Product Discontinuation Notices. Discontinuation Notice of AC Servomotors/drivers. OMNUC U series

Transcription

1 PRODUCT NEWS Product Discontinuation Notices March 2, 2009 Servomotors/Servo Drivers No E Discontinuation Notice of AC Servomotors/drivers. OMNUC U series Product Discontinuation Recommended Replacement AC Servo Motor R88M-U[] AC Servo Driver R88D-U[] AC Servo Motor R88M-G[] AC Servo Driver R88D-G[] Discontinuation date : The end of March,2010 Caution on recommended replacement When using the recommended replacement products, all of the motor, driver and cables need to be changed. Some of the recommended replacement products are different in external and mounting dimensions. When using the recommended replacement products, parameter settings are required. Difference from discontinued product Model Body Color Dimen sions Wire connection Mounting Dimensions Charact eristics Operation ratings Operation methods R88M-G -- * -- * * * - R88D-G[] * * * -- ** : Fully compatible * : The change is a little/almost compatible -- : Not compatible - : No corresponding specification OMRON Corporation Industrial Automation Company

2 Product Discontinuation and recommended replacement (Typical model) R88M-U10030HA R88D-UP04HA R88M-U1K530H R88D-UT40H Recommended replacement R88M-G10030H R88D-GT01H R88M-G1K530T R88D-GT15H Body color R88M-U[] : Black R88M-G[](50w to 750w) : Metallic R88M-G[](1.0kw min) : Black R88D-U[] : Ivory white R88D-GT[] : Ivory white Dimensions (Typical model) R88D-U[] / R88M-U[] [R88M-U10030HA] R88D-GT[] / R88M-G[] [R88M-G10030H] 2

3 Dimensions (Typical model) R88D-U[] / R88M-U[] [R88D-UP04HA] R88D-GT[] / R88M-G[] [R88D-GT01H] [R88M-U1K530H] [R88M-G1K530T] D1 D2 D3 Z Dimensions(mm) [R88D-UT40H] [R88D-GT15H] 3

4 Wire Connection R88D-U[] / R88M-U[] Connecting to Peripheral Device [R88D-UP[] /-UA[]] R88D-GT[] / R88M-G[] [R88D-GTA5L /-GT01L/-GT02L/-GT04L] [R88D-GT01H/-GT02H/-GT04H/ GT08H] R T Single-phase, 200/230 VAC, 50/60 Hz (R88D-UP@@@ H (A)) Single-phase, 100/115 VAC, 50/60 Hz (R88D-UP@@@ L(A)) R T Single-phase 100 to 115 VAC, 50/60 Hz: R88D-GT@@L Single-phase 200 to 240 VAC, 50/60 Hz: R88D-GT@@H NFB MCCB 1 E 3 Class-3 ground (to 100 Ω or less) NF 2 4 Noise filter Main-circuit power supply OFF ON Main-circuit connector Surge killer 1 2 Main-circuit contactor (*1) Noise filter E NF (*1) Main-circuit power supply 2MC 3 4 OFF ON 2MC (Ground to 100 Ω or less.) Surge killer (*1) 2MC PL Servo error display OMNUC U-series AC Servo Driver R T U PL Servo error display R88D-CAU@@@ S (-CAU@@@ B) OMNUC U-series Power Cable AC Servomotor B B 24VDC 2MC Reactor OMNUC G-Series AC Servo Drive CNA L1C L2C CNB U V CNA W L1 L3 OMNUC G-Series AC Servomotor Power Cable B (*3) B M 34 ALM 35 ALMCOM V W M Regeneration resistor (*5) (*4) CNB B1 B3 B2 CN2 (Ground to 100 Ω or less.) Encoder Cable E control User s Class-3 ground 100 Ω or less) CN2 R88A-CRU@@@ C device(to Encoder Cable R88A-CPU@@@ S General-purpose Control Cable BKIR 7 OGND 10 B E User control device Control Cable 37 /ALM 36 ALMCOM BKIR 11 BKIRCOM 10 *1. Recommended products are listed in 4-3 Wiring Conforming to EMC Directives. *2. Recommended relay: MY Relay (24 V), B by OMRON. For example, the MY2 (*2) Relay's rated inductive load is 2 A at 24 VDC and applicable to all G-Series Servomotors with brakes. *3. The brake is not affected by the polarity of the power supply. *4. Connect B2-B3 for the models with a built-in regeneration resistor (GT04L, GT08H, GT10H, and GT15H). If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2. *5. The models GTA5L to GT02L and GT01H to GT04H do not have a built-in regeneration resistor. If the amount of regeneration is large, an External Regeneration Resistor must be connected to B1-B2. 4

5 Wire Connection R88D-U[] / R88M-U[] Connecting to Peripheral Device R88D-GT[] / R88M-G[] [R88D-GT15H/-GT20H/-GT30H/-GT50H] R S T Three-phase 200 to 240 VAC, 50/60 Hz NFB E NF (Ground to 100 Ω or less.) Noise filter Main-circuit contactor (*1) (*1) Main-circuit power supply 2MC OFF ON 2MC 2MC Surge killer (*1) PL Servo error display OMNUC G-Series AC Servo Drive CNA L1C L2C CNB U B OMNUC G-Series AC Servomotor Power Cable (*3) B 2MC CNA V W M Reactor L1 L2 L3 CN2 CNB B1 Regeneration (*4) B3 resistor B2 37 /ALM 36 ALMCOM BKIR 11 User control BKIRCOM 10 device Control Cable (Ground to 100 Ω or less.) Encoder Cable E *1. Recommended products are listed in 4-3 Wiring Conforming to EMC Directives. *2. Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 Relay's rated inductive load is 2 A at 24 VDC and applicable to all G-Series Servomotors with brakes. B *3. The brake is not affected by the polarity (*2) of the power supply. *4. Connect B2-B3 for the models with a built-in regeneration resistor (GT08H to GT15H). If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2. 5

6 Wire Connection R88D-U[] Control I/O Signal Connections and External Signal Processing. [R88D-UP[]] R88D-GT[] Control I/O Signal Connections and External Signal Processing for Position Control. [R88D-GT[]] Reverse pulse +CW 220 Ω 1 7 BKIR Reverse pulse CW 2 Forward pulse +CCW Ω CCW 4 Deviation counter reset 220 Ω +ECRST 5 ECRST 6 26 Do not connect these pins VIN 13 Run instruction RUN 14 Gain deceleration MING 15 Forward rotation drive prohibit POT 16 Reverse rotation drive prohibit NOT 17 Alarm reset RESET 18 Forward rotation current limit PCL 11 Reverse rotation current limit NCL 12 Brake interlock 8 INP Positioning completion Maximum operating 9 voltage: 30 VDC TGON Maximum output Motor rotation current: 50 ma 10 detection OGND Output ground 34 common ALM Alarm output 35 ALMCOM 30 ALO1 Alarm code output 31 ALO2 Maximum operating voltage: 30 VDC Maximum output 32 current: 20 ma ALO3 33 ALOCOM Alarm code output GND 20 +A Encoder A-phase 21 A 23 +B Line driver output EIA-RS422A Encoder B-phase conforming 22 B (Load resistance: 200 Ω max.) 24 +Z Encoder Z-phase 25 Z 19 EGND Encoder signal output GND 36 FG Frame ground 500 kpps max. 2 Mpps max. Forward pulse Reverse pulse Forward pulse 12 to RUN Command Input Vibration Filter Switch Gain Switch Input Electronic Gear Switch Input Deviation Counter Reset Input Alarm Reset Input Control Mode Switch Input Pulse Prohibit Input Reverse Drive Prohibit Input 1 F SEN Brake Interlock Servo Ready Output Alarm Output Positioning Completed Output General-purpose Output 1 General-purpose Output 2 Phase-Z Output (open collector output) Encoder Phase-A Output Encoder Phase-B Output Encoder Phase-Z Output SENGND Sensor ON 42 BAT Backup Battery Input *1 43 BATCOM Maximum operating voltage: 30 VDC Maximum output current: 50 ma DC Line driver output Conforms to EIA RS-422A (Load resistance: 120 min.) Forward Torque Limit Input Reverse Torque Limit Input Forward Drive Prohibit Input Frame ground [R88D-UT[] (Position Control)] Reverse pulse 220 Ω +CW 1 CW 2 Forward pulse +CCW Ω CCW 4 Deviation counter reset 220 Ω +ECRST 5 ECRST 6 26 Do not connect these pins VIN 13 Run instruction RUN 14 Gain deceleration MING 15 Forward rotation drive prohibit POT 16 Reverse rotation drive prohibit NOT 17 Alarm reset RESET 18 Forward rotation current limit PCL 11 Reverse rotation current limit NCL 12 7 BKIR Brake interlock 8 INP Positioning completion Maximum operating 9 voltage: 30 VDC TGON Maximum output Motor rotation current: 50 ma 10 detection OGND Output ground 34 common ALM Alarm output 35 ALMCOM 30 ALO1 Alarm code output 31 ALO2 Maximum operating voltage: 30 VDC Maximum output 32 current: 20 ma ALO3 33 ALOCOM Alarm code output GND 20 +A Encoder A-phase 21 A 23 +B Line driver output EIA-RS422A Encoder B-phase conforming 22 B (Load resistance: 200 Ω max.) 24 +Z Encoder Z-phase 25 Z 19 EGND Encoder signal output GND 36 FG Frame ground 6

7 Wire Connection R88D-U[] Control I/O Signal Connections and External Signal Processing. R88D-GT[] Control I/O Signal Connections and External Signal Processing for Speed Control. [R88D-UA[]] Speed command Torque command Sensor ON +5V 0 V Backup battery + 7 BKIR REF 3 Brake interlock LPF AGND 4 A/D converter Speed conformity 8 VCMP TREF 1 LPF Maximum operating 9 TGON voltage: 30 VDC AGND 2 Motor rotation Maximum output detection current: 50 ma 10 OGND Output ground common 34 ALM Alarm output 35 ALMCOM Alarm output SEN 100 Ω GND 5 30 ALO1 SENGND 6 0 V BAT 28 BATGND to 4.5 V +24 VIN 13 Run command RUN 14 Gain deceleration MING 15 Forward rotation drive prohibit POT 16 Reverse rotation drive prohibit NOT 17 Alarm reset RESET 18 Forward rotation current limit PCL 11 Reverse rotation current limit NCL 12 Alarm code 1 µf output 1 31 ALO2 Maximum operating Alarm code voltage: 30 VDC output 2 Maximum output 32 current: 20 ma ALO3 Alarm code output 3 33 ALOCOM Alarm code output GND 20 +A Encoder A-phase + 21 A Encoder A-phase 23 +B Line driver output Encoder B-phase + EIA-RS422A conforming 22 B (Load resistance: Encoder B-phase 220 Ω max.) 24 +Z Encoder Z-phase + 25 Z Encoder Z-phase 26 +ABS Absolute encoder signal + 27 ABS Absolute encoder signal 19 EGND Encoder signal output ground 36 FG Frame ground Note 1. Pins 5, 6, 26, 27, 28, and 29 are used with an absolute encoder. Note 2. Pin 36 is not used with models conforming to EC Directives. [R88D-GT[]] Speed Command Input REF 14 AGND 15 Forward Torque Limit Input PCL 16 AGND 17 Reverse Torque Limit Input NCL 18 Sensor ON Input SEN 20 SENGND to 7 RUN Command Input RUN 29 Zero Speed Designation Input VZERO 26 Gain Switch Input GSEL 27 Internally Set Speed Selection 3 VSEL3 28 Internally Set Speed Selection 2 VSEL2 30 Alarm Reset Input RESET 31 Control Mode Switch Input TVSEL 32 Internally Set Speed Selection 1 VSEL1 33 Reverse Drive Prohibit Input Forward Drive Prohibit Input NOT 8 POT 9 *1 If a backup battery is connected, a cable with a battery is not required. 11 BKIR Brake Interlock 10 BKIRCOM 35 READY Servo Ready Output 34 READYCOM 37 /ALM Alarm Output 36 ALMCOM 39 TGON Servomotor Rotation Speed Detection Output 38 TGONCOM 12 OUTM1 40 OUTM2 General-purpose Output 2 41 COM 19 Z Phase-Z Output (open collector output) 25 ZCOM General-purpose Output 1 Encoder Phase-A Output Encoder Phase-B Output Encoder Phase-Z Output 42 BAT Backup Battery Input *1 43 BATCOM 50 FG Frame ground Maximum operating voltage: 30 VDC Maximum output current: 50 ma DC Line driver output Conforms to EIA RS-422A (Load resistance: 120 Ω min.) [R88D-UT[](for Speed Control)] 7

8 Characteristics R88D-U[] Input power supply [R88D-UA[][]HA/-UP[][]HA] [R88D-UA[][]V/-UP[][]V] Main circuits : Single-phase 200/230 VAC 50/60 Hz Control circuits : Single-phase 200/230 VAC 50/60 Hz Main circuits : Three-phase 200/230 VAC 50/60 Hz Control circuits : Single-phase 200/230 VAC 50/60 Hz [R88D-UA[][]LA/-UP[][]LA] [R88D-UA[][]W/-UP[][]W] Main circuits : Single-phase 100/115 VAC 50/60 Hz Control circuits : Single-phase 100/115 VAC 50/60 Hz R88D-GT[] [R88D-GT01H/-GT02H/-GT04H] Main circuits : Single-phase 200/230 VAC 50/60 Hz Control circuits : Single-phase 200/230 VAC 50/60 Hz [R88D-GT08H/-GT15H] Main circuits : Three-phase 200/230 VAC 50/60 Hz or Single-phase 200/230 VAC 50/60 Hz Control circuits : Single-phase 200/230 VAC 50/60 Hz [R88D-GT20H/-GT30H/-GT50H] Main circuits : Three-phase 200/230 VAC 50/60 Hz Control circuits : Single-phase 200/230 VAC 50/60 Hz [R88D-GT[][]L] Main circuits : Single-phase 100/115 VAC 50/60 Hz Control circuits : Single-phase 100/115 VAC 50/60 Hz Operating ambient temperature 0 C to 55 C 0 C to 55 C Operating ambient humidity [R88D-UA[]/-UP[]] 35% to 85% RH(with no condensation) 90% RH max (with no condensation) 20% to 85% RH(with no condensation) Storage ambient temperature [R88D-UA[]/-UP[]] -10 C to 75 C] -20 C to 65 C -20 C to 85 C Storage ambient humidity [R88D-UA[]/-UP[]] 35% to 85% RH(with no condensation) 90% RH max (with no condensation) 20% to 85% RH(with no condensation) Insulation resistance [R88D-UA[]/-UP[]] Between power line terminals and case :5MΩ min.(at 1000VDC) Between power line terminals and case :1MΩ min.(at 500VDC) Between power line terminals and case :0.5MΩ min.(at 500VDC) 8

9 Characteristics R88D-U[] Dielectric strength [R88D-U[]HA/-U[]LA] Between power line terminals and case :1,000 VAC for 1min(20mA max)at 50/60 Hz R88D-GT[] Between power line terminals and case :1,500 VAC for 1min(20mA max)at 50/60 Hz [R88D-UT[]/-U[]V/-U[]W] Between power line terminals and case :1,500 VAC for 1min(20mA max)at 50/60 Hz Speed control range 1 : 5,000 1 : 5,000 Load fluctuation rate [R88D-UA[]/-UP[]] 0.1% at 0% to 100%(at rated rotation inertia) 0.01% at 0% to 100%(at rated rotation inertia) 0.01% at 0% to 100%(at rated rotation inertia) Voltage fluctuation rate [R88D-U[]HA/-U[]V/-UT[]] 0% at input voltage of 170 to 253 VAC [R88D-U[]LA/-U[]W] 0% at input voltage of 85 to 125 VAC Temperature fluctuation rate [R88D-UA[]/-UP[]] ±0.2% max. at 0 to 50 C [R88D-GT[]H] 0% at input voltage of 170 to 253 VAC [R88D-GT[]L] 0% at input voltage of 85 to 125 VAC ±0.2% max. at 0 to 50 C ±0.1% max. at 0 to 50 C 9

10 Characteristics R88M-U[] R88M-G[] Operating ambient temperature 0 C to 40 C 0 C to 40 C Operating ambient humidity 20% to 80% RH(with no condensation) 20% to 80% RH(with no condensation) Storage ambient temperature [30w to 750w] -10 C to 75 C -20 C to 60 C Storage ambient humidity [30w to 750w] 20% to 85%RH(with no condensation) 20% to 80% RH(with no condensation) Insulation grade [30w to 750w] Models not conforming to standard : IP-42 Models conforming to EC Directives : IP-44 [50w to 750w] -20 C to 65 C -20 C to 80 C [50w to 750w] 85% RH max (with no condensation) 80% RH max (with no condensation) IP65 (excluding the output shaft rotating section and lead wire ends) Models not conforming to standard : IP-65 Models conforming to EC Directives : IP-55 (excluding the output shaft rotating section and lead wire ends) Encoder method [30w to 750w] Optical incremental encoder A, B phase: 2,048 pulses/revolution Optical absolute encoder A, B phase: 1,024 pulses/revolution Optical incremental encoder A, B phase: 4,096 pulses/revolution Optical absolute encoder A, B phase: 8,192 pulses/revolution [50w to 750w] Optical incremental encoder A, B phase: 2,500 pulses/revolution Optical absolute encoder A, B phase: 32,768 pulses/revolution Optical absolute encoder A, B phase: 32,768 pulses/revolution 10

11 Product discontinuation Recommended replacement Applicable load Inertia (kg m 2 ) Rated torque (N m) Momentary maximum torque (N m) R88M-U[] R88M-G[] R88M-U[] R88M-G[] R88M-U[] R88M-G[] R88M-U03030HA R88M-G05030H 6.30E E R88M-U05030HA R88M-G05030H 7.80E E R88M-U10030HA R88M-G10030H 1.20E E R88M-U20030HA R88M-G20030H 3.69E E R88M-U40030HA R88M-G40030H 3.82E E R88M-U75030HA R88M-G75030H 1.34E E R88M-U1K030H R88M-G1K030T 1.74E E R88M-U1K530H R88M-G1K530T 2.47E E R88M-U2K030H R88M-G2K030T 3.19E E R88M-U3K030H R88M-G3K030T 7.00E E R88M-U4K030H R88M-G4K030T 9.60E E R88M-U5K030H R88M-G5K030T 1.23E E R88M-U03030LA R88M-G05030H 6.30E E R88M-U05030LA R88M-G05030H 7.80E E R88M-U10030LA R88M-G10030L 1.20E E R88M-U20030LA R88M-G20030L 3.69E E R88M-U30030LA R88M-G40030L 3.82E E R88M-U03030TA R88M-G05030T 9.20E E R88M-U05030TA R88M-G05030T 1.02E E R88M-U10030TA R88M-G10030T 1.30E E R88M-U20030TA R88M-G20030T 3.70E E R88M-U40030TA R88M-G40030T 4.32E E R88M-U75030TA R88M-G75030T 1.25E E R88M-U1K030T R88M-G1K030T 1.74E E R88M-U1K530T R88M-G1K530T 2.47E E R88M-U2K030T R88M-G2K030T 3.19E E R88M-U3K030T R88M-G3K030T 7.00E E R88M-U4K030T R88M-G4K030T 9.60E E R88M-U5K030T R88M-G5K030T 1.23E E R88M-U03030SA R88M-G05030T 9.20E E R88M-U05030SA R88M-G05030T 1.02E E R88M-U10030SA R88M-G10030S 1.30E E R88M-U20030SA R88M-G20030S 3.70E E R88M-U30030SA R88M-G40030S 4.32E E

12 Product discontinuation Recommended replacement Applicable load Inertia (kg m 2 ) Rated torque (N m) Momentary maximum torque (N m) R88M-U[] R88M-G[] R88M-U[] R88M-G[] R88M-U[] R88M-G[] R88M-U03030VA-S1 R88M-G05030H-S2 6.30E E R88M-U05030VA-S1 R88M-G05030H-S2 7.80E E R88M-U10030VA-S1 R88M-G10030H-S2 1.20E E R88M-U20030VA-S1 R88M-G20030H-S2 3.69E E R88M-U40030VA-S1 R88M-G40030H-S2 3.82E E R88M-U75030VA-S1 R88M-G75030H-S2 1.34E E R88M-U1K030V-S1 R88M-G1K030T-S2 1.74E E R88M-U1K530V-S1 R88M-G1K530T-S2 2.47E E R88M-U2K030V-S1 R88M-G2K030T-S2 3.19E E R88M-U3K030V-S1 R88M-G3K030T-S2 7.00E E R88M-U4K030V-S1 R88M-G4K030T-S2 9.60E E R88M-U5K030V-S1 R88M-G5K030T-S2 1.23E E R88M-U03030WA-S1 R88M-G05030H-S2 6.30E E R88M-U05030WA-S1 R88M-G05030H-S2 7.80E E R88M-U10030WA-S1 R88M-G10030L-S2 1.20E E R88M-U20030WA-S1 R88M-G20030L-S2 3.69E E R88M-U30030WA-S1 R88M-G40030L-S2 3.82E E R88M-U03030A-S1 R88M-G05030T-S2 9.20E E R88M-U05030A-S1 R88M-G05030T-S2 1.02E E R88M-U10030A-S1 R88M-G10030T-S2 1.30E E R88M-U20030A-S1 R88M-G20030T-S2 3.70E E R88M-U40030A-S1 R88M-G40030T-S2 4.32E E R88M-U75030A-S1 R88M-G75030T-S2 1.25E E R88M-U1K030-S1 R88M-G1K030T-S2 1.74E E R88M-U1K530-S1 R88M-G1K530T-S2 2.47E E R88M-U2K030-S1 R88M-G2K030T-S2 3.19E E R88M-U3K030-S1 R88M-G3K030T-S2 7.00E E R88M-U4K030-S1 R88M-G4K030T-S2 9.60E E R88M-U5K030-S1 R88M-G5K030T-S2 1.23E E R88M-U03030YA-S1 R88M-G05030T-S2 9.20E E R88M-U05030YA-S1 R88M-G05030T-S2 1.02E E R88M-U10030YA-S1 R88M-G10030S-S2 1.30E E R88M-U20030YA-S1 R88M-G20030S-S2 3.70E E R88M-U30030YA-S1 R88M-G40030S-S2 4.32E E