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Omron G5 Series User Manual
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1 F
eatures and System Configuration
1 - 6
OMNUC G5-series (Pulse-train Input T
ype) A
C Serv
omotors and Servo Drives User’
s Manual
1-4
System Bloc
k Dia
gram
R88D-KP01H/-KP02H/-KP04H
GR
Display and
setting circuit
area
Gate drive
SW power
supply main
circuit control
Internal
control
power
supply
GR
L2C
L1C
L3
L2
L1
FUSE
FUSE
FUSE
CN A
15 V
G1
5 V
2.5 V
1.5 V
±12 V
E5V
G2
3.3 V
Overcurrent
detection
Current detection
V
oltage
detection
Regeneration
control
Relay
drive
GR
Control
interface
CN2
CN5
CN7
B1
B2
B3
CN B
U
V
W
MPU &
ASIC
Position, speed, and force calculation control area
• PWM control
Encoder
Analog
monitor
USB
CN1
33
35
Table of Contents
Introduction
5
Read and Understand this Manual
6
Safety Precautions
9
Items to Check after Unpacking
17
Revision History
18
Manual Configuration
19
Manual Structure
20
Contents
23
Sections in this Manual
23
Features and System Configuration
23
Table of Contents
24
Outline
30
Outline of OMNUC G5-Series Servo Drives (Pulse-Train Input Type)
30
Features of OMNUC G5-Series Servo Drives (Pulse-Train Input Type)
30
System Configuration
31
Names and Functions
32
Servo Drive Part Names
32
Servo Drive Functions
33
System Block Diagram
34
Applicable Standards
38
EC Directives
38
UL and Cul Standards
38
Semi F47
38
Models and External Dimensions
39
Section 2 Models and External Dimensions
40
Servo System Configuration
40
How to Read Model Numbers
42
Servo Drive
42
Servomotor
43
Decelerator (Backlash: 3 Arcminutes Max.)
44
Decelerator (Backlash: 15 Arcminutes Max.)
45
Model Tables
46
Servo Drive Model Table
46
Servomotor Model Tables
46
Servo Drive and Servomotor Combination Tables
49
Decelerator Model Tables
50
Cable and Peripheral Device Model Tables
54
External and Mounting Dimensions
60
Servo Drive Dimensions
60
Servomotor Dimensions
69
Combinations of Servomotors and Decelerators
78
Decelerator Dimensions
80
External Regeneration Resistor Dimensions
94
Reactor Dimensions
95
Mounting Bracket (L-Brackets for Rack Mounting) Dimensions
99
Specifications
101
Servo Drive Specifications
102
General Specifications
102
Characteristics
103
Main Circuit and Motor Connections
106
Control I/O Connector Specifications (CN1)
109
Control Input Circuits
115
Control Input Details
117
Control Output Circuits
127
Control Output Details
128
Encoder Connector Specifications (CN2)
132
Analog Monitor Connector Specifications (CN5)
133
USB Connector Specifications (CN7)
134
Overload Characteristics (Electronic Thermal Function)3-35
135
Overload Characteristics Graphs
135
Overload Characteristics (Electronic Thermal Function)
135
Servomotor Specifications
136
General Specifications
136
Characteristics
137
Encoder Specifications
153
Decelerator Specifications
154
Models and Specifications
154
Cable and Connector Specifications
162
Resistance to Bending of Global Flexible Cable
162
Encoder Cable Specifications
164
Motor Power Cable Specifications
168
Connector Specifications
180
Analog Monitor Cable Specifications
183
Control Cable Specifications
184
Servo Relay Unit and Cable Specifications
196
Servo Relay Unit Specifications
196
Servo Drive Relay Unit Cable Specifications
208
Position Control Unit Relay Unit Cable Specifications
211
External Regeneration Resistor Specifications
222
Reactor Specifications
224
System Design
225
Installation Conditions
226
Servo Drive Installation Conditions
226
Servomotor Installation Conditions
227
Decelerator Installation Conditions
230
Wiring
234
Peripheral Equipment Connection Examples
234
Main Circuit and Motor Connections
238
Wiring Conforming to EMC Directives
244
Wiring Method
244
Selecting Connection Components
250
Regenerative Energy Absorption
263
Calculating the Regenerative Energy
263
Servo Drive Regeneration Absorption Capacity
265
Regenerative Energy Absorption with an External Regeneration Resistor
266
Connecting an External Regeneration Resistor
267
Section 5 Basic Control Mode
270
Position Control
270
Outline of the Function
270
Parameters Requiring Settings
271
Related Functions
273
Parameter Block Diagram for Position Control Mode
274
Internally Set Speed Control
275
Outline of the Function
275
Parameters Requiring Settings
275
Related Functions
279
Parameter Block Diagram for Speed Control Mode
280
Switching Control
281
Outline of the Function
281
Parameters Requiring Settings
281
Related Functions
282
Applied Functions
283
Section 6 Applied Functions
285
Damping Control
285
Outline of the Function
285
Parameters Requiring Settings
285
Adaptive Filter
288
Outline of the Function
288
Parameters Requiring Settings
289
Notch Filters
290
Outline of the Function
290
Parameters Requiring Settings
291
Electronic Gear Function
293
Outline of the Function
293
Parameters Requiring Settings
293
Operation Example
295
Encoder Dividing Function
297
Outline of the Function
297
Parameters Requiring Settings
297
Brake Interlock
300
Outline of the Function
300
Parameters Requiring Settings
300
Precautions for Correct Use of Holding Brake
300
Operation
301
Operation
303
Gain Switching Function
305
Outline of the Function
305
Parameters Requiring Settings
306
Torque Limit
313
Outline of the Function
313
Sequence I/O Signals
315
Outline of the Function
315
Input Signals
315
Output Signals
318
Forward and Reverse Drive Prohibition Functions
320
Outline of the Function
320
Parameters Requiring Settings
320
Disturbance Observer Function
323
Outline of the Function
323
Parameters Requiring Settings
324
Operating Procedure
324
Gain 3 Switching Function
325
Outline of the Function
325
Parameters Requiring Settings
325
Operation
325
Friction Torque Compensation Function
326
Outline of the Function
326
Parameters Requiring Settings
326
Operation Example
327
Inertia Ratio Switching Function
328
Outline of the Function
328
Parameters Requiring Settings
328
Operating Procedure
328
Feed-Forward Function
329
Outline of the Function
329
Parameters Requiring Settings
329
Operating Procedure
330
Instantaneous Speed Observer Function
332
Outline of the Function
332
Parameters Requiring Settings
332
Operating Procedure
333
Parameter Details
335
Basic Parameters
336
Gain Parameters
344
Vibration Suppression Parameters
354
Analog Control Parameters
360
Interface Monitor Setting Parameters
366
Extended Parameters
376
Special Parameters
389
Operation
397
Operational Procedure
398
Preparing for Operation
399
Items to Check before Turning on the Power Supply
399
Turning on the Power Supply
400
Checking the Display
400
Using the Front Panel Display
401
Mode Setting
402
Changing the Mode
402
Monitor Mode
403
Parameter Setting Mode
415
Parameter Write Mode
417
Auxiliary Function Mode
418
Trial Operation
424
Preparations for Trial Operation
424
Trial Operation in Position Control Mode
425
Adjustment Functions
427
Section 9 Adjustment Functions
428
Gain Adjustment
428
Purpose of the Gain Adjustment
428
Gain Adjustment Methods
428
Gain Adjustment Procedure
429
Realtime Autotuning
430
Setting Realtime Autotuning
431
Setting Machine Rigidity
431
Manual Tuning
437
Basic Settings
437
Troubleshooting and Maintenance
445
Actions for Problems
446
Preliminary Checks When a Problem Occurs
446
Precautions When a Problem Occurs
447
Replacing the Servomotor or Servo Drive
448
Warning List
449
Alarm List
450
Troubleshooting
454
Error Diagnosis with Alarm Displays
454
Error Diagnosis Using the Operation State
461
Periodic Maintenance
465
Servomotor Life Expectancy
465
Servo Drive Life Expectancy
466
Appendices
467
A-1 Connection Examples
467
Parameter List
477
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Omron G5 Series Specifications
General
Brand
Omron
Model
G5 Series
Category
Servo Drives
Language
English
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