Y203-EN2-02-Katalog.book Seite 153 Mittwoch, 24. Mai 2006 2:22 14 R7D-AP@ SmartStep servo drive A new concept in servo systems the smart alternative to stepper motors Easy to setup, easy to operate. SmartStep is as easy to use as a stepper motor Front-panel switches make settings easy and eliminate the need for time-consuming parameter settings Auto-tuning on-line mode, dynamic brake setting, alarm display, high torque performance Easy to wire with prebuilt cables Oscilloscope available vi a CX-Drive software (CX-One) Windows based configuration and commissioning software Ratings 230 VAC single-phase 30 W to 750 W (2.39 Nm) System configuration (Refer to chapter SmartStep servo motors) SmartStep Servo Drive SmartStep Personal computer Servo Motor Position control unit Connector terminal block General purpose controller (with pulse output) SmartStep servo drive 153 Y203-EN2-02-Katalog.book Seite 154 Mittwoch, 24. Mai 2006 2:22 14 Servo motor supported Servo motor Family Voltage Models rated torque Remarks -1 R7M-A (3000 min ) 230 V 0.095 Nm to 2.39 Nm Refer to the SmartStep servo motors chapter for details -1 R7M-AP(3000 min ) 230 V 0.318 Nm to 2.39 Nm Refer to the SmartStep servo motors chapter for details Servo drive specifications General specifications Item Specification 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/operating atmosphere No corrosive gases. 2 Vibration resistance 10 to 55 Hz in X, Y, and Z directions with 0.1 mm double amplitude or acceleration of 4.9 m/s max., whichever is smaller 2 Impact resistance Acceleration 19.6 m/s max., in X, Y, and Z directions, three times Insulation resistance Between power line terminals and case: 0.5 MΩ min. (at 500 VDC) Dielectric strength Between power line terminals and case: 1,500 VAC for 1 min at 50/60 Hz Between each control signal and case: 500 VAC for 1 min Protective structure Built into panel (IP10). International standards Approval obtained for UL, cUL, and EN (EMC directiveand low-voltage directive) Performance specifications Item 200 VAC input type 30 W 50 W 100 W 200 W 400 W 750 W R7D-APA3H R7D-APA5H R7D-AP01H R7D-AP02H R7D-AP04H R7D-AP08H Continuous output current (rms) 0.42 0.6 0.89 2.0 2.6 4.4 Momentary maximum output current (rms) 1.3 1.9 2.8 6.0 8.0 13.9 Control power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz Main-circuit power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz (three-phase 200/230 VAC can be used with the 750 W model.) Control method All-digital servo Speed feedback 2,000 pulses/revolution incremental encoder Inverter method PWM method based on IGBT PWM frequency 11.7 kHz Weight 0.8 0.8 0.8 0.8 1.1 1.7 Compatible motor voltage 200 V Compatible motor capacity 30 W 50 W 100 W 200 W 400 W 750 W Command pulse response 250 kHz Applicable servo motor A03030 A05030 A10030 A20030 A40030 A75030 (R7M-) AP10030 AP20030 AP40030 AP75030 I/O specifications Terminal specifications Symbol Name Function L1 and L2 Main-circuit power supply These are the input terminals for the main-circuit power supply. or terminals L1, L2, and L3 DC reactor terminals Normally short-circuit between +1 and +2. + 1 If harmonic control measures are required, connect a DC reactor between +1 and +2. + 2 Main-circuit DC output Do not connect anything to this terminal. − L1C Control circuit power These are the input terminals for the control power supply. supply terminals L2C B1 and B2 or External regeneration Connect an external regeneration resistor to these terminals if the regenerative capacity of the internal capacitor is B1, B2, and B3 resistance terminals exceeded. (An external regeneration resistor cannot be connected to the 30 to 200 W models.) U Servo motor Red These are the terminals for outputs to the servo motor. terminals V White WBlue Frame ground This is the ground terminal. 154 AC servo systems Y203-EN2-02-Katalog.book Seite 155 Mittwoch, 24. Mai 2006 2:22 14 Control I/O (CN1) specifications Pin Symbol Name Function 1 +PULS/CW/A Feed pulses, reverse pulses, Line-driver input: 7 mA at 3 V or 90° phase difference pulses (A phase) Open-collector input 2 −PULS/CW/A Input impedance: 200 Ω 3 +SIGN/CCW/B Direction signal, forward pulses, Maximum response frequency: 250 kpps or 90° phase difference pulses (B phase) 4 −SIGN/CCW/B Position control is performed based on the pulses that have been input. 5 +ECRST Deviation counter reset Line-driver input: 7 mA at 3 V Open-collector input: 16 mA at 5 V 6 −ECRST Input impedance: 200 Ω ON: resets deviation counter. 7 BKIR Brake interlock output Outputs holding brake timing signals. 8 INP Positioning completed output ON when the position error is within the positioning completed range. 10 OGND Output ground common Ground common for output signals (pins 7 and 8). 13 +24V +24 VDC power input for control Power supply input (+24 VDC) for pins 14 and 18. 14 RUN RUN command input ON: servo ON (starts power to servo motor) 18 RESET Alarm reset input ON: servo alarm status is reset. 19 GND RS-422A ground Ground for RS-422A 20 RXD+ RS-422A reception data Interface for RS-422A data transfers 21 RXD− 22 TXD+ RS-422A transmission data 23 TXD− 24 RT Termination resistance terminal Connect to RXD- (pin 21) in the unit at the end of the line. 32 Z Encoder phase-Z open-collector output Output goes ON when the encoder’s phase-Z signal (1 pulse/revolution) is detected. 33 ZCOM Open-collector output: 20 mA max. at 30 VDC 34 ALM Alarm output Output goes OFF when alarm is detected. Open-collector output: 50 mA max. at 30 VDC 35 ALMCOM Shell FG Cable shield ground Ground for cable's shield wire. Encoder connector (CN2) specifications Pin Symbol Name Function 1, 2, 3 E0V Encoder power supply GND Power supply output for encoder 4, 5, 6 E5V Encoder power supply +5 V 8 S+ Encoder + phase-S input Line driver input (conforms to EIA-RS422A) (Input impedance: 220 Ω ± 5%) 9S− Encoder − phase-S input 10 A+ Encoder + phase-A input Line driver input (conforms to EIA-RS422A) (Input impedance: 220 Ω ± 5%) 11 A− Encoder − phase-A input 12 B+ Encoder + phase-B input Line driver input (conforms to EIA-RS422A) (Input impedance: 220 Ω ± 5%) 13 B− Encoder − phase-B input Shell FG Cable shield ground Ground for cable's shield wire. Communications connector (CN3) specifications Pin Symbol Name Function 1 /TXD Transmission data Transmission data: RS-232C output Reception data: RS-232C input 2 /RXD Reception data 3 PRMU Unit switching Switching terminal for a parameter unit 7 +5V +5 V output This is the +5 V power supply output to the parameter unit. 8 GND Ground Shell FG Cable shield ground Ground for cable's shield wire. Monitor output (CN4) specifications Pin Symbol Name Function 1 NM Speed monitor Speed monitor output: 1 V per 1,000 r/min 2 AM Current monitor Current monitor: 1 V / rated torque 3 GND Ground Grounds for monitor output 4 GND Ground SmartStep servo drive 155 Y203-EN2-02-Katalog.book Seite 156 Mittwoch, 24. Mai 2006 2:22 14 Digital operator specifications General specifications Item Specification Ambient operating temperature 0 to 55 °C B.B B.B INP INP TGON TGON REF REF POWER POWER Ambient operating humidity 90% max. (with no condensation) VCMP VCMP Ambient storage temperature -20 to 85 °C Ambient storage humidity 90% max. (with no condensation) Storage/operating atmosphere No corrosive gases. Vibration resistance 10 to 55 Hz in X, Y, and Z directions with 0.1 mm double amplitude or 2 acceleration of 9.8 m/s max., whichever is smaller 2 Impact resistance Acceleration 19.6 m/s max., in X, Y, and Z directions, three times R7A–PR02A PARAMETER UNIT SCROLL SCROLL MODE/SET MODE/SET RESET Function specifications JOG JOG Item Function DATA DATA RUN RUN Setting mode Display or change parameter settings. Monitor mode Display monitor values. Execute function mode Execute each function mode. READ READ WRITE WRITE Display alarms Display alarms that have occurred. DRIVER DRIVERޓ PR PR PR PRޓ DRIVER DRIVER Copy parameters Read or save parameters from the servo drive. Write parameters to the servo drive. Compare parameters in the servo drive with parameters in the R7A-PR02A parameter unit. Mode change specifications Power ON Parameter/monitor mode -PRM/MON- -PRM/MON- BB BB Un000 = 3000r/min Pn000 = 0000 Un002 = 40% Un002 = 40% Un008 = 00100pulse Un008 = 00100pulse MODE/SET Un00D = 10000000 Un00D = 10000000 Function mode -FUNCTION- -FUNCTION- MODE/SET BB BB Fn000 Fn001 Fn001 Fn002 Fn002 Fn003 MODE/SET Fn003 Fn005 Copy parameters mode -COPY- -COPY- BB BB 1: DRIVER→PR 1: DRIVER→PR 2: PR→DRIVER 2: PR→DRIVER 3: Verify 3: Verify 4: LIST 4: LIST -ALARM- -ALARM- A. 70 A. 70 1: A.00 2: A.02 Display alarms mode 2: A.02 3: A.10 3: A.10 4: A.71 4: A.71 5: A.72 156 AC servo systems Y203-EN2-02-Katalog.book Seite 157 Mittwoch, 24. Mai 2006 2:22 14 Operation Components Unit number switch Gain adjustment switch DIP switch • Resolution setting • Command pulse input setting • Dynamic brake setting Autotuning switch Charge indicator Alarm indicator Power indicator Main-circuit power terminals Communications connector (CN3) Monitor output connector (CN4) DC reactor terminals Control I/O connector (CN1) Control-circuit power terminals External regeneration Resistor terminals Servo motor power terminals Encoder input connector (CN2) Ground terminals for power supply and servo motor power Switch operations Gain adjustment switch Adjusts the motor’s responsiveness. Setting Position loop Speed loop Speed loop Torque gain gain integral command filter When this switch is set to 0, the unit will operate according to the set- constant time constant tings in the internal parameters (Pn100, Pn101, Pn102, and Pn401). 0 Enables parameter settings When this switch is set to 1 through F, the unit will operate according to (including settings other than gain settings). the rotary switch’s setting. 1 15 15 4,000 250 2 20 20 3,500 200 0 F1 3 30 30 3,000 150 2 4 40 40 2,000 100 5 60601,500 70 6 85851,000 50 7 120 120 800 30 8 160 160 600 20 Decrease the switch setting to lower the motor’s responsiveness 9 200 200 500 15 (i.e., so that it moves more smoothly). A 250 250 400 10 Increase the switch setting to raise the motor’s responsiveness B 250 250 400 10 (i.e., so that it moves faster). C 250 250 400 10 D 250 250 400 10 E 250 250 400 10 F 250 250 400 10 SmartStep servo drive 157 Y203-EN2-02-Katalog.book Seite 158 Mittwoch, 24. Mai 2006 2:22 14 Enable switch/parameter setting Command pulse input setting Pin 6 of the DIP switch selects whether the servo drive operates according to the Pin 3 selects the command pulse mode. Select “Forward pulse/reverse DIP switch settings or parameter settings. pulse: positive logic” or “feed pulses/direction signal: positive logic.” ON OFF ON OFF Pin 6 Function OFF Enables the DIP switch settings. 6 6 ON Enables the parameter settings. 5 5 Pin 3 Command pulse mode OFF Forward pulse/reverse pulse: 4 4 positive logic 3 3 ON Feed pulses/direction signal: positive logic 2 2 1 1 (Default setting) (Default setting) Online autotuning setting Dynamic brake setting The autotuning switch selects whether the gain will be adjusted auto- Pin 2 enables or disables dynamic brake operation. If the dynamic brake is ena- matically during operation. bled, the motor can be brought to an emergency stop when the RUN command goes OFF or an alarm occurs. ON OFF Perform online autotuning. ON OFF 1 6 ON OFF Complete online autotuning. 5 The result is stored in the inertia ratio 4 1 parameter (Pn103) and the servo drive Pin 2 Dynamic brake mode runs. 3 OFF Dynamic brake disabled. 2 ON Dynamic brake enabled. 1 Resolution setting Pins 4 and 5 select the positioning resolution. (Default setting) If the resolution is set to 1,000 (the default setting), the motor makes one revolution for every 1,000 pulses input. Pins Resolution ON OFF 5 4 6 OFF OFF 1,000 pulses/revolution (0.36°/step) 5 OFF ON 10,000 pulses/revolution 4 (0.036°/step) ON OFF 500 pulses/revolution 3 (0.72°/step) 2 ON ON 5,000 pulses/revolution (0.072°/step) 1 (Default setting) Alarm Table Display ALM output Error detection function Display ALM output Error detection function A.04* Parameter setting error A.7A Overheat OFF OFF A.10* Overcurrent A.bF* System error OFF OFF A.30 Regeneration error A.C1 Runaway detected OFF OFF A.32 Regeneration overload A.C2* Phase not detected OFF OFF A.40 OFF Overvoltage/undervoltage A.C3* OFF Encoder disconnect detected A.51 OFF Overspeed A.d0 OFF Deviation counter overflow A.70 Overload CPF00 Parameter unit transmission error 1 OFF --- A.73 Dynamic brake overload CPF01 Parameter unit transmission error 2 OFF --- A.74 Inrush resistance overload A.91 Overload warning OFF --- A.92 --- Regeneration overload warning Note: 1. These parameters are read when the power is turned 2. When using a regeneration resistor, set the resistor’s ON. Parameter Pn110.2 is valid when online. capacity when the temperature has risen to 120 °C. Set this parameter to 0 if a regeneration resistor is not being used. 158 AC servo systems Y203-EN2-02-Katalog.book Seite 159 Mittwoch, 24. Mai 2006 2:22 14 Dimensions Servo drives R7D-APA3H/APA5H/AP01H/AP02H (230 V, 30 to 200 W) R7D-AP04H (230 V, 400 W) Mounting dimensions Mounting dimensions 5 dia. hole 5.5 5.5 Two, M4 5.5 Two, M4 160 160 160 160 ±0.5 149.5±0.5 149.5 149.5 5 12 5 (5) (5) (5) 12 (75) 130 75 55 (75) 130 55 (63) 75 17 17 R7D-AP08H (230 V, 750 W) Mounting dimensions 5 dia. hole 5.5 Two, M4 94 160 160 ±0.5 149.5 35 55 27 (5) 96 90 (75) 180 90 17 Filters R88A-FIW104-SE R88A-FIW107-SE, R88A-FIW115-SE Units: mm (in) Model R88A-FIW107-SE R88A-FIW115-SE Dimensions A75 90 +5 +5 in mm B240 300 202(7.95) C50 60 192(7.56) 28.25(1.11) 149.5(5.89) D12 15 E1 1.2 M4 φ5 M4(2×) (φ0.20) Units: mm φ10(φ0.39) 5.5(0.22) wires AWG16 14(0.55) GNYE M4 70(2.76) 202 19(0.75) 168(6.61) 15(0.59) 192 28 150 M4 φ5 M4(2×) 10 wires AWG16 5.5 14 GNYE M4 70 19 168 15 SmartStep servo drive 159 56(2.20) 32(1.26) +5 +0.20 240 0 (9.45 ) 0 +5 +0.20 265 0(10.43 ) 0 6(0.24) 5 (0.20) 1 33(1.30) 11.5(0.45) (0.04) A 32 16 B +5 265 0 5 E C D Y203-EN2-02-Katalog.book Seite 160 Mittwoch, 24. Mai 2006 2:22 14 Installation Single-phase 200 to 230 VAC +10%/-15% (50/60 Hz) (the 750 W servo drives can input three-phase 200 to 230 VAC.) 1MCCB Main-circuit Noise filter Main-circuit power supply contactor OFF ON 1MC 1MC X Surge suppressor * B1 B2 Servo motor 1MC L1 U V M L2 SMARTSTEP A-series W Servo drive L1C L2C Encoder If necessary, connect a + 1 DC Reactor to these terminals to suppress CN2 RE + 2 high harmonics in the power supply. Always ground Attach the shield wire to CN1 this terminal. the terminal securely. 200 Ω Reverse +CW 1 22 TXD+ Transmission Pulses −CW 2 23 RS-422 Interface data TXD− Compatible line drivers Forward 200 Ω 3 +CCW Position 20 Pulses RXD+ Reception −CCW 4 Texas Inst. SN75174, commands 21 data RXD− MC3487 or equivalent Deviation 200 Ω +ECRST 5 220 Ω Compatible Line Receivers Counter Terminating 24 −ECRST 6 RT Texas Inst. SN75175, Reset resistor MC3486 or equivalent Positioning 8 completed INP output Max. operating voltage: 30 VDC Brake +24VIN 13 7 interlock Max. output current: 50 mA BKIR RUN output 24 VDC (Phase-z output is 20 mA max.) 10 command OGND 14 RUN 3.3k 32 Phase Z Alarm reset Z 18 RESET 33 ZCOM 3.3k Alarm output 34 ALM 35 ALMCOM Shell FG (frame ground) Connect the shield wire to the connector shell. Note: * A regeneration resistor can be connected across the B1 and B2 terminals with 400 W and 750 W servo drives. When using an external regeneration resistor with a 400 W servo drive, just connect it across the B1 and B2 terminals. When using an external regeneration resistor with a 750 W servo drive, remove the jumper bar from the B2 and B3 terminals and then connect the regeneration resistor across the B1 and B2 terminals. 160 AC servo systems Y203-EN2-02-Katalog.book Seite 161 Mittwoch, 24. Mai 2006 2:22 14 Ordering information (Refer to chapter SmartStep servo motors) C SmartStep Servo Drive SmartStep Personal computer A Servo Motor J I K D F E G Position control unit B H H Connector terminal block General purpose controller (with pulse output) Note: The symbols ABCDE... show the recommended sequence to select the components in a SmartStep servo system Servo motors Note: A Refer to the SmartStep servo motor chapter for detailed motor specifications and selection Servo drives Symbol Specifications SmartStep drive Compatible servo motors A model Cylindrical type Flat type 200 VAC 30 W R7D-APA3H R7M-A03030-@ - C 50 W R7D-APA5H R7M-A05030-@ - 100 W R7D-AP01H R7M-A10030-@ R7M-AP10030-@ 200 W R7D-AP02H R7M-A20030-@ R7M-AP20030-@ 400 W R7D-AP04H R7M-A40030-@ R7M-AP40030-@ 750 W R7D-AP08H R7M-A75030-@ R7M-AP75030-@ Servo motor cables (for CN2) Standard cable (power + encoder) Symbol Drive Specifications Power cable model Encoder cable model Appearance SmartStep For servo motors 3 m R7A-CEA003S-DE B without brake 5 m R7A-CEA005S-DE R7M-A(P)@@@30-S1-D 10 m R7A-CEA010S-DE R7A-CEA0___-DE 15 m R7A-CEA015S-DE 20 m R7A-CEA020S-DE For servo motors 3 m R7A-CEA003B-DE with brake 5 m R7A-CEA005B-DE R7M-A(P)@@@30-BS1-D 10 m R7A-CEA010B-DE 15 m R7A-CEA015B-DE Only for brake 20 m R7A-CEA020B-DE models Flexible cables (power + encoder) Symbol Drive Specifications Power cable model Encoder cable model Appearance SmartStep For servo motors 3 m R88A-CAWA003S-DE R7A-CRA003-FDE B R7A-CRA0___-FDE without brake 5 m R88A-CAWA005S-DE R7A-CRA005-FDE R7M-A(P)@@@30-S1-D 10 m R88A-CAWA010S-DE R7A-CRA010-FDE 15 m R88A-CAWA015S-DE R7A-CRA015-FDE 20 m R88A-CAWA020S-DE R7A-CRA020-FDE R88A-CAWA0___-DE For servo motors 3 m R88A-CAWA003B-DE R7A-CRA003-FDE with brake 5 m R88A-CAWA005B-DE R7A-CRA005-FDE R7M-A(P)@@@30-BS1-D 10 m R88A-CAWA010B-DE R7A-CRA010-FDE 15 m R88A-CAWA015B-DE R7A-CRA015-FDE Only for brake 20 m R88A-CAWA020B-DE R7A-CRA020-FDE models SmartStep servo drive 161 Y203-EN2-02-Katalog.book Seite 162 Mittwoch, 24. Mai 2006 2:22 14 Control cables (for CN1) Symbol Name Compatible units Model Available lengths Servo relay unit Use with position control units XW2B-20J6-1B --- D (doesn’t support communications functions.) (1 axis) Units: CS1W-NC113/133, CJ1W-NC113/133, C200HW-NC113, and C200H-NC112 Use with position control units XW2B-40J6-2B (doesn’t support communications functions.) (2 axes) Units: CS1W-NC213/233/413/433, CJ1W-NC213/233/413/433, C200HW-NC213/413, C500-NC113/211, and C200H-NC211 Use with position control units XW2B-20J6-3B (doesn’t support communications functions.) (1 axis) Units: CQM1H-PLB21, and CQM1-CPU43-V1 Use with position control units (supports communications functions.) XW2B-40J6-4A Units: CS1W-NC213/233/413/433, CJ1W-NC213/233/413/433 (2 axes) Use with CJ1M-CPU22/23 XW2B-20J6-8A (1 axis) (doesn’t support communications functions.) XW2B-40J6-9A (2 axes) Cable to servo drive Doesn’t support communications functions. (For the XW2B-@@J6-@B) XW2Z-@@@J-B5 1 m or 2 m E (the cable length goes in Supports communications functions. (For the XW2B-@@J6-4B) XW2Z-@@@J-B7 the empty boxes.) Cable to position CQM1H-PLB21 and CQM1-CPU43-V1 XW2Z-@@@J-A3 0.5 m or 1 m F control unit (the cable length goes in C200H-NC112 XW2Z-@@@J-A4 the empty boxes.) C200H-NC211 and C500-NC113/211 XW2Z-@@@J-A5 CS1W-NC113 and C200HW-NC113 XW2Z-@@@J-A8 CS1W-NC213/413 and C200HW-NC213/413 XW2Z-@@@J-A9 CS1W-NC133 XW2Z-@@@J-A12 CS1W-NC233/433 XW2Z-@@@J-A13 CJ1W-NC113 XW2Z-@@@J-A16 CJ1W-NC213/413 XW2Z-@@@J-A17 CJ1W-NC133 XW2Z-@@@J-A20 CS1W-NC233/433 XW2Z-@@@J-A21 CJ1M-CPU22/23 XW2Z-@@@J-A26 Control cable For general-purpose controllers R88A-CPU@@@S 1 m or 2 m G (the cable length goes in Connector terminal block For general-purpose controllers R88A-CTU@@@N the empty boxes.) H cable Connector terminal block XW2B-40F5-P --- Cable for CN3 Cable for CN4 Symbol Name Model Symbol Name Model Computer monitor cable R7A-CCA002P2 Analog monitor cable R88A-CMW001S I J Filters Symbol Applicable servo drive Filter model Rated current Rated voltage R7D-APA3H, R7D-APA5H, R7D-AP01H, R7D-AP02H R88A-FIW104-E 4A 250 VAC single phase K R7D-AP04H R88A-FIW107-E 7A R7D-AP08H R88A-FIW115-E 15A Connectors Specifications Model Control I/O connector (for CN1) R88A-CNU01C SmartStep connectors kit. Models included in kit R7A-CNA00K-DE SmartStep encoder connector (for CN2) R7A-CNA01R Hypertac power connector female SPOC-06K-FSDN169 Hypertac encoder connector female SPOC-17H-FRON169 Hypertac power connector male (used in the motor) SRUC-06J-MSCN236 Hypertac encoder connector male (used in the motor) SRUC-17G-MRWN087 External regeneration resistor Specification Model 220 W, 47 Ω R88A-RR22047S Parameter unit & computer software Specifications Model Parameter copy unit (with cable) R7A-PR02A Configuration and monitoring software tool for servo drives and inverters. (CX-drive version 1.11 or higher) CX-drive Complete OMRON software package including CX-drive. (CX-One version 1.1 or higher) CX-One ALL DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527. Cat. No. I46E-EN-01 In the interest of product improvement, specifications are subject to change without notice. 162 AC servo systems