Omron G Manual de usuario

Save space, save wiring, save time

G-SERIES SERVO SYSTEM

Enhanced performance»

MECHATROLINK-II» Compact size»

Speed

Torque

Command speed

Fast and simple auto-tuning

The graphs show a move profile with a G-series servo in an

application with an inertia ratio of 16:1. Tuning is possible via the

easy to use CX-Drive, and takes just 1 minute to complete.

The result is superb control, ensuring the servo and hence machine

operates at its optimal point, with next to zero knowledge required

from the user.

Once running, the on-board real time auto-tuning function takes care

of the servo operation relative to the load inertia, again ensuring the

quality of the finished produced part.

In addition, numerous suppression and notch filters are available to

suppress machine vibration independent of machine direction.

From multiple cables...

MECHATROLINK-II

Easy connection: single cable only!

With their built-in MECHATROLINK-II motion bus, just

a single cable is needed to connect servos together.

So you not only save on wiring and installation time,

you also significantly reduce the chance of

connection errors. Reliability is increased since the

single-cable connection is much more rugged than a

multiple-wiring solution.

to only one cable

Compact in size

big in features

Save space, save wiring, save time

Before auto-tuning

After auto-tuning

Always with your application in mind, G-Series

servo drives give you additional functionalities

to develop your machines faster, more flexibly

and more efficiently.

Improved speed response, a wider range of

servomotors and intuitive and fast auto-tuning

belong to the new features, making it suitable

for many applications, and always with the

expected Omron quality and support.

Key features and benefits:

•Pocket-size servo with smallest

footprint  x cm

•Auto-tuning for easy and quick start-up

•Built-in MECHATROLINK-II motion bus reduces

cabling and allows remote servo configuration

and diagnosis

•High starting torque: % for  secs.

•Positioning, speed or torque control

•Separate power and control power supply

•Fast and accurate positioning

•Servomotor range from  W to . kW

•Incremental and absolute encoder available

•Cylindrical and flat servo motors

up to , rpm

•Compatible with SmartStep  servomotors

•Vibration suppression

NCF – key features and

benefits

• axes, point-to-point positioning

over ML II

•System scalability with models for , 

and  axes

•Easy, quick and reliable setup

•Optimized for positioning applications

•Simplified wiring to drives

•Integration with Omron Smart Platform

Complete and compact positioning system

In a minimum of space you can have a complete and

powerful PTP system when combining the CJ1W-NCF71

unit and the G-Series servo. This configuration offers

16-axis positioning with linear and circular

interpolation, as well as interrupt feeding. The NCF and

the G-Series offer the ideal solution for applications

where space is tight.

Full transparency from a remote host

When the G-Series is controlled by NCF positioning unit,

the servo drive is fully transparent to a remote PC. This

is achieved over MECHATROLINK-II from the G-Series to

the PLC and over any serial or Ethernet link between the

PLC and PC. Hence complying fully with Omron Smart

Platform.

Up to 16 axes

G-Series + NCF: Optimum

positioning for up to 16 axes

CJW-NC

CJW-NCF

CJW-NC

 axes

 axes

 axes

PLCopen

A global standard for industrial control programming,

PLCopen provides a standardized programming

interface to harmonize the way people design and

operate industrial control.

6AC servo systems

R88D-GN@/R88M-G@

G-Series servo system

Compact in size big in features. Save space, save

wiring, save time

• Built-in MECHATROLINK-II motion bus

• Position, speed and torque control

• High-response frequency of 1 kHZ

• Real time auto-tuning

• Vibration suppression

• Separate power and control power supply

• Available motors with absolute and incremental with 17-bit

encoder for greater accuracy

• Cylindrical and flat servo motors up to 3000 rpm

• Servomotors supported by SmartStep2, G-Series and G5-

Series servo drives

• Peak torque 300% of continuous torque during 3 seconds or

more depending on model

• IP65 and shaft oil seal available

Ratings

• 230 VAC single-phase 100 W to 1.5 kW (8.62 Nm)

System configuration

COM

X10

ADR

AC SERVO DRIVER

COM

X10

ADR

AC SERVO DRIVER

G-Series Servo Motor

Flat servo motors (100-400 W)

Encoder cablePower cable

Personal computer

software: CX-One

G-Series

Servo Drive

Position control unit

CJ1W-NC_71

CS1W-NC_71

Motion Controller

TJ1-MC04/16

CJ1W-MCH72

Terminator

MECHATROLINK-II

G-Series

Servo Drive

G-Series

Servo Drive

G-Series

Servo Drive G-Series

Servo Drive

G-Series Servo Motor

Cylindric servo motors

(50-1500 W)

G-Series MECHATROLINK-II Servo Drive Configuration

COM

X10

ADR

AC SERVO DRIVER

COM

X10

ADR

AC SERVO DRIVER

COM

X10

ADR

AC SERVO DRIVER

G-Series servo system 7

Servo drive

G-Series servo drive

Servo drive type designation

Servo drive specifications

Servo drive type R88D-GN@01H-ML2 02H-ML2 04H-ML2 08H-ML2 10H-ML2 15H-ML2

Applicable

servomotor

R88M-G@05030@/10030@20030@40030@75030@G1K020T@90010T@/1K030T@/

1K5@0T@

R88M-GP@10030@20030@40030@- - -

Basic specifications

Max. applicable motor capacity W 100 200 400 750 1000 1500

Continuous output current Arms 1.16 1.6 2.7 4.0 5.9 9.8

Max. output current Arms 3.5 5.3 7.1 14.1 21.2 28.3

Input power Main circuit For single-phase, 200 to 240 VAC +10 to -15%

(50/60 Hz)

For single-phase/ three-phase, 200 to 240 VAC +10 to -15%

(50/60 Hz)

Supply Control circuit For single-phase, 200 to 240 VAC +10 to -15% (50/60 Hz)

Control method IGBT-driven PWM method

Feedback Serial encoder (incremental/absolute)

Conditions

Usage/storage temperature 0 to +55 °C / -20 to 65 °C

Usage/storage humidity 90% RH or less (non-condensing)

Altitude 1000m or less above sea level

Vibration/shock resistance 5.88 m/s2/ 19.6 m/s2

Configuration Base mounted

Approx. weight Kg 0.8 1.1 1.5 1.7

Position/Speed/torque control mode

Performance

Speed control range 1:5000

Speed

variance

Load variance During 0 to 100% load ±0.01 max. (at rated speed)

Voltage variance 0% at ±10% of rated voltage (at rated speed)

Temperature variance 0 to 50ºC ±0.1% max. (at rated speed)

Frequency characteristics 1 kHz

Torque control accuracy (reproducibility) ±3% (at 20% to 100% of rated torque)

Soft start time setting 0 to 10 s (acceleration time and deceleration time can be set)

Command Input

MECHATROLINK

Communication

MECHATROLINK-II commands

(for sequence, motion, data setting/reference, monitor, adjustament and other commands)

I/O signal

Sequence input signal Emergency stop, 3 external latch signals, forward/reverse torque limit, forward/reverse run prohibit, origin prox-

imity, 3 general-purpose inputs

Sequence output signal It is possible to output three types of signals: positioning completed, speed coincidence, rotation speed detection,

servo ready, current limit, speed limit, brake release and warning signal

100 W

200 W

400 W

750 W

1.5 kW

1.0 kW

G-Seriesservo drive

Capacity

Model

ML2: MECHATROLINK-II communications

Source voltage

H: 230 V

R88D-GN04H-ML2

N: Network type

8AC servo systems

Servo drive part names

Integrated functions

Communications

RS-232

communications

Interface Personal computer

Transmission rate From 2400 to 57600 bps

Functions Parameter setting, status display, alarm display (monitor, clear, history), servo drive data tracing function, test

run/autotuning operations, real time trace, absolute encoder setting, default values function

MECHATROLINK

communications

Communications protocol MECHATROLINK-II

Transmission rate 10 Mbps

Data length 17 bytes and 32 bytes

Functions Parameter setting, status display, alarm display (monitor, clear, history), default values function

Automatic load inertia detection Horizontal and vertical axis mode. One parameter rigidity setting.

Dynamic brake (DB) Operates when main power OFF, servo alarm, overtravel or servo OFF

Regenerative processing Built-in regeneration resistor in models from 750 W to 1.5 kW. External regeneration resistor optionally.

Overtravel (OT) prevention function Dynamic brake, disables torque or emergency stop torque during POT and NOT operation

Emergency stop (STOP) Emergency stop input

Encoder divider function Optional division pulses possible

Electronic gearing 0,01<Numerator/Denominator<100

Internal speed setting function 8 internal speeds

Protective functions Overvoltage, undervoltage, overcurrent, overload, regeneration overload, servo drive overheat

Analog monitor Ouput The actual servomotor speed, command speed, torque and number of accumulated pulses can be measured u-

sing an oscilloscope or other device.

Panel operator Display functions A 2-digit 7-segment LED display shows the servo drive status, alarm codes, parameters, etc.

MECHATROLINK-II communications status LED indicator (COM)

Switches Rotary switch for setting the MECHATROLINK-II node address

Servo drive type R88D-GN@01H-ML2 02H-ML2 04H-ML2 08H-ML2 10H-ML2 15H-ML2

Applicable

servomotor

R88M-G@05030@/10030@20030@40030@75030@G1K020T@90010T@/1K030T@/

1K5@0T@

R88M-GP@10030@20030@40030@- - -

Control I/O connector (CN1)

Encoder connector (CN2)

COM

X10

ADR

AC SERVO DRIVE

Display area

Rotary switches

for ML-II node address

ML-II comms

status LED indicator

RS-232 comms connector (CN3)

ML-II comms connector

(CN6A, CN6B)

Analog monitor check pins

(SP, IM, G)

Main-circuit power terminals

(L1, L2, L3)

Control-circuit power terminals

(L1C, L2C)

External regenerative resistor

connection terminals (B1, B2, B3)

Servomotor connection terminals

(U, V, W)

Protective ground terminals

G-Series servo system 9

Servo drives

R88D-GN01H-ML2 / GN02H-ML2 (200 V, 100 to 200 W)

R88D-GN04H-ML2 (200 V, 400 W)

R88D-GN08H-ML2 (200 V, 750 W)

Dimensions

COM

X10

ADR

AC SERVO DRIVER

13270

150

28±0.5

Tw o, M 4

140±0.5

150

43±0.5

Tw o, M 4

140±0.5

150

13270

150

COM

X10

ADR

AC SERVO DRIVER

50±0.5

7.5

Two, M4

140±0.5

150

COM

X10

ADR

AC SERVO DRIVER

17270

150

10 AC servo systems

R88D-GN10H-ML2 / GN15H-ML2 (200 V, 1 kW to 1,5 kW )

Servo motor

70±0.5

7.5

Tw o, M 4

140±0.5

150

17270

150

COM

X10

ADR

AC SERVO DRIVER

Servo motors type designation

50 W

100 W

200 W

400 W

050

100

200

400

900 W

900

750 W

750

G-SeriesServomotor

Capacity

Shaft end specifications

Voltage and encoder specifications

H: 230 V with incremental encoder

T: 230 V with absolute encoder

R88M-GP10030H-BOS2

Motor Type

Blank: Cylinder type

P: Flat type

1K0 1 kW

1K5 1.5 kW

Rated Speed (r/min)

1000

2000

3000

Straigth shaft, no key

Blank

S2Straigth, key, tapped

Oil seal specifications

No oil seal

Blank

OOil seal

Brake specifications

No brake

Blank

BBrake

G-Series servo system 11

Cylindrical servo motors 3000/2000/1000 r/min

Ratings and specifications

Torque-speed charecteristics

Servo motor specifications

Applied voltage 230 V

Servo motor model R88M-@G05030@G10030@G20030@G40030@G75030@G1K030TG1K530TG1K020T G1K520T G90010T

Rated output W 50 100 200 400 750 1000 1500 1000 1500 900

Rated torque N·m 0.16 0.32 0.64 1.3 2.4 3.18 4.77 4.8 7.15 8.62

Instantaneous peak torque N·m 0.45 0.90 1.78 3.67 7.05 9.1 12.8 13.5 19.6 18.4

Rated current A (rms) 1.1 1.6 2.6 4 7.2 9.4 5.6 9.4 7.6

Instantaneous max. current A (rms) 3.4 4.9 7.9 12.1 21.4 28.5 17.1 28.5 17.1

Rated speed min-1 3000 2000 1000

Max. speed min-1 5000 4500 5000 3000 2000

Torque constant N·m/A (rms) 0.14 0.19 0.41 0.51 0.64 0.44 0.51 0.88 0.76 1.13

Rotor moment of inertia (JM) kg·m2x10-4 0.025 0.051 0.14 0.26 0.87 1.69 2.59 6.17 11.2

Allowable load moment of inertia

(JL)

Multiple of (JM) 30 20 15 10

Rated power rate kW/s 10.4 20.1 30.3 62.5 66 60 88 37.3 45.8 66.3

Applicable Encoder Incremental encoder (10000 pulses) -

Incremental /Absolute encoder(17 bits)

Allowable radial load N 68 245 392 490 686

Allowable thrust load N 58 98 147 196

Approx. mass Kg (without brake) 0.3 0.5 0.8 1.2 2.3 4.5 5.1 6.8 8.5

Kg (with brake) 0.5 0.7 1.3 1.7 3.1 5.1 6.5 8.7 10.1 10

Brake specifications

Rated voltage 24 VDC +/-5% 24 VDC +/-10%

Holding brake moment of inertia

kg·m2x10-4 0.002 0.018 0.075 0.25 0.33 1.35

Power consumption (at 20°C) W 7 9 10 18 19 14 19

Current consumption (at 20°C) A 0.3 0.36 0.42 0.74 0.81 0.59 0.79

Static friction torque N.m (minimum) 0.29 1.27 2.45 4.9 7.8 4.9 13.7

Rise time for holding torque ms (max.) 35 50 70 50 80 100

Release time ms (max) 20 15 20 15 70 50

Basic specifications

Rating Continuous

Insulation grade Type B Type F

Ambient operating/ storage temperature 0 to +40°C/ -20 to 65°C 0 to +40°C/ -20 to 80°C

Ambient operating/ storage humidity 85% RH max. (non-condensing)

Vibration class V-15

Insulation resistance 20 MΩmin. at 500 VDC between the power terminals and FG terminal

Enclosure Totally-enclosed, self-cooling, IP65 (excluding shaft opening and lead wire ends)

Vibration resistance Vibration acceleration 49 m/s² Vibration acceleration 24.5 m/s²

Mounting Flange-mounted

0.25

0 1000 2000 3000 4000

5000

0.5 0.45

0.16 0.16

0.1

0.45

Repetitive usage

Continuous usage

(N·m)

(r/min)

R88M-G05030H/T (50 W)

0.5

0 1000 2000 3000 4000

5000

1.0 0.93

0.320.32

0.93

0.28

Repetitive usage

Continuous usage

(N·m)

(r/min)

R88M-G10030H/T (100 W)

1.0

0 1000 2000 3000 4000 5000

2.0 1.78

0.64 0.64

0.38

1.5

1.78(4500)

Repetitive usage

Continuous usage

(N·m)

(r/min)

R88M-G20030H/T (200 W) R88M-G40030H/T (400 W)

R88M-G75030H/T (750 W) R88M-G1K030T (1 kW) R88M-G1K530T (1.5 kW)

2.0

0 1000 2000 3000 4000

5000

4.0

3.6

1.31.31.7

0.78

3.6 (3800)

Repetitive usage

Continuous usage

(N·m)

(r/min)

4.0

0 1000 2000 3000 4000

5000

8.0 7.05

2.4 2.4 4.0

1.0

7.05 (3600)

Repetitive usage

Continuous usage

(N·m)

(r/min)

0 1000 2000 3000 4000

5000

10 9.1

3.183.184.8

9.1 (3600)

Repetitive usage

Continuous usage

(N·m)

(r/min)

7.5

0 1000 2000 3000 4000 5000

12.9

4.77 4.77

3.6

12.9 (3500)

Repetitive usage

Continuous usage

(N·m)

(r/min)

R88M-G1K020T (1 kW)

R88M-G1K520T (1.5 kW)

0 1000 2000

3000

13.5

4.84.85.5

3.2

13.5 (2200)

Repetitive usage

Continuous usage

(N·m)

(r/min)

1000 2000

3000

19.6

14.3

4.7

7.15 7.15

19.6 (2200)

Repetitive usage

Continuous usage

(N·m)

(r/min)

20 18.4

10.0

4.31

8.62 8.62

1000 2000

18.4 (1600)

Repetitive usage

Continuous usage

(N·m)

(r/min)

R88M-G90010T (900 W)

12 AC servo systems

Flat servo motors 3000 r/min

Ratings and specifications

Torque-speed charecteristics

Applied voltage 230 V

Servo motor model R88M-@GP10030@GP20030@GP40030@

Rated output W 100 200 400

Rated torque N·m 0.32 0.64 1.3

Instantaneous peak torque N·m 0.86 1.8 3.65

Rated current A (rms) 1 1.6 2.5

Instantaneous max. current A (rms) 3.1 4.9 7.5

Rated speed min-1 3000

Max. speed min-1 5000

Torque constant N·m/A (rms) 0.34 0.42 0.54

Rotor moment of inertia (JM) kg·m2x10-4 0.1 0.35 0.64

Allowable load moment of inertia (JL) Multiple of (JM) 20

Rated power rate kW/s 10.2 11.5 25.5

Applicable encoder Incremental (10000 pulses)

Incremental /Absolute encoder(17 bits)

Allowable radial load N 68 245

Allowable thrust load N 58 98

Approx. mass Kg (without brake) 0.7 1.3 1.8

Kg (with brake) 0.9 2 2.5

Brake specifications

Rated voltage 24VDC +/-10%

Holding brake moment of inertia J kg·m2x10-4 0.03 0.09

Power consumption (at 20°C) W 7 10

Current consumption (at 20°C) A 0.29 0.41

Static friction torque N.m (minimum) 0.29 1.27

Rise time for holding torque ms (max.) 50 60

Release time ms (max) 15

Basic specifications

Rating Continuous

Insulation grade Type B

Ambient operating/ storage temperature 0 to +40 °C/ -20 to 80°C

Ambient operating/ storage humidity 85% RH max. (non-condensing)

Vibration class V-15

Insulation resistance 20 MΩmin. at 500 VDC between the power terminals and FG terminal

Enclosure Totally-enclosed, self-cooling, IP65 (excluding shaft opening and lead wire ends)

Vibration resistance Vibration acceleration 49 m/s2

Mounting Flange-mounted

0.5

0 1000 2000 3000 4000 5000

1.0 0.86

0.320.32

0.19

0.86

Repetitive usage

Continuous usage

(N·m)

(r/min)

R88M-GP10030H/T (100 W) R88M-GP20030H/T (200 W) R88M-GP40030H/T (400 W)

1.0

0 1000 2000 3000 4000 5000

2.0 1.8

0.64

0.38

0.64

1.8(4500)

Repetitive usage

Continuous usage

(N·m)

(r/min)

2.0

0 1000 2000 3000 4000 5000

4.0 3.65

1.31.32.0

0.78

3.65 (3600)

Repetitive usage

Continuous usage

(N·m)

(r/min)

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