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)
AC Servo systems
System configuration
MECHATROLINK-II control
TJ1-MC04/16
R88D-KN -ML2
Power cable
Encoder cable
CJ1W-MCH72
CJ1W-NCF71
MECHATROLINK-II
Open Analog/pulse control
Accurax G5 Analog/pulse
Servo Drive
Personal computer
software: CX-One
Accurax G5 ML-II Servo Drives
Terminator
R88D-KN -ML2
Servo Motor
3000 rpm (50 W-5 kW)
Servo Motor
2000 rpm (400 W-5 kW)
Servo Motor
1000 rpm (900 W-3 kW)
Power cable
Encoder cable
R88D-KT
Motion control unit
General purpose cable
Te rm i n al block
for Ser vo drive I/O
general purpose
signals
Unit
Personal computer :
Software CX-One
Position control unit
61Accurax G5 servo drive
Servo motor supported
Voltage Speed Rated torque Capacity Model MECHATROLINK-II model Analog/Pulse model
230 V 3000 min
400 V 2.39 Nm 750 W R88M-K75030(F/C)-@ - R88D-KN10F-ML2 - R88D-KT10F
230 V 2000 min
400 V 1.91 Nm 400 W R88M-K40020(F/C)-@ - R88D-KN06F-ML2 - R88D-KT06F
230 V 1000 min
400 V 8.59 Nm 900 W R88M-K90010(F/C)-@ R88D-KN15F-ML2 - R88D-KT15F
Accurax G5 rotary servo motor Accurax G5 servodrive
-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 -
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
-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 -
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
-1
8.59 Nm 900 W R88M-K90010(H/T)-@ R88D-KN15H-ML2 - R88D-KT15H -
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
230V 400V 230V 400V
Type designation
Servo drive
Accurax G5 Series servo drive
Drive Type
T: Analog/pulse type
N: Network type
R88D-KN01H-ML2
Model
Blank: Analog/pulse type
ML2: MECHATROLINK-II comms
Capacity and Voltage
Vol tage Code
01H
02H
04H
230 V
08H
10H
15H
06F
10F
15F
400 V
20F
30F
50F
Output
100 W
200 W
400 W
750 W
1 kW
1.5 kW
600 W
1.0 kW
1.5 kW
2.0 kW
3.0 kW
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
servo motor
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
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
Basic specifications
Vibration /shock re sista nce (max. ) 5.88 m /s
Conditions
Configuration Base mounted
Appr ox. weight Kg 0.8 1.1 1.6 1.8
R88M-K@ 05030(H/T)@ 20030(H/T)@ 40030(H/T)@ 75030(H/T)@ 1K020(H/T)@ 1K030(H/T)@
10030(H/T)@ - - - - 1K530(H/T)@
- - - - - 1K520(H/T)@
- - - - - 90010(H/T)@
2
10-60 Hz (Continuous operation at resonance point is not allowed) / 19.6 m/s
2
AC Servo systems
Three-phase, 400 V
Servo drive type R88D-K@ 06F-@ 10F-@ 15F-@ 20F-@ 30F-@ 50F-@
Applicable
servo motor
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
Input power Main circuit 3-phase, 380 to 480 VAC + 10 to -15% (50/60Hz)
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
Basic specifications
Vibration/shock resistance 5.88 m/s
Conditions
Configuration Base mounted
Ap prox. wei ght Kg 1. 9 2. 7 4. 7
R88M-K@ 40020(F/C)-@ 75030(F/C)-@ 1K030(F/C)-@ 2K030(F/C)-@ 3K030(F/C)-@ 4K030(F/C)-@
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)-@
2
10-60 Hz (Continuous operation at resonance point is not allowed) / 19.6 m/s
2
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
Command input MECHATROLINK-II
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-
I/O signal
USB
communications
MECHATROLINKII communications
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
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...
Integrated functions
Panel operator Display functions 2-digit 7-segment LED display shows the drive status, alarm codes, parameters...
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
External encoder feedback Serial signal and line-driver A-B-Z encoder for full-close control
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).
communication
Interface Personal computer/ Connector mini-USB
Communications standard Compliant with USB 2.0 standard
Function Parameter setting and status monitoring
Communications protocol MECHATROLINK-II
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
Switches 2 x rotary switches for setting the MECHATROLINK-II node address
Conformed standards EN ISO13849-1:2008 (PL- d, Performance Level d), IEC61800-5 -2:2007 (function STO, Safe Torque OFF),
MECHATROLINK-II commands (for sequence, motion, data setting/reference, monitor, adjustment and other
commands)
origin proximity, forward/reverse torque limit, general purpose monitor input).
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.
The monitoring signals to output and their scaling can be specified with parameters.
Number of channels: 2 (Output voltage: ±10V DC)
MECHATROLINK-II communications status LED indicator (COM)
function.
EN61508:2001 (Safety Integrity Level 2, SIL2), EN954-1:1996 (CAT3).
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
Performance Frequency characteristics 2 kHz
Speed control Speed reference voltage 6 VDC at rated speed: set at delivery (the scale and polarity can be set by parameters)
Torque control Torque reference voltage 3 VDC at rated torque: set at delivery (the scale and polarity can be set by parameters).
Input signal
Speed/torque control
Command
pulse
Input signal
Position control
Command
pulse
Input signal
External encoder scaling Applicable scaling ratio: 1/20 - 160
Full-closed control
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-
I/O signal
Sequence output signal It is possible to output four types of signal form incl.: brake release, servo ready, servo alarm, positioning com-
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.
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.
Speed limit Speed limit can be set by parameter.
Input pulse type Sign + pulse train, 90° phase displacement 2-phase pulse (A-phase+ B-phase) or CCW/CW pulse train
Input pulse frequency 4 Mpps max. (200 Kpps max. at open collector).
Command pulse scaling
(Electronic Gear)
Input pulse type Sign + pulse train, 90° phase displacement 2-phase pulse (A-phase+ B-phase) or CCW/CW pulse train
Input pulse frequency 4 Mpps max. (200 Kpps max. at open collector).
Command pulse scaling
(Electronic Gear)
control, (5) position/torque control, (6) velocity/torque control and (7) full-closed control.
Applicable scaling ratio: 1/1000 - 1000
Any value of 1-2
per motor revolution). The combination has to be within the range shown above.
Applicable scaling ratio: 1/1000 - 1000
Any value of 1-2
The combination has to be within the range shown above.
Any value of 1-2
per motor revolution). The combination has to be within the range shown above.
bition, vibration filter switching, gain switching, electronic gear switching, error counter reset, pulse prohibition,
alarm reset, internal speed selection, torque limit switching, zero speed, emergency stop, inertia ratio switching,
velocity/torque command sign).
- Dedicated input x 1 (SEN: sensor ON, ABS data request).
plete, motor rotation speed detection, torque limit detection, zero speed detection, speed coincidence detection,
warning, position command status, speed limit detection, speed command status.
30
can be set for numerator (encoder resolution) and denominator (command pulse resolution
30
can be set for numerator (encoder resolution) and denominator (command pulse resolution).
30
can be set for numerator (encoder resolution) and denominator (external encoder resolution
64 AC servo systems
USB
Communications
Interface Personal computer/ Connector mini-USB
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
Encoder divider function Optional division possible
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...
Integrated functions
Panel operator keys Used to set/monitor parameters and drive condition (5 key switches).
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
Conformed standards EN ISO13849-1:2008 (PL- d, Performance Level d), IEC61800-5 -2:2007 (function STO, Safe Torque OFF),
function.
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
AC Servo systems
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
MECHATROLINK-II servo drives Analog/pulse servo drives
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)
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
L3
L1C Control power supply input terminal AC power input terminals for the control circuit
L2C
24 V DC power input terminals for the control circuit
0 V
B1 External regeneration resistor connection terminals Servo drives below 750W: no internal resistor is connected. Leave B2 and B3 open.
B2
B3
U Servo motor connection terminals Terminals for outputs to the servomotor.
V
W
Note: for single-phase servo drives connect the power supply input to L1 and L3.
(for 200V single/three-phase servo drives only).
(for 400V three-phase servo drives only).
Connect an external regenerative resistor between B1 and B2.
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.
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
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
15
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
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.
BTP-I
BTN-I
NCL Reverse torque limit
SI-MON1 General-purpose monitor input 1
SI-MON2 General-purpose monitor input 2
Connecting pin for the absolute encoder backup battery. Do not connect when a battery is connected to the encoder cable (CN2
connector).
parameters settings.
changed by parameter setting.
I/O signals (CN1) - output signals (for MECHATROLINK-II servo drives)
Pin No. Signal name Function
1 BRK-OFF+ External brake release signal
2BRK-OFF
25 S-RDY+ Servo ready: ON when there is no servo alarm and control/main circuit power supply is ON
26 S-RDY3 ALM+ Servo alarm: Turns OFF when an error is detected
4ALM-
- 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
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
parameters settings
66 AC servo systems
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