Omron G-SERIES DATASHEET
R88D-GN@
G-Series servo drive
A compact servo drive family for motion
control. Compact size and integrated
MECHATROLINK-II motion bus.
• High-response frequency of 1 kHZ
• Auto-tuning for easy and quick start-up
• Vibration suppression
• Positioning, speed or torque control
• Separate power and control power supply
• Fast and accurate positioning
• Incremental and absolute encoder
Ratings
• 230 VAC Single-phase 100 W to 1.5 kW (8.62 Nm)
System configuration
G-Series MECHATROLINK-II Servo Drive Configuration
Position control unit
CJ1W-NC_71
CS1W-NC_71
Motion Controller
TJ1-MC04/16
CJ1W-MCH72
G-Series
Servo Drive
AC SERVO DRIVER
ADR
0
0
1
1
9
2
2
8
3
3
7
4
6
5
X10
X1
COM
SP
IM
G
MECHATROLINK-II
Encoder cablePower cable
G-Series
Servo Drive
AC SERVO DRIVER
COM
SP
IM
G
ADR
0
0
1
1
9
2
2
8
3
3
7
4
6
5
X10
X1
Personal computer
software: CX-One
G-Series
Servo Drive
AC SERVO DRIVER
ADR
0
1
2
3
X10
COM
SP
IM
G
G-Series
Servo Drive
0
1
9
2
8
3
7
4
6
5
X1
AC SERVO DRIVER
ADR
0
0
1
1
9
2
2
8
3
3
7
4
6
5
X10
X1
COM
SP
IM
G
G-Series
Servo Drive
AC SERVO DRIVER
ADR
0
0
1
1
9
2
8
3
7
4
6
5
X10
X1
COM
SP
IM
G
2
3
Terminator
G-Series Servo Motor
Cylindric servo motors
(50-1500 W)
G-Series Servo Motor
Flat servo motors (100-400 W)
1G-Series servo drive
Servo motor supported
Family Voltage Speed Rated torque Capacity Model
Cylindric 50 - 750 W 230 V 3000 min
900 - 1500 W 3.18 Nm 1000 W R88M-G1K030T-@S2 R88D-GN15H-ML2
Flat 100-400 W 3000 min
Servo motor G-Series servo drive
-1
0.16 Nm 50 W R88M-G05030@-@S2 R88D-GN01H-ML2
0.32 Nm 100 W R88M-G10030@-@S2 R88D-GN01H-ML2
0.64 Nm 200 W R88M-G20030@-@S2 R88D-GN02H-ML2
1.3 Nm 400 W R88M-G40030@-@S2 R88D-GN04H-ML2
2.4 Nm 750 W R88M-G75030@-@S2 R88D-GN08H-ML2
4.77 Nm 1500 W R88M-G1K530T-@S2 R88D-GN15H-ML2
-1
2000 min
1000 min
4.8 Nm 1000 W R88M-G1K020T-@S2 R88D-GN10H-ML2
7.15 Nm 1500 W R88M-G1K520T-@S2 R88D-GN15H-ML2
-1
8.62 Nm 900 W R88M-G90010T-@S2 R88D-GN15H-ML2
-1
0.32 Nm 100 W R88M-GP10030@-@S2 R88D-GN01H-ML2
0.64 Nm 200 W R88M-GP20030@-@S2 R88D-GN02H-ML2
1.3 Nm 400 W R88M-GP40030@-@S2 R88D-GN04H-ML2
Type designation
Servo drive
R88D-GN04H-ML2
G-Series servo drive
N: Network type
Capacity
100 W
01
200 W
02
04
400 W
08
750 W
1.0 kW
10
15
1.5 kW
Model
ML2: MECHATROLINK-II communications
Source voltage
H: 230 V
Servo drive specifications
G-Series servo drive
Servo drive type R88D-GN@ 01H-ML2 02H-ML2 04H-ML2 08H-ML2 10H-ML2 15H-ML2
Applicable
servomotor
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%
Supply Control circuit
Control method IGBT-driven PWM method
Feedback Serial encoder (incremental/absolute)
Usage/storage temperature 0 to +55 °C / -20 to 65 °C
Usage/storage humidity 90% RH or less (non-condensing)
Basic specifications
Altitude 1000m or less above sea level
Vibration/shock resistance 5.88 m/s
Conditions
Configuration Base mounted
Approx. weight Kg 0.8 1.1 1.5 1.7
Speed control range 1:5000
Speed
variance
Frequency characteristics 1 kHz
Torque control accuracy (reproducibility) ±3% (at 20% to 100% of rated torque)
Performance
Soft start time setting 0 to 10 s (acceleration time and deceleration time can be set)
MECHATROLINK
Communication
R88M-G@ 05030@/10030@ 20030@ 40030@ 75030@ G1K020T@ 90010T@ / 1K030T@ /
R88M-GP@ 10030@ 20030@ 40030@ - - -
(50/60 Hz)
For single-phase, 200 to 240 VAC + 10 to -15% (50/60 Hz)
2
/ 19.6 m/s
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)
MECHATROLINK-II commands
(for sequence, motion, data setting/reference, monitor, adjustament and other commands)
2
For single-phase/ three-phase, 200 to 240 VAC +10 to -15%
(50/60 Hz)
1K5@0T@
Command Input
Position/Speed/torque control mode
2 AC servo systems
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@ - - -
Sequence input signal Emergency stop, 3 external latch signals, forward/reverse torque limit, forward/reverse run prohibit, origin prox-
Sequence output signal It is possible to output three types of signals: positioning completed, speed coincidence, rotation speed detection,
I/O signal
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
MECHATROLINK
communications
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
imity, 3 general-purpose inputs
servo ready, current limit, speed limit, brake release and warning signal
run/autotuning operations, real time trace, absolute encoder setting, 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
Integrated functions
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 part names
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)
AC SERVO DRIVE
ADR
0
0
1
1
9
2
2
8
3
3
7
4
6
5
X10
X1
COM
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
Control I/O connector (CN1)
Encoder connector (CN2)
G-Series servo drive 3
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