Omron OMNUC G5 R88M-K, OMNUC G5 R88D-KN User Manual

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Cat. No. I572-E1-01

USER’S MANUAL

ML2 A/B

OMNUC G5 SERIES

R88M-K@

(AC Servomotors)

R88D-KN@-ML2

(AC Servo Drives)

AC SERVOMOTORS/SERVO DRIVES

WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS

Tr ademarks and Copyrights

•

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

Product names and system names in this manual are trademarks or registered trademarks of their respective companies. MECHATROLINK is a registered trademark of the MECHATROLINK Members Association.

•

Introduction

Thank you for purchasing the OMNUC G5 Series. This user's manual explains how to install and wire the OMNUC G5 Series, set parameters needed to operate the G5 Series, and remedies to be taken and inspection methods to be used should problems occur.

Intended Readers

This manual is intended for the following individuals.

Those having electrical knowledge (certified electricians or individuals having equivalent or more knowledge) and also being qualified for one of the following:

 Those in charge of introducing FA equipment

 Those designing FA systems

 Those managing FA sites

Notes

This manual contains the information you need to know to correctly use the OMNUC G5 Series and peripheral equipment. Before using the OMNUC G5 Series, read through this manual and gain a full understanding of the information provided herein. After you finished reading the manual, keep it in a convenient place so that the manual can be referenced at any time. Make sure this manual will also be delivered to the end-user.

Introduction

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Items Requiring Acknowledgment

1. Terms of Warranty

(1) Warranty period

The warranty period of this product is 1 year after its purchase or delivery to the specified location.

(2) Scope of warranty

If the product fails during the above warranty period due to design, material or workmanship, we will provide a replacement unit or repair the faulty product free of charge at the location where you purchased the product.

Take note, however, that the following failures are excluded from the scope of warranty.

a) Failure due to use or handling of the product in any condition or environment not

specified in the catalog, operation manual, etc. b) Failure not caused by this product c) Failure caused by any modification or repair not carried out by OMRON d) Failure caused by any use not intended for this product e) Failure that could not be predicted with the level of science and technology available

when the product was shipped from OMRON f) Failure caused by a natural disaster or any other reason for which OMRON is not held

responsible Take note that this warranty applies to the product itself, and losses induced by a failure

of the product are excluded from the scope of warranty.

2. Limited Liability

(1) OMRON shall not assume any responsibility whatsoever for any special damage, indirect

damage or passive damage arising from this product.

(2) OMRON shall not assume any responsibility for programming done by individuals not

belonging to OMRON, if the product is programmable, or outcomes of such programming.

3. Conditions for Intended Application

(1) If this product is combined with other product, the customer must check the standards and

regulations applicable to such combination. The customer must also check the compatibility of this product with any system, machinery or device used by the customer. If the above actions are not taken, OMRON shall not assume any responsibility regarding the compatibility of this product.

(2) If the product is used in the following applications, consult your OMRON sales representative

to check the necessary items according to the specification sheet, etc. Also make sure the product is used within the specified ratings and performance ranges with an ample margin and implement safety measures, such as designing a safety circuit, to minimize danger should the product fail.

a) Used in any outdoor application, application subject to potential chemical

contamination or electrical interference, or in any condition or environment not

specified in the catalog, operation manual, etc. b) Nuclear power control equipment, incineration equipment, railway, aircraft and vehicle

equipment, medical machinery, entertainment machinery, safety system or any other

device controlled by an administrative agency or industry regulation c) System, machinery or device that may threaten human life or property d) Gas, water or electricity supply system, system operated continuously for 24 hours or

any other equipment requiring high reliability e) Any other application where a high level of safety corresponding to a) to d) above is

required

(3) If the customer wishes to use this product in any application that may threaten human life or

property, be sure to confirm beforehand that the entire system is designed in such a way to notify dangers or ensure the necessary level of safety via design redundancy, and that the product is wired and installed appropriately in the system according to the intended

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Items Requiring Acknowledgment

application.

(4) Sample applications explained in the catalog, etc. are provided for reference purposes only.

When adopting any of these samples, check the function and safety of each equipment or device.

(5) Understand all prohibited items and notes on use provided herein, so that this product will be

used correctly and that customers or third parties will not suffer unexpected losses.

4. Specification Change

The product specifications and accessories explained in the catalog, operation manual, etc. are subject to change, if necessary, for the reasons of improvement, etc. Contact your OMRON sales representative to check the actual specifications of this product.

5. Scope of Service

The price of this product excludes costs of service such as dispatching engineers. If you have any request regarding service, consult your OMRON sales representative.

6. Scope of Application

The above paragraphs are based on the assumption that this product is traded and used in Japan. If you wish to trade or use this product outside Japan, consult your OMRON sales representative.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Safety Precautions Document

Precautions for Safe Use

Precautions for Correct Use

Reference

Danger

Caution

When an incorrect handling can lead to a dangerous situation, which may result in a minor or moderate injury, and when only a property damage may occur

When an incorrect handling can lead to a dangerous situation, which may result in death or serious injury Or, when a serious property damage may occur

Safety Precautions Document



So that the OMNUC G5-Series Servomotor and Servo Drive and peripheral equipment are used safely and correctly, be sure to peruse this Safety Precautions document section and the main text before using the product in order to learn all items you should know regarding the equipment as well as all safety information and precautions.

Make an arrangement so that this manual also gets to the end-user of this product.

After reading this manual, keep it with you at all times.

Explanation of Display



The precautions explained in this section describe important information regarding safety and must be followed without fail.

The display of precautions used in this manual and their meanings are explained below.

Even those items denoted by the caution symbol may lead to a serious outcome depending on the situation. Accordingly, be sure to observe all safety precautions.

This symbol indicates an item you should perform or avoid in order to use the product safely.

This symbol indicates an item you should perform or avoid in order to prevent inoperative, malfunction or any negative effect on performance or function.

This symbol indicates an item that helps deepen your understanding of the product or other useful tip.

Explanation of Symbols

Example of symbols

This symbol indicates danger and caution.

The specific instruction is described using an illustration or text inside or near . The symbol shown to the left indicates "beware of electric shock".

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

This symbol indicates a prohibited item (item you must not do).

The specific instruction is described using an illustration or text inside or near . The symbol shown to the left indicates "disassembly prohibited".

This symbol indicates a compulsory item (item that must be done).

The specific instruction is described using an illustration or text inside or near . The symbol shown to the left indicates "grounding required".

Safety Precautions Document

Danger

For Safe Use of This Product

Illustrations contained in this manual sometimes depict conditions without covers and safety shields for the

purpose of showing the details. When using this product, be sure to install the covers and shields as specified and use the product according to this manual.

If the product has been stored for an extended period of time, contact your OMRON sales representative.

Be sure to ground the frame ground terminals of the Servo Drive and motor to 100  or less. Electric shock may result.

Never touch the parts inside the Servo Drive. Electric shock may result.

While the power is supplied, do not remove the front cover, terminal covers, cables and options. Electric shock may result.

Installation, operation and maintenance or inspection by unauthorized personnel is prohibited. Electric shock or injury may result.

Before carrying out wiring or inspection, turn OFF the power supply and wait for at least 15 minutes. Electric shock may result.

Do not damage, pull, stress strongly or pinch the cables or place heavy articles on them. Electric shock, stopping of product operation or burn damage may result.

Never touch the rotating part of the motor during operation. Injury may result.

Never modify the product. Injury or equipment damage may result.

Install a stopping device on the machine side to ensure safety. * The holding brake is not a stopping device to ensure safety. Injury may result.

Install an immediate stop device externally to the machine so that the operation can be stopped and the power supply cut off immediately. Injury may result.

When the power is restored after a momentary power interruption, the machine may restart suddenly. Never come close to the machine. * Implement remedies to ensure safety of people nearby even when the machine is restarted. Injury may result.

After an earthquake, be sure to conduct safety checks. Electric shock, injury or fire may result.

Never drive the motor using an external drive source. Fire may result.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Safety Precautions Document

Danger

Caution

Do not place flammable materials near the motor, Servo Drive or Regeneration Resistor. Fire may result.

Install the motor, Servo Drive and Regeneration Resistor to non-flammable materials such as metals. Fire may result.

When you perform a system configuration using the safety function, be sure to fully understand the relevant safety standards and the descriptions in the operation manual, and apply them to the system design. Injury or damage may result.

Do not use the cable when it is laying in oil or water. Electric shock, injury or fire may result.

Never connect a commercial power supply directly to the motor. Fire or failure may result.

Do not perform wiring or any operation with wet hands. Electric shock, injury or fire may result.

Do not touch the key grooves with bare hands if a motor with shaft-end key grooves is being used. Injury may result.

Use the motor and Servo Drive in the specified combination. Fire or equipment damage may result.

Do not store or install the product in the following environment:

Location subject to direct sunlight Location where the ambient temperature exceeds the specified level Location where the relative humidity exceeds the specified level Location subject to condensation due to the rapid temperature change Location subject to corrosive or flammable gases Location subject to higher levels of dust, salt content or iron dust Location subject to splashes of water, oil, chemicals, etc. Location where the product may receive vibration or impact directly

Installing or storing the product in these locations may result in fire, electric shock or equipment damage.

The Servo Drive radiator, Regeneration Resistor, motor, etc. may become hot while the power is supplied or remain hot for a while even after the power supply is cut off. Never touch these components. A burn injury may result.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Storage and Transportation

Caution

When transporting the product, do not hold it by the cables or motor shaft. Injury or failure may result.

Do not overload the products. (Follow the instruction on the product label.) Injury or failure may result.

Use the motor eye-bolts only when transporting the motor. Do not use them to transport the machine. Injury or failure may result.

Safety Precautions Document

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Safety Precautions Document

Caution

Installation and Wiring

Do not step on the product or place heavy articles on it. Injury may result.

Do not block the intake or exhaust openings. Do not allow foreign objects to enter the product. Fire may result.

Be sure to observe the mounting direction. Failure may result.

Provide the specified clearance between the Servo Drive and the inner surface of the control panel or other equipment. Fire or failure may result.

Do not apply strong impact on the motor shaft or Servo Drive. Failure may result.

Wire the cables correctly and securely. Runaway motor, injury or failure may result.

Securely tighten the unit mounting screws, terminal block screws and cable screws. Failure may result.

Use crimp terminals for wiring. If simple twisted wires are connected directly to the protective ground terminal, fire may result.

Only use the power supply voltage specified in this manual. Burn damage may result.

In locations where the power supply infrastructure is poor, make sure the rated voltage can be supplied. Equipment damage may result.

Provide safety measures, such as a breaker, to protect against short circuiting of external wiring. Fire may result.

If the product is used in the following locations, provide sufficient shielding measures.

Location where noise generates due to static electricity, etc. Location where a strong electric or magnetic field generates Location where exposure to radioactivity may occur Location where power supply lines are running nearby

Using the product in these locations may result in equipment damage.

Connect an immediate stop relay in series with the brake control relay. Injury or failure may result.

When connecting the battery, make sure the correct polarity is connected. Battery damage or explosion may result.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Operation and Adjustment

Caution

Conduct a test operation after confirming that the equipment is not affected. Equipment damage may result.

Before operating the product in an actual environment, check if it operates correctly based on the parameters you have set. Equipment damage may result.

Never adjust or set parameters to extreme values, as it will make the operation unstable. Injury may result.

Separate the motor from the mechanical system and check its operation before installing the motor to the machine. Injury may result.

If an alarm generated, remove the cause of the alarm and ensure safety, and then reset the alarm and restart the operation. Injury may result.

Do not use the built-in brake of the motor for normal braking operation. Failure may result.

Safety Precautions Document

Do not operate the Servomotor when an excessive load inertia is installed. Failure may result.

Install safety devices to prevent idle running or lock of the electromagnetic brake or the gear head, or leakage of grease from the gear head. Injury, damage or taint damage may result.

If the Servo Drive fails, cut off the power supply to the Servo Drive on the power supply side. Fire may result.

Do not turn ON and OFF the main Servo Drive power supply frequently. Failure may result.

Maintenance and Inspection

After replacing the unit, transfer to the new unit all data needed to resume operation, before restarting the operation. Equipment damage may result.

Never repair the product by disassembling it. Electric shock or injury may result.

Be sure to turn OFF the power supply when the unit is not going to be used for a prolonged period of time. Injury may result.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Safety Precautions Document

Warning label display location

(R88D-KN02H-ML2)

Location of Warning Label

This product bears a warning label at the following location to provide handling warnings. When handling the product, be sure to observe the instructions provided on this label.

Instructions on Warning Label

Disposal

 When disposing of the battery, insulate it using tape, etc. and dispose of it by following the

applicable ordinance of your local government.

 Dispose of the product as an industrial waste.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Items to Check after Unpacking

After unpacking, check the following items.

 Is this the model you ordered?  Is there any damage sustained during shipment?

Accessories of This Product

Safety Precautions document x 1 copy

 Connectors, mounting screws, etc. other than those in the table below are not supplied. They must

be prepared by the customer.

 If any item is missing or a problem is found such as Servo Drive damage, contact the OMRON

dealer or sales office where you purchased your product.

Specifications

Single-

phase 100

VAC

Single-

phase/3-

phase 200

VAC

3-phase

200 VAC

50 W

100 W

200 W

400 W

100 W

200 W

400 W

750 W

1 kW

1.5 kW

2 kW

3 kW

5 kW

600 W

Connector for Main circuit power

supply terminals and Control

circuit power supply terminals

Connector for External

Regeneration Resistor

connection terminals and

Motor connection terminals

Included

 Included

Safety connector

1 kW

3-phase

400 VAC

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

1.5 kW

2 kW

3 kW

 Included

5 kW

Included

Manual Revision History

I572-E1-01

Revision symbol

Manual Revision History

The manual revision symbol is an alphabet appended at the end of the manual number found in the bottom left-hand corner of the front or back cover.

Example

Revision

symbol

01 November 2009 First print

Revision date Description of revision and revised page

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Structure of This Document

This manual consists of the following chapters. Read the necessary chapter or chapters referring to below.

Structure of This Document

Outline

Features and

Chapter 1

Chapter 2

Chapter 3 Specifications

Chapter 4 System Design

Chapter 5

Chapter 6

Chapter 7 Safety Function

Chapter 8

System Configuration

Standard Models and External Dimensions

BASIC CONTROL Mode

Applied Functions

Parameters Details

This chapter explains the features of this product, name of each part, and applicable EC directives and UL standards.

This chapter explains the models of Servo Drive, Servomotor, and peripheral equipment, as well as the external dimensions and mounting dimensions.

This chapter explains the general specifications, characteristics, connector specifications and I/O circuits of the Servo Drive, general specifications, characteristics, encoder specifications of the Servomotor, and all other specifications including those of peripheral equipment.

This chapter explains the installation conditions, wiring methods including wiring conforming to EMC directives and regenerative energy calculation methods regarding the Servo Drive, Servomotor and Decelerator, as well as the performance of External Regeneration Resistors, and so on.

This chapter explains an outline of operations available in various CONTROL modes and explains the contents of setting.

This chapter gives outline of applied functions such as electronic gears, gain switching and soft start, and explains the setting contents.

This function stops the motor based on a signal from a Safety Controller or safety sensor. An outline of the function is explained together with operation and connection examples.

This chapter explains the set value and contents of setting of each parameter.

Chapter 9 Operation

Chapter 10

Chapter 11

Adjustment Functions

Error and Maintenance

Appendix The appendix lists the parameters.

This chapter explains the operating procedures and how to operate in each mode.

This chapter explains the functions, setting methods and items to note regarding various gain adjustments.

This chapter explains the items to check when problems occur, error diagnosis using the alarm LED display and measures, error diagnosis based on the operating condition and measures, and periodic maintenance.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Introduction ............................................................................................1

Items Requiring Acknowledgment .........................................................2

Safety Precautions Document ...............................................................4

Items to Check after Unpacking...........................................................11

Manual Revision History ......................................................................12

Structure of This Document .................................................................13

Chapter1 Features and System Configuration

1-1 Outline ................................................................................................... 1-1

Outline of the OMNUC G5 Series................................................................................ 1-1

Features of the OMNUC G5 Series............................................................................. 1-1

1-2 System Configuration ............................................................................ 1-3

1-3 Names and Functions ............................................................................ 1-4

Servo Drive Part Names..............................................................................................1-4

Servo Drive Functions ................................................................................................. 1-5

1-4 System Block Diagrams......................................................................... 1-6

1-5 Applicable Standards ............................................................................. 1-7

EC Directives............................................................................................................... 1-7

UL and cUL Standards ................................................................................................ 1-7

Functional Safety......................................................................................................... 1-7

Chapter2 Standard Models and External Dimensions

2-1 Servo System Configuration .................................................................. 2-1

2-2 How to Read Model ............................................................................... 2-3

Servo Drive.................................................................................................................. 2-3

Servomotor ..................................................................................................................2-4

2-3 Standard Model List ............................................................................... 2-5

Servo Drive Model List ................................................................................................2-5

Servomotor Model List................................................................................................. 2-6

Servo Drive and Servomotor Combination List ........................................................2-10

Cables and Peripheral Devices Model List................................................................ 2-12

2-4 External and Mounting Dimensions ..................................................... 2-17

Servo Drive Dimensions ............................................................................................ 2-17

Servomotor Dimensions ............................................................................................ 2-28

External Regeneration Resistor Dimensions ............................................................. 2-47

2-5 EMC Filter Dimensions ........................................................................ 2-48

MECHATROLINK-II Repeater Units ..........................................................................2-49

Chapter3 Specifications

3-1 Servo Drive Specifications ..................................................................... 3-1

General Specifications................................................................................................. 3-1

Characteristics............................................................................................................. 3-2

Main Circuit and Motor Connections ........................................................................... 3-8

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Table Of Contents

Control I/O Connector Specifications (CN1).............................................................. 3-13

Control Input Circuits ................................................................................................. 3-15

Control Input Details .................................................................................................. 3-16

Control Output Circuits .............................................................................................. 3-18

Control Output Details ............................................................................................... 3-19

Encoder Connector Specifications (CN2).................................................................. 3-23

External Encoder Connector Specifications (CN4).................................................... 3-23

Monitor Connector Specifications (CN5) ................................................................... 3-27

USB Connector Specifications (CN7)........................................................................ 3-28

Safety Connector Specifications (CN8) ..................................................................... 3-29

3-2 Overload Characteristics (Electronic Thermal Function) ......................3-31

Overload Characteristics Graphs .............................................................................. 3-31

3-3 Servomotor Specifications....................................................................3-32

General Specifications............................................................................................... 3-32

Characteristics........................................................................................................... 3-33

Encoder Specifications .............................................................................................. 3-56

3-4 Cable and Connector Specifications ....................................................3-57

Encoder Cable Specifications.................................................................................... 3-57

Motor Power Cable Specifications............................................................................. 3-59

Connector Specifications........................................................................................... 3-65

Analog Monitor Cable Specifications......................................................................... 3-68

MECHATROLINK-II Communications Cable Specifications ..................................... 3-70

Control Cable Specifications ..................................................................................... 3-72

3-5 External Regeneration Resistor Specifications ....................................3-77

External Regeneration Resistor Specifications ......................................................... 3-77

3-6 Reactor Filter Specifications.................................................................3-79

Specifications ............................................................................................................ 3-79

3-7 MECHATROLINK-II Repeater Unit Specifications ...............................3-80

Specifications ............................................................................................................ 3-80

Repeater Unit Part Names ........................................................................................ 3-81

Connection Method ................................................................................................... 3-82

Chapter4 System Design

4-1 Installation Conditions ............................................................................4-1

Servo Drive Installation Conditions.............................................................................. 4-1

Servomotor Installation Conditions.............................................................................. 4-3

Decelerator Installation Conditions.............................................................................. 4-6

4-2 Wiring .....................................................................................................4-7

Peripheral Equipment Connection Examples .............................................................. 4-7

Main Circuit and Motor Connections ......................................................................... 4-13

4-3 Wiring Conforming to EMC Directives ..................................................4-21

Wiring Method ........................................................................................................... 4-21

Selecting Connection Component ............................................................................. 4-26

4-4 Regenerative Energy Absorption..........................................................4-40

Calculating the Regenerative Energy ........................................................................ 4-40

Servo Drive Regeneration Absorption Capacity ........................................................ 4-42

Regenerative Energy Absorption with an External Regeneration Resistor ............... 4-43

Connecting an External Regeneration Resistor ........................................................ 4-44

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Table Of Contents

Chapter5 BASIC CONTROL Mode

5-1 Position Control ..................................................................................... 5-1

Parameters Requiring Settings.................................................................................... 5-1

Related Functions........................................................................................................ 5-2

Parameter Block Diagram for POSITION CONTROL mode ....................................... 5-3

5-2 Speed Control ........................................................................................ 5-4

Parameters Requiring Settings.................................................................................... 5-4

Related Functions........................................................................................................ 5-4

Parameter Block Diagram for SPEED CONTROL mode ............................................ 5-5

5-3 Torque Control ....................................................................................... 5-6

Parameters Requiring Settings.................................................................................... 5-6

Related Functions........................................................................................................ 5-7

Parameter Block Diagram for TORQUE CONTROL mode ......................................... 5-8

5-4 Full Closing Control ............................................................................... 5-9

Outline of Operation .................................................................................................... 5-9

Parameters Requiring Settings..................................................................................5-10

Parameter Block Diagram for FULL CLOSING CONTROL mode............................. 5-16

Chapter6 Applied Functions

6-1 Sequence I/O Signal .............................................................................. 6-1

Input Signals................................................................................................................ 6-1

Output Signals .............................................................................................................6-4

6-2 Forward and Reverse Drive Prohibition Functions ................................ 6-6

Parameters Requiring Settings.................................................................................... 6-6

6-3 Overrun Protection................................................................................. 6-9

Operating Conditions................................................................................................... 6-9

Parameters Requiring Settings.................................................................................... 6-9

Operation Example.................................................................................................... 6-10

6-4 Backlash Compensation ...................................................................... 6-11

Parameters Requiring Settings..................................................................................6-11

6-5 Brake Interlock ..................................................................................... 6-13

Parameters Requiring Settings..................................................................................6-13

Operating Example.................................................................................................... 6-14

6-6 Electronic Gear Function ..................................................................... 6-18

Parameters Requiring Settings..................................................................................6-18

Operation Example.................................................................................................... 6-20

6-7 Torque Limit Switching ........................................................................ 6-21

Operating Conditions................................................................................................. 6-21

Parameters Requiring Settings..................................................................................6-21

6-8 Soft Start .............................................................................................. 6-23

Parameters Requiring Settings..................................................................................6-23

Soft Start Acceleration or Deceleration Time ............................................................ 6-23

S-curve Acceleration or Deceleration Time ............................................................... 6-24

6-9 Gain Switching Function ...................................................................... 6-25

Parameters Requiring Settings..................................................................................6-26

Gain Switching Setting for Each CONTROL mode ................................................... 6-27

Timing by Gain Switching Setting.............................................................................. 6-32

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Table Of Contents

6-10 Gain Switching 3 Function....................................................................6-36

Operating Conditions................................................................................................. 6-36

Parameters Requiring Settings.................................................................................. 6-36

Operation Example.................................................................................................... 6-37

Chapter7 Safety Function

7-1 Safe Torque OFF (STO) Function ..........................................................7-1

Functional Safety......................................................................................................... 7-1

I/O Signal Specifications.............................................................................................. 7-2

7-2 Operation Example.................................................................................7-4

7-3 Connection Examples.............................................................................7-6

Chapter8 Parameters Details

8-1 Basic Parameters ...................................................................................8-1

8-2 Gain Parameters ....................................................................................8-8

8-3 Vibration Suppression Parameters.......................................................8-20

8-4 Analog Control Parameters ..................................................................8-25

8-5 Interface Monitor Setting Parameters...................................................8-31

8-6 Extended Parameters...........................................................................8-42

8-7 Special Parameters ..............................................................................8-52

Chapter9 Operation

9-1 Operational Procedure ...........................................................................9-1

9-2 Preparing for Operation ..........................................................................9-2

Items to Check Before Turning ON the Power Supply ................................................ 9-2

Turning on the Power Supply ...................................................................................... 9-4

Checking the Displays ................................................................................................. 9-5

Absolute Encoder Setup.............................................................................................. 9-6

9-3 Trial Operation ........................................................................................9-7

Preparation for Trial Operation .................................................................................... 9-7

Trial Operation by Using the CX-Drive ........................................................................ 9-7

Chapter10 Adjustment Functions

10-1 Analog Monitor .....................................................................................10-1

Parameters Requiring Settings.................................................................................. 10-1

10-2 Gain Adjustment...................................................................................10-4

Purpose of the Gain Adjustment................................................................................ 10-4

Gain Adjustment Methods ......................................................................................... 10-4

Gain Adjustment Procedure ...................................................................................... 10-5

10-3 Realtime Autotuning .............................................................................10-6

Parameters Requiring Settings.................................................................................. 10-7

Setting Realtime Autotuning...................................................................................... 10-7

Setting Machine Rigidity ............................................................................................ 10-8

10-4 Manual Tuning....................................................................................10-13

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Table Of Contents

Basic Settings.......................................................................................................... 10-13

10-5 Damping Control................................................................................ 10-21

Outline of Operation ................................................................................................ 10-21

Parameters Requiring Settings................................................................................10-22

10-6 Adaptive Filter.................................................................................... 10-25

Parameters Requiring Settings................................................................................10-26

Operating Procedure ............................................................................................... 10-27

10-7 Notch Filter ........................................................................................ 10-28

Parameters Requiring Settings................................................................................10-29

10-8 Disturbance Observer Function ......................................................... 10-31

Operating Conditions...............................................................................................10-31

Parameters Requiring Settings................................................................................10-32

Operating Procedure ............................................................................................... 10-32

10-9 Friction Torque Compensation Function............................................ 10-33

Operating Conditions...............................................................................................10-33

Parameters Requiring Settings................................................................................10-33

Operation Example..................................................................................................10-34

10-10 Hybrid Vibration Suppression Function ............................................ 10-35

Operating Conditions...............................................................................................10-35

Parameters Requiring Settings................................................................................10-35

Operating Procedure ............................................................................................... 10-35

10-11 Feed-forward Function...................................................................... 10-36

Parameters Requiring Settings................................................................................10-36

Operating Procedure ............................................................................................... 10-37

10-12 Instantaneous Speed Observer Function ......................................... 10-39

Operating Conditions...............................................................................................10-39

Parameters Requiring Settings................................................................................10-39

Operating Procedure ............................................................................................... 10-40

Chapter11 Error and Maintenance

11-1 Error Processing .................................................................................. 11-1

Preliminary Checks When a Problem Occurs ........................................................... 11-1

Precautions When a Problem Occurs ....................................................................... 11-2

Replacing the Servomotor and Servo Drive .............................................................. 11-3

11-2 Warning ............................................................................................... 11-4

Warning List............................................................................................................... 11-4

11-3 Alarms.................................................................................................. 11-6

Emergency Stop Operation at Alarms ..................................................................... 11-13

11-4 Troubleshooting ................................................................................. 11-15

Error Diagnosis Using the Alarm Displays............................................................... 11-15

Error Diagnosis Using the Operation Status............................................................ 11-27

11-5 Periodic Maintenance ........................................................................ 11-35

Servomotor Life Expectancy.................................................................................... 11-35

Servo Drive Life Expectancy ................................................................................... 11-36

Replacing the Absolute Encoder Battery ................................................................ 11-37

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Table Of Contents

Appendix

A-1 Parameter List ....................................................................................... A-1

Index

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Features and System Configuration

This chapter explains the features of this product, name of each part, and applicable EC directives and UL standards.

1-1 Outline ...........................................................................1-1

1-2 System Configuration ..................................................1-3

1-3 Names and Functions ..................................................1-4

1-4 System Block Diagrams...............................................1-6

1-5 Applicable Standards...................................................1-7

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

1-1 Outline

Outline of the OMNUC G5 Series

The OMNUC G5-Series AC Servo Drives (Built-in MECHATROLINK-II communications support type) are a series of Servo Drives supporting the MECHATROLINK-II high-speed motion field network. When you use it with the MECHATROLINK-II Position Control Unit (CJ1W-NCF71 or CS1WNCF71), you can create a sophisticated positioning control system. Also, you need only one communications cable to connect the Servo Drive and the Controller. Therefore, you can realize a position control system easily with reduced wiring effort. With real time autotuning, adaptive filter, notch filter, and damping control, you can set up a system that provides stable operation by suppressing vibration in low-rigidity machines.

Features of the OMNUC G5 Series

The OMNUC G5 Series has the following features.

Data Transmission Using MECHATROLINK-II Communications

When you use it with the MECHATROLINK-II Position Control Unit (CJ1W-NCF71 or CS1WNCF71), you can exchange all control data between the Servo Drive and the Controller through data communications. Since the various control commands are transmitted via data communications, Servomotor's operational performance is maximized without being limited by interface specifications such as the response frequency of the encoder feedback pulses. Therefore, you can use the Servo Drive's various control parameters and monitor data on a

Features and System Configuration

host controller, and unify the system data for management.

Achievement of Accurate Positioning by Full Closing Control

Feedbacks from the external encoder connected to the motor are used to accurately control positions. Accordingly, position control is not affected by deviation caused by ball screws or temperature.

Wide Range of Power Supplies to Match Any Necessity

The OMNUC G5 Series now has models supporting 400 V for use with large equipment, at overseas facilities and in wide-ranging applications and environment. Since the utilization ratio of facility equipment also increases, the TCO (Total Cost of Ownership) will come down.

1-1

Safe Torque OFF (STO) Function to Ensure Safety

You can cut off the motor current to stop the motor based on a signal from an emergency stop button or other safety equipment. In addition to the conventional stop method based on a control signal, the STO function that permits direct stopping without a need to involve the control circuit provides the emergency stop from 2 systems, thereby enhancing safety.

Suppressing Vibration of Low-rigidity Mechanisms during Acceleration/Deceleration

The damping control function suppresses vibration of low-rigidity mechanisms or devices whose tips tend to vibrate.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

1-1 Outline

Two damping filters are provided to enable switching the damping frequency automatically according to the rotation direction and also via an external signal. In addition, the settings can be made easily merely by just setting the damping frequency and filter values, and you are assured of stable operation even if the set values are inappropriate.

Features and System Configuration

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

1-2

OMNUC G5 Series

AC Servo Drive

R88D-KNx-ML2

OMNUC G5 Series

AC Servomotor

R88M-Kx

INC ABS

MECHATRO

LINK-II

Controller

(MECHATROLINK(MECHATROLINK-II Type) Type)

Programmable Controller SYSMAC CS1

Position Control Unit CS1W-NC

Controller

(MECHATROLINK(MECHATROLINK-II-II Type) Type)

Programmable Controller SYSMAC CJ1

Position Control Unit CJ1W-NC

MECHATRO

LINK-II

1-2 System Configuration

Features and System Configuration

1-3

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

1-3 Names and Functions

Display area

Rotary switches for node address setting

MECHATROLINK-II status LED indicator

MECHATROLINK-II communications connector

USB connector (CN7)

Analog monitor connector (CN5)

Motor connection

terminals (U, V and W)

Control circuit

power supply terminals

(L1C and L2C)

Main circuit

power supply terminals

(L1, L2, and L3)

External Regeneration

Resistor connection

terminals (B1, B2 and B3)

Protective ground terminals

Control I/O connector (CN1)

Safety connector (CN8)

External encoder connector (CN4)

Encoder connector (CN2)

Charge lamp

This section describes the name and functions of the Servo Drive.

Servo Drive Part Names

The Servo Drive Part Names are defined as shown below.

1-3 Names and Functions

Features and System Configuration

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

1-4

1-3 Names and Functions

Servo Drive Functions

The functions of each part are the followings:

Display Area

A 2-digit 7-segment LED indicator shows the node address, alarm codes, and other Servo Drive status.

Charge Lamp

Lits when the main circuit power supply is turned ON.

MECHATROLINK-II Status LED Indicator

Indicates the communications status of the MECHATROLINK-II. For details, refer to "MECHATROLINK-II Communications Status LED Indicator"(P.9-4).

Control I/O Connector (CN1)

Used for command input signals and I/O signals.

Encoder Connector (CN2)

Connector for the encoder installed in the Servomotor.

External Encoder Connector (CN4)

Features and System Configuration

Connector for an encoder signal used during full closing control.

Analog Monitor Connector (CN5)

2 analog outputs to monitor values like motor rotation speed, torque command value, etc.

MECHATROLINK-II Communications Connectors (ML2A and ML2B)

Connectors for MECHATROLINK-II communications

1-5

USB Connector (CN7)

Communications connector for the computer.

Safety Connector (CN8)

Connector for the safety devices. If no safety device is used, keep the factory-set safety bypass connector installed.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

1-4 System Block Diagrams

This is the block diagram of the OMNUC G5-Series AC Servo Drive (Built-in MECHATROLINK-II communications support type).

L1C

L2C

CN A

FUSE

15 V G1

5 V

3.3 V

2.5 V

1.5 V E5 V ±12 V

−

SW power supply main circuit control

Internal control power supply

Voltage detection

Relay drive

Regeneration control

MPU&ASIC

Position, speed and torque calculation control area

• PWM control

Overcurrent detection

Gate drive

CN B

Internal Regeneration

Resistor R88D-KN10H-ML2

or more only

Current detection

Display and setting circuit area

U V

Features and System Configuration

Cooling fan R88D-KT10H or more only

CN1

Control

interface

CN2 CN4 CN5 CN7

Encoder

External encoder

Analog

monitor

CN8

USB Safety

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

1-6

1-5 Applicable Standards

This section describes applicable EMC Directives.

EC Directives

directive

Low voltage command

EMC directives

Note. To conform to EMC directives, the Servo Motor and Servo Drive must be installed under the conditions described

in "4-3 Wiring Conforming to EMC Directives" (P.4-21).

Product Applicable standards

AC Servo Drive EN 61800-5-1

AC Servomotor EN60034-1/-5

AC Servo Drive AC Servomotor

UL and cUL Standards

Standard Product Applicable standards File number

UL standards

AC Servo Drive UL508C E179149

AC Servomotor UL1004-1

Features and System Configuration

CSA standards

AC Servo Drive CSA22.2 No. 14 E179149

AC Servomotor CSA22.2 No. 100

EN 55011 class A group 1

IEC61800-3

EN61000-6-2

UL1004 E179189

CSA22.2 No. 100 E179189

E331224

*1 Motor capacity is 50 to 750 W when the power supply voltage is 100 V or 200 V and the rated number

of motor rotation speed is 3,000 r/min.

Functional Safety

Standard Product Applicable standards

Functional safety

1-7

AC Servo Drive EN954-1 (Cat.3)

ISO13849-1 (PLd) EN61508 (SIL 2) EN62061 (SIL 2) EN61800-5-2 (STO) IEC61326-3-1 (SIL 2)

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Standard Models and External Dimensions

This chapter explains the models of Servo Drive, Servomotor, and peripheral equipment, as well as the external dimensions and mounting dimensions.

2-1 Servo System Configuration .......................................2-1

2-2 How to Read Model.......................................................2-3

2-3 Standard Model List .....................................................2-5

2-4 External and Mounting Dimensions..........................2-17

2-5 EMC Filter Dimensions...............................................2-48

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

FNY-W6003-x

MECHATROLINK-II Communications Cable

●

CX-One FA Integrated

Tool Package CX-Programmer and CX-Position and CX-Motion

Support Software

●

CX-One FA Integrated

Tool Package (Including CX-Drive)

●

CX-Drive

WS02-DRVC1

Support Software

Controller

SYSMAC + Position Control Unit (Built-in MECHATROLINK-II Communications type)

Programmable Controller SYSMAC CJ/CS

Position Control Unit (NC) CJ1W-NC

x71

CS1W-NC

x71

FNY-W6022

MECHATROLINK-II Terminating Resistor

2-1 Servo System Configuration

Standard Models and External Dimensions

2-1

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-1 Servo System Configuration

AC Servo Drive

Peripheral Devices

● Reactors

3G3AX-DL 3G3AX-AL

● External

Regeneration Resistors

R88A-RR

External encoder

AC Servomotors

Decelerators

●

OMNUC G5 Series Servo Drive R88D-KN

-ML2 AC100V AC200V AC400V

●

OMNUC G5 Series Servomotor

R88M-K 3000r/min 2000r/min 1000r/min

Motor power signals

Feedback Signals

Power Cables

•

Without Brake R88A-CAxxxxxS

•

With Brake R88A-CAxxxxxB

•

Without Brake R88A-CAxxxxxSR

•

With Brake R88A-CAxxxxxBR

●

Standard Cables

●

Robot Cable

•

750 W or less: R88A-CRKxxxxC

•

7.5k W or more: R88A-CRKCxxxN

•

750W or less: R88A-CRKxxxxCR

•

7.5kW or more: R88A-CRKCxxxNR

●

Standard Cables

●

Robot cables

Encoder Cables

Brake Cables (50 to 750 W max.)

●

Standard Cables

R88A-CAKAxxxB

●

Robot Cable

R88A-CAKAxxxBR

USB

communications

Absolute Encoder Battery Cable

* Not required if a battery is connected to the control connector (CN1).

(One Battery is included with Absolute Encoder Battery Cable with mode numbers ending in “BS.”)

R88A-CRGD0R3C (-BS)

MECHATROLINK-II

Communications

ML2 A/B

Standard Models and External Dimensions

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-2

2-2 How to Read Model

This section describes how to read and understand the model numbers for Servo Drives and Servomotors.

Servo Drive

The Servo Drive model can be identified by the Servo Drive type, applicable Servomotor capacity, power supply voltage, etc.

R88D-KN01H-ML2

OMNUC G5 Series Servo Drive

Drive Type

: Network typeN

Standard Models and External Dimensions

Maximum Applicable Servomotor Capacity

: 50 W

: 100 W

: 200 W

: 400 W

: 750 W

: 1 kW

: 1.5 kW

: 2 kW

: 3 kW

: 5 kW

Power Supply Voltage

: 100 VAC

: 200 VAC

: 400 VAC

Network type ML2: MECHATROLINK-II Communications

2-3

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Servomotor

R88M-KP10030H-BOS2

OMNUC G5 Series Servomotor

Servomotor Capacity

Rated Rotation Speed

Motor Type

Blank : Cylinder type

050 100 200 400 600 750 900 1K0 1K5 2K0 3K0 4K0 5K0

: 50 W : 100 W : 200 W : 400 W : 600 W : 750 W : 900 W : 1 kW : 1.5 kW : 2 kW : 3 kW : 4 kW : 5 kW

10 20 30

: 1,000 r/min : 2,000 r/min : 3,000 r/min

Applied Voltage

F H L C T S

: 400 VAC (incremental encoder specifications) : 200 VAC (incremental encoder specifications) : 100 VAC (incremental encoder specifications) : 400 VAC (absolute encoder specifications) : 200 VAC (absolute encoder specifications) : 100 VAC (absolute encoder specifications)

Options

No B O S2

: Straight shaft : With brake : With oil seal : With key and tap

The model number provides information such as the Servomotor type, applicable motor capacity, rated rotation speed, and power supply voltage.

2-2 How to Read Model

Standard Models and External Dimensions

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-4

2-3 Standard Model List

This section lists the standard models of Servo Drives, Servomotors, Cables, Connectors, and peripheral equipment.

Servo Drive Model List

The table below lists the Servo Drive models.

Specifications Model

Single-phase 100 VAC 50 W R88D-KNA5L-ML2

100 W R88D-KN01L-ML2

200 W R88D-KN02L-ML2

400 W R88D-KN04L-ML2

Single-phase/3-phase 200 VAC 100 W R88D-KN01H-ML2

200 W R88D-KN02H-ML2

400 W R88D-KN04H-ML2

Standard Models and External Dimensions

750 W R88D-KN08H-ML2

1 kW R88D-KN10H-ML2

1.5 kW R88D-KN15H-ML2

3-phase 200 VAC 2 kW R88D-KN20H-ML2

3 kW R88D-KN30H-ML2

5 kW R88D-KN50H-ML2

3-phase 400 VAC 600 W R88D-KN06F-ML2

1 kW R88D-KN10F-ML2

1.5 kW R88D-KN15F-ML2

2 kW R88D-KN20F-ML2

3 kW R88D-KN30F-ML2

5 kW R88D-KN50F-ML2

2-5

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Servomotor Model List

Without brakes

The table below lists the Servomotor models by rated number of motor rotations.

3,000-r/min Servomotors

2-3 Standard Model List

Model

Specifications

50 W R88M-K05030H R88M-K05030H-S2 R88M-K05030T R88M-K05030T-S2

100 V

200 V

100 W R88M-K10030L R88M-K10030L-S2 R88M-K10030S R88M-K10030S-S2

200 W R88M-K20030L R88M-K20030L-S2 R88M-K20030S R88M-K20030S-S2

400 W R88M-K40030L R88M-K40030L-S2 R88M-K40030S R88M-K40030S-S2

50 W R88M-K05030H R88M-K05030H-S2 R88M-K05030T R88M-K05030T-S2

100 W R88M-K10030H R88M-K10030H-S2 R88M-K10030T R88M-K10030T-S2

200 W R88M-K20030H R88M-K20030H-S2 R88M-K20030T R88M-K20030T-S2

400 W R88M-K40030H R88M-K40030H-S2 R88M-K40030T R88M-K40030T-S2

750 W R88M-K75030H R88M-K75030H-S2 R88M-K75030T R88M-K75030T-S2

1 kW R88M-K1K030H R88M-K1K030H-S2 R88M-K1K030T R88M-K1K030T-S2

1.5 kW R88M-K1K530H R88M-K1K530H-S2 R88M-K1K530T R88M-K1K530T-S2

2 kW R88M-K2K030H R88M-K2K030H-S2 R88M-K2K030T R88M-K2K030T-S2

3 kW R88M-K3K030H R88M-K3K030H-S2 R88M-K3K030T R88M-K3K030T-S2

4 kW R88M-K4K030H R88M-K4K030H-S2 R88M-K4K030T R88M-K4K030T-S2

5 kW R88M-K5K030H R88M-K5K030H-S2 R88M-K5K030T R88M-K5K030T-S2

750 W R88M-K75030F R88M-K75030F-S2 R88M-K75030C R88M-K75030C-S2

1 kW R88M-K1K030F R88M-K1K030F-S2 R88M-K1K030C R88M-K1K030C-S2

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Straight shaft

without key

Straight shaft

with key and tap

Standard Models and External Dimensions

1.5 kW R88M-K1K530F R88M-K1K530F-S2 R88M-K1K530C R88M-K1K530C-S2

400 V

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2 kW R88M-K2K030F R88M-K2K030F-S2 R88M-K2K030C R88M-K2K030C-S2

3 kW R88M-K3K030F R88M-K3K030F-S2 R88M-K3K030C R88M-K3K030C-S2

4 kW R88M-K4K030F R88M-K4K030F-S2 R88M-K4K030C R88M-K4K030C-S2

5 kW R88M-K5K030F R88M-K5K030F-S2 R88M-K5K030C R88M-K5K030C-S2

2-6

2-3 Standard Model List

With brakes

Model

Specifications

50 W R88M-K05030H-B R88M-K05030H-BS2 R88M-K05030T-B R88M-K05030T-BS2

100 V

200 V

100 W R88M-K10030L-B R88M-K10030L-BS2 R88M-K10030S-B R88M-K10030S-BS2

200 W R88M-K20030L-B R88M-K20030L-BS2 R88M-K20030S-B R88M-K20030S-BS2

400 W R88M-K40030L-B R88M-K40030L-BS2 R88M-K40030S-B R88M-K40030S-BS2

50 W R88M-K05030H-B R88M-K05030H-BS2 R88M-K05030T-B R88M-K05030T-BS2

100 W R88M-K10030H-B R88M-K10030H-BS2 R88M-K10030T-B R88M-K10030T-BS2

200 W R88M-K20030H-B R88M-K20030H-BS2 R88M-K20030T-B R88M-K20030T-BS2

400 W R88M-K40030H-B R88M-K40030H-BS2 R88M-K40030T-B R88M-K40030T-BS2

750 W R88M-K75030H-B R88M-K75030H-BS2 R88M-K75030T-B R88M-K75030T-BS2

1 kW R88M-K1K030H-B R88M-K1K030H-BS2 R88M-K1K030T-B R88M-K1K030T-BS2

1.5 kW R88M-K1K530H-B R88M-K1K530H-BS2 R88M-K1K530T-B R88M-K1K530T-BS2

2 kW R88M-K2K030H-B R88M-K2K030H-BS2 R88M-K2K030T-B R88M-K2K030T-BS2

3 kW R88M-K3K030H-B R88M-K3K030H-BS2 R88M-K3K030T-B R88M-K3K030T-BS2

4 kW R88M-K4K030H-B R88M-K4K030H-BS2 R88M-K4K030T-B R88M-K4K030T-BS2

5 kW R88M-K5K030H-B R88M-K5K030H-BS2 R88M-K5K030T-B R88M-K5K030T-BS2

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Straight shaft

without key

Straight shaft

with key and tap

Standard Models and External Dimensions

750 W R88M-K75030F-B R88M-K75030F-BS2 R88M-K75030C-B R88M-K75030C-BS2

1 kW R88M-K1K030F-B R88M-K1K030F-BS2 R88M-K1K030C-B R88M-K1K030C-BS2

1.5 kW R88M-K1K530F-B R88M-K1K530F-BS2 R88M-K1K530C-B R88M-K1K530C-BS2

400 V

Note. Models with oil seals are also available.

2 kW R88M-K2K030F-B R88M-K2K030F-BS2 R88M-K2K030C-B R88M-K2K030C-BS2

3 kW R88M-K3K030F-B R88M-K3K030F-BS2 R88M-K3K030C-B R88M-K3K030C-BS2

4 kW R88M-K4K030F-B R88M-K4K030F-BS2 R88M-K4K030C-B R88M-K4K030C-BS2

5 kW R88M-K5K030F-B R88M-K5K030F-BS2 R88M-K5K030C-B R88M-K5K030C-BS2

2-7

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2,000-r/min Servomotors

Without brakes

With brakes

Specifications

1 kW R88M-K1K020H R88M-K1K020H-S2 R88M-K1K020T R88M-K1K020T-S2

1.5 kW R88M-K1K520H R88M-K1K520H-S2 R88M-K1K520T R88M-K1K520T-S2

2 kW R88M-K2K020H R88M-K2K020H-S2 R88M-K2K020T R88M-K2K020T-S2

200 V

3 kW R88M-K3K020H R88M-K3K020H-S2 R88M-K3K020T R88M-K3K020T-S2

2-3 Standard Model List

Model

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Straight shaft

without key

Straight shaft

with key and tap

4 kW R88M-K4K020H R88M-K4K020H-S2 R88M-K4K020T R88M-K4K020T-S2

5 kW R88M-K5K020H R88M-K5K020H-S2 R88M-K5K020T R88M-K5K020T-S2

400 W R88M-K40020F R88M-K40020F-S2 R88M-K40020C R88M-K40020C-BS2

600 W R88M-K60020F R88M-K60020F-S2 R88M-K60020C R88M-K60020C-BS2

1 kW R88M-K1K020F R88M-K1K020F-S2 R88M-K1K020C R88M-K1K020C-S2

1.5 kW R88M-K1K520F R88M-K1K520F-S2 R88M-K1K520C R88M-K1K520C-S2

400 V

2 kW R88M-K2K020F R88M-K2K020F-S2 R88M-K2K020C R88M-K2K020C-S2

3 kW R88M-K3K020F R88M-K3K020F-S2 R88M-K3K020C R88M-K3K020C-S2

4 kW R88M-K4K020F R88M-K4K020F-S2 R88M-K4K020C R88M-K4K020C-S2

5 kW R88M-K5K020F R88M-K5K020F-S2 R88M-K5K020C R88M-K5K020C-S2

1 kW R88M-K1K020H-B R88M-K1K020H-BS2 R88M-K1K020T-B R88M-K1K020T-BS2

1.5 kW R88M-K1K520H-B R88M-K1K520H-BS2 R88M-K1K520T-B R88M-K1K520T-BS2

2 kW R88M-K2K020H-B R88M-K2K020H-BS2 R88M-K2K020T-B R88M-K2K020T-BS2

200 V

3 kW R88M-K3K020H-B R88M-K3K020H-BS2 R88M-K3K020T-B R88M-K3K020T-BS2

4 kW R88M-K4K020H-B R88M-K4K020H-BS2 R88M-K4K020T-B R88M-K4K020T-BS2

5 kW R88M-K5K020H-B R88M-K5K020H-BS2 R88M-K5K020T-B R88M-K5K020T-BS2

400 W R88M-K40020F-B R88M-K40020F-BS2 R88M-K40020C-B R88M-K40020C-BS2

600 W R88M-K60020F-B R88M-K60020F-BS2 R88M-K60020C-B R88M-K60020C-BS2

1 kW R88M-K1K020F-B R88M-K1K020F-BS2 R88M-K1K020C-B R88M-K1K020C-BS2

1.5 kW R88M-K1K520F-B R88M-K1K520F-BS2 R88M-K1K520C-B R88M-K1K520C-BS2

400 V

2 kW R88M-K2K020F-B R88M-K2K020F-BS2 R88M-K2K020C-B R88M-K2K020C-BS2

3 kW R88M-K3K020F-B R88M-K3K020F-BS2 R88M-K3K020C-B R88M-K3K020C-BS2

4 kW R88M-K4K020F-B R88M-K4K020F-BS2 R88M-K4K020C-B R88M-K4K020C-BS2

Standard Models and External Dimensions

5 kW R88M-K5K020F-B R88M-K5K020F-BS2 R88M-K5K020C-B R88M-K5K020C-BS2

Note. Models with oil seals are also available.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-8

2-3 Standard Model List

Without brakes

With brakes

1,000-r/min Servomotors

Model

Specifications

900 kW R88M-K90010H R88M-K90010H-S2 R88M-K90010T R88M-K90010T-S2

200 V

400 V

200 V

400 V

Note. Models with oil seals are also available.

2 kW R88M-K2K010H R88M-K2K010H-S2 R88M-K2K010T R88M-K2K010T-S2

3 kW R88M-K3K010H R88M-K3K010H-S2 R88M-K3K010T R88M-K3K010T-S2

900 kW R88M-K90010F R88M-K90010F-S2 R88M-K90010C R88M-K90010C-S2

2 kW R88M-K2K010F R88M-K2K010F-S2 R88M-K2K010C R88M-K2K010C-S2

3 kW R88M-K3K010F R88M-K3K010F-S2 R88M-K3K010C R88M-K3K010C-S2

900 kW R88M-K90010H-B R88M-K90010H-BS2 R88M-K90010T-B R88M-K90010T-BS2

2 kW R88M-K2K010H-B R88M-K2K010H-BS2 R88M-K2K010T-B R88M-K2K010T-BS2

3 kW R88M-K3K010H-B R88M-K3K010H-BS2 R88M-K3K010T-B R88M-K3K010T-BS2

900 kW R88M-K90010F-B R88M-K90010F-BS2 R88M-K90010C-B R88M-K90010C-BS2

2 kW R88M-K2K010F-B R88M-K2K010F-BS2 R88M-K2K010C-B R88M-K2K010C-BS2

3 kW R88M-K3K010F-B R88M-K3K010F-BS2 R88M-K3K010C-B R88M-K3K010C-BS2

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Straight shaft

without key

Straight shaft

with key and tap

Standard Models and External Dimensions

2-9

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Servo Drive and Servomotor Combination List

The tables in this section show the possible combinations of OMNUC G5 Series Servo Drives and Servomotors. The Servomotors and Servo Drives can only be used in the listed combinations.

-x at the end of the motor model number is for options, such as the shaft type, brake, oil seal and key.

3,000-r/min Servomotors and Servo Drives

2-3 Standard Model List

Voltage

Single-phase

100 V

Single-phase/

3-phase 200 V

Servomotor

Rated

output

50 W R88M-K05030H-x R88M-K05030T-x R88D-KNA5L-ML2

100 W R88M-K10030L-x R88M-K10030S-x R88D-KN01L-ML2

200 W R88M-K20030L-x R88M-K20030S-x R88D-KN02L-ML2

400 W R88M-K40030L-x R88M-K40030S-x R88D-KN04L-ML2

50 W R88M-K05030H-x R88M-K05030T-x R88D-KN01H-ML2

100 W R88M-K10030H-x R88M-K10030T-x R88D-KN01H-ML2

200 W R88M-K20030H-x R88M-K20030T-x R88D-KN02H-ML2

400 W R88M-K40030H-x R88M-K40030T-x R88D-KN04H-ML2

750 W R88M-K75030H-x R88M-K75030T-x R88D-KN08H-ML2

1 kW R88M-K1K030H-x R88M-K1K030T-x R88D-KN15H-ML2

1.5 kW R88M-K1K530H-x R88M-K1K530T-x R88D-KN15H-ML2

2 kW R88M-K2K030H-x R88M-K2K030T-x R88D-KN20H-ML2

3 kW R88M-K3K030H-x R88M-K3K030T-x R88D-KN30H-ML2

5 kW R88M-K5K030H-x R88M-K5K030T-x R88D-KN50H-ML2

750 W R88M-K75030F-x R88M-K75030C-x R88D-KN10F-ML2

With incremental

encoder

With absolute

encoder

Servo Drive

Standard Models and External Dimensions

1 kW R88M-K1K030F-x R88M-K1K030C-x R88D-KN15F-ML2

1.5 kW R88M-K1K530F-x R88M-K1K530C-x R88D-KN15F-ML2

3-phase 400 V

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2 kW R88M-K2K030F-x R88M-K2K030C-x R88D-KN20F-ML2

3 kW R88M-K3K030F-x R88M-K3K030C-x R88D-KN30F-ML2

4 kW R88M-K4K030F-x R88M-K4K030C-x R88D-KN50F-ML2

5 kW R88M-K5K030F-x R88M-K5K030C-x R88D-KN50F-ML2

2-10

2-3 Standard Model List

2,000-r/min Servomotors and Servo Drives

Voltage

Single-phase/

3-phase 200 V

Servomotor

Rated

output

1 kW R88M-K1K020H-x R88M-K1K020T-x R88D-KN10H-ML2

1.5 kW R88M-K1K520H-x R88M-K1K520T-x R88D-KN15H-ML2

2 kW R88M-K2K020H-x R88M-K2K020T-x R88D-KN20H-ML2

3 kW R88M-K3K020H-x R88M-K3K020T-x R88D-KN30H-ML2

4 kW R88M-K4K020H-x R88M-K4K020T-x R88D-KN50H-ML2

With incremental

encoder

With absolute

encoder

Servo Drive

Standard Models and External Dimensions

5 kW R88M-K5K020H-x R88M-K5K020T-x R88D-KN50H-ML2

400 W R88M-K40020F-x R88M-K40020C-x R88D-KN06F-ML2

600 W R88M-K60020F-x R88M-K60020C-x R88D-KN06F-ML2

1 kW R88M-K1K020F-x R88M-K1K020C-x R88D-KN10F-ML2

3-phase 400 V

1.5 kW R88M-K1K520F-x R88M-K1K520C-x R88D-KN15F-ML2

2 kW R88M-K2K020F-x R88M-K2K020C-x R88D-KN20F-ML2

3 kW R88M-K3K020F-x R88M-K3K020C-x R88D-KN30F-ML2

4 kW R88M-K4K020F-x R88M-K4K020C-x R88D-KN50F-ML2

5 kW R88M-K5K020F-x R88M-K5K020C-x R88D-KN50F-ML2

1,000-r/min Servomotors and Servo Drives

Servomotor

Voltage

Single-

phase/3-

phase 200 V

3-phase

200 V

Single-

phase/3-

phase 400 V

Rated

output

900 W R88M-K90010H-x R88M-K90010T-x R88D-KN15H-ML2

2 kW R88M-K2K010H-x R88M-K2K010T-x R88D-KN30H-ML2

3 kW R88M-K3K010H-x R88M-K3K010T-x R88D-KN50H-ML2

900 W R88M-K90010F-x R88M-K90010C-x R88D-KN10F-ML2

With incremental

encoder

With absolute encoder

Servo Drive

2-11

3-phase

400 V

2 kW R88M-K2K010F-x R88M-K2K010C-x R88D-KN30F-ML2

3 kW R88M-K3K010F-x R88M-K3K010C-x R88D-KN50F-ML2

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Cables and Peripheral Devices Model List

The table below lists the models of cables and peripheral devices. The cable include encoder cables, motor power cables, MECHATROLINK-II communications cables, and absolute encoder battery cables. The peripheral devices include External Regeneration Resistors, and reactors.

Encoder Cables (Flexible Cables)

2-3 Standard Model List

Specifications Model

[100 V and 200 V] For 3,000-r/min motors of 50 to 750 W (for both absolute encoders and incremental encoders)

[100 V and 200 V] 3,000-r/min motors of 1.0 kW or more For 2,000-r/min motors For 1,000-r/min motors

[400 V] For 3,000-r/min motors For 2,000-r/min motors For 1,000-r/min motors

1.5 m

10 m R88A-CRKA010CR-E

15 m R88A-CRKA015CR-E

20 m R88A-CRKA020CR-E

1.5 m R88-CRKC001-5NR-E

10 m R88A-CRKC010NR-E

15 m R88A-CRKC015NR-E

20 m R88A-CRKC020NR-E

R88A-CRKA001-5CR-E

3 m R88A-CRKA003CR-E

5 m R88A-CRKA005CR-E

3 m R88A-CRKC003NR-E

5 m R88A-CRKC005NR-E

Standard Models and External Dimensions

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-12

2-3 Standard Model List

Motor Power Cables (Flexible Cables)

[100 V and 200 V] For 3,000-r/min motors of 50 to 750 W

Specifications

Model

For motor without

brake

1.5 m

10 m R88A-CAKA010SR-E 

15 m R88A-CAKA015SR-E 

R88A-CAKA001-5SR-E

3 m R88A-CAKA003SR-E 

5 m R88A-CAKA005SR-E 

For motor with brake



Standard Models and External Dimensions

20 m R88A-CAKA020SR-E 

[200 V] For 3,000-r/min motors of 1 to 2 kW For 2,000-r/min motors of 1 to 2 kW For 1,000-r/min motors of 900 W

[400 V] For 3,000-r/min motors of 750 W to 2 kW For 2,000-r/min motors of 400 W to 2 kW For 1,000-r/min motors of 900 W

For 3,000-r/min motors of 3 to 5 kW For 2,000-r/min motors of 3 to 5 kW For 1,000-r/min motors of 2 to 3 kW

Note.There are separate connectors for power and brakes for 100 V and 200 V 3,000-r/min motors of 50

to 750 W. Therefore, when a motor with a brake is used, it requires both a power cable for a motor without a brake and a brake cable.

1.5 m

10 m R88A-CAGB010SR-E R88A-CAGB010BR-E

15 m R88A-CAGB015SR-E R88A-CAGB015BR-E

20 m R88A-CAGB020SR-E R88A-CAGB020BR-E

1.5 m

10 m R88A-CAGB010SR-E R88A-CAKF010BR-E

15 m R88A-CAGB015SR-E R88A-CAKF015BR-E

20 m R88A-CAGB020SR-E R88A-CAKF020BR-E

1.5 m

10 m R88A-CAGD010SR-E R88A-CAGD010BR-E

15 m R88A-CAGD015SR-E R88A-CAGD015BR-E

20 m R88A-CAGD020SR-E R88A-CAGD020BR-E

R88A-CAGB001-5SR-E R88A-CAGB001-5BR-E

3 m R88A-CAGB003SR-E R88A-CAGB003BR-E

5 m R88A-CAGB005SR-E R88A-CAGB005BR-E

R88A-CAGB001-5SR-E R88A-CAKF001-5BR-E

3 m R88A-CAGB003SR-E R88A-CAKF003BR-E

5 m R88A-CAGB005SR-E R88A-CAKF005BR-E

R88A-CAGD001-5SR-E R88A-CAGD001-5BR-E

3 m R88A-CAGD003SR-E R88A-CAGD003BR-E

5 m R88A-CAGD005SR-E R88A-CAGD005BR-E

2-13

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-3 Standard Model List

MECHATROLINK-II Communications Cables

Specifications Model

MECHATROLINK-II Communications Cable 0.5 m FNY-W6003-A5

1 m FNY-W6003-01

3 m FNY-W6003-03

5 m FNY-W6003-05

10 m FNY-W6003-10

20 m FNY-W6003-20

30 m FNY-W6003-30

MECHATROLINK-II Terminating Resistor FNY-W6022

MECHATROLINK-II Repeater Units

Specifications Model

MECHATROLINK-II Repeater Unit FNY-REP2000

Standard Models and External Dimensions

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-14

2-3 Standard Model List

Absolute Encoder Battery Cables

ABS battery cable (battery not supplied) 0.3 m R88A-CRGD0R3C

ABS battery cable (R88A-BAT01G battery  1 supplied)

Absolute Encoder Backup Battery

Specifications Model

0.3 m

R88A-CRGD0R3C-BS

Standard Models and External Dimensions

Specifications Model

2,000 mA•h 3.6 V R88A-BAT01G

Analog Monitor Cable

Specifications Model

Analog monitor cable 1 m R88A-CMK001S

Connectors

Specifications Model

Motor connector for encoder cable [100 V and 200 V]

For 3,000-r/min of 50 to 750 W

[100 V and 200 V] For 3,000-r/min of 1 to 5 kW For 2,000 r/min, 1,000 r/min [400 V] For 3,000 r/min, 2,000 r/min and 1,000 r/min

Control I/O connector (CN1) R88A-CNW01C

Encoder connector (CN2) R88A-CNW01R

External encoder connector (CN4) R88A-CNK41L

Safety connector (CN8) R88A-CNK81S

Power cable connector (for 750 W max.) R88A-CNK11A

R88A-CNK02R

R88A-CNK04R

2-15

Brake cable connector (for 750 W max.) R88A-CNK11B

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-3 Standard Model List

Control Cables

Specifications Model

Connector-terminal block cables 1 m XW2Z-100J-B34

2 m XW2Z-200J-B34

Connector-terminal block M3 screw type XW2B-20G4

M3.5 screw type XW2B-20G5

M3 screw type XW2D-20G6

External Regeneration Resistors

Specifications Model

Regeneration process capacity: 20 W, 50  (with 150C thermal sensor) R88A-RR08050S

Regeneration process capacity: 20 W, 100  (with 150C thermal sensor) R88A-RR080100S

Regeneration process capacity: 70 W, 47  (with 170C thermal sensor) R88A-RR22047S

Regeneration process capacity: 180 W, 20  (with 200C thermal sensor) R88A-RR50020S

Reactors

Specifications Model

R88D-KNA5L-ML2/-KN01H-ML2 3G3AX-DL2002

R88D-KN01L-ML2/-KN02H-ML2 3G3AX-DL2004

R88D-KN02L-ML2/-KN04H-ML2 3G3AX-DL2007

R88D-KN04L-ML2/-KN08H-ML2/-KN10H-ML2 3G3AX-DL2015

R88D-KN15H-ML2 3G3AX-DL2022

R88D-KN08H-ML2/-KN10H-ML2/-KN15H-ML2/-KN06F-ML2/-KN10F-ML2/

-KN15F-ML2

R88D-KN20H-ML2/-KN30H-ML2/-KN20F-ML2/-KN30F-ML2 3G3AX-AL2055

R88D-KN50H-ML2/-KN50F-ML2 3G3AX-AL2110

3G3AX-AL2025

Standard Models and External Dimensions

Mounting Brackets (L-Brackets for Rack Mounting)

Specifications Model

R88D-KNA5L-ML2/-KN01L-ML2/-KN01H-ML2/-KN02H-ML2 R88A-TK01K

R88D-KN02L-ML2/-KN04H-ML2 R88A-TK02K

R88D-KN04L-ML2/-KN08H-ML2 R88A-TK03K

R88D-KN10H-ML2/-KN15H-ML2/-KN06F-ML2/-KN10F-ML2/-KN15F-ML2 R88A-TK04K

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-16

13270

150

140

φ5.2

2-4 External and Mounting Dimensions

This section describes the external dimensions and the mounting dimensions of Servo Drives, Servomotors, and peripheral devices.

Servo Drive Dimensions

The dimensional description starts with a Servo Drive of the smallest motor capacity, which is followed by the next smallest, and so on.

Single-phase 100 VAC: R88D-KNA5L-ML2/-KN01L-ML2 (50 to 100 W) Single-phase/3-phase 200 VAC: R88D-KN01H-ML2/-KN02H-ML2 (100 to 200 W)

Wall Mounting

Standard Models and External Dimensions

External dimensions Mounting dimensions

2-17

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-4 External and Mounting Dimensions

180

170

150

5.2

R26

φ5.2

2.5

132

19.5

2.5

φ5.2

Square hole

170

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

Standard Models and External Dimensions

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-18

150

132

150

140

φ5.2

2-4 External and Mounting Dimensions

Single-phase/3-phase 100 VAC: R88D-KN02L-ML2 (200 W) Single-phase/3-phase 200 VAC: R88D-KN04H-ML2 (400 W)

Wall Mounting

External dimensions Mounting dimensions

Standard Models and External Dimensions

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

19.5

φ5.2

R2.6

180

170

150

5.2

2.5

132

170

Square hole

φ5.2

2-19

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-4 External and Mounting Dimensions

172

150

140

7.5

φ5.2

R2.6

5.2

180

170

150

172

2.5

19.5

2.5

170

φ5.2

Square hole

Single-phase/3-phase 100 VAC: R88D-KN04L-ML2 (400 W) Single-phase/3-phase 200 VAC: R88D-KN08H-ML2 (750 W)

Wall Mounting

External dimensions Mounting dimensions

Standard Models and External Dimensions

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-20

150

172

φ5.2

140

150

8.5

170

R2.6

φ5.2

170

180

150

86 85

60 40

5.2

5.2 40

19.5

2.5

172

φ5.2

Square hole

2.5

2-4 External and Mounting Dimensions

Single-phase/3-phase 200 VAC: R88D-KN10H-ML2/-KN15H-ML2 (900 W to 1.5 kW)

Wall Mounting

External dimensions Mounting dimensions

Standard Models and External Dimensions

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

2-21

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-4 External and Mounting Dimensions

5017.5

42.5

5.2

φ5.2

R2.6 R2.6

198

188

168

17.5

5.25.2

42.5

φ5.2

R2.6

195

3.5

188

168

17.5

φ5.2

3-phase 200 VAC: R88D-KN20H-ML2 (2 kW)

Wall Mounting

External dimensions Mounting dimensions

Standard Models and External Dimensions

Front Mounting (Using Front Mounting Brackets)

17.5

42.5

R2.6

External dimensions Mounting dimensions

5.2

5017.5

5.2

φ5.2

R2.6

198

188

168

R2.6

5.25.2 φ5.2

30.7

2.5

195

Square hole

17.5

φ5.2

188

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-22

2-4 External and Mounting Dimensions

φ5.2

240

100

130

220

3-phase 200 VAC: R88D-KN30H-ML2/-KN50H-ML2 (3 to 5 kW)

Wall Mounting

External dimensions

R2.6

5.2

130

100

φ5.2

5.2

φ5.2

R2.6

R2.6R2.6

220

240

250

213

Standard Models and External Dimensions

Mounting dimensions

2-23

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-4 External and Mounting Dimensions

φ5.2

240

100

130

Square hole

Front Mounting (Using Front Mounting Brackets)

External dimensions

R2.6

40.7

2.5

5.2

130

100

φ5.2

5.2

R2.6

213

220

240

250

2.5

100

5.2

φ5.2

R2.6R2.6

5.2 65

Standard Models and External Dimensions

Mounting dimensions

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-24

2-4 External and Mounting Dimensions

φ5.2 φ5.2

170

180

150

5.2 5.2 10

R2.6

172

2.5

19.5

2.5

170

158

φ5.2

Square hole

3-phase 400 VAC: R88D-KN06F-ML2/-KN10F-ML2 (600 W to 1.0 kW) 3-phase 400 VAC: R88D-KN15F-ML2 (1.5 kW)

Wall Mounting

External dimensions Mounting dimensions

150

172

150

14.5

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

φ5.2

140

Standard Models and External Dimensions

2-25

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

3-phase 400 VAC: R88D-KN20F-ML2 (2 kW)

φ5.2

R2.6

φ5.2

188

502.5

195

30.7

5.2

17.5

42.5

168

188

198

5.2

17.5

5.2

2.5

5.2

φ5.2

Square hole

Wall Mounting

17.5

42.5

5.2

2-4 External and Mounting Dimensions

External dimensions Mounting dimensions

φ5.2

5.2

195 1.5

φ5.2

Standard Models and External Dimensions

168

188

198

R2.6

5.2 5.2

17.5

R2.6

φ5.2

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

168

180

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-26

φ5.2

R2.6

φ5.2

R2.6

100

5.2

5.2 65

130 100

5.2 5.2

220

240

250

240

220

130

100

213

φ5.2

5.2

R2.6

φ5.2

R2.6

250

240

220

100

5.2 5.2

5.2

130

10015

40.7

2.5

213

2.5

240

100

φ5.2

Square hole

2-4 External and Mounting Dimensions

3-phase 400 VAC: R88D-KN30F-ML2/-KT50F-ML2 (3 to 5 kW)

Wall Mounting

External dimensions Mounting dimensions

Standard Models and External Dimensions

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

2-27

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Servomotor Dimensions

M3 (depth 6)

φ8h6

30h7

12.5

3h9

6.2

25LL

1.5 min.

Boss insertion position (only for the ones with oil seal)

R3.7

R4.2

2−φ4.3

φ46±0.2

40×40

(Shaft end specifications with key and tap)

Encoder connector

Motor connector

In this description, the Servomotors are grouped by rated rotation speed. The description starts with a Servomotor of the smallest capacity, which is followed by the next smallest, and so on.

3,000-r/min Motors (100 V and 200 V)

50 W/100 W (without Brake)

2-4 External and Mounting Dimensions

R88M-K05030H (-S2)/-K10030L (-S2)

R88M-K05030T (-S2)/-K10030S (-S2)

INC

ABS

Dimensions (mm)

Model

LL LM LN

R88M-K05030x 72 48 23

R88M-K10030x 92 68 43

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

Standard Models and External Dimensions

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-28

2-4 External and Mounting Dimensions

ABS

M3 (depth 6)

12.5

3h9

6.2

R3.7

R4.2

2−φ4.3

φ46±0.2

40×40

Motor connector

φ8h6

φ30h7

1.5 min. Boss insertion position

(only for the ones with oil seal)

(Shaft end specifications with key and tap)

Brake connector

Encoder connector

50 W/100 W (with Brake)

R88M-K05030H-B (S2)/-K10030L-B (S2)

INC

R88M-K05030T-B (S2)/-K10030S-B (S2)

Model

R88M-K05030x-Bx 102 78 23

R88M-K10030x-Bx 122 98 43

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

Dimensions (mm)

LL LM LN

Standard Models and External Dimensions

2-29

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

200 W/400 W (without Brake)

INC

ABS

φSh6

φ50h7

20 (200 W) 25 (400 W)

22.5 (400 W) 5 (400 W)

4 (200 W)

8.5

6.5

φ70±0.2

60×60

(Shaft end specifications with key and tap)

1.5 min. Boss insertion position

(only for the ones with oil seal)

4h9 (200 W) 5h9 (400 W)

M4, depth 8 (200 W) M5, depth 10 (400 W)

18 (200 W)

4−φ4.5

Motor connector

Encoder connector

INC

20 (200 W) 25 (400 W)

22.5 (400 W)

5 (400 W)

4 (200 W)

8.5

φ70±0.2

60×60

(Shaft end specifications with key and tap)

1.5 min. Boss insertion position

(only for the ones with oil seal)

6.5

4h9 (200 W) 5h9 (400 W)

M4, depth 8 (200 W) M5, depth 10 (400 W)

18 (200 W)

φSh6

φ50h7

4−ø4.5

Brake connector

Encoder connector

Motor connector

R88M-K20030x (-S2)/-K40030x (-S2)

2-4 External and Mounting Dimensions

Standard Models and External Dimensions

Model

Dimensions (mm)

LL LM S

R88M-K20030x 79.5 56.5 11

R88M-K40030x 99 76 14

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

200 W/400 W (with Brake)

R88M-K20030x-B (S2)/-K40030x-B (S2)

ABS

Model

R88M-K20030x-Bx 116 93 11

R88M-K40030x-Bx 135.5 112.5 14

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

Dimensions (mm)

LL LM S

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-30

2-4 External and Mounting Dimensions

(Shaft end specifications with key and tap)

6h9

15.5

112.2

86.2

φ19h6

φ70h7

Motor connector

Encoder connector

80×80

4−φ6

φ90±0.2

M5 (depth 10)

Motor connector

Brake connector

Encoder connector

(Shaft end specifications with key and tap)

148.2

122.2

25 22

φ19h6

φ70h7

4−φ6

80×80

φ90±0.2

M5 (depth 10)

6h9

15.5

750 W (without Brake)

R88M-K75030H (-S2)

R88M-K75030T (-S2)

INC

ABS

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

750 W (with Brake)

Standard Models and External Dimensions

R88M-K75030H-B (S2)

R88M-K75030T-B (S2)

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

INC

ABS

end of the model number.

2-31

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

1 kW/1.5 kW/2 kW (without Brake)

INC

ABS

KB2

KB1

55LL

101

φ19h6

φ95h7

φ115

4−φ9

φ135

100×100

Encoder connector

Motor and brake connector

M3, through

6h9

φ19h6

15.5

φ95h7

M5 (depth 12)

(Shaft end specifications with key and tap)

R88M-K1K030H (-S2)/-K1K530H (-S2)/-K2K030H (-S2)

2-4 External and Mounting Dimensions

R88M-K1K030T (-S2)/-K1K530T (-S2)/-K2K030T (-S2)

1 kW/1.5 kW/2 kW (with Brake)

R88M-K1K030H-B (S2)/-K1K530H-B (S2)/-K2K030H-B (S2)

R88M-K1K030T-B (S2)/-K1K530T-B (S2)/-K2K030T-B (S2)

Dimensions (mm)

Model

LL LM KB1 KB2

R88M-K1K030x 141 97 66 119

R88M-K1K530x 159.5 115.5 84.5 137.5

R88M-K2K030x 178.5 134.5 103.5 156.5

ABS

Standard Models and External Dimensions

R88M-K1K030x-Bx 168 124 66 146

R88M-K1K530x-Bx 186.5 142.5 84.5 164.5

R88M-K2K030x-Bx 205.5 161.5 103.5 183.5

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-32

INC

ABS

INC

ABS

Encoder connector

Motor and brake connector

KB2

112

55LL

113

312

φ22h6

φ110h7

120×120

4−φ9

φ145

φ162

M3, through

M5 (depth 12)

φ22h6

φ110h7

8h9

(Shaft end specifications with key and tap)

2-4 External and Mounting Dimensions

3 kW (without Brake)

R88M-K3K030H (-S2)

R88M-K3K030T (-S2)

3 kW (with Brake)

R88M-K3K030H-B (S2)

R88M-K3K030T-B (S2)

Standard Models and External Dimensions

Model

Dimensions (mm)

LL LM KB2

R88M-K3K030x 190 146 168

R88M-K3K030x-Bx 215 171 193

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

2-33

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

4 kW/5 kW (without Brake)

ABS

INC

ABS

Encoder connector

Motor and brake connector

LM KB2 KB1

65LL

118

612

φ24h6

φ110h7

130×130

4−φ9

φ165

φ145

M3, through

M8 (depth 20)

φ24h6

φ110h7

8h9

(Shaft end specifications with key and tap)

2-4 External and Mounting Dimensions

R88M-K4K030H (-S2)/-K5K030H (-S2)

INC

R88M-K4K030T (-S2)/-K5K030T (-S2)

4 kW/5 kW (with Brake)

R88M-K4K030H-B (S2)/-K5K030H-B (S2)

R88M-K4K030T-B (S2)/-K5K030T-B (S2)

Model

LL LM KB1 KB2

R88M-K4K030x 208 164 127 186

Dimensions (mm)

Standard Models and External Dimensions

R88M-K5K030x 243 199 162 221

R88M-K4K030x-Bx 233 189 127 211

R88M-K5K030x-Bx 268 224 162 246

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-34

2-4 External and Mounting Dimensions

INC

ABS

Encoder connector

Motor and brake connector

KB2

KB1

55LL

101 (without brake)

103 (with brake)

310

φ19h6

φ95h7

100×100

4−φ9

φ115

φ135

M3, through

M5 (depth 12)

φ19h6

φ95h7

6h9

15.5

(Shaft end specifications with key and tap)

3,000-r/min Motors (400 V)

750 W/1 kW/1.5 kW/2 kW (without Brake)

R88M-K75030F (-S2)/-K1K030F (-S2)/-K1K530F (-S2)/-K2K030F (-S2)

R88M-K75030C (-S2)/-K1K030C (-S2)/-K1K530C (-S2)/-K2K030C (-S2)

750 W/1 kW/1.5 kW/2 kW (with Brake)

R88M-K75030F-B (S2)/-K1K030F-B (S2)/-K1K530F-B (S2)/-K2K030F-B (S2)

R88M-K75030C-B (S2)/-K1K030C-B (S2)/-K1K530C-B (S2)/-K2K030C-B (S2)

Dimensions (mm)

Model

LL LM KB1 KB2

R88M-K75030x 131.5 87.5 56.5 109.5

R88M-K1K030x 141 97 66 119

INC

ABS

Standard Models and External Dimensions

2-35

R88M-K1K530x 159.5 115.5 84.5 137.5

R88M-K2K030x 178.5 134.5 103.5 156.5

R88M-K75030x-Bx 158.5 114.5 53.5 136.5

R88M-K1K030x-Bx 168 124 63 146

R88M-K1K530x-Bx 186.5 142.5 81.5 164.5

R88M-K2K030x-Bx 205.5 161.5 100.5 183.5

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

3 kW (without Brake)

INC

ABS

Encoder connector

Motor and brake connector

KB2

112

55LL

113

312

φ22h6

φ110h7

120×120

4-φ9

φ145

φ162

M3, through

M5 (depth 12)

φ22h6

φ110h7

8h9

(Shaft end specifications with key and tap)

R88M-K3K030F (-S2)

2-4 External and Mounting Dimensions

R88M-K3K030C (-S2)

ABS

3 kW (with Brake)

R88M-K3K030F-B (S2)

R88M-K3K030C-B (S2)

Model

R88M-K3K030x 190 146 168

R88M-K3K030x-Bx 215 171 193

Dimensions (mm)

LL LM KB2

Standard Models and External Dimensions

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-36

2-4 External and Mounting Dimensions

ABS

4 kW/5 kW (without Brake)

R88M-K4K030F (-S2)/-K5K030F (-S2)

R88M-K4K030C (-S2)/-K5K030C (-S2)

4 kW/5 kW (with Brake)

R88M-K4K030F-B (S2)/-K5K030F-B (S2)

R88M-K4K030C-B (S2)/-K5K030C-B (S2)

Motor and brake connector

Encoder connector

118

R88M-K4K030x 208 164 127 186

R88M-K5K030x 243 199 162 221

Model

KB2

KB1

INC

ABS

INC

65LL

130×130

612

φ24h6

φ110h7

Dimensions (mm)

LL LM KB1 KB2

(Shaft end specifications with key and tap)

4−φ9

φ145

φ165

M3, through

φ24h6

φ110h7

8h9

M8 (depth 20)

Standard Models and External Dimensions

R88M-K4K030x-Bx 233 189 127 211

R88M-K5K030x-Bx 268 224 162 246

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

2-37

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-4 External and Mounting Dimensions

INC

ABS

Encoder connector

Motor and brake connector

KB2

KB1

LRLL

116 (1.0 to 2.0 kW)

118 (3.0 kW)

130×130

45 (1.0 to 2.0 kW) 55 (3.0 kW)

41 (1.0 to 2.0 kW) 51 (3.0 kW)

M3, through

M5, depth 12 (1.0 to 2.0 kW) M8, depth 20 (3.0 kW)

8h9

18 (1.0 to 2.0 kW)

20 (3.0 kW)

(Shaft end specifications with key and tap)

612

φSh6

φ110h7

4−φ9

φ165

φ145

φ110 h7

2,000-r/min Motors (200 V)

1 kW/1.5 kW/2 kW/3 kW (without Brake)

R88M-K1K020H (-S2)/-K1K520H (-S2)/-K2K020H (-S2)/-K3K020H (-S2)

R88M-K1K020T (-S2)/-K1K520T (-S2)/-K2K020T (-S2)/-K3K020T (-S2)

1 kW/1.5 kW/2 kW/3 kW (with Brake)

R88M-K1K020H-B (S2)/-K1K520H-B (S2)/-K2K020H-B (S2)/-K3K020H-B (S2)

R88M-K1K020T-B (S2)-K1K520T-B (S2)/-K2K020T-B (S2)/-K3K020T-B (S2)

Dimensions (mm)

Model

LL LR LM S KB1 KB2

R88M-K1K020x 138 55 94 22 60 116

R88M-K1K520x 155.5 55 111.5 22 77.5 133.5

R88M-K2K020x 173 55 129 22 95 151

R88M-K3K020x 208 65 164 24 127 186

INC

Standard Models and External Dimensions

R88M-K1K020x-Bx 163 55 119 22 60 141

R88M-K1K520x-Bx 180.5 55 136.5 22 77.5 158.5

R88M-K2K020x-Bx 198 55 154 22 95 176

R88M-K3K020x-Bx 233 65 189 24 127 211

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-38

Encoder connector

Motor and brake connector

KB2

KB1

70LL

140

176×176

M3, through

(Shaft end specifications with key and tap)

3.218

φ114.3h7

4−φ13.5

φ200

φ233

φ35h6

φ114.3h7

M12 (depth 25)

10h9

2-4 External and Mounting Dimensions

4 kW/5 kW (without Brake)

R88M-K4K020H (-S2)/-K5K020H (-S2)

R88M-K4K020T (-S2)/-K5K020T (-S2)

4 kW/5 kW (with Brake)

R88M-K4K020H-B (S2)/-K5K020H-B (S2)

R88M-K4K020T-B (S2)/-K5K020T-B (S2)

INC

ABS

INC

ABS

Standard Models and External Dimensions

Model

Dimensions (mm)

LL LM KB1 KB2

R88M-K4K020x 177 133 96 155

R88M-K5K020x 196 152 115 174

R88M-K4K020x-Bx 202 158 96 180

R88M-K5K020x-Bx 221 177 115 199

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

2-39

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2,000-r/min Motors (400 V)

ABS

INC

ABS

400 W/600 W (without Brake)

2-4 External and Mounting Dimensions

R88M-K40020F (-S2)/-K60020F (-S2)

400 W/600 W (with Brake)

R88M-K40020F-B (S2)/-K60020F-B (S2)

Motor and brake connector

Encoder connector

101 (without brake)

103 (with brake)

Model

R88M-K40020x 131.5 87.5 56.5 109.5

R88M-K60020x 141 97 66 119

KB2

KB1

INC

55LL

100×100

310

φ19h6

φ95h7

(Shaft end specifications with key and tap)

M3, through

4−φ9

φ135

φ115

φ19h6

φ95h7

6h9

M5 (depth 12)

15.5

Dimensions (mm)

LL LM KB1 KB2

Standard Models and External Dimensions

R88M-K40020x-Bx 158.5 114.5 53.5 136.5

R88M-K60020x-Bx 168 124 63 146

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-40

2-4 External and Mounting Dimensions

INC

ABS

Encoder connector

Motor and brake connector

KB2

KB1

LRLL

116 (1 to 2 kW/without brake)

118 (3 kW/without brake)

118 (1 to 3 kW/with brake)

130×130

45 (1 to 2 kW) 55 (3 kW)

41 (1 to 2 kW) 51 (3 kW)

M3, through

M5, depth 12 (1.0 to 2.0 kW) M8, depth 20 (3.0 kW)

8h9

18 (1 to 2 kW)

20 (3 kW)

(Shaft end specifications with key and tap)

612

φSh6

φ110h7

4-φ9

φ165

φ145

φSh6

φ110h7

1 kW/1.5 kW/2 kW/3 kW (without Brake)

R88M-K1K020F (-S2)/-K1K520F (-S2)/-K2K020F (-S2)/-K3K020F (-S2)

R88M-K1K020C (-S2)/-K1K520C (-S2)/-K2K020C (-S2)/-K3K020C (-S2)

1 kW/1.5 kW/2 kW/3 kW (with Brake)

R88M-K1K020F-B (S2)/-K1K520F-B (S2)/-K2K020F-B (S2)/-K3K020F-B (S2)

R88M-K1K020C-B (S2)/-K1K520C-B (S2)/-K2K020C-B (S2)/-K3K020C-B (S2)

Dimensions (mm)

Model

LL LR LM S KB1 KB2

R88M-K1K020x 138 55 94 22 60 116

R88M-K1K520x 155.5 55 111.5 22 77.5 133.5

R88M-K2K020x 173 55 129 22 95 151

INC

ABS

Standard Models and External Dimensions

2-41

R88M-K3K020x 208 65 164 24 127 186

R88M-K1K020x-Bx 163 55 119 22 57 141

R88M-K1K520x-Bx 180.5 55 136.5 22 74.5 158.5

R88M-K2K020x-Bx 198 55 154 22 92 176

R88M-K3K020x-Bx 233 65 189 24 127 211

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

4 kW/5 kW (without Brake)

ABS

INC

ABS

Encoder connector

Motor and brake connector

KB2

KB1

70LL

140

176×176

M3, through

(Shaft end specifications with key and tap)

3.218

φ35h6

φ114.3h7

4-φ13.5

φ200

φ233

φ35h6

φ114.3h7

M12 (depth 25)

10h9

2-4 External and Mounting Dimensions

R88M-K4K020F (-S2)/-K5K020F (-S2)

R88M-K4K020C (-S2)/-K5K020C (-S2)

4 kW/5 kW (with Brake)

R88M-K4K020F-B (S2)/-K5K020F-B (S2)

R88M-K4K020C-B (S2)/-K5K020C-B (S2)

INC

Standard Models and External Dimensions

Model

Dimensions (mm)

LL LM KB1 KB2

R88M-K4K020x 177 133 96 155

R88M-K5K020x 196 152 115 174

R88M-K4K020x-Bx 202 158 96 180

R88M-K5K020x-Bx 221 177 115 199

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-42

2-4 External and Mounting Dimensions

INC

Encoder connector

Motor and brake connector

KB2

77.5

55LL

116

130×130

M3, through

8h9

(Shaft end specifications with key and tap)

612

φ22h6

φ110h7

4-ø9

φ165

φ145

φ22h6

φ110h7

M5 (depth 12)

1,000-r/min Motors (200 V)

900 W (without Brake)

R88M-K90010H (-S2)

R88M-K90010T (-S2)

900 W (with Brake)

R88M-K90010H-B (S2)

R88M-K90010T-B (S2)

INC

ABS

Standard Models and External Dimensions

2-43

Model

Dimensions (mm)

LL LM KB2

R88M-K90010x 155.5 111.5 133.5

R88M-K90010x-Bx 180.5 136.5 158.5

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2 kW/3 kW (without Brake)

ABS

INC

Encoder connector

Motor and brake connector

KB2

KB1

140

176×176

M3, through

(Shaft end specifications with key and tap)

3.218

φ35h6

φ114.3h7

4−φ13.5

φ200

φ233

φ114.3h7

M12 (depth 25)

10h9

2-4 External and Mounting Dimensions

R88M-K2K010H (-S2)/-K3K010H (-S2)

R88M-K2K010T (-S2)/-K3K010T (-S2)

2 kW/3 kW (with Brake)

R88M-K2K010H-B (S2)/-K3K010H-B (S2)

R88M/-K2K010T-B (S2)/-K3K010T-B (S2)

INC

ABS

Standard Models and External Dimensions

Model

Dimensions (mm)

LL LM KB1 KB2

R88M-K2K010x 163.5 119.5 82.5 141.5

R88M-K3K010x 209.5 165.5 128.5 187.5

R88M-K2K010x-Bx 188.5 144.5 82.5 166.5

R88M-K3K010x-Bx 234.5 190.5 128.5 212.5

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-44

2-4 External and Mounting Dimensions

INC

Encoder connector

Motor and brake connector

KB2

KB1

55LL

130×130

M3, through

M5 (depth 12)

8h9

(Shaft end specifications with key and tap)

612

φ22h6

φ110h7

4-ø9

φ165

φ145

φ22h6

φ110h7

116 (without brake)

118 (with brake)

1,000-r/min Motors (400 V)

900 W (without Brake)

R88M-K90010F (-S2)

R88M-K90010C (-S2)

ABS

900 W (with Brake)

R88M-K90010F-B (S2)

R88M-K90010C-B (S2)

Model

R88M-K90010x 155.5 111.5 77.5 133.5

INC

ABS

Dimensions (mm)

LL LM KB1 KB2

Standard Models and External Dimensions

2-45

R88M-K90010x-Bx 180.5 136.5 74.5 158.5

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2 kW/3 kW (without Brake)

ABS

INC

2-4 External and Mounting Dimensions

R88M-K2K010F (-S2)/-K3K010F (-S2)

R88M-K2K010C (-S2)/-K3K010C (-S2)

2 kW/3 kW (with Brake)

R88M-K2K010F-B (S2)/-K3K010F-B (S2)

R88M-K2K010C-B (S2)/-K3K010C-B (S2)

Motor and brake connector

Encoder connector

140

KB2

KB1

INC

ABS

80LL

176×176

3.218

φ35h6

φ114.3h7

(Shaft end specifications with key and tap)

4−φ13.5

φ233

φ200

M3, through

φ35h6

φ114.3h7

10h9

M12 (depth 25)

Standard Models and External Dimensions

Model

Dimensions (mm)

LL LM KB1 KB2

R88M-K2K010x 163.5 119.5 82.5 141.5

R88M-K3K010x 209.5 165.5 128.5 187.5

R88M-K2K010x-Bx 188.5 144.5 82.5 166.5

R88M-K3K010x-Bx 234.5 190.5 128.5 212.5

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-46

t1.2 200

220

230

4.2

Thermal switch output

500

ϕ3

(0.75 mm

)

ϕ1.5

(0.3 mm

)

360 386 402

4325 10

5.2

2-4 External and Mounting Dimensions

External Regeneration Resistor Dimensions

External Regeneration Resistor

R88A-RR08050S/-RR080100S

Thermal switch output

)

ϕ1.5

(0.3 mm

ϕ3

(0.75 mm

t1.2 104

500

4.2

43.5

Standard Models and External Dimensions

R88A-RR22047S

R88A-RR50020S

122

130

2-47

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-5 EMC Filter Dimensions

drive mounts

output flexes

2-5 EMC Filter Dimensions

Standard Models and External Dimensions

Filter model

R88A-FIK102-RE 190 42 44 180 20

R88A-FIK104-RE 190 57 30 180 30

R88A-FIK107-RE 190 64 35 180 40

R88A-FIK114-RE 190 86 35 180 60

R88A-FIK304-RE 190 86 40 180 60

R88A-FIK306-RE 245 94 40 235 60

R88A-FIK312-RE 290 130 45 280 100

External dimensions Mount dimensions

H W D M1 M2

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

2-48

2-5 EMC Filter Dimensions

MECHATROLINK-II Repeater Units

FNY-REP2000

(97) (34)

77 30

50 1512

(20)

φ4.8

(4)

φ4.8

14 106

Standard Models and External Dimensions

160

1505 5

4.84.8 155012

150

5 5

4.8

Bottom Mounting Back Mounting

M4 tap

150

M4 tap

150

2-49

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Specifications

This chapter explains the general specifications, characteristics, connector specifications and I/O circuits of the Servo Drives, as well as the general specifications, characteristics, encoder specifications of the Servomotors.

3-1 Servo Drive Specifications ..........................................3-1

3-2 Overload Characteristics (Electronic Thermal Function) ... 3-31

3-3 Servomotor Specifications ........................................3-32

3-4 Cable and Connector Specifications ........................3-57

3-5 External Regeneration Resistor Specifications.......3-77

3-6 Reactor Filter Specifications .....................................3-79

3-7 MECHATROLINK-II Repeater Unit Specifications....3-80

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

International standard

3-1 Servo Drive Specifications

Select the Servo Drive matching the Servomotor to be used. Refer to "Servo Drive and Servomotor Combination List"(P.2-10).

General Specifications

Item Specifications

Ambient operating temperature and operating humidity

Storage ambient temperature and humidity

Operating and storage atmosphere

Vibration resistance 10 to 60 Hz and at an acceleration of 5.88 m/s

Impact resistance Acceleration of 19.6 m/s

0 to 55C, 90% RH max. (with no condensation)

-20 to 65C, 90% RH max. (with no condensation)

No corrosive gases

or less (Not to be run continuously at

the resonance point)

max. 2 times each in X, Y, and Z directions

Insulation resistance Between power supply terminal/power terminal and FG terminal: 0.5 M min. (at 500

Specifications

Dielectric strength Between power supply/power line terminals and FG terminal: 1,500 VAC for 1 min at

Protective structure Built into panel

EC directive

UL standards UL 508C

CSA standards CSA22.2 No. 14

Functional safety EN954-1, ISO13849-1, EN61508, EN62061 and IEC61800-5-2, IEC 61326-3-1

Note 1.The above items reflect individual evaluation testing. The results may differ under compound conditions. Note 2.Never perform dielectric strength or other megameter tests on the Servo Drive. Failure to follow this guideline

may result in damaging the internal elements.

Note 3.Depending on the operating conditions, some Servo Drive parts will require maintenance. For details, refer to

"11-5 Periodic Maintenance" (P.11-35).

EMC directive

Low voltage command

VDC Megger)

50/60 Hz

EN 55011, EN 61000-6-2, IEC 61800-3

EN 61800-5-1

3-1

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Characteristics

INC

ABS

100-VAC Input Type

3-1 Servo Drive Specifications

Item

Continuous output current (rms) 1.2 A 1.7 A 2.5 A 4.6 A

Input power supply

Control method All-digital servo

Inverter method IGBT-driven PWM method

PWM frequency 12.0 kHz 6.0 kHz

Weight Approx. 0.8 kg Approx. 0.8 kg Approx. 1.0 kg Approx. 1.6 kg

Maximum applicable motor capacity 50 W 100 W 200 W 400 W

Applicable motor

Main circuit

Control circuit

3,000 r/ min type

Power supply capacity

Power supply voltage

Rated current

Power supply voltage

R88D-

KNA5L-ML2

0.4 KVA 0.4 KVA 0.5 KVA 0.9 KVA

Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz

1.4 A 2.6 A 4.3 A 7.6 A

Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz

K05030H K10030L K20030L K40030L

R88D-

KN01L-ML2

R88D-

KN02L-ML2

R88D-

KN04L-ML2

Specifications

2,000-r/ min type

1,000-r/ min type

K05030T K10030S K20030S K40030S



OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

3-2

3-1 Servo Drive Specifications

INC

ABS

INC

ABS

INC

ABS

200-VAC Input Type

Continuous output current (rms) 1.2 A 1.6 A 2.6 A 4.1 A 5.9 A 9.4 A

Input power supply

PWM frequency 12.0 kHz 6.0 kHz

Weight Approx.

Maximum applicable motor capacity 100 W 200 W 400 W 750 W 1 kW 1.5 kW

Applicable motor

Specifications

Item

Main circuit

Control circuit

3,000-r/ min type

2,000-r/ min type

Power supply capacity

Power supply voltage

Rated current

Power supply voltage

R88D-

KN01H-

ML2

0.5 KVA 0.5 KVA 0.9 KVA 1.3 KVA 1.8 KVA 2.3KVA

Single-phase or 3-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz

1.3 A 2.4/1.3 *

0.8 kg

K05030H K10030H

K05030T K10030T

K1K020H K1K520H

R88D-

KN02H-

ML2

Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz

Approx.

0.8 kg

K20030H K40030H K75030H 

K20030T K40030T K75030T 

R88D-

KN04H-

ML2

A 4.1/2.4 *1 A 6.6/3.6 *1 A 9.1/5.9 *1 A

Approx.

1.0 kg

R88D-

KN08H-

ML2

Approx.

1.6 kg

R88D-

KN10H-

ML2

Approx.

1.8 kg

R88D-

KN15H-

ML2

14.2/8.1 *1 A

Approx.

1.8 kg

K1K030H K1K530H

K1K030T K1K530T

K1K020T K1K520T

1,000-r/ min type

Control method All-digital servo

Inverter method IGBT-driven PWM method

*1. The left value is for single-phase input power and the right value is for 3-phase input power.

K90010H

K90010T

3-3

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

3-1 Servo Drive Specifications

INC

ABS

Item

Continuous output current (rms) 13.4 A 18.7 A 33.0 A

Input power supply

PWM frequency 6.0 kHz

Weight Approx. 2.7 kg Approx. 4.8 kg Approx. 4.8 kg

Maximum applicable motor capacity 2 kW 3 kW 5 kW

Applicable motor

Main circuit

Control circuit

3,000-r/ min type

Power supply capacity

Power supply voltage

Rated current

Power supply voltage

R88D-

KN20H-ML2

3.3 KVA 4.5 KVA 7.5 KVA

3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz

11.8 A 15.1 A 21.6 A

Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz

K2K030H K3K030H

K2K030T K3K030T

R88D-

KN30H-ML2

R88D-

KN50H-ML2

K4K030H K5K030H

K4K030T K5K030T

Specifications

2,000-r/ min type

INC

ABS

1,000-r/ min type

Control method All-digital servo

Inverter method IGBT-driven PWM method

INC

K2K020H K3K020H

K2K020T K3K020T

 K2K010H K3K010H

 K2K010T K3K010T

K4K020H K5K020H

K4K020T K5K020T

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

3-4

3-1 Servo Drive Specifications

ABS

INC

ABS

400-VAC Input Type

Continuous output current (rms) 2.9 A 2.9 A 4.7 A 6.7 A 9.4 A 16.5 A

Input power

PWM frequency 6.0 kHz

Weight Approx.

Maximum applicable motor capacity 600 W 1 kW 1.5 kW 2 kW 3 kW 5 kW

Applicable motor

Specifications

supply

Item

Main circuit

Control circuit

3,000-r/ min type

2,000-r/ min type

Power supply voltage

Rated current

Power supply voltage

INC

ABS

R88D-

KN06F-

ML2

2.8 A 2.8 A 4.7 A 5.9 A 7.6 A 12.1 A

1.9 kg

 K75030F

 K75030C

K40020F K60020F

K40020C K60020C

R88D-

KN10F-

ML2

3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz

Approx.

1.9 kg

K1K020F K1K520F K2K020F K3K020F

K1K020C K1K520C K2K020C K3K020C

R88D-

KN15F-

ML2

24 VDC (20.4 to 27.6 V)

Approx.

1.9 kg

K1K030F K1K530F

K1K030C K1K530C

R88D-

KN20F-

ML2

Approx.

2.7 kg

K2K030F K3K030F

K2K030C K3K030C

R88D-

KN30F-

ML2

Approx.

4.7 kg

KN50F-

Approx.

K4K030F K5K030F

K4K030C K5K030C

K4K020F K5K020F

K4K020C K5K020C

R88D-

ML2

4.7 kg

1,000-r/ min type

Control method All-digital servo

Inverter method IGBT-driven PWM method

K90010F  K2K010F K3K010F

K90010C  K2K010C K3K010C

3-5

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

3-1 Servo Drive Specifications

ABS

Protective Functions

Error detection Description

Control power supply undervoltage The DC voltage of the main circuit fell below the specified value.

Overvoltage The DC voltage in the main circuit is abnormally high.

Main power supply undervoltage The DC voltage of the main circuit is low.

Overcurrent Overcurrent flowed to the IGBT. Motor power line ground fault or short

circuit.

Drive overheat The temperature of the drive radiator exceeded the specified value.

Overload Operation was performed with torque significantly exceeding the rating for

several seconds to several tens of seconds.

Regeneration overload The regenerative energy exceeds the processing capacity of the

Regeneration Resistor.

Encoder communications error The encoder wiring is disconnected.

Encoder communications data error Communications cannot be performed between the encoder and the drive.

Error counter overflow The number of accumulated pulses in the error counter exceeded the set

value for the Error Counter Overflow Level (Pn014).

Excessive hybrid error During full closing control, difference between position of load from external

encoder and position of motor due to encoder was larger than the number of pulses set by Internal/External Feedback Pulse Error Counter Overflow Level (Pn328).

Overspeed The motor rotation speed exceeded the maximum number of rotations.

Electronic gear setting error The set value for the Electronic Gear Ratio (Pn009 to Pn010) is not

appropriate.

Error counter overflow Error counter value based on the encoder pulse reference exceeded 2

(134217728).

Safety input error Either the Safety input 1 or 2 is off, or both of them are off.

Interface I/O setting error An error was detected in the interface I/O signal.

Overrun limit error The motor exceeded the allowable operating range set in the Overrun Limit

Setting (Pn514) with respect to the position command input.

Parameter error Data in the Parameter Save area was corrupted when the power supply

was turned ON and data was read from the EEPROM.

Parameters destruction The checksum for the data read from the EEPROM when the power supply

was turned ON does not match.

Drive prohibition input error The forward drive prohibition and reverse drive prohibition inputs are both

turned OFF.

Absolute encoder system down error The voltage supplied to the absolute encoder is lower than the specified

ABS

Absolute encoder counter overflow error The multi-rotation counter of the absolute encoder exceeds the specified

value.

Specifications

Absolute encoder overspeed error The motor rotation speed exceeds the specified value when only the battery

ABS

Absolute encoder initialization error An error was detected during the absolute encoder initialization.

power supply of the absolute encoder is used.

ABS

Absolute encoder 1-rotation counter error

Absolute encoder multi-rotation counter

ABS

error

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

A 1-turn counter error was detected.

A multi-rotation counter error or phase-AB signal error was detected.

3-6

3-1 Servo Drive Specifications

ABS

Absolute encoder status error The rotation of the absolute encoder is higher than the specified value.

Encoder phase-Z error A phase Z pulse was not detected regularly.

Encoder CS signal error A logic error was detected in the CS signal.

External encoder communications error

External encoder status error An external encoder error code was detected.

Phases-A, B and Z connection error An error occurred in connection of phases A, B, and Z of external encoder.

Node address setting error

Communications error

Specifications

Transmission cycle error

Watchdog data error

Emergency stop input error The emergency stop input circuit opened.

Transmission cycle setting error

SYNC command error

Parameter setting error

Motor non-conformity The combination of the Servomotor and Servo Drive is not appropriate.

Error detection Description

An error was detected in external encoder connection and communications data.

At power-on, the rotary switches for node address setting were set in any value outside the specified range.

The errors not to receive the expected data from the MECHATROLINK-II communications cycles occurred continuously, and exceeded the number of times set in the Communications Control (Pn800).

During the MECHATROLINK-II communications, synchronization frames (SYNC) were not received in conformity with the transmission cycles.

An error occurred in the synchronization data that was exchanged between the master and slave nodes during each MECHATROLINK-II communications cycle.

The transmission cycle setting was incorrect when the MECHATROLINK-II CONNECT command was received.

A SYNC-related command was issued while MECHATROLINK-II was in asynchronous communications mode.

The electronic gear ratio is outside the allowable parameter setting range; either it is smaller than 1/100 x or larger than 100 x.

The encoder was not connected when the power supply was turned ON.

3-7

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Main Circuit and Motor Connections

When wiring the main circuit, use proper wire sizes, grounding systems, and noise resistance.

R88D-KNA5L-ML2/-KN01L-ML2/-KN02L-ML2/-KN04L-ML2/-KN01H-ML2/

-KN02H-ML2/-KN04H-ML2/-KN08H-ML2/-KN10H-ML2/-KN15H-ML2

Main Circuit Connector Specifications (CNA)

3-1 Servo Drive Specifications

Symbol

L1 Main circuit power

supply input

L1C Control circuit power

supply input

L2C

Name Function

R88D-KNxL-ML2 (50 to 400 W) : Single-phase 100 to 115 VAC (85 to 127 V) 50/60 Hz (200 to 400 W) : 3-phase: 200 to 240 VAC (170 to 264 V) 50/60 Hz R88D-KNxH-ML2 (50 W to 1.5 kW) : Single-phase: 200 to 240 VAC (170 to 264 V) 50/ 60 Hz (100 W to 1.5 kW) : 3-phase: 200 to 240 VAC (170 to 264 V) 50/60 Hz

Note. Single-phase should connect to L1 or L3.

R88D-KNxL-ML2 : Single-phase 100 to 115 VAC (85 to 127 V) 50/60 Hz R88D-KNxH-ML2 : Single-phase 200 to 240 VAC (170 to 264 V) 50/ 60 Hz

Motor Connector Specifications (CNB)

Symbol

B1 External Regeneration

Resistor connection

terminals

Name Function

Normally B2 and B3 are short-circuited. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2. (R88D-KN08H-ML2/ KN10H-ML2/ KN15H-ML2)

Specifications

U Motor connection

terminals

V Phase V

WPhase W

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Phase U These are the output terminals to the Servomotor.

Be sure to wire them correctly.

3-8

3-1 Servo Drive Specifications

Precautions for Correct Use

R88D-KN20H-ML2

Main Circuit Connector Specifications (CNA)

Specifications

Symbol

L1 Main circuit power supply

input

L1C Control circuit power

supply input

L2C

Name Function

R88D-KNxH-ML2 (2 kW) : 3-phase: 200 to 230 VAC (170 to 253 V) 50/60 Hz

Note. Single-phase should connect to L1 or L3.

R88D-KNx-ML2 : Single-phase 200 to 230 VAC (170 to 253 V) 50/ 60 Hz

Motor Connector Specifications (CNB)

Symbol

U Motor connection

terminals

V Phase V

W Phase W

Name Function

Phase U These are the output terminals to the Servomotor.

Be sure to wire them correctly.

External Regeneration Resister Connector Specifications (CNC)

Symbol

B1 External Regeneration

Resistor connection

terminals

NC Do not connect.

Name Function

Normally B2 and B3 are short-circuited. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2.

 Tighten the ground screws with the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5).

3-9

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

R88D-KN30H-ML2/R88D-KN50H-ML2

Precautions for Correct Use

Main Circuit Terminal Block Specifications

3-1 Servo Drive Specifications

Symbol

L1 Main circuit power supply

input

L1C Control circuit power

supply input

L2C

B1 External Regeneration

Resistor connection

terminals

NC Do not connect.

U Motor connection

terminals

V Phase V

W Phase W

 Tighten the terminal block screws to the torque of 0.75 N•m (M4) or 1.5 N•m (M5).  If the torque for terminal block screws exceeds 1.2 N•m (M4) or 2.0 N•m (M5), the terminal block

may be damaged.

 Tighten the fixing screw of the terminal block cover to the torque of 0.2 N•m (M3).  Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5).

Name Function

R88D-KNxH-ML2 (3 to 5 kW): 3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz

R88D-KNxH-ML2 : Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz

Normally B2 and B3 are short-circuited. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2.

Phase U These are the output terminals to the Servomotor.

Be sure to wire them correctly.

Specifications

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

3-10

3-1 Servo Drive Specifications

R88D-KN06F-ML2/-KN10F-ML2/-KN15F-ML2/-KN20F-ML2

Main Circuit Connector Specifications (CNA)

Specifications

Symbol

L1 Main circuit power supply

input

Name Function

R88D-KNxF-ML2 (600 W to 2 kW) : 3-phase: 380 to 480 VAC (323 to 528 V) 50/60 Hz

Motor Connector Specifications (CNB)

Symbol

U Motor connection

terminals

V Phase V

W Phase W

Name Function

Phase U These are the output terminals to the Servomotor.

Be sure to wire them correctly.

External Regeneration Resistor Connector Specifications (CNC)

Symbol

B1 External Regeneration

Resistor connection

terminals

Name Function

Normally B2 and B3 are short-circuited. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2.

NC Do not connect.

Control Circuit Connector Specifications (CND)

Symbol

24 V Control circuit power

supply input

0 V

Name Function

24 VDC ± 15%

3-11

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

R88D-KN30F-ML2/R88D-KN50F-ML2

Main Circuit Terminal Block Specifications (TB1)

3-1 Servo Drive Specifications

Symbol

24 V Control circuit power

supply input

0 V

Name Function

24 VDC ± 15%

Main Circuit Terminal Block Specifications (TB2)

Symbol

L1 Main circuit power supply

input

B1 External Regeneration

Resistor connection

terminals

NC Do not connect.

U Motor connection

terminals

V Phase V

W Phase W

Name Function

R88D-KNxH-ML2 (3 to 5 kW): 3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz

Normally B2 and B3 are short-circuited. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2.

Phase U These are the output terminals to the Servomotor.

Be sure to wire them correctly.

Specifications

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

3-12

General-purpose input 1

/ALM

Alarm output

General-purpose output 1

General-purpose output 2

ALMCOM

OUTM1

OUTM1COM

OUTM2COM

OUTM225

IN7

11IN6

10IN5

9IN4

IN3

IN2

5IN1

+24 VIN

General-purpose input 7

General-purpose input 6

General-purpose input 5

General-purpose input 4

General-purpose input 3

General-purpose input 2

12 to 24 VDC

Maximum service voltage : 30 VDC Maximum output current : 50 mADC

13IN8

General-purpose input 8

Frame ground

Shell

4.7 kΩ

BAT

BATGND

Backup battery

1 kΩ

4.7 kΩ

1 kΩ

GND

10 Ω

3-1 Servo Drive Specifications

Control I/O Connector Specifications (CN1)

Control I/O Signal Connections and External Signal Processing

Specifications

*1. Inputs type for pins 5, and 7 to 13 can be determined by parameter setting. *2. Outputs type for pins 1, 2, 25 and 26 can be determined by parameter setting. *3. A cable equipped with a battery is not required, when a backup battery is connected.

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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Control I/O Signal List

CN1 Control Inputs

3-1 Servo Drive Specifications

number

6 24 VIN

5IN1

7IN2

8IN3

9IN4

10 IN5

11 IN6

12 IN7

13 IN8

14 BAT Backup battery input Backup battery connection terminals when the

Symbol

Power supply input 12 to 24 VDC.

Generalpurpose input 1

Generalpurpose input 2

Generalpurpose input 3

Generalpurpose input 4

Generalpurpose input 5

Generalpurpose input 6

Generalpurpose input 7

Generalpurpose input 8

ABS

15 BATGND

Signal

Name Default

Emergency Stop Input

Forward Drive prohibition Input

Reverse Drive prohibition Input

Origin Proximity Input

External Latch Signal 3

External Latch Signal 2

External Latch Signal 1

Monitor Input 0

CONTROL mode

The input terminal  of the external power supply (12 to 24 VDC) for sequence inputs

These are the general-purpose inputs. The input functions are selective by parameters. The External Latch Signals 1 to 3 can be allocated only to IN5 to 7 (or pins 10 to 12) respectively. Refer to "Sequence I/O Signal"(P.6-1) for the allocation.

absolute encoder power is interrupted. (Connection to this terminal is not necessary if you use the absolute encoder battery cable for backup.)

Specifications

CN1 Control Outputs

number

3 /ALM Alarm Output The output is OFF when an alarm is generated for the

4ALMCOM

1OUTM1

2 OUTM1COM

25 OUTM2

26 OUTM2COM

16 GND Signal Ground This is for signal ground.

Symbol

General-purpose Output 1

General-purpose Output 2

Signal

Name Default

Brake interlock Output

Servo Ready Output

CONTROL mode

Servo Drive.

These are the general-purpose outputs. The output functions are selective by parameters. Refer to "Sequence I/O Signal"(P.6-1) for the allocations.

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

3-14

IN2

IN1

OUTM1

BAT

BATGND

OUTM2

ALMCOM

/ALM

IN8

IN3

IN4

IN5

IN6

IN7

OUTM1COM

GND

OUTM2COM

General-purpose

Output 2 Common

General-purpose

Input 2

General-purpose

Output 1

General-purpose

Output 1 Common

+24 VIN

Absolute

encoder backup

battery input

Absolute

encoder backup

battery input

12 to 24-VDC

power

supply input

General-purpose

Output 2

Alarm Output

Common

Alarm Output

General-purpose

Input 8

General-purpose

Input 4

General-purpose

nput 5

General-purpose

Input 6

General-purpose

Input 7

Signal Ground

General-purpose

Input 1

General-purpose

Input 3

4.7 kΩ

1.0 kΩ

IN1

IN2

6+24VIN

To other input circuit

External power supply

12 VDC ± 5% to 24 VDC ± 5%

Power supply capacity 50 mA or more

(per unit)

Signal level ON level: 10 V or more OFF level: 3 V or less

To another input circuit GND common

Photocoupler input

4.7 kΩ

1.0 kΩ

Photocoupler input

3-1 Servo Drive Specifications

CN1 Pin Arrangement

Note Do not connect anything to unused pins (those marked with *).

The input functions for general-purpose inputs 1 to 8 (or IN1 to IN8) and the output functions for general-purpose outputs (OUTM1 and OUTM2) are selective and determined by the user parameters Pn400 to Pn407 (Input Signal Selection 1 to 8) and Pn410 and Pn411 (Output Signal Selection 1 and 2) respectively. Refer to "Sequence I/O

Specifications

Signal"(P.6-1) for the allocation. To use an absolute encoder, connect a battery to either Pin 14 which is the backup battery input, or 15 which is the battery holder for absolute encoder cable. (Never connect to both.)

Connectors for CN1 (Pin 26)

Control Input Circuits

3-15

Name Model Manufacturer

Plug 10126-3000PE

Cable Case 10326-52A0-008

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Sumitomo 3M

Control Input Details

Precautions for Safe Use

This is the detailed information about the CN1 Connector input pins.

General-purpose Inputs (IN1 to IN8)

Pin 5 : General-purpose Input 1 (IN1)

Pin 7 : General-purpose Input 2 (IN2)

Pin 8 : General-purpose Input 3 (IN3)

3-1 Servo Drive Specifications

Pin 9 : General-purpose Input 4 (IN4)

Pin 10 : General-purpose Input 5 (IN5)

Pin 11 : General-purpose Input 6 (IN6)

Pin 12 : General-purpose Input 7 (IN7)

Pin 13 : General-purpose Input 8 (IN8)

Refer to "Sequence I/O Signal"(P.6-1) for the allocation procedures.

Emergency Stop Input (STOP)

 It is used when an external sequence such as the host forcibly turns off the servo.

 If the input is turned off during the Servomotor rotation, the dynamic brake makes a deceleration

stop. After the motor stops, it remains in servo-free state.

 If the Emergency Stop Input (STOP) is ON during the motor is energized, the Force alarm input

error (Alarm No.87.0) occurs.

 It is allocated to the pin 5 at factory setting.

Turn OFF the Emergency Stop Input (STOP) at the same time when you turn OFF the main power. When the main power becomes OFF due to an external emergency stop reason, the motor continues rotation for residual voltage. This may cause human injuries or damages on the machine and devices.

Specifications

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

3-16

Reference

Precautions for Correct Use

3-1 Servo Drive Specifications

]

Forward Drive Prohibition Input (POT) and Reverse Drive Prohibition Input (NOT)

 The two signals are the inputs to prohibit forward and reverse rotation (over-travel inputs).  When one input is ON, the Servo Drive can rotate in the specified direction.  In the Drive Prohibition state, Servomotor switches to servo lock state after deceleration stop.  The maximum torque at deceleration stop is the same as the maximum servomotor torque.  In the Drive Prohibition state, the Servo Drive does not switch to an alarming state.  When the Drive Prohibition Input Selection (Pn504) is set to 1, the operation at a drive prohibit

input can be selected on the Stop Selection for Drive Prohibition Input (Pn505).

 When the Drive Prohibition Input Selection (Pn504) is set to 2, the Drive Prohibition Input

Protection (E380) works at a drive prohibition input.

 In factory setting, the Forward Drive Prohibition Input (POT) is allocated to Pin 7, while the

Reverse Drive Prohibition Input (NOT) is to Pin 8.

In factory setting, both inputs are set to Disabled (in a state to disable the drive prohibition). The setting can be changed by the Drive Prohibit Input Selection (Pn504). The setting on the Input Signal Selection 1 to 10 (Pn400 to Pn409) can change the theory and allocation for the respective Input terminals (CN1 to 7 and 8).

Origin Proximity Input (DEC)

Specifications

External Latch Input Signals (EX1, EX2 and EX3)

 This is the deceleration signal at origin searches.  When the Origin Proximity Input is ON while the Servomotor travels at the origin search feed

speed, it decelerates to the origin search approach speed.

 When the first origin input is entered after the Origin Proximity Input turns OFF, the Servomotor

decelerates to the origin search creep speed, and controls positions for the origin search final travel distance.

 After positioning completes, the position is the origin.  In factory setting, the Origin Proximity Input is assigned to Pin 9.

The Origin Proximity Input (DEC) signals can be entered in the speed control mode and the torque control mode. However, the inputs do not relate the operation.

 These are the external input signals to latch the present value on the feedback pulse counter.  The Encoder position data is obtained at the moment when the External Latch Input is turned on.  In factory setting, the External Latch Input 1 is allocated to Pin 12, the External Latch Input 2 to

Pin 11, and the External Latch Input 3 to Pin 10.

 The external latch inputs are detected by signal raises. The minimal signal width must be 1 ms.  The external latch inputs can only be set to NO (normally open) contact.  The external latch inputs can be allocated to pins 10 to 12 only.

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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

3-1 Servo Drive Specifications

Precautions for Correct Use

−

Di: Surge voltage prevention diode (Use a high-speed diode.)

External power supply 12 to 24 VDC Maximum service voltage: 30 VDC or less Maximum output current: 50mA max.

Servo Drive

10 Ω

Monitor Inputs (MON0, MON1 and MON2)

 They are the monitor inputs.  They do not give any influences to the operation. Only the host controller can monitor them.  In factory setting, the MON0 is allocated to Pin 13.

Forward External Torque Limit Input (PCL) and Reverse External Torque Limit Input (NCL)

 One of them turns ON when the torque is limited to the value set by the Forward External Torque

Limit (Pn525) or the Reverse External Torque Limit (Pn526).

 While the input is on, the operation continues within the torque limit.

 In factory setting, the inputs are not allocated.

Backup Battery Inputs (BAT)

Pin 42 : Backup Battery  Input (BAT)

Pin 43 : Backup Battery  Input (BATGND)

Function:

 They are the backup battery connection terminals used when the absolute encoder power is

interrupted.

 Normally, the battery is connected to the battery holder for the absolute encoder battery cable. Do

not connect anything to these terminals.

Be sure not to connect to both of the absolute encoder battery cable and the backup battery inputs at the same time. Such connection may result in malfunction.

Control Output Circuits

Specifications

Sequence Output

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

3-18

3-1 Servo Drive Specifications

Control Output Details

The chart below illustrates the timings of the command inputs after the control power-on. Enter the Servo ON, and the position, speed or torque command in the correct timing as shown in the chart.

Control Output Sequence

Specifications

*1. Once the internal control power is established, the protective function starts working about 1.5 s after the MPU starts

*2. The Servo ready completed output (READY) turns ON only when all of these conditions are met: The MPU

*3. The Brake Interlock Output (BKIR) turns ON when the OR condition is met: a release request by the servo control

*4. During this period, the Servo ON signal is input on the hardware, but it is not processed.

Control power supply

(L1C and L2C)

Internal control

power supply

MPU initialization

completed

Main circuit power

supply

(L1, L2 and L3)

Servo ready

completed output

(READY)

Alarm output

(/ALM)

Servo ON input

Dynamic brake

Motor power supply

Brake interlock

output (BKIR)

Position, speed or

torque command

OFF

Approx. 100 to 300 ms

OFF

Approx. 1.5 s

Iinitialization

Approx. 2 s

0 s or more

Approx. 10 ms after initialization and main circuit ON

0 ms or more

Approx. 2 ms

Approx. 60 ms

Approx. 4 ms

100 ms or more

initializing itself. Be sure that all I/O signals that are connected to the Servo Drive, especially the Forward/Reverse Drive Prohibition Input (POT/NOT), the Origin Proximity Input (DEC), the external encoder input, are settled before the protective function starts working. The period can be extended by the Power Supply ON Initialization Time (Pn618).

initialization is completed. The Main power is established. No alarm exists. MECHATROLINK-II communications are established. The servo is synchronized (Phase alignment).

and by the MECHATROLINK-II communications.

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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Omron OMNUC G5 R88M-K, OMNUC G5 R88D-KN User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Items Requiring Acknowledgment

Safety Precautions Document

Items to Check after Unpacking

Manual Revision History

Structure of This Document

Table Of Contents

1-1 Outline

Outline of the OMNUC G5 Series

Features of the OMNUC G5 Series

1-2 System Configuration

Servo Drive Part Names

1-3 Names and Functions

Servo Drive Functions

1-4 System Block Diagrams

1-5 Applicable Standards

EC Directives

UL and cUL Standards

Functional Safety

2-1 Servo System Configuration

2-2 How to Read Model

Servo Drive

Servomotor

2-3 Standard Model List

Servo Drive Model List

Servomotor Model List

Servo Drive and Servomotor Combination List

Cables and Peripheral Devices Model List

2-4 External and Mounting Dimensions

Servo Drive Dimensions

Servomotor Dimensions

External Regeneration Resistor Dimensions

2-5 EMC Filter Dimensions

MECHATROLINK-II Repeater Units

3-1 Servo Drive Specifications

General Specifications

Characteristics

Main Circuit and Motor Connections

Control I/O Connector Specifications (CN1)

Control Input Circuits

Control Input Details

Control Output Circuits

Control Output Details