511.3), 4-29
origin search parameters (Pn816 to Pn819), 4-71
output signal reverse
notch filter 1 Q value (Pn40A), 4-59
notch filter 2 frequency (Pn40C), 4-59
notch filter 2 Q value (Pn40D), 4-59
reverse rotation external current limit (Pn405), 4-57
reverse torque limit (Pn403), 4-57
pins CN1-1 and 2 (Pn512.0), 4-31
pins CN1-23 and 24 (Pn512.1), 4-31
pins CN1-25 and 26 (Pn512.2), 4-31
select notch filter 1 function (Pn408.0), 4-58
select notch filter 2 function (Pn408.2), 4-58
speed limit (Pn407), 4-58
output signal selections 1
zero point width (Pn803), 4-69
INP1 (positioning completed 1) signal (Pn50E.0), 4-30
READY (Servo ready) signal (Pn50E.3), 4-30
zero-point return parameters (Pn816 to Pn819), 4-71
peripheral devices
TGON (Servomotor rotation direction) signal
connection examples, 3-12
personal computer monitor connector
specifications, 2-69
pin arrangement
CN1, 2-63
position control, 4-75
position control parameters (from Pn200), 4-50
position integration, 4-129
Positioning Completed Outputs 1, 2 (INP1, INP2), 2-66
POT (Forward Drive Prohibit), 2-65
Power Cables, 2-3, 2-5, 3-6, 3-9
specifications, 2-103, 2-112
power indicator, 4-130
precautions, 5-3
adjustment, 1-3
general, 1-1
inspection, 1-4
installation, 1-2, 3-2
maintenance, 1-4
maintenance and inspection, 5-45
operation, 1-3, 4-2
storage, 1-2
transportation, 1-2
wiring, 1-2, 3-2
(Pn50E.2), 4-30
VCMP (speed conformity) signal (Pn50E.1), 4-30
output signal selections 2
BKIR (brake interlock) signal (Pn50F.2), 4-31
CLIMT (current limit detection) signal (Pn50F.0), 4-30
VLIMT (speed limit detection) signal (Pn50F.1), 4-30
WARN (warning) signal (Pn50F.3), 4-31
output signal selections 3
INP2 (positioning completed 2) signal (Pn510.0), 4-31
position control parameters
absolute encoder multi-turn limit setting (Pn205), 4-51
backlash compensation amount (Pn214), 4-53
backlash compensation selection (Pn207.2), 4-52
backlash compensation time constant (Pn215), 4-53
electronic gear ratio G1, G2 (Pn20E, Pn210), 4-52
encoder divider rate (Pn212), 4-53
soft start deceleration time (Pn306), 4-54
regeneration resistor capacity (Pn600), 4-66
reverse software limit (Pn806), 4-69
sequence parameters
brake command speed (Pn507), 4-61
brake timing 1 (Pn506), 4-61
brake timing 2 (Pn508), 4-61
deviation counter overflow warning level (Pn51E), 4-
63
momentary hold time (Pn509), 4-62
predictive control, 4-115
program JOG operation, 4-91
positioning completed range 1 (Pn522), 4-64
positioning completed range 2 (Pn524), 4-64
program jog settings (Pn530 to Pn536), 4-65
rotation speed for motor rotation detection (Pn502), 4-
Q
61
Q value (notch filter), 4-59, 4-125
speed conformity signal output width (Pn503), 4-61
speed control parameters
soft start acceleration time (Pn305), 4-54
speed feedback filter time constant (Pn308), 4-55
torque control parameters
R
Reactors, 2-2, 3-15, 3-22
dimensions, 2-124
specifications, 2-124
READY (Servo Ready Output), 2-67
emergency stop torque (Pn406), 4-58
forward rotation external current limit (Pn404), 4-57
forward torque limit (Pn402), 4-57
notch filter 1 frequency (Pn409), 4-59
I-4
Index
regenerative energy, 3-32
absorption capacity, 3-34
communications, 2-57
connectors, 2-93
external regeneration resistance, 3-35
replacing
DC Reactor, 2-124
Encoder Cables, 2-101, 2-110
External Regeneration Resistor, 2-121
incremental encoders, 2-91
MECHATROLINK-II Cables, 2-93
MECHATROLINK-II communications, 2-57
Power Cables, 2-103, 2-112
Servo Drivers, 2-50
Servomotors, 2-71, 2-73
Servomotors with Reduction Gears, 2-86
terminal blocks, 2-56
Absolute Encoder Backup Battery (ABS), 5-47
Servomotor and Servo Driver, 5-4
Reverse Drive Prohibit (NOT), 2-65, 4-78
S
sequence parameters (from Pn500), 4-61
Servo Drivers
combinations with Servomotors, 2-16
dimensions, 2-18
installation conditions, 3-3
regenerative energy absorption capacity, 3-34
replacing, 5-4
specifications, 2-50
general, 2-50
Speed Conformity Output (VCMP), 2-67
speed control, 4-76
speed control parameters (from Pn300), 4-54
speed feedback compensation, 4-43, 4-109
speed feedback filter, 4-111
speed limit, 4-88
performance, 2-51
transmission times, 2-58
Servo Ready Output (READY), 2-67
Servomotor Rotation Detection Output (TGON), 2-67
Speed Limit Detection Output (VLIMT), 2-68
standards, 1-6
startup, 4-4
status display mode, 4-131
surge absorbers, 3-27
surge killers, 3-29
symbol display, 4-131
system block diagrams, 1-7
system configuration, 1-4, 3-8
Servomotors
combinations with Servo Drivers, 2-16
dimensions, 2-25
installation conditions, 3-4
replacing, 5-4
specifications, 2-71
general, 2-71
performance, 2-73, 2-77, 2-80, 2-83
with Economy Gears, 2-15
combinations, 2-10
T
terminal blocks
dimensions, 2-46
names and functions, 3-15
specifications, 2-56
wire sizes, 3-16
with Reduction Gears
specifications, 2-86
with Standard Gears, 2-12
combinations, 2-9
dimensions, 2-36
soft start, 4-86
wiring, 3-15
TGON (Servomotor Rotation Detection Output), 2-67
torque command filter, 4-123
torque control, 4-77
specifications
torque control parameters (from Pn400), 4-56
torque feed-forward function, 4-105
torque limit function, 4-83
transmission times, 2-58
trial operation procedure, 4-96
troubleshooting, 5-2
using alarm display, 5-12
using operating status, 5-37
Absolute Encoder Backup Battery, 2-122
Absolute Encoder Battery Cable, 2-102
absolute encoders, 2-92
cables, 2-93
CN1 (I/O signals), 2-60
CN2 (encoder input), 2-68
CN3 (personal computer monitor connector), 2-69
CN5 (analog monitor output connector), 2-69
I-5
Index
using warning indicators, 5-33
tuning, 4-98
V
VCMP (Speed Conformity Output), 2-67
vibration suppression when stopping, 4-127
VLIMT (Speed Limit Detection Output), 2-68
W
WARN (Warning Output), 2-68
warning labels, 1-5
Warning Output (WARN), 2-68
warnings
table, 5-10
troubleshooting, 5-33
wiring
conforming to EMC Directives, 3-23
for noise resistance, 3-19
precautions, 1-2, 3-2
terminal blocks, 3-15
I-6
Revision History
A manual revision code appears as a suffix to the catalog number on the front cover of the manual.
Cat. No. I544-E1-06
Revision code
The following table outlines the changes made to the manual during each revision. Page numbers
refer to the previous version.
Revision
code
Date
Revised content
01
02
November 2004 Original production
November 2006 Page 2-34: Graphics replaced, diagram numbers added, and dimensions D1, D4, D5, D6,
E2, and F changed/added.
Pages 2-38 and 2-39: Graphics replaced/added, diagram numbers added, and dimensions
LM, D1, D4, D6, E2, and F changed/added.
Page 2-44: Dimensions LM changed from 110 to 97.5 for 750 W model.
Pages 2-45, 2-62, 3-11, and 3-12: Graphics corrected.
Pages 2-84 and 2-85: Specifications changed from 50 W through 750 W models.
Page 2-86: Specifications changed in top table.
Pages 2-88 and 2-89: Weights and reduction gear inertia changed for 750 W models.
Page 4-10: Settings changed for Pn110.
Page 4-38: Last paragraph deleted from Pn103.
Pages 4-38 and 4-38: Description of Pn106 changed.
Pages 4-41, 4-43, 4-44, 4-55, 4-56, 4-109, and 4-111: Notes deleted.
Pages 4-42 and 4-43: Material deleted.
Page 4-46: Paragraph below graphic changed.
Pages 4-81 and 4-82: “Power supply” changed to “main circuit power supply” in timing
charts.
Page 4-90: Last paragraph removed.
Page 4-97: Section 4-6-1 changed.
Page 4-98: Second paragraph removed.
Page 4-110: Item 1 at top of page changed.
Page 4-118: Parameter numbers removed at top of flowchart.
Page 4-121: Flowchart changed.
Page 4-122: Lists changed.
Page 5-22: Part of description of A.S21 deleted.
Page 5-30: Part of description of A.d01 deleted.
Page 5-31: Countermeasure for A.d02 deleted, material added for A.E00, and countermea-
sure for A.Ed0 deleted.
Page 5-39: “When auto-tuning is used” and “when auto-tuning is not used” deleted in two
places each.
Page 6-6: Description of Pn110 changed.
R-1
Revision History
Revision
code
Date
Revised content
03
March 2007
Back of front cover: Added general precautionary information above NOTICE.
Under Warning Labels at front of manual: Added precautionary information about battery
disposal.
Page 2-3: Changed table titles and modified power cable capacity.
Page 2-4: Added specifications for robot cables.
Pages 2-26 and 2-27: Changed Servomotor capacities and added new models to the head-
ings.
Pages 2-60 and 2-66: Modified signal name WARN and changed OFF to ON in the descrip-
tion.
Page 2-66: Changed cable plug model number.
Pages 2-71, 2-72, 2-76, 2-78, and 2-81: Changed specifications for applicable load inertia.
Pages 2-73 and 2-76: Changed note 6.
Pages 2-79 and 2-82: Added note 6.
Pages 2-92: Added information on Servo Driver cables, Connector-Terminal Block Conver-
sion Units, and motor cable specifications.
Pages 2-93, 2-94, and 2-95: Modified the header levels and changed connector plug model
number and connector socket model number.
Page 2-102: Added robot cable specifications.
Page 2-104: Changed connector plug model number.
Page 3-8: Modified the servo system configuration.
Page 3-9: Changed Servomotor capacity in the bottom table.
Page 3-10: Changed Servomotor capacity in the top table and added information on robot
cables.
Pages 3-11, 3-12, 3-13, and 3-18: Changed grounding indication in the figure.
Page 3-14: Changed description for frame ground at the bottom of the table.
Page 3-20: Added a table for selecting non-fuse breakers to the top of the page.
Pages 3-22 and 3-32: Modified the table under surge suppressors.
Page 4-5: Added “Status Display (Bit Data)” at the bottom of the page.
Page 4-6: Changed the paragraph and figure at the top of the page.
Pages 4-7 and 6-3: Changed the explanation for reverse rotation setting 1.
Page 4-29: Deleted a paragraph about WARN.
Page 4-62: Added a paragraph under Pn520.
Page 5-6: Modified signal name WARN.
Page 5-36: Added a row for A.960 to the bottom of the table.
Pages 5-43 and 5-44: Modified description and notes below the chart.
Pages 6-2: Added a power cable model and an encoder model in the figure.
04
February 2008 Warning Labels page in front matter: Replaced figure at bottom of page.
Page 2-72: Removed “protective structure” from table, removed note 2, and added material
on protective structure.
Page 2-95: Changed bottom figure.
Page 2-99: Reversed “X1” and XB” in figure.
Page 2-111: Corrected model number on left of second figure.
Page 2-123: Added information on manufacturing code.
Page 2-124: Corrected bottom figure.
Pages 3-21 to 3-26: Removed material.
Pages 3-33 and 3-35: Replaced section on leakage breakers.
Page 4-24: Added notes.
Page 4-57: Rewrote note.
Pages 4-63, 4-68, 4-73, 5-10, and 5-35: Added information on using CJ1W-NCF71 and
CS1W-NCF71.
Page 5-43: Changed text below graph.
05
March 2009
Added a new section 2-10 on MECHATROLINK-II Repeater specifications.
Corrected mistakes and added information.
R-2
Revision History
Revision
code
Date
Revised content
06
December 2010 Page 2-62: Description added to the contents for TGONCOM.
Page 2-67: Description added below the note for Motor Rotation Detection Output.
Page 3-37: Information on Pn600 settings added below the note.
Page 4-24: Note 1 modified.
Pages 5-38 and 5-41: Wiring distance changed from 20 m to 50 m in the items to check col-
umn.
Page 6-20: Notes added below the table.
R-3
Revision History
R-4
OMRON Corporation
Tokyo, JAPAN
Industrial Automation Company
Authorized Distributor:
Contact: www.ia.omron.com
Regional Headquarters
OMRON EUROPE B.V.
Wegalaan 67-69-2132 JD Hoofddorp
The Netherlands
OMRON ELECTRONICS LLC
One Commerce Drive Schaumburg,
IL 60173-5302 U.S.A.
Tel: (31)2356-81-300/Fax: (31)2356-81-388
Tel: (1) 847-843-7900/Fax: (1) 847-843-7787
© OMRON Corporation 2004 All Rights Reserved.
In the interest of product improvement,
specifications are subject to change without notice.
OMRON (CHINA) CO., LTD.
Room 2211, Bank of China Tower,
200 Yin Cheng Zhong Road,
OMRON ASIA PACIFIC PTE. LTD.
No. 438A Alexandra Road # 05-05/08 (Lobby 2),
Alexandra Technopark,
Printed in Japan
1210
PuDong New Area, Shanghai, 200120, China
Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200
Singapore 119967
Tel: (65) 6835-3011/Fax: (65) 6835-2711
Cat. No. I544-E1-06
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