FND-CCX002S Omron, FND-CCX002S Datasheet

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... Cat. No. I524-E1-2 OMNUC FND-X USER’S MANUAL MODELS FND-X FND-X -SRT (CompoBus/S Type) POSITION DRIVERS SERIES (DIO Type) ...

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... Thank you for choosing this OMNUC FND-X-series product. This manual provides details on the installation, wiring, troubleshooting, and maintenance of OMNUC FND-X-series products along with parameter settings for the operation of the products. Make sure that actual users of this product will read this manual thoroughly and handle and operate the prod- uct with care ...

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... 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 “ ...

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... 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 Do not touch the inside of the Servo Driver. Doing so may result in electric shock. ...

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Storage and Transportation Precautions Caution Do not hold by the cables or motor shaft while transporting the product. Doing so ! may result in injury or malfunction. Caution Do not place any load exceeding the figure indicated on the product. ...

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Caution Provide an appropriate stopping device on the machine side to secure safety holding brake is not a stopping device for securing safety.) Not doing so may result in injury. Caution Provide an external emergency stopping device that ...

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Warning Labels Warning labels are pasted on the product as shown in the following illustration. Be sure to follow the instructions given there. Warning labels Warning Labels Warning label 1 May cause electric shock. Warning label 2 Connect to a ...

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... For users who wish to begin operations quickly. The OMNUC FND-X-series Position Driver allows motor test operation only by wiring the driver and motor without connecting the controller. Read 3-2 Turning ON Power and Checking Dis- play , properly set the motor model code, and then operate the motor according to 3-8-2 System Check Mode ...

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... OMNUC FND-X-series Position Drivers DIO Type 200 V: FND-XjjH 100 V: FND-XjjL Power signals OMNUC M-series AC Servomotors 1200 r/min: 200 to 1.8 kW with Resolver 2000 r/min: 200 to 2.2 kW with Resolver 4000 r/min with Resolver OMNUC FND-X Series Teaching Box For details refer to Cat. No. W354-E1. ...

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Chapter 1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

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Making Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

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Chapter 7. Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

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Introduction 1-1 Functions 1-2 Nomenclature and Key Operations 1-3 Supported Standards and Supporting Models 1 Chapter 1 ...

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... Functions OMRON’s FND-X Position Drivers are servo drivers with built-in positioner functions that control AC servomotors according to positioning data. j FND-X-Series Models There are two types of FND-X Position Drivers, according to the type of control signals used. Control signals DIO CompoBus eight CompoBus/S Position Drivers can be connected to one Master Unit for 128 input and 128 output points ...

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... Position Driver and AC Servomotor Combinations Position Driver Input power Model supply Single-phase g FND-X06H- 200/240 (170 264) VAC at 264) VAC at 50/60 Hz 50/60 Hz FND-X12H- FND-X25H- Applicable AC Servomotor Series Model U R88M-U03030 A R88M-U05030 A R88M-U10030 A U-UE R88M-UE10030 -S1 H R88M-H05030 R88M-H10030 U R88M-U20030 A R88M-U40030 A U-UE ...

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... VAC at 127) VAC at 50/60 Hz 50/60 Hz FND-X12L- Note 1. Even when a U-series or U-UE-series Servomotor is used in combination with a100-VAC-in- put Position Driver, a 200-VAC Servomotor must be used. A 100-VAC Servomotor cannot be connected. Note 2. Straight-axis servomotors are available either with or without a key or brake. In the above table, the Servomotors have the following features. ...

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... Introduction j Servomotor Features and Selection Standards Any FND-X-series Position Driver can be freely selected according to the application. When making the selection, take the following points into consideration. Servomotor Features U/UE Series Compact size, high-speed response High resolution (except for UE type) Absolute encoder system can be configured (except for UE type). ...

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Introduction Control Mode The following four types of control modes are available to the Position Driver: PTP control and feeder control modes with the internal point data preset in the Position Driver and these same modes with di- rect I/O ...

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... Note Refer to the CVM1-PRO01 Teaching Box Operation Manual (W354) for more information. OMNUC FND-X Series Monitoring Software The OMNUC FND-X Series Monitoring Software runs on an IBM PC/AT or compatible computer and pro- vides for easy operation, including the following: Position Driver status monitoring ...

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Introduction j Protection and Self-diagnostic Functions Hardware Protection The Position Driver is protected from overcurrent, overvoltage, low voltage, abnormal power, clock fail- ure, overcurrent (soft), speed amplifier saturation, and overload damage. Mechanical System Protection The mechanical system is protected from ...

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Introduction 1-2 Nomenclature and Key Operations DIO Position Drivers Front View Terminal Block Bottom View Radiation fin j Key Operations Display (5-digit, 7-segment LEDs) Operation Keys (5 keys) Monitor Output Terminal CN5 (RS-232C) Communications Connector CN1 (CONT) Control Signal Connector ...

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Introduction CompoBus/S Position Drivers Front View Terminal Block CN4 (LIMIT) External control signal connector Bottom View Radiation fin j Key Operations 1-10 Display (5-digit, 7-segment LEDs) Operation Keys (5 keys) Monitor Output Terminal CN5 (RS-232C) Communications Connector Node Address Setting ...

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... Supported standard UL/cUL UL508C EC Low-voltage Directive EN50178 EMC Directive EN55011 class A group 1 EN61000-4 Note All Position Drivers in the FND-X Series conform to UL/cUL standards and EC directives. 1-3-2 Standards Supported by AC Servomotors Standard Supported standard UL/cUL UL1004 cUL C22.2 No. 100 EC Low-voltage Directive IEC34-1, -5, -8, -9 ...

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Design and Installation 2-1 Installation 2-2 Wiring 2 Chapter 2 ...

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... Design and Installation 2-1 Installation 2-1-1 External Dimensions (Unit: mm) DIO and CompoBus/S Position Drivers j 200-VAC FND-X06H- /-X12H- 100-VAC FND-X06L- /-X12L- Three, 6 dia. j 200-VAC FND-X25H- Three, 6 dia. 2-2 Chapter 2 Mounting Dimensions Three, M5 Mounting Dimensions Three, M5 ...

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... Design and Installation j 200-VAC FND-X50H- Mounting Dimensions Four, M5 Four, 6 dia. Chapter 2 2-3 ...

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Design and Installation OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 30 to 750 W) Conforming to UL/cUL j 30-W/50-W/100-W Standard Models (Without Brakes): R88M-U03030HA, R88M-U05030HA, R88M-U10030HA 6 30-W/50-W/100-W Models with Brakes: R88M-U03030HA-B, R88M-U05030HA-B, R88M-U10030HA-B ...

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Design and Installation OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 30 to 750 W) Conforming to UL/cUL (Contd.) j 200-W/400-W Standard Models (Without Brakes): R88M-U20030HA, R88M-U40030HA 5 200-W/400-W Models with Brakes: R88M-U20030HA-B, R88M-U40030HA-B 5.2 ...

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Design and Installation OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 30 to 750 W) Conforming to UL/cUL (Contd.) j 750-W Standard Models (Without Brakes): R88M-U75030HA 5 145 185 j 750-W Models with Brakes: R88M-U75030HA-B 5 ...

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Design and Installation OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 30 to 750 W) Conforming to EC Directives j 30-W/50-W/100-W Standard Models (Without Brakes): R88M-U03030VA-S1, R88M-U05030VA-S1, R88M-U10030VA-S1 j 30-W/50-W/100-W Models with Brakes: R88M-U03030VA-BS1, R88M-U05030VA-BS1, R88M-U10030VA-BS1 Standard Models (Without Brakes) ...

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Design and Installation OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 30 to 750 W) Conforming to EC Directives (Contd.) j 200-W/400-W Standard Models (Without Brakes): R88M-U20030VA-S1, R88M-U40030VA-S1 j 200-W/400-W Models with Brakes: R88M-U20030VA-BS1, R88M-U40030VA-BS1 Standard Models (Without Brakes) Model ...

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Design and Installation OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 30 to 750 W) Conforming to EC Directives (Contd.) j 750-W Standard Models (Without Brakes): R88M-U75030VA-S1 j 750-W Models with Brakes: R88M-U75030VA-BS1 Chapter 2 14 dia. Four, R8.2 Four, ...

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Design and Installation OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS 30 to 750 W) Conforming to UL/cUL j 30-W/50-W/100-W Standard Models (Without Brakes): R88M-U03030TA, R88M-U05030TA, R88M-U10030TA 53 dia. j 30-W/50-W/100-W Models with Brakes: R88M-U03030TA-B, R88M-U05030TA-B, R88M-U10030TA-B 53 dia. Standard ...

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Design and Installation OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS 30 to 750 W) Conforming to UL/cUL (Contd.) j 200-W/400-W Standard Models (Without Brakes): R88M-U20030TA, R88M-U40030TA j 200-W/400-W Models with Brakes: R88M-U20030TA-B, R88M-U40030TA-B Standard Models (Without Brakes) Model L ...

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Design and Installation OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS 30 to 750 W) Conforming to UL/cUL (Contd.) j 750-W Standard Models (Without Brakes): R88M-U75030TA j 750-W Models with Brakes: R88M-U75030TA-B 2-12 Encoder adapter Motor plug Four, 7 dia. ...

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Design and Installation OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS 30 to 750 W) Conforming to EC Directives j 30-W/50-W/100-W Standard Models (Without Brakes): R88M-U03030XA-S1, R88M-U05030XA-S1, R88M-U10030XA-S1 53 dia. j 30-W/50-W/100-W Models with Brakes: R88M-U03030XA-BS1, R88M-U05030XA-BS1, R88M-U10030XA-BS1 53 dia. ...

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Design and Installation OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS 30 to 750 W) Conforming to EC Directives (Contd.) j 200-W/400-W Standard Models (Without Brakes): R88M-U20030XA-S1, R88M-U40030XA-S1 j 200-W/400-W Models with Brakes: R88M-U20030XA-BS1, R88M-U40030XA-BS1 Standard Models (Without Brakes) Model ...

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Design and Installation OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS 750 W) Conforming to EC Directives (Contd.) j 750-W Standard Models (Without Brakes): R88M-U75030XA-S1 j 750-W Models with Brakes: R88M-U75030XA-BS1 Chapter 2 14 dia. Four, R8.2 Four, ...

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Design and Installation U-Series AC Servomotor Shaft Dimensions with Keys (U-INC, U-ABS 750 W) Standard U-series AC Servomotors do not have keys on the shafts. The shaft dimensions of motors with keys are shown below. Motors with keys ...

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Design and Installation OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE) Not Conforming to Any Standards j 100-W Standard Models (Without Brakes): R88M-UE10030H-S1 j 100-W Models with Brakes: R88M-UE10030H-BS1 Encoder adapter Motor plug Four, R3.7 Two, 4.3 dia. 46 dia. ...

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Design and Installation OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE) (Contd.) j 200-W/400-W Standard Models (Without Brakes): R88M-UE20030H-S1, R88M-UE40030H-S1 j 200-W/400-W Models with Brakes: R88M-UE20030H-BS1, R88M-UE40030H-BS1 Standard Models (Without Brakes) Model L R88M-UE20030H-S1 126.5 R88M-UE40030H-S1 154.5 2-18 Encoder adapter ...

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Design and Installation OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE) Not Conforming to Any Standards (Contd.) j 750-W Standard Models (Without Brakes): R88M-UE75030H-S1 j 750-W Models with Brakes: R88M-UE75030H-BS1 Encoder adapter Motor plug Four, R8.2 Four, 7 dia. 90 ...

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Design and Installation OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE) Conforming to EC Directives j 100-W Standard Models (Without Brakes): R88M-UE10030V-S1 j 100-W Models with Brakes: R88M-UE10030V-BS1 2-20 14 dia. Shaft end dimensions Four, R3.7 Key slot dimensions, conform ...

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Design and Installation OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE) Conforming to EC Directives (Contd.) j 200-W/400-W Standard Models (Without Brakes): R88M-UE20030V-S1, R88M-UE40030V-S1 j 200-W/400-W Models with Brakes: R88M-UE20030V-BS1, R88M-UE40030V-BS1 Standard Models (Without Brakes) Model L R88M-UE20030V-S1 126.5 R88M-UE40030V-S1 ...

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Design and Installation OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE) Conforming to EC Directives (Contd.) j 750-W Standard Models (Without Brakes): R88M-UE75030V-S1 j 750-W Models with Brakes: R88M-UE75030V-BS1 2-22 Shaft end dimensions Key slot dimensions, conform to JIS B1301-1976. ...

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Design and Installation OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC kW) j 1.0-kW/1.5-kW/2.0-kW Standard Models (Without Brakes) Not Conforming to Any Standards: R88M-U1K030H/-U1K530H/-U2K030H Conforming to EC Directives: R88M-U1K030V-S1/-U1K530V-S1/-U2K030V-S1 j 1.0-kW/1.5-kW/2.0-kW Models With Brakes Not Conforming to ...

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Design and Installation OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS kW) j 1.0-kW/1.5-kW/2.0-kW Standard Models (Without Brakes) Not Conforming to Any Standards: R88M-U1K030T/-U1K530T/-U2K030T Conforming to EC Directives: R88M-U1K030X-S1/-U1K530X-S1/-U2K030X-S1 j 1.0-kW/1.5-kW/2.0-kW Models With Brakes Not Conforming to ...

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Design and Installation U-Series AC Servomotor Shaft Dimensions with Keys (U-INC, U-ABS kW) Standard U-series AC Servomotors do not have keys on the shafts. The shaft dimensions of motors with keys are shown below. Motors with keys ...

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Design and Installation OMNUC H-Series AC Servomotor with Incremental Encoder (H) j 50-W/100-W Standard Models (Without Brakes): R88M-H05030, R88M-H10030 j 50-W/100-W Models with Brakes: R88M-H05030-B, R88M-H10030-B 63 dia. Standard Models (Without Brakes) Model L1 R88M-H05030 (50 W) 53.5 R88M-H10030 (100 ...

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Design and Installation OMNUC H-Series AC Servomotors with Incremental Encoders (H) (Contd.) j 500-W/750-W/1100-W Standard Models (Without Brakes): R88M-H50030, R88M-H75030, R88M-H1K130 j 500-W/750-W/1100-W Models with Brakes: R88M-H50030-B, R88M-H75030-B, R88M-H1K130-B 77 dia. Shaft Dimensions R88M-H50030/-H50030-B R88M-H75030/-H75030-B Shaft Dimensions R88M-H1K130/-H1K130-B Standard Models ...

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Design and Installation OMNUC M-Series AC Servomotors with Resolvers (M) j 60-W/120-W (4,000 r/min) Standard Models (Without Brakes): R88M-M06040, R88M-M12040 j 60-W/120-W (4,000 r/min) Models with Brakes: R88M-M06040-B, R88M-M12040-B Standard Models (Without Brakes) Model L R88M-M06040 150 120 R88M-M12040 175 ...

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Design and Installation OMNUC M-Series AC Servomotors with Resolvers (M) (Contd.) j 200-W (2,000 r/min) Standard Models (Without Brakes): R88M-M20020 j 200-W/400-W (4,000 r/min) Standard Models: R88M-M20040, R88M-40040 j 200-W (2,000 r/min) Models with Brakes: R88M-M20020-B j 200-W/400-W (4,000 r/min) ...

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Design and Installation OMNUC M-Series AC Servomotors with Resolvers (M) (Contd.) j 200-W/400-W/700-W (1,200 r/min) Standard Models (Without Brakes): R88M-M20012, R88M-M40012, R88M-M70012 j 400-W/700-W/1,100-W (2,000 r/min) Standard Models (Without Brakes): R88M-M40020, R88M-M70020, R88M-M1K120 j 700-W/1,100-W/2,000-W (4,000 r/min) Standard Models (Without ...

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Design and Installation Standard Models Model L R88M-M20012 240 195 R88M-M40020 R88M-M70040 275 230 R88M-M40012 R88M-M70020 R88M-M1K140 R88M-M70012 345 300 R88M-M1K120 R88M-M2K040 j Shaft End Directions OMNUC M-Series AC Servomotors with Resolvers (Contd.) j 1,100-W/1,400-W/1,800-W (1,200 r/min) Standard Models: R88M-M1K112/-M1K412/-M1K812 ...

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Design and Installation j 1,100-W/1,400-W/1,800-W (1,200 r/min) Models with Brakes: R88M-M1K112-B/-M1K412-B/-M1K812-B j 1,800-W/2,200-W (2,000 r/min) Models with Brakes: R88M-M1K820-B/-M2K220-B Standard Models Model 370 291 252 439 360 256 R88M-M1K112 R88M-M1K820 400 321 282 469 390 286 R88M-M1K412 ...

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Design and Installation 2-1-2 Installation Conditions Position Driver j Space Around Drivers Install Position Drivers according to the dimensions shown in the following illustration to ensure prop- er heat dispersion and convection inside the panel. Also install a fan for ...

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Design and Installation j 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 Position Driver during installation. Be sure to ...

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Design and Installation Bevel gears will cause a load to be applied in the thrust direction depending on the structural preci- sion, the gear precision, and temperature changes. Provide appropriate backlash or take other mea- sures to ensure that no ...

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Design and Installation Power Cable Connectors Servomotor Servomotor model R88M- Standard U1K030 - U1K530 - U2K030 - With Brakes U1K030 -B U1K530 -B U2K030 -B Encoder Cable Connectors Servomotor Connector model All models Elbow connectors: JA08A-20-29S-J1-EB Straight connectors: JA06A-20-29S-J1-EB j ...

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Design and Installation The Servomotor may not produce sufficient torque when moved only a small distance from the point where power is turned ON (a distance equivalent to about 6 pulses). If only a very small distance ...

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Design and Installation 2-2 Wiring 2-2-1 Overview Use a general-purpose control cable (purchased separately) to connect the Position Driver to the Pro- grammable Controller. For connecting the Position Driver Servomotor, use a dedicated Encod- er/Resolver Cable and ...

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... Design and Installation Using OMNUC U-series AC Servomotors 750 W Conforming to UL/cUL or UE Type Not Conforming to Any Standards SYSMAC CV/C-series Programmable Controller FND-X-series Position Driver (DIO Type) Encoder Cable R88A-CRU C (for incremental encoder) R88A-CSU C (for absolute encoder) Note Refer to Chapter 5 Specifications for connector and cable specifications. ...

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... C200HX/HG/HE or CQM1 SRM1-C01/-C02 Programmable Controller Master Control Unit CompoBus/S Communications Cable (SCA1-4F10 Flat Cable or commer- cially available VCTF cable) S FND-X-series Position Driver (CompoBus/S Type) Power Cable R88A-CAU001 R88A-CAU01B OMNUC U-Series AC Servomotor Conforming to EC Directives or U-UE-Series AC Servomotor Con- forming to EC Directives ...

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... Design and Installation Using OMNUC U-series AC Servomotors SYSMAC CV/C-series Programmable Controller FND-X-series Position Driver (DIO Type) Encoder Cable R88A-CRUB N (for incremental encoder/ absolute encoder) Note 1. Refer to Chapter 5 Specifications for connector and cable specifications. Note 2. To perform mounting in accordance with EC Directives, use a Servomotor that conforms to EC Directives ...

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... Design and Installation Using an OMNUC H-series AC Servomotor SYSMAC CV/C-series Programmable Controller FND-X-series Position Driver (DIO Type) Conversion Cable R88A-CRH0R5T Note Refer to Chapter 5 Specifications for connector and cable specifications. 2-42 SYSMAC HX/HG/HE or CQM1 Programmable Controller General-purpose Control Cable FND-CCX S Power Cable R88A-CAH ...

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... Note Refer to Chapter 5 Specifications for connector and cable specifications. C200HX/HG/HE or CQM1 Programmable Controller General-purpose Control Cable FND-CCX S Power Cable (Prepared by user.) N Chapter 2 SRM1-C01/-C02 Master Control Unit CompoBus/S Communications Cable (SCA1-4F10 Flat Cable or commer- cially available VCTF cable) FND-X-series Position Driver (CompoBus/S Type) OMNUC M-series AC Servomotor 2-43 ...

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Design and Installation j Wiring Power Cables Red White Blue Green j Power Cable Wire Sizes Wire size Model R88M R88M M20012 1.25 M40012 1.25 M70012 1.25 M1K112 2 M1K412 2 M1K812 2 M20020 0.9 M40020 1.25 M70020 ...

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... Case at cable side CompoBus/S Position Drivers CompoBus/S Communications Terminal Block (CN1: CONT) Pin Arrangement Signal BD H CompoBus/S serial line (+) BD L CompoBus/S serial line (–) j I/O Allocation The FND-X has 16 input points and 16 output points. CCWL CCW limit input 20 STOP Origin ORG proximity 22 READY ...

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Design and Installation IN (16 Input Points) I/O allocation OUT0 OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15 OUT (16 Output Points) I/O allocation IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 ...

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Design and Installation External Control Signal Connectors (CN4: LIMIT) Pin Arrangement 1 2 CWL CW limit 3 Deceleration stop 4 STOP (see note + Connectors Used Sumitomo 3M Receptacle at Position Driver Soldered plug ...

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Design and Installation Control I/O Specifications DIO Compo Signal Bus/S CN1-1 CN4-1 CCWL CN1-2 CN4-2 CWL CN1-3 CN4-3 ORG CN1-4 OUT0 RUN CN1-5 OUT1 START CN1-6 OUT2 RESET CN1-7 OUT3 SEARCH CN1-8 OUT4 +JOG CN1-9 OUT5 –JOG CN1-10 OUT6 TEACH ...

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Design and Installation DIO Compo Signal Bus/S CN1-11 OUT8 P.IN0 CN1-12 OUT9 P.IN1 CN1-13 OUT10 P.IN2 CN1-14 OUT11 P.IN3 CN1-15 OUT12 P.IN4 CN1-16 OUT13 P.IN5 CN1-17 OUT14 P.IN6 CN1-18 OUT15 P.IN7 CN1-20 CN4-4 STOP OUT7 CN1-36 CN4-7 +24V CN1-19 CN4-14 ...

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Design and Installation DIO Compo Signal Bus/S CN1-29 IN8 P.OUT0 CN1-30 IN9 P.OUT1 CN1-31 IN10 P.OUT2 CN1-32 IN11 P.OUT3 CN1-33 IN12 P.OUT4 CN1-34 IN13 P.OUT5 CN1-35 IN14 P.OUT6 Note The “internal allocations” are the numbers allocated in the CPU Unit. ...

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Design and Installation Control Input Details DIO CN1-1 CCWL CCW limit Pin No the plus (+) direction limit input signal. When this signal is not being input (ON), the motor cannot be rotated in the plus (+) direction. ...

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Design and Installation DIO CN1-7 SEARCH Origin search The pin No. 7 signal input begins an origin search or origin teaching operation. When this signal is input (turned ON) while RUN is ON, an origin search operation is executed. (The ...

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Design and Installation DIO CN1- P.IN0 to 7 Point selection / Position data j Point Selection [UP-01 (Control Mode 12] This is the signal input for selecting positioning data from PTP data. ...

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Design and Installation When the RUN signal has been turned OFF. When an error shutting OFF the power to the motor has occurred. When a deceleration stop turns OFF while PP-24 (deceleration stop mode) is set to 0 (free-run stop). ...

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Design and Installation Dynamic Brake Wiring and Operational Sequence Wiring (See note) Protectively separated Note With the CompoBus/S Position Drivers, outputs are made to CN4 (LIMIT). BO (CN4 to 8) and OGND (CN4 to 14) are provided. For controlling dynamic ...

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Design and Installation DIO CN1-23 S.COM Origin search completed This output turns ON when the mechanical origin is established. The output conditions are as follows: When a motor with an absolute-value encoder is connected, the signal turns ON when the ...

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Design and Installation Point outputs become the data output for digit 10 1 output for digit 10 . Example: When point No selected. Point output j Position Selection [UP-01 (Control Mode) = ...

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Design and Installation Control I/O Connections and External Signal Processing (DIO Position Drivers) 24 VDC +24 V CCW limit input CW limit input Origin proximity RUN START Alarm reset Origin search +JOG operation –JOG operation Teach Point selection 0/ Position ...

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Design and Installation Control I/O Connections and External Signal Processing (CompoBus/S Position Drivers) 24 VDC +24 V CCW limit input CW limit input Origin proximity Deceleration stop 24 VDC 8 mA Note The Servomotor cannot be driven if the deceleration ...

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... Design and Installation Example: Connecting DIO Position Drivers to a Programmable Controller Programmable Controller Output Unit Programmable Controller Input Unit 2-60 24 VDC +24 V Brake Chapter 2 FND-X Position Driver ...

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... PLC Output Units. Position data 0 10 digit Position data 1 10 digit Position data 6 10 digit Position data 7 10 digit Sign +/– INC/ABS Speed data 0 10 digit Speed data 1 10 digit 24 VDC +24 V Chapter 2 FND-X Position Driver 2-61 ...

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... Design and Installation 2-2-3 Wiring Terminal Blocks Provide proper wire diameters, ground systems, and noise resistance when wiring terminal blocks. Wiring FND-X06 to X25 Power supply inputs Regeneration Resistor connection terminals Power cable 2-62 Terminal Blocks Red White Blue or Black Green Chapter 2 ...

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... FND-X FND Single-phase 200/240 VAC (170 H- : Single- hase 200/240 VAC (170 to 264 V) 50/60 Hz FND Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz Connector terminals for the R88A-RR20030 or R88A-RR40030 Regenerative Resistor, which will be required if there is excessive regenerative ener- gy ...

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... Design and Installation Wiring FND-X50 Terminal Blocks Control circuit power supply inputs 2-64 Protectively Power cable separated Ground (100 Main power Regeneration supply inputs Resistor Chapter 2 or less) ...

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... These are the output terminals to the Ser- Red vomotor. Be careful to wire them correctly. OMNUC Servomotors can be connected to OMNUC Servomotors can be connected to White these terminals with R88A-CAUB (for U-series Servomotors). OMRON does not provide a cable to con Blue nect these terminals to OMNUC M-series or Servomotors, so the user must provide an black appropriate cable if an M-series Servomo- tor is used ...

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... Design and Installation Terminal Block Current and Wire Sizes The following table shows the rated effective currents flowing to the Position Driver’s terminal block, and also the sizes of the electrical wires. j Position Drivers with 200-VAC Input (FND-X Driver Main power sup- Effective current ...

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... Design and Installation 2-2-4 Wiring for Noise Resistance j Wiring Method for FND-X06 Noise resistance will vary greatly depending on the wiring method used. Resistance to noise can be increased by paying attention to the items described below. (Lightning surge protection) (Faulty grounding, short- circuit protection) No-fuse ...

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... Use twisted-pair cables for the power supply cables whenever possible, or bind the cables. Twisted Wires Separate power supply cables and signal cables when wiring. j Wiring Method for FND-X50H- Noise resistance will vary greatly depending on the wiring method used. Resistance to noise can be increased by paying attention to the items described below. ...

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Design and Installation 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 panel whenever possible. Right: AC inputs Ground Use twisted-pair cables for the ...

Page 93

Design and Installation Surge Absorbers Use surge absorbers to absorb surges from power supply input lines due to lightning, abnormal volt- ages, etc. When selecting surge absorbers, take into account the varistor voltage, the amount of surge immunity, and the ...

Page 94

Design and Installation Noise Filters for Servomotor Output For Servomotor output lines, use a filter type without a built-in capacitor. The following table shows recommended noise filters for Servomotor output lines. Maker Tokin LF-310KA LF-320KA ESD-R-47B Fuji Electrochemical RN80UD Note ...

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... Servomotor, such as machines using a switching power supply, noise filters, inverters, and so on. For detailed information on how to select leakage breakers, refer to the catalogs provided by the manufacturers. The following table shows the Servomotor leakage currents for each Driver model. Driver model (including high-frequency current) FND-X06 /X12 35 mA FND-X25 40 mA FND-X50H 120 mA Note 1 ...

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Design and Installation Do not coil cables. If cables are long and are coiled, mutual induction and inductance will increase and will cause malfunctions. Be sure to use cables fully extended. When installing noise filters for encoder cables, use clamp ...

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... Design and Installation j Wiring Methods FND-X06 to X25 Position Drivers Control panel Metal plate Metal duct or Surge AC power conduit NFB absorber supply Ground (100 max.) Grounding plate Note 1. The cable winding for the ferrite core must be 1 turn. Note 2. Remove the sheathes from the cables at the clamps and ground them directly to the metal plate at the clamps ...

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... Design and Installation FND-X50H- Position Drivers Control panel Metal plate Metal duct or AC power Surge conduit NFB supply absorber Ground (100 max.) Grounding plate Note 1. The cable winding for the ferrite core must be 1 turn. Note 2. Remove the sheathes from the cables at the clamps and ground them directly to the metal plate at the clamps ...

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... All power cables and encoder cables to the Servomotors must less. 2- Binding R0 Position Driver S0 FND-X50H- Installation panel FND-X Primary Secondary Chapter 2 NO Position Driver T Binding Position Drivers Do not coat mount- ing surface. AC power FND-X Noise filter Control circuit power supply Contactor Main power supply 0.5 m max. ...

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... Ground the metal ducts and conduits with blades Attach ferrite cores on all cables as near as possible to the Position Driver. Shield Connections Installation panel FND-X 0.5 m max. j Control Panel Structure Any gaps in the cable entrances, mounting screws, cover, or other parts of a control panel can allow electric waves to leak from or enter the control panel ...

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Design and Installation When assembling the control panel, remove the coating from all joints (or mask the joints when coat- ing) to ensure electrical conductivity. Be sure that no gaps are created when installing the control panel, as gaps can ...

Page 102

Design and Installation j Selecting Components This section describes standards to be considered when selecting components to be connected to reduce noise. Select components after reviewing characteristics such as capacities, performance, and application ranges. Recommended components are listed below for ...

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Design and Installation NF2010A-PI/NF2015A-PI Dimensions 77 max. HF2030A-PI Dimensions 2-80 Two, 5-mm dia. Four, 5-mm dia. Chapter 2 ...

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... When selecting contactors, take into consideration the circuit’s inrush current and the momentary maxi- mum current. The Position Driver inrush current and the momentary maximum current is approximately twice the rated current. The following table shows the recommended contactors. Maker OMRON LC1D25106 LC1D40116 LC1D50116 ...

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... Design and Installation The following table shows the Servomotor leakage currents for each Position Driver. Driver (including high-frequency current) FND-X06 /X12 35 mA FND-X25 40 mA FND-X50H 120 mA Note 1. Leakage current values shown above are for motor power lines less. The values will change depending on the length of power cables and the insulation ...

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... When using a single-phase power supply, one connection terminal will become open. Be sure to insu- late this terminal with insulation tape, etc. Connection Example FND-X06 to -X25 AC Reactor FND-X Application Specifications Drivers Model FND-X06L- 3G3IV-PUZBAB5A2.1MH FND-X12L- FND-X06H- 3G3IV-PUZBAB2.5A4.2MH FND-X12H- 3G3IV-PUZBAB5A2.1MH FND-X25H- 3G3IV-PUZBAB10A1.1MH FND-X50H- 3G3IV-PUZBAB20A0.53MH FND-X50 AC Reactor AC Reactor Rated Inductance current 2 ...

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Design and Installation Dimensions Model Drawing 3G3IV PUZBAB 3G3IV-PUZBAB 1 2.5A4.2MH 5A2.1MH 10A1.1MH 2 20A0.53MH Drawing 1 Details of mounting hole 2-84 Dimensions (mm 120 71 --- 120 40 120 71 --- 120 40 ...

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... JIS C3306 2-core 0.75mm Note When using the CompoBus/S Position Drivers, create the same sequence using the ALM bit. to X25 Position Drivers to Peripheral Devices Single-phase, 200/240 VAC, 50/60 Hz (FND-X Single-phase, 100/115 VAC, 50/60 Hz (FND-X NFB Main-circuit power supply ON OFF ...

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... Flat Cable or commercially available VCTF cable (VCTF JIS C3306 2-core 0.75mm Note When using the CompoBus/S Position Drivers, create the same sequence using the ALM bit. 2-86 Position Drivers to Peripheral Devices Three-phase, 200/240 VAC, 50/60 Hz (FND-X50H- ) Main-circuit power supply OMNUC FND-X-series ...

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Design and Installation 2-2-7 Battery Wiring and Encoder Setup for Absolute Encoder When using a U-series Servomotor with an absolute encoder, connect a lithium battery to the BAT con- nector (C6) so that the position data will be retained when ...

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... OFF. Maker Model Toshiba ER6V OMRON (made by 3G2A9-BAT08 Hitachi Maxell) Note 1. When power is turned OFF internally at the Position Driver, the battery voltage is not moni- tored. Be careful not to let the voltage drop below 2 necessary, install a battery voltage- drop detection circuit or a monitor in the system. ...

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Design and Installation j Setup Method Perform the following procedure carefully. Mistakes may lead to errors in the setup. 1. Wire the Position Driver, Servomotor, and encoder correctly if they are not already wired correctly. 2. Connect the battery. 3. ...

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Operation 3-1 Operational Procedure 3-2 Turning ON Power and Checking Displays 3-3 Using the Display Area 3-4 Setting Functions: User Parameters (H Parameters) 3-5 Position Control Settings (PTP Parameters) 3-6 Setting Positioning Data (PTP Data, Direct Input) 3-7 Operational Sequence ...

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Operation 3-1 Operational Procedure After confirming that the system has been correctly installed and wired, make the initial settings for the Position Driver. Then, set the position control functions according to the position control methods. Any incorrect settings in the ...

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Operation Operation and Adjustment Precautions Caution Confirm that no adverse effect will occur in the system before performing the test ! operation. Not doing so may result in equipment damage. Caution Check the newly set parameters for proper execution before ...

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... Turning ON Power and Checking Displays 3-2-1 Items to Check Before Turning ON the Power j Checking Power Supply Voltage Check to be sure that the power supply voltage is within the ranges shown below. FND-X06H- /-X12H- /-X25H- FND-X50H- (three-phase, 200-VAC specifications): FND-X L- (single-phase, 100-VAC specifications): ...

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Operation 3-2-2 Turning ON the Power and Checking the Display j Turning ON the Power Before turning ON the power supply, check carefully to confirm that it is safe. j Checking Displays When the power is turned ON, one of ...

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Operation U-UE Series Motor model R88M-UE10030H(V)-S1 100 W R88M-UE20030H(V)-S1 200 W R88M-UE40030H(V)-S1 400 W R88M-UE75030H(V)-S1 750 W H Series Motor model R88M-H05030 50 W R88M-H10030 100 W R88M-H20030 200 W R88M-H30030 300 W R88M-H50030 500 W R88M-H75030 750 W R88M-H1K130 ...

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Operation Note U-UE-series (U-series, UE-type) and H-series Servomotors can only be used with Position Driver software version 4.01 (September 1997) or later. U-series 1 to 2-kW and M-series 1.1 to 2.2-kW Servomotors can only be used with Position Driver software ...

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Operation 3-3 Using the Display Area 3-3-1 Key Operations j Display Area Layout j Key Functions Key operation The Mode Key changes the mode. The Shift Key shifts to the digit on the left. The Data Key saves data. DATA ...

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... Operation 3-3-2 Modes and Mode Changes j Modes The OMNUC FND-X Series has the following seven modes: Mode Monitor Mode Check Mode Adjustment Parameter Edit Mode User Parameter Edit Mode PTP Parameter Edit Mode PTP Data Edit Mode System Check Mode j Changing Modes To change modes, press the Mode Key ...

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Operation 3-3-3 Mode Details The following diagram outlines the contents of each of the modes. Monitor Mode DATA + + (Press for at least 5 seconds.) System Check Mode Check Mode Adjustment Parameter Edit Mode User Parameter Edit Mode To ...

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... IN and OUT respectively by the switch. The OUT Slave Area is allo- cated to the FND-X Position Driver’s input area, and the IN Slave Area is allocated to the FND-X Posi- tion Driver’s output area. The node addresses are allocated by the switch settings as follows: ...

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Operation Word 100 OUT Slave 1 Bit Signal name Signal allocation 15 P. IN7 OUT15 14 P. IN6 OUT14 13 P. IN5 OUT13 12 P. IN4 OUT12 11 P. IN3 OUT11 10 P. IN2 OUT10 9 P. IN1 OUT9 8 ...

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Operation 3-4 Setting Functions: User Parameters (H Parameters) User parameters and H parameters are parameters for selecting the control mode, applicable motor, and so on, which are required for system startup. Match the settings to the system being used. Some ...

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Operation User Parameters Display Example Parameter number (UP-01) display Data display (UP-01 contents) Parameter number (UP-02) display Data display (UP-02 contents) Parameter number (UP-03) display Data display (UP-03 contents) j Setting H Parameters Use the following procedure to set the ...

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Operation 3-4-2 User Parameter and H Parameter Tables The following tables list the user parameters (UP-01 to UP-29) and H parameters (HP-33 and HP-46). j User Parameters No. Name Min. unit Setting UP- 01 Control mode --- 02 Motor code ...

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... Only valid for FND-X50H When using an OMRON External Regeneration Resistor, set to 30 0.00 to 0.00 Specifies the regeneration 327.67 absorption resistance capacity (kW). * Only valid for FND-X50H- . Setting Factory range setting Specifies interval for effective load factor calculation to value obtained from machine cycle time multiplied by an integer ...

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Operation Note If the positioning completed signal (READY) is input to the Programmable Controller (PC), make sure that the set value is large enough so that the PC will be able to respond. Set value PC cycle time With CompoBus/S-type ...

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Operation U Series (With Incremental Encoder) Motor model R88M-U03030HA(VA R88M-U05030HA(VA R88M-U10030HA(VA) 100 W R88M-U20030HA(VA) 200 W R88M-U40030HA(VA) 400 W R88M-U75030HA(VA) 750 W R88M-U1K030H( R88M-U1K530H(V) 1.5 kW R88M-U2K030H( Note The motor code for ...

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Operation M Series (1,200 r/min) Motor model R88M-M20012 200 W R88M-M40012 400 W R88M-M70012 700 W R88M-M1K112 1100 W R88M-M1K412 1400 W R88M-M1K812 1800 W M Series (2,000 r/min) Motor model R88M-M20020 200 W R88M-M40020 400 W R88M-M70020 700 W ...

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Operation PRM No. Parameter name UP-07 In-position width This parameter specifies, by the number of motor sensor pulses, the position deviation for outputting the positioning completed signal (INP). OMNUC U Series 30 to 750 W with incremental encoder: 8,192 pulses/rotation ...

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... This parameter is used for calculating the regeneration absorption rate. (The regeneration absorption rate is displayed in Monitor Mode.) Note 1. This parameter is only valid for the FND-X50H- . Note 2. When using an OMRON External Regeneration Resistor, set to 30.0 ( Note 3. After this parameter has been set, it will become valid when the power supply is turned OFF (check that the display has been cleared) and ON again ...

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... This parameter is used for calculating the regeneration absorption rate. (The regeneration absorption rate is displayed in Monitor Mode.) Note 1. This parameter is only valid for the FND-X50H- . Note 2. After this parameter has been set, it will become valid when the power supply is turned OFF (check that the display has been cleared) and ON again. ...

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Operation 3-5 Position Control Settings (PTP Parameters) PTP parameters are the parameters required for setting position data such as the mini- mum setting unit, pulse rate, reference speed, and so on. Some of the user parameters go into effect when ...

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Operation PTP Parameter Display Example Parameter number (PP-01) display Data display (PP-01 contents) Parameter number (PP-02) display Data display (PP-02 contents) Parameter number (PP-03) display Data display (PP-03 contents) 3-5-2 PTP Parameters (PP-01 to PP-26) No. Name Min. PP- unit ...

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Operation No. Name Min. PP- unit 12 Reverse soft- (PP-01) ware limit (left- (See note 1.) most digits) 13 Reverse soft- ware limit (right- most digits) 1/s 14 Reference speed (leftmost digits) 15 Reference speed (rightmost digits) 16 JOG speed ...

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Operation No. Name Min. PP- unit 22 Deceleration 1 ms time 0 23 Deceleration 1 ms time 1 24 Deceleration --- stop mode 25 Alarm selection --- 26 Selection signal 0.8 ms output time (See note 2.) Note 1. The ...

Page 139

Operation 3-5-3 PTP Parameter Details (PP-01 to PP-26) PRM No. Parameter name PP-01 Minimum setting unit This parameter specifies the basic unit for movement and speed value setting and display. Any of the following five basic units can be be ...

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Operation Motor sensor resolution: OMNUC U Series 30 to 750 W with incremental encoder: OMNUC U Series 30 to 750 W with absolute encoder: OMNUC U Series with incremental encoder: OMNUC U Series ...

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Operation The following diagram provides an example of backlash compensation during operation. Slip Compensation Set slip compensation if slippage occurs in the mechanical system during feeding. Set these parameters to compensate for the amount of slippage that occurs when feeding ...

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Operation These parameters set limits on mechanical system movement. The decimal point location is set by PP-01 (minimum setting unit). When a software limit is detected, the motor is placed in servo-lock and stopped. The alarm output status at that ...

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Operation This parameter specifies the direction for beginning an origin search operation. Set value 0 Begins origin search in the positive direction (incrementing the present value). 1 Begins origin search in the negative direction (decrementing the present value). PRM No. ...

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Operation PRM No. Parameter name PP-24 Deceleration stop mode This parameter selects the stop method for when the deceleration stop (STOP) signal is OFF. Set value 0 Free-running stop. (Servo OFF) 1 Stop in deceleration time specified by positioning data ...

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Operation Be sure to set enough time for the Programmable Controller (PC) to respond when the position and speed data selections are received by the PC. Set value PC cycle time With CompoBus/S-type Position Drivers, use the following formula for ...

Page 146

Operation 3-6 Setting Positioning Data (PTP Data, Direct Input) Positioning data includes the following data settings: position, speed, acceleration/de- celeration, and operation mode. (The acceleration/deceleration and operation mode selection settings are not made for position control by direct input.) Go ...

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Operation PTP Data Display Example Parameter number (Pd01H) display Data display (Pd01H contents) Parameter number (Pd01L) display Data display (Pd01L contents) Parameter number (Pd01F) display Data display (Pd01F contents) Parameter number (Pd01A) display Data display (Pd01A contents) Parameter number (Pd01r) ...

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Operation Direct Input Positioning Data Position data range: –39,999,999 to 39,999,999 (with incremental or absolute setting) Speed data range (100 99%) Input signal Name Position selection 1 Position selection 2 2nd digit ...

Page 149

Operation Direct Input Data (Signal) Settings Position data: “A + 01000000” (x 0.001 mm) = 81000000 Speed data: 50 (%) Input signal Name Position selection 1 Position 7 OFF 0 0 Position 6 OFF Position 5 OFF Position 4 OFF ...

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Operation Pd02 to Pd63 are the same as Pd01 64H Point No. 64 posi- (PP-01) tion data (leftmost digits) 64L Point No. 64 posi- (PP-01) tion data (right- most digits) 64F Point No speed data 64A Point No. ...

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Operation The decimal point location is determined by the PP-01 (minimum setting unit) setting. If, for example, you want to move to a position (incremental value) of 1,000 mm from the present position, with the mechanical system set for 10 ...

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Operation PRM No. Parameter name Pd A Acceleration/deceleration selection This data specifies the acceleration time and deceleration time for positioning. Set value 0 Selects deceleration time 0 (set in PP-22). 1 Selects deceleration time 1 (set in PP-23). 0 Selects ...

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Operation Continuous Operation Mode In this mode, the Position Driver stays in continuous operation without being stopped in servo-lock. Until the continuous operation mode specification is canceled (i.e., until the mode changes into inde- pendent operation mode or automatic incremental ...

Page 154

Operation 3-7 Operational Sequence 3-7-1 Origin Search Function When a motor with an incremental encoder/resolver is used, an operation to establish the mechanical origin after the power has been turned ON is required. This operation is called “origin search.” The ...

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Operation PTP Parameters The following PTP parameter settings are related to origin search. Make the settings according to the mechanical system. No. Name Min. PP- unit 14 Reference speed 1/s (leftmost digits) 15 Reference speed (rightmost digits) 17 Origin search ...

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Operation Origin Search Pattern 1: Starting Between CWL Signal and Origin Proximity Signal 1. Positioning begins in the origin search direction at the origin search high speed. 2. Positioning changes to the origin search low speed when the origin proximity ...

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Operation Origin Search Pattern 2: Starting With Origin Proximity Input Signal ON 1. Positioning begins in the origin search direction at the origin search low speed. 2. The origin is established by the first Z-phase signal that is received after ...

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Operation Origin Search Pattern 3: Starting Between Origin Proximity Signal and CCWL Signal 1. Positioning begins in the origin search direction at the origin search high speed. 2. The direction of movement is reversed when the CCWL signal turns OFF. ...

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Operation Summary of Origin Search Operation Origin search direction: + direction Limit input Origin proximity Z-phase Speed Origin search pattern 1 Speed Origin search pattern 2 Speed Origin search pattern 3 Chapter 3 Position Position Position 3-47 ...

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Operation Origin Search Example Program (SYSMAC C200H-HX/HG/HE) The following ladder program example (for SYSMAC C200H-HX/HG/HE) is provided for reference j Word Allocation In this program example, the I/O signals are allocated to the input and output words as follows: Output ...

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Operation IR Area Word 30 in the IR area is used. j Ladder Program For this example program it is assumed that limit input signals (CCWL and CWL) and origin proximity signals used for origin search operations are directly input ...

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Operation The amount of movement at this time is taken by the PTP parameters (PP-06, PP-07) as the origin compensation, and in subsequent origin search operations this value is used to move to the origin teaching position (the mechanical origin) ...

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Operation 3-7-3 Teaching Function The teaching operation takes the motor’s present value as the position data in the specified PTP data. Teaching is only enabled when the control mode is set for point positioning (UP-01 12). The position ...

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Operation 4. When the teaching completed signal (T.COM) turns ON, turn OFF the teaching (TEACH) input. RUN command (RUN) +JOG operation (+JOG) Teaching (TEACH) Point selection (P.INP0 to 6) READY Positioning completed (INP) Teaching completed (T.COM) Point output (P.OUT0 to ...

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Operation 4. The ready signal will be turned ON again upon completion of the positioning. RUN command (RUN) Start (START) Point selection (P.IN0 to P.IN6) READY Positioning completion (INP) Point output (P.OUT0 to P.OUT6) Motor operation Point Positioning Program Example ...

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Operation Bit number 11 P.IN3 12 P.IN4 13 P.IN5 14 P.IN6 15 P.IN7 Input Unit: Word 8 Bit number READY 2 S.COM 3 ORGSTP 4 T.COM 5 RUNON 6 INP 7 ALM 8 P.OUT0 9 P.OUT1 10 ...

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Operation j Ladder Program RUN switch 0807 (Alarm output) 3300 (DECELERATION STOP switch) Point No. setting switch 3100 3102 3101 3101 0801 (READY) 3102 3104 3103 3103 0801 (READY) 3104 3106 (Point number check switch) 3105 START switch 3200 0801 ...

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Operation Note 1. The point number setting switch is a contact for taking the point number (DM 00) into the Posi- tion Driver. Note 2. Turn ON the point number check switch (3106) and the START switch when “point number ...

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Operation 7. The ready signal is turned ON again upon completion of the positioning operation. RUN command (RUN) Teaching (TEACH) Start (START) Position data (P.IN0 to P.IN7) Teaching completed (T.COM) READY (READY) Positioning completed (INP) Position selection 1 (P.OUT0) Position ...

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Operation Direct Positioning Program Example (C200H-HX/HG/HE) The following direct positioning ladder program example (for SYSMAC C200H-HX/HG/ HE) is provided for reference. j Word Allocation In this program example, the I/O signals are allocated to the input and output words as ...

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Operation DM Area DM number Area Word 30 in the IR area is used. Note 1. A CompoBus/S-type Position Driver can also be used by changing the word allocation. For details regarding ...

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Operation j Ladder Program (Alarm output) RUN switch 0807 3300 (DECELERATION STOP switch) Data input switch 3100 3102 3101 0801 (READY) 3101 0006 0808(P.OUT0) 0808(P.OUT0) 0809(P.OUT1) 0810(P.OUT2) 0811(P.OUT3) 0812(P.OUT4) 3-60 0000 (RUN) (STOP) (See note 3.) 0007 DIFU(013)3100 3101 0006 ...

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Operation 0808 0809 0810 0811 0812 (Teaching completed) 3101 0804 3102 3106 (Position data intake check switch) 3105 START switch (READY) 3200 0801 0801 (START error check switch) 3201 3203 3202 Note 1. The data input switch is a contact ...

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Operation 3-8 Trial Operation After the wiring is complete and the parameter settings have been made, conduct a trial operation. First, in system check mode, check the motor’s rotation direction without con- necting a load (i.e., without connecting the mechanical ...

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Operation Note 1. The factory setting for the speed loop proportional gain (AJ2.) is 1.0 (multiple). Note 2. In the Adjustment Parameters Edit Mode, the set value is re-written at the point where the number is changed by pressing the ...

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Operation (8) Readjusting the Gain If the gain could not be adjusted completely using auto-tuning, perform the procedure in 3-9 Making Adjustments to adjust the gain manually. 3-8-2 System Check Mode The System Check Mode is used to conduct the ...

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Operation j Auto-tuning With auto-tuning, the size and characteristics of the load (the mechanical system) can be checked, and the gain can be automatically adjusted and set accordingly. There are three kinds of gain to be set: position loop gain ...

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Operation Output Signal Test Operating Procedure Display example Press the Mode Key to enter Monitor Mode. Hold down the Increment Key, Decrement Key, and Data Key simultaneously for at least five seconds to enter System Check Mode. Press the Shift ...

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Operation 3-9 Making Adjustments 3-9-1 Auto-tuning Auto-tuning is a function for automatically operating the motor to adjust the position loop gain, speed loop proportional gain, and speed loop integral gain. If adjustments cannot be made by auto-tuning, refer to 3-9-2 ...

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Operation Note 1. The reciprocating operation is performed twice during auto-tuning. Check the mechanical operating range and set the reciprocating rotation range accordingly. Note 2. Set the maximum rotation speed to the maximum speed for actual operation. Motor speed 3-68 ...

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Operation Operating Procedure Example In this auto-tuning example assumed that the reciprocating rotation range is set to 5 (revolutions), the target response frequency is set to 50 (Hz), and the maximum rotation speed is set to 2,000 (r/min). ...

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Operation Notes on Auto-tuning Settings The reciprocating operation is performed twice during auto-tuning, so pay careful attention to the mechanical operating range. The amount of movement to one side in reciprocating operation during auto-tuning is the value set in the ...

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Operation 3-9-2 Manually Adjusting Gain Gain Adjustment Flowchart Perform auto-tuning to match the rigid- ity of the mechanical system. The motor hunts when servo-locked. (Accompanied by a hunting noise.) NO Raise the Destination cutoff frequency to the value just before ...

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Operation 3-9-3 Adjustment Parameter Details PRM No. Parameter name AJ2. Speed loop proportional gain This parameter adjusts the speed loop response. As the gain is increased, the servo rigidity is strengthened. The greater the inertia rate, the higher this is ...

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Operation Response When Speed Loop Integral Gain is Adjusted When speed loop integral gain is high Motor speed PRM No. Parameter name AJ4. Position loop gain Adjust the position loop response to match the mechanical rigidity. The servo system’s responsiveness ...

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Operation PRM No. Parameter name AJ7. Interrupt gain suppression 0 to 10,000 If any value other than “0” is set for this parameter, the speed loop integral gain will be disabled when stopped, and the speed loop proportional gain will ...

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Operation 3-10 Regenerative Energy Absorption Regenerative energy produced at times such as Servomotor deceleration is absorbed by the Position Driver’s internal capacitors, thereby preventing an increase in DC volt- age. If the regenerative energy from the Servomotor becomes too large, ...

Page 188

Operation The maximum regenerative energy (E the following formula: [Unit the larger of E and The average regenerative power per cycle of operation can be found by means of the following formula: [Unit: W] ...

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... Note The input voltage is the value at 200 VAC. As the input voltage is increased, the amount of regen- erative energy that can be absorbed is decreased. 100-VAC Input Type Model Average regenerative power (W) FND-X06L- 13 FND-X12L- 17 Note The input voltage is the value at 100 VAC. As the input voltage is increased, the amount of regen- erative energy that can be absorbed is decreased ...

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Operation 3-10-3 Regenerative Energy Absorption by Regeneration Resistor If the Position Driver alone cannot absorb the regenerative energy, connect a Regeneration Resistor. The Regeneration Resistor connects between the P and J terminals at the Position Driver’s terminal block. Caution Be ...

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... As shown in the following diagram, connect the Regeneration Resistor between the P and J terminals at the Position Driver’s terminal block. 2.0 mm Regeneration Resistor Note With the FND-X50H- , connect a Regeneration Resistor between P and JP1. In this case, remove the short bar between JP1 and JP2. Position Driver terminal block 2 Chapter 3 ...

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Application 4-1 Monitor Mode 4-2 Check Mode 4-3 Monitor Output 4-4 Protection and Diagnosis 4-5 Troubleshooting 4-6 Periodic Maintenance 4 Chapter 4 ...

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Application 4-1 Monitor Mode The following ten items can be monitored in Monitor Mode: motor speed, present value, reference value, position deviation, mechanical speed, motor current, effective load fac- tor, electrothermal value, electrical angle, and regenerative absorption rate. The Monitor ...

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Application j Monitor Details Display Monitored item r Motor speed A’ Present value (leftmost digits) A Present value (rightmost digits) C’ Reference value (leftmost digits) C Reference value (rightmost digits) E’ Position deviation (leftmost digits) E Position deviation (rightmost digits) ...

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Application 4-2 Check Mode The following four items can be displayed in Check Mode: I/O signal status, alarm details, alarm history, and software version To enter the Check Mode, press the Mode Key while in Monitor Mode. Also, the Check ...

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Application j Check Mode Display Details Display I/O signal status Alarm details Alarm history Software version o.b display H.P-L display S.P-L display Contents Displays the ON/OFF status of control I/O signals. Displays details regarding alarms that are generated. (The example ...

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Application 4-2-1 I/O Signal Status With the I/O signal status display, the ON/OFF status of control I/O signals is indicated by the turning ON and OFF of 7-segment display LED bits. j I/O Signal Bit Allocation Indicates Check Mode. j ...

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Application j Output Signal Allocation Bit No. Symbol (1) BO (2) READY (3) S.COM (4) ORGSTP (5) T.COM (6) RUNON (7) INP (8) ALM (9) P.OUT0 (10) P.OUT1 (11) P.OUT2 (12) P.OUT3 (13) P.OUT4 (14) P.OUT5 (15) P.OUT6 Name Brake ...

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Application 4-3 Monitor Output The Position Driver outputs (analog) a voltage proportional to the motor’s rotation speed and current. The monitor voltage is output from the monitor output terminal on the front panel of the Position Driver. This analog output ...

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Application j User Parameter Setting No. Name Min. UP- unit 25 Monitor output --- selection Setting Factory range setting 000 to 010 Specifies the output terminal function. 011 0 Chapter 4 Explanation Voltage polarity 0: Not reversed 1: Reversed Speed/Current ...