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R88D-KT30F
Omron R88D-KT30F User Manual
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1-3
1-3 Names and Functions
1
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Features and System Configuration
1-3
Names and Functions
Servo Drive Part Names
Displa
y
Operation area
USB connector (CN7)
Expansion connector (CN3)
Analog monitor connector (CN5)
Motor connection
terminals (U, V and W)
Control circuit
power supply terminals
(L1C and L2C)
Main circuit
power supply terminals
(L1, L2, and L3)
External Regeneration
Resistor connection
terminals (B1, B2, and B3)
Protective g
round ter
minals
Control I/O connector (CN1)
Saf
ety connector (CN8)
External encoder connector (CN4
Encoder connector (CN2)
Charge lamp
27
29
Table of Contents
OMNUC G5 SERIES AC SERVOMOTORS/SERVO DRIVES USER’S MANUAL
1
Introduction
3
Terms and Conditions Agreement
4
Items Requiring Acknowledgment
6
Safety Precautions
8
Items to Check after Unpacking
19
Revision History
20
Structure of This Document
21
Chapter 1 Features and System Configuration
25
1-1 Outline
26
1-2 System Configuration
27
1-3 Names and Functions
28
1-4 System Block Diagrams
30
1-5 Applicable Standards
40
1-6 Unit Versions
43
Chapter 2 Standard Models and External Dimensions
45
2-1 Servo System Configuration
46
2-2 How to Read Model Numbers
48
2-3 Standard Model Tables
50
2-4 External and Mounting Dimensions
70
2-5 EMC Filter Dimensions
116
2-6 Dimensions of Mounting Brackets (L-Brackets for Rack Mounting)
117
Chapter 3 Specifications
119
3-1 Servo Drive Specifications
120
3-2 Overload Characteristics (Electronic Thermal Function)
177
3-3 Servomotor Specifications
178
3-4 Cable and Connector Specifications
216
3-5 Servo Relay Units and Cable Specifications
246
3-6 External Regeneration Resistor Specifications
265
3-7 EMC Filter Specifications
267
Chapter 4 System Design
269
4-1 Installation Conditions
270
4-2 Wiring
276
4-3 Wiring Conforming to EMC Directives
302
4-4 Regenerative Energy Absorption
322
4-5 Large Load Inertia Adjustment and Dynamic Brake
330
4-6 Using DC Power
331
Chapter 5 Basic Control Mode
335
5-1 Position Control
336
5-2 Speed Control
342
5-3 Torque Control
349
5-4 Internally Set Speed Control
354
5-5 Switching Control
358
5-6 Fully-closed Control
361
Chapter 6 Applied Functions
371
6-1 Damping Control
373
6-2 Adaptive Filter
377
6-3 Notch Filter
379
6-4 Electronic Gear Function
382
6-5 Encoder Dividing Function
386
6-6 Brake Interlock
391
6-7 Gain Switching Function
396
6-8 Torque Limit
404
6-9 Sequence I/O Signal
407
6-10 Forward and Reverse Drive Prohibition Functions
413
6-11 Disturbance Observer Function
416
6-12 Gain Switching 3 Function
418
6-13 Friction Torque Compensation Function
419
6-14 Inertia Ratio Switching Function
421
6-15 Hybrid Vibration Suppression Function
422
6-16 Feed-forward Function
423
6-17 Instantaneous Speed Observer Function
427
Chapter 7 Safety Function
429
7-1 Safe Torque OFF (STO) Function
430
7-2 Operation Example
433
7-3 Connection Example
435
Chapter 8 Parameter Details
437
8-1 Basic Parameters
438
8-2 Gain Parameters
446
8-3 Vibration Suppression Parameters
457
8-4 Analog Control Parameters
462
8-5 Interface Monitor Setting Parameters
474
8-6 Extended Parameters
484
8-7 Special Parameters
497
Chapter 9 Operation
505
9-1 Operational Procedure
506
9-2 Preparing for Operation
507
9-3 Using the Front Display
511
9-4 Setting the Mode
512
9-5 Trial Operation
538
Chapter 10 Adjustment Functions
543
10-1 Gain Adjustment
544
10-2 Realtime Autotuning
546
10-3 Manual Tuning
553
Chapter 11 Troubleshooting and Maintenance
561
11-1 Troubleshooting
562
11-2 Warning List
565
11-3 Alarm List
566
11-4 Troubleshooting
571
11-5 Periodic Maintenance
588
Chapter 12 Appendix
593
12-1 Connection Examples
594
12-2 Parameter List
604
Index
627
Contact
634
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Omron R88D-KT30F Specifications
General
Brand
Omron
Model
R88D-KT30F
Category
Servo Drives
Language
English
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