Omron ACCURAX G5 SERVO DRIVE, ACCURAX G5 SERVO DRIVES DATASHEET

R88D-KN@@@-ML2, R88D-KT@

Accurax G5 servo drive

Accurate motion control in a compact size servo drive family. MECHATROLINK-II motion bus and safety built-in.

•MECHATROLINK-II and Analog/ Pulse servo drive models

•Safety conforming ISO13849-1 Performance Level D

•High-response frequency of 2 kHz

•High resolution serial encoder for greater accuracy provided by 20 bits encoder

•External encoder input for full close loop

•Real time auto-tuning

•Advanced tuning algorithms (Anti-vibration function, torque feedforward, disturbance observer)

Ratings

•230 VAC Single-phase 100 W to 1.5 kW (8.59 Nm)

•400 VAC three-phase 600 W to 5 kW (28.7 Nm)

System configuration

MECHATROLINK-II control

Personal computer software: CX-One

TJ1-MC04/16 CJ1W-MCH72

CJ1W-NCF71

Accurax G5 ML-II Servo Drives

Terminator

MECHATROLINK-II

R88D-KN-ML2

R88D-KN-ML2

Power cable

Encoder cable

Open Analog/pulse control

	Accurax G5 Analog/pulse
	Servo Drive
Servo Motor	Personal computer:
3000 rpm (50 W-5 kW)	Software CX-One
	Motion control unit
Power cable	Position control unit

	Servo Motor	General purpose cable
	2000 rpm (400 W-5 kW)

	Encoder cable
	R88D-KT	Terminal block
		for Servo drive I/O
		general purpose
Servo Motor		signals
		Unit
1000 rpm (900 W-3 kW)

AC Servo systems

Accurax G5 servo drive

61

Servo motor supported

Accurax G5 rotary servo motor

Accurax G5 servodrive

Voltage

Speed

Rated torque

Capacity

Model

MECHATROLINK-II model

Analog/Pulse model

230V

400V

230V

400V

230 V

3000 min-1

0.16 Nm

50 W

R88M-K05030(H/T)-@

R88D-KN01H-ML2

-

R88D-KT01H

-

0.32

Nm

100 W

R88M-K10030(H/T)-@

R88D-KN01H-ML2

-

R88D-KT01H

-

0.64

Nm

200 W

R88M-K20030(H/T)-@

R88D-KN02H-ML2

-

R88D-KT02H

-

1.3 Nm

400 W

R88M-K40030(H/T)-@

R88D-KN04H-ML2

-

R88D-KT04H

-

2.4 Nm

750 W

R88M-K75030(H/T)-@

R88D-KN08H-ML2

-

R88D-KT08H

-

3.18

Nm

1000 W

R88M-K1K030(H/T)-@

R88D-KN15H-ML2

-

R88D-KT15H

-

4.77

Nm

1500 W

R88M-K1K530(H/T)-@

R88D-KN15H-ML2

-

R88D-KT15H

-

400 V

2.39 Nm

750 W

R88M-K75030(F/C)-@

-

R88D-KN10F-ML2

-

R88D-KT10F

3.18

Nm

1000 W

R88M-K1K030(F/C)-@

-

R88D-KN15F-ML2

-

R88D-KT15F

4.77

Nm

1500 W

R88M-K1K530(F/C)-@

-

R88D-KN15F-ML2

-

R88D-KT15F

6.37

Nm

2000 W

R88M-K2K030(F/C)-@

-

R88D-KN20F-ML2

-

R88D-KT20F

9.55

Nm

3000 W

R88M-K3K030(F/C)-@

-

R88D-KN30F-ML2

-

R88D-KT30F

12.7

Nm

4000 W

R88M-K4K030(F/C)-@

-

R88D-KN50F-ML2

-

R88D-KT50F

15.9

Nm

5000 W

R88M-K5K030(F/C)-@

-

R88D-KN50F-ML2

-

R88D-KT50F

230 V

2000 min-1

4.77 Nm

1000 W

R88M-K1K020(H/T)-@

R88D-KN10H-ML2

-

R88D-KT10H

-

7.16

Nm

1500 W

R88M-K1K520(H/T)-@

R88D-KN15H-ML2

-

R88D-KT15H

-

400 V

1.91 Nm

400 W

R88M-K40020(F/C)-@

-

R88D-KN06F-ML2

-

R88D-KT06F

2.86

Nm

600 W

R88M-K60020(F/C)-@

-

R88D-KN06F-ML2

-

R88D-KT06F

4.77

Nm

1000 W

R88M-K1K020(F/C)-@

-

R88D-KN10F-ML2

-

R88D-KT10F

7.16

Nm

1500 W

R88M-K1K520(F/C)-@

-

R88D-KN15F-ML2

-

R88D-KT15F

9.55

Nm

2000 W

R88M-K2K020(F/C)-@

-

R88D-KN20F-ML2

-

R88D-KT20F

14.3

Nm

3000 W

R88M-K3K020(F/C)-@

-

R88D-KN30F-ML2

-

R88D-KT30F

19.1

Nm

4000 W

R88M-K4K020(F/C)-@

-

R88D-KN50F-ML2

-

R88D-KT50F

23.9

Nm

5000 W

R88M-K5K020(F/C)-@

-

R88D-KN50F-ML2

-

R88D-KT50F

230 V

1000 min-1

8.59 Nm

900 W

R88M-K90010(H/T)-@

R88D-KN15H-ML2

-

R88D-KT15H

-

400 V

8.59 Nm

900 W

R88M-K90010(F/C)-@

R88D-KN15F-ML2

-

R88D-KT15F

19.1 Nm

2000 W

R88M-K2K010(F/C)-@

R88D-KN30F-ML2

-

R88D-KT30F

28.7 Nm

3000 W

R88M-K3K010(F/C)-@

R88D-KN50F-ML2

-

R88D-KT50F

Type designation

Servo drive

R88D-KN01H-ML2

Model

Accurax G5 Series servo drive

Blank: Analog/pulse type

ML2: MECHATROLINK-II comms

Drive Type

Capacity and Voltage

T: Analog/pulse type

Voltage

Code

Output

N: Network type

01H

100 W

02H

200 W

230 V

04H

400 W

08H

750 W

10H

1 kW

15H

1.5 kW

06F

600 W

10F

1.0 kW

400 V

15F

1.5 kW

20F

2.0 kW

30F

3.0 kW

50F

5.0 kW

62	AC servo systems

Servo drive specifications

Single-phase, 230 V

Servo drive type

R88D-K@

01H@

02H@

04H@

08H@

10H@

15H@

Applicable

R88M-K@

05030(H/T)@

20030(H/T)@

40030(H/T)@

75030(H/T)@

1K020(H/T)@

1K030(H/T)@

servo motor

10030(H/T)@

-

-

-

-

1K530(H/T)@

-

-

-

-

-

1K520(H/T)@

-

-

-

-

-

90010(H/T)@

Max. applicable motor capacity

W

100

200

400

750

1000

1500

Continuous output current

Arms

1.2

1.6

2.6

4.1

5.9

9.4

ServoAC systems

specificationsBasic

Conditions Vibration/shock resistance

(max.)

5.88 m/s2 10-60 Hz (Continuous operation at resonance point is not allowed) / 19.6 m/s2

Input power

Main circuit

Single-phase/3-phase, 200 to 240 VAC + 10 to -15% (50/60 Hz)

Supply

Control circuit

Single-phase, 200 to 240 VAC + 10 to -15%

(50/60 Hz)

Control method

IGBT-driven PWM method, sinusoidal drive

Feedback

Serial encoder (incremental/absolute value)

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

Configuration

Base mounted

Approx. weight

Kg

0.8

1.1

1.6

1.8

Three-phase, 400 V

Servo drive type

R88D-K@

06F-@

10F-@

15F-@

20F-@

30F-@

50F-@

Applicable

R88M-K@

40020(F/C)-@

75030(F/C)-@

1K030(F/C)-@

2K030(F/C)-@

3K030(F/C)-@

4K030(F/C)-@

servo motor

60020(F/C)-@

1K020(F/C)-@

1K530(F/C)-@

2K020(F/C)-@

3K020(F/C)-@

5K030(F/C)-@

-

-

1K520(F/C)-@

-

2K010(F/C)-@

4K020(F/C)-@

-

-

90010(F/C)-@

-

-

5K020(F/C)-@

-

-

-

-

-

3K010(F/C)-@

Max. applicable motor capacity

kW

0.6

1.0

1.5

2.0

3.0

5.0

Continuous output current

Arms

2.9

4.7

6.7

9.4

16.5

specificationsBasic

Input power

Main circuit

3-phase, 380 to 480 VAC + 10 to -15% (50/60Hz)

Conditions Vibration/shock resistance

5.88 m/s2 10-60 Hz (Continuous operation at resonance point is not allowed) / 19.6 m/s2

Supply

Control circuit

24 VDC ±15%

Control method

IGBT-driven PWM method, sinusoidal drive

Feedback

Serial encoder (incremental/absolute value)

Usage/storage temperature

0 to +55°C / -20 to +65°C

Usage/storage humidity

90% RH or less (non-condensing)

Altitude

1000 m or less above sea level

Configuration

Base mounted

Approx. weight

Kg

1.9

2.7

4.7

Accurax G5 servo drive

63

General specifications (for MECHATROLINK-II servo drives)

Control mode			Position control, velocity control, torque control, full-closed control.
Performance		Frequency characteristics	2 kHz
		Speed zero clamp	Preset velocity command can be clamped to zero by the speed zero clamp input.
		soft start time setting	0 to 10 s (acceleration, deceleration can be set separately).
Command input		MECHATROLINK-II	MECHATROLINK-II commands (for sequence, motion, data setting/reference, monitor, adjustment and other
		communication	commands)
signal	Sequence input signal		- Multi-function input x 8 by parameter setting (forward/reverse drive prohibition, emergency stop, external latch,
	Sequence output signal		It is possible to output three types of signal form incl.: brake release, servo ready, servo alarm, positioning com-
			origin proximity, forward/reverse torque limit, general purpose monitor input).
I/O			plete, motor rotation speed detection, torque limit detection, zero speed detection, speed coincidence detection,
			warning, position command status, speed limit detection, alarm ouput, speed command status.
	USB	Interface	Personal computer/ Connector mini-USB
	communications
		Communications standard	Compliant with USB 2.0 standard
		Function	Parameter setting and status monitoring
	MECHATROLINK-	Communications protocol	MECHATROLINK-II
	II communications
		Station address	41H to 51 FH (max. number of slaves: 30)
		Tranmission speed	10 Mbps
		Transmission cycle	1, 2 & 4 ms
		Data length	32 bytes
functions	Automatic load inertia detection		Automatic motor parameter setting. One parameter rigidity setting.
	Dynamic brake (DB)		Built-in. Operates during main power OFF, servo alarm, servo OFF or overtravel.
	Regenerative processing		Internal resistor included in models from 600 W to 5 kW. Regenerative resistor externally mounted (option).
	Overtravel (OT) prevention function		DB stop, deceleration stop or coast to stop during P-OT, N-OT operation
Integrated	Encoder divider function		Optional division possible
	Protective functions		Overcurrent, overvoltage, undervoltage, overspeed, overload, encoder error, overheat...
	Analog monitor functions for supervision		Analog monitor of motor speed, speed reference, torque reference, command following error, analog input...
			The monitoring signals to output and their scaling can be specified with parameters.
			Number of channels: 2 (Output voltage: ±10V DC)
	Panel operator	Display functions	2-digit 7-segment LED display shows the drive status, alarm codes, parameters...
			MECHATROLINK-II communications status LED indicator (COM)
		Switches	2 x rotary switches for setting the MECHATROLINK-II node address
	CHARGE lamp		Lits when the main circuit power supply is turned ON.
	Safety terminal	Functions	Safety Torque OFF function to cut off the motor current and stop the motor. Output signal for failure monitoring
			function.
		Conformed standards	EN ISO13849-1:2008 (PL- d, Performance Level d), IEC61800-5 -2:2007 (function STO, Safe Torque OFF),
			EN61508:2001 (Safety Integrity Level 2, SIL2), EN954-1:1996 (CAT3).
	External encoder feedback		Serial signal and line-driver A-B-Z encoder for full-close control

General specifications (for analog/pulse servo drives)

Control mode					7 modes selectables by parameter: (1) position control, (2) velocity control, (3) torque control, (4) position/velocity
					control, (5) position/torque control, (6) velocity/torque control and (7) full-closed control.
control	Performance			Frequency characteristics	2 kHz
				Speed zero clamp	Preset velocity command can be clamped to zero by the speed zero clamp input.
				Soft start time setting	0 to 10 s (acceleration, deceleration can be set separately). S-curve acceleration/deceleration is also available.
Speed/torque	signalInput	Speed control		Speed reference voltage	6 VDC at rated speed: set at delivery (the scale and polarity can be set by parameters)
				Torque limit	3 VDC at rated torque (torque can be limited separately in positive/negative direction).
				Preset speed control	Preset speed is selectable from 8 internal settings by digital inputs.
		Torque control		Torque reference voltage	3 VDC at rated torque: set at delivery (the scale and polarity can be set by parameters).
				Speed limit	Speed limit can be set by parameter.
controlPosition	signalInput	Command		Input pulse type	Sign + pulse train, 90° phase displacement 2-phase pulse (A-phase+ B-phase) or CCW/CW pulse train
		pulse		Input pulse frequency	4 Mpps max. (200 Kpps max. at open collector).
				Command pulse scaling	Applicable scaling ratio: 1/1000 - 1000
				(Electronic Gear)	Any value of 1-230 can be set for numerator (encoder resolution) and denominator (command pulse resolution
					per motor revolution). The combination has to be within the range shown above.
		Command		Input pulse type	Sign + pulse train, 90° phase displacement 2-phase pulse (A-phase+ B-phase) or CCW/CW pulse train
closedcontrol	ExternalInputsignal		encoder
				scaling	Applicable scaling ratio: 1/20 - 160
		pulse		Input pulse frequency	4 Mpps max. (200 Kpps max. at open collector).
				Command pulse scaling	Applicable scaling ratio: 1/1000 - 1000
				(Electronic Gear)	Any value of 1-230 can be set for numerator (encoder resolution) and denominator (command pulse resolution).
					The combination has to be within the range shown above.
Full-
					Any value of 1-230 can be set for numerator (encoder resolution) and denominator (external encoder resolution
					per motor revolution). The combination has to be within the range shown above.
	Position signal output				A-phase, B.phase, Z-phase line driver output and Z-phase open-collector output.
	Sequence input signal				- Multi-function input x 10 by parameter setting (servo ON, control mode switching, forward/reverse drive prohi-
signalI/O					bition, vibration filter switching, gain switching, electronic gear switching, error counter reset, pulse prohibition,
					- Dedicated input x 1 (SEN: sensor ON, ABS data request).
					alarm reset, internal speed selection, torque limit switching, zero speed, emergency stop, inertia ratio switching,
					velocity/torque command sign).
	Sequence output signal				It is possible to output four types of signal form incl.: brake release, servo ready, servo alarm, positioning com-
					plete, motor rotation speed detection, torque limit detection, zero speed detection, speed coincidence detection,
					warning, position command status, speed limit detection, speed command status.

64	AC servo systems

	USB	Interface	Personal computer/ Connector mini-USB
	Communications	Communications standard	Compliant with USB 2.0 standard
		Function	Parameter setting and status monitoring
	Automatic load inertia detection		Automatic motor parameter setting. One parameter rigidity setting.
	Dynamic brake (DB)		Built-in. Operates during main power OFF, servo alarm, servo OFF or overtravel.
	Regenerative processing		Internal resistor included in models from 600 W to 5 kW. Regenerative resistor externally mounted (option).
	Overtravel (OT) prevention function		DB stop, deceleration stop or coast to stop during P-OT, N-OT operation
Integratedfunctions	Encoder divider function		Optional division possible
					systemsServo
		Panel operator keys	Used to set/monitor parameters and drive condition (5 key switches).
	Electronic gearing (Numerator/Denominator)		Up to 4 electronic gear numerators by combining with inputs.
	Internal speed setting function		8 speeds may be set internally
	Protective functions		Overcurrent, overvoltage, undervoltage, overspeed, overload, encoder error, overheat...
	Analog monitor functions for supervision		Analog monitor of motor speed, speed reference, torque reference, command following error, analog input...
			The monitoring signals to output and their scaling can be specified by parameters.
			Number of channels: 2 (Output voltage: ±10V DC)
	Panel operator	Display functions	6-digit 7-segment LED display shows the drive status, alarm codes, parameters...
					AC
	CHARGE lamp		Lits when the main circuit power supply is turned ON.
	Safety terminal	Functions	Safety torque OFF function to cut off the motor current and stop the motor. Output signal for failure monitoring
			function.
		Conformed standards	EN ISO13849-1:2008 (PL- d, Performance Level d), IEC61800-5 -2:2007 (function STO, Safe Torque OFF),
			EN61508:2001 (Safety Integrity Level 2, SIL2), EN954-1:1996 (CAT3).
	External encoder feedback		Serial signal and line-driver A-B-Z encoder for full-close control
	Expansion connector		Serial bus for option board

Servo drive part names

Monitor connector (CN5)

Main circuit power supply terminals (L1, L2, and L3)

Control circuit power supply terminals (L1C and L2C)

Charge lamp

External Regeneration Resistor connection terminals (B1, B2 and B3)

Motor connection terminals (U, V and W)

Protective ground terminals

Display area

Address number switches

MECHATROLINK-II connector (CN6)

USB connector (CN7)

Safety connector (CN8)

Control I/O connector (CN1) - 26 pins-

External encoder connector (CN4)

Encoder connector (CN2)

Monitor connector (CN5)

Main circuit power supply terminals (L1, L2, and L3)

Control circuit power supply terminals (L1C and L2C)

Charge lamp

External Regeneration Resistor connection

terminals (B1, B2 and B3)

Motor connection terminals (U, V and W)

Protective ground terminals

Display area

Operation area

USB connector (CN7)

Expansion connector (CN3)

Safety connector (CN8)

Control I/O connector (CN1) - 50 pins -

External encoder connector (CN4)

Encoder connector (CN2)

MECHATROLINK-II servo drives

Analog/pulse servo drives

Note: the above pictures show 230 V servo drives models only. The 400 V servo drives have 24 VDC power input terminals for control circuit instead of L1C and L2C terminals.

Accurax G5 servo drive

65

I/O specifications

Terminals specifications (for all drives)

Symbol	Name	Function
L1	Main power supply input terminal	AC power input terminals for the main circuit
L2		Note: for single-phase servo drives connect the power supply input to L1 and L3.
L3
L1C	Control power supply input terminal	AC power input terminals for the control circuit
L2C		(for 200V single/three-phase servo drives only).
24 V		DC power input terminals for the control circuit
0 V		(for 400V three-phase servo drives only).
B1	External regeneration resistor connection terminals	Servo drives below 750W: no internal resistor is connected. Leave B2 and B3 open.
		Connect an external regenerative resistor between B1 and B2.
B2
B3		Servo drives from 750W to 5 kW: short-circuit in B2 and B3 for internal regenerative resistor. If the
		internal regenerative resistor is insufficient, connect an external regenerative resistor between B1 and
		B2 and remove the wire between B2 and B3.
U	Servo motor connection terminals	Terminals for outputs to the servomotor.
V
W

I/O signals (CN1) - Input signals (for MECHATROLINK-II servo drives)

Pin No.	Signal name	Function
6	I-COM	± pole of external DC power. The power must use 12V-24V (±5%)
5	E-STOP	Emergency stop		The signal name shows the factory setting. The function can be
				changed by parameter setting.
7	P-OT	Forward run prohibited
8	N-OT	Reverse run prohibited
9	DEC	Origin proximity
10	EXT3	External latch input 3
11	EXT2	External latch input 2
12	EXT1	External latch input 1
13	SI-MON0	General purpose monitor input 0
14	BTP-I	Connecting pin for the absolute encoder backup battery. Do not connect when a battery is connected to the encoder cable (CN2
15	BTN-I	connector).
17	-	Terminals not used. Do not connect.
18	-
19	-
20	-
21	-
22	-
23	-
24	-
-	PCL	Forward torque limit	The function of input signals allocated to pins 5 and 7 to 13 can be changed with these options by
			parameters settings.
	NCL	Reverse torque limit
	SI-MON1	General-purpose monitor input 1
	SI-MON2	General-purpose monitor input 2
Shell	FG	Shield ground. Connected to frame ground if the shield wire of the I/O signal cable is connected to the connector shell.
16	GND	Signal ground. It is insulated with power supply (I-COM) for the control signal in the servo drive.

I/O signals (CN1) - output signals (for MECHATROLINK-II servo drives)

Pin No.	Signal name	Function
1	BRK-OFF+	External brake release signal
2	BRK-OFF
25	S-RDY+	Servo ready: ON when there is no servo alarm and control/main circuit power supply is ON
26	S-RDY-
3	ALM+	Servo alarm: Turns OFF when an error is detected
4	ALM-
-	INP1	Position complete output	1	The function of output signals allocated to pins 1,2, 25 and 26 can be changed with these options by
	AT-SPEED	Speed complete		parameters settings
	T_LIM	Torque limit
	ZSP	Zero speed
	V-COIN	Speed coincidence
	INP2	Position complete output	2
	WARN1	Warning 1
	WARN2	Warning 2
	DEN	Origin proximity
	V_LIM	Speed limit

66	AC servo systems