Omron R7D-AP, R7M-A User Manual

Cat. No. I533-E1-04

SMARTSTEP A SERIES
R7M-A@ (Servomotors)
R7D-AP@ (Servo Drivers)

Servomotors/Servo Drivers

USER’S MANUAL

Thank you for choosing this SMARTSTEP A-series product. Proper use and handling
of the product will ensure proper product performance, will lengthen product life, and
may prevent possible accidents.
Please read this manual thoroughly and handle and operate the product with care.
Please keep this manual handy for reference after reading it.

1.To ensure safe and proper use of the OMRON Inverters, please read this USER'S MANUAL (Cat. No.
I533-E1) to gain sufficient knowledge of the devices, safety information, and precautions before actual
use.

2.The products are illustrated without covers and shieldings for closer look in this USER'S MANUAL. For
actual use of the products, make sure to use the covers and shieldings as specified.

3.This USER'S MANUAL and other related user's manuals are to be delivered to the actual end users of the
products.

4.Please keep this manual close at hand for future reference.

5.If the product has been left unused for a long time, please inquire at our sales representative.

NOTICE

1.This manual describes information about installation, wiring, switch setting, and troubleshooting of the
SMARTSTEP A-series Servomotors and Servo Drivers. For information about actual operating proce­dures using a Parameter Unit, refer to the SMARTSTEP A Series Operation Manual (I534).

2.Be sure that this manual accompanies the product to its final user.

3.Although care has been given in documenting the product, please contact your OMRON representative
if you have any suggestions on improving this manual.

4.Assume that anything not specifically described in this manual is not possible.

5.Do not allow the Servomotor or Servo Driver to be wired, set, or operated (from a Parameter Unit) by
anyone that is not a profession electrical engineer or the equivalent.

6.We recommend that you add the following precautions to any instruction manuals you prepare for the
system into which the product is being installed.

• Precautions on the dangers of high-voltage equipment.

• Precautions on touching the terminals of the product even after power has been turned OFF. (These
terminals are live even with the power turned OFF.)

7.Specifications and functions may be changed without notice in order to improve product performance.

8.Positive and negative rotation of AC Servomotors described in this manual are defined as looking at the
end of the output shaft of the motor as follows: Counterclockwise rotation is positive and clockwise rota­tion is negative.

9.Do not perform withstand-voltage or other megameter tests on the product. Doing so may damage inter­nal components.

10.Servomotors and Servo Drivers have a finite service life. Be sure to keep replacement products on hand
and to consider the operating environment and other conditions affecting the service life.

11.Do not set values for any parameters not described in this manual. Operating errors may result. Consult
your OMRON representative if you have questions.

12.Before using the product under conditions which are not described in the manual or applying the product
to nuclear control systems, railroad systems, aviation systems, vehicles, combustion systems, medical
equipment, amusement machines, safety equipment, and other systems, machines, and equipment that
may have a serious influence on lives and property if used improperly, consult your OMRON represen­tative.

Items to Check Before Unpacking

1.Check the following items before removing the product from the package:

• Has the correct product been delivered (i.e., the correct model number and specifications)?

• Has the product been damaged in shipping?

2.Check that the following accessories have been delivered.

• Safety Precautions

No connectors or mounting screws are provided. Obtain these separately.

USER’S MANUAL

SMARTSTEP A SERIES

MODELS R7M-A@ (Servomotors)

R7D-AP@ (Servo Drivers)

Servomotors/Servo Drivers

Notice:

r
f

OMRON products are manufactured for use according to proper procedures by a qualified operator
and only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always heed
the information provided with them. Failure to heed precautions can result in injury to people or dam­age to property.

!DANGER Indicates an imminently hazardous situation which, if not avoided, will result in

death or serious injury. Additionally, there may be severe property damage.

!WARNING Indicates a potentially hazardous situation which, if not avoided, could result in

death or serious injury. Additionally, there may be severe property damage.

!Caution Indicates a potentially hazardous situation which, if not avoided, may result in

minor or moderate injury, or property damage.

OMRON Product References

All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to
an OMRON product, regardless of whether or not it appears in the proper name of the product.

The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means
“word” and is abbreviated “Wd” in documentation in this sense.

The abbreviation “PC” means Programmable Controller and is not used as an abbreviation for anything
else.

Visual Aids

The following headings appear in the left column of the manual to help you locate different types of
information.

Note Indicates information of particular interest for efficient and convenient operation of the product.

 OMRON, 2001

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

General Warnings

Observe the following warnings when using the SMARTSTEP Servomotor and Servo Driver and all
connected or peripheral devices.

This manual may include illustrations of the product with protective covers removed in order to
describe the components of the product in detail. Make sure that these protective covers are on the
product before use.

Consult your OMRON representative when using the product after a long period of storage.

!WARNING Always connect the frame ground terminals of the Servo Driver and the Servomo-

tor to a class-3 ground (to 100
result in electric shock.

!WARNING Do not touch the inside of the Servo Driver. Doing so may result in electric shock.

!WARNING Do not remove the front cover, terminal covers, cables, or optional items while the

power is being supplied. Doing so may result in electric shock.

!WARNING Installation, operation, maintenance, or inspection must be performed by autho-

rized personnel. Not doing so may result in electric shock or injury.

Ω or less). Not connecting to a class-3 ground may

!WARNING Wiring or inspection must not be performed for at least five minutes after turning

OFF the power supply. Doing so may result in electric shock.

!WARNING Do not damage, press, or put excessive stress or heavy objects on the cables.

Doing so may result in electric shock.

!WARNING Do not touch the rotating parts of the Servomotor in operation. Doing so may

result in injury.

!WARNING Do not modify the product. Doing so may result in injury or damage to the product.

!WARNING Provide a stopping mechanism on the machine to ensure safety. The holding

brake is not designed as a stopping mechanism for safety purposes.

!WARNING Provide an external emergency stopping mechanism that can stop operation and

shutting off the power supply immediately. Not doing so may result in injury.

!WARNING Do not come close to the machine immediately after resetting momentary power

interruption to avoid an unexpected restart. (Take appropriate measures to secure
safety against an unexpected restart.) Doing so may result in injury.

!Caution Use the Servomotors and Servo Drivers in a specified combination. Using them

incorrectly may result in fire or damage to the products.

!Caution Do not store or install the product in the following places. Doing so may result in

fire, electric shock, or damage to the product.

• Locations subject to direct sunlight.

• Locations subject to temperatures or humidity outside the range specified in the
specifications.

• Locations subject to condensation as the result of severe changes in tempera­ture.

• Locations subject to corrosive or flammable gases.

• Locations subject to dust (especially iron dust) or salts.

• Locations subject to shock or vibration.

• Locations subject to exposure to water, oil, or chemicals.

!Caution Do not touch the Servo Driver radiator, Servo Driver regeneration resistor, or Ser-

vomotor while the power is being supplied or soon after the power is turned OFF.
Doing so may result in a skin burn due to the hot surface.

Storage and Transportation Precautions

!Caution Do not hold the product by the cables or motor shaft while transporting it. Doing so

may result in injury or malfunction.

!Caution Do not place any load exceeding the figure indicated on the product. Doing so

may result in injury or malfunction.

Installation and Wiring Precautions

!Caution Do not step on or place a heavy object on the product. Doing so may result in

injury.

!Caution Do not cover the inlet or outlet ports and prevent any foreign objects from entering

the product. Doing so may result in fire.

!Caution Be sure to install the product in the correct direction. Not doing so may result in

malfunction.

!Caution Provide the specified clearances between the Servo Driver and the control panel

or with other devices. Not doing so may result in fire or malfunction.

!Caution Do not apply any strong impact. Doing so may result in malfunction.

!Caution Be sure to wire correctly and securely. Not doing so may result in motor runaway,

injury, or malfunction.

!Caution Be sure that all the mounting screws, terminal screws, and cable connector

screws are tightened to the torque specified in the relevant manuals. Incorrect
tightening torque may result in malfunction.

!Caution Use crimp terminals for wiring. Do not connect bare stranded wires directly to ter-

minals. Connection of bare stranded wires may result in burning.

!Caution Always use the power supply voltage specified in the User’s Manual. An incorrect

voltage may result in malfunction or burning.

!Caution Take appropriate measures to ensure that the specified power with the rated volt-

age and frequency is supplied. Be particularly careful in places where the power
supply is unstable. An incorrect power supply may result in malfunction.

!Caution Install external breakers and take other safety measures against short-circuiting in

external wiring. Insufficient safety measures against short-circuiting may result in
burning.

!Caution Take appropriate and sufficient countermeasures when installing systems in the

following locations. Failure to do so may result in damage to the product.

• Locations subject to static electricity or other forms of noise.

• Locations subject to strong electromagnetic fields and magnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies.

Operation and Adjustment Precautions

!Caution Confirm that no adverse effects will occur in the system before performing the test

operation. Not doing so may result in equipment damage.

!Caution Check the newly set parameters and switches for proper execution before actually

running them. Not doing so may result in equipment damage.

!Caution Do not make any extreme adjustments or setting changes. Doing so may result in

unstable operation and injury.

!Caution Separate the Servomotor from the machine, check for proper operation, and then

connect to the machine. Not doing so may cause injury.

!Caution When an alarm occurs, remove the cause, reset the alarm after confirming safety,

and then resume operation. Not doing so may result in injury.

!Caution Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may

result in malfunction.

Maintenance and Inspection Precautions

!WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so

may result in malfunction, fire, or electric shock.

!Caution Resume operation only after transferring to the new Unit the contents of the data

required for operation. Not doing so may result in an unexpected operation.

Warning Labels

Warning labels are pasted on the product as shown in the following illustration. Be sure to follow the
instructions given there.

Warning label

Example from R7D-AP01L

Example from R7D-AP01L

Read and Understand this Manual

Please read and understand this manual before using the product. Please consult your OMRON
representative if you have any questions or comments.

Warranty and Limitations of Liability

WARRANTY

OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a
period of one year (or other period if specified) from date of sale by OMRON.

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON­INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE
PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS
DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR
INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.

LIMITATIONS OF LIABILITY

OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES,
LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS,
WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT
LIABILITY.

In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which
liability is asserted.

IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS
REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS
WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO
CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.

Application Considerations

SUITABILITY FOR USE

OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the
combination of products in the customer's application or use of the products.

At the customer's request, OMRON will provide applicable third party certification documents identifying
ratings and limitations of use that apply to the products. This information by itself is not sufficient for a
complete determination of the suitability of the products in combination with the end product, machine,
system, or other application or use.

The following are some examples of applications for which particular attention must be given. This is not
intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses
listed may be suitable for the products:

• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or
uses not described in this manual.

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical
equipment, amusement machines, vehicles, safety equipment, and installations subject to separate
industry or government regulations.

• Systems, machines, and equipment that could present a risk to life or property.

Please know and observe all prohibitions of use applicable to the products.

NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

PROGRAMMABLE PRODUCTS

OMRON shall not be responsible for the user's programming of a programmable product, or any
consequence thereof.

Disclaimers

CHANGE IN SPECIFICATIONS

Product specifications and accessories may be changed at any time based on improvements and other
reasons.

It is our practice to change model numbers when published ratings or features are changed, or when
significant construction changes are made. However, some specifications of the products may be changed
without any notice. When in doubt, special model numbers may be assigned to fix or establish key
specifications for your application on your request. Please consult with your OMRON representative at any
time to confirm actual specifications of purchased products.

DIMENSIONS AND WEIGHTS

Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when
tolerances are shown.

PERFORMANCE DATA

Performance data given in this manual is provided as a guide for the user in determining suitability and does
not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must
correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and
Limitations of Liability.

ERRORS AND OMISSIONS

The information in this manual has been carefully checked and is believed to be accurate; however, no
responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

Table of Contents

Chapter 1. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1-1 Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-2 System Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1-3 Servo Driver Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5

1-4 Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1-5 System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-7

Chapter 2. Standard Models and Specifications. . . . . . . . . . . . . . . . 2-1

2-1 Standard Models. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2-2 External and Mounted Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

2-3 Servo Driver Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17

2-4 Servomotor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31

2-5 Reduction Gear Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-39

2-6 Cable and Connector Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-43

2-7 Servo Relay Units and Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-58

2-8 Parameter Unit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-111

2-9 External Regeneration Resistor Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-113

2-10 DC Reactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-114

Chapter 3. System Design and Installation . . . . . . . . . . . . . . . . . . . . 3-1

3-1 Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3-2 Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

3-3 Regenerative Energy Absorption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37

Chapter 4. Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4-1 Operational Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4-2 Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4-3 Preparing for Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7

4-4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

4-5 Gain Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11

4-6 User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15

4-7 Operating Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26

Chapter 5. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5-1 Measures when Trouble Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5-2 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5

5-3 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7

5-4 Overload Characteristics (Electron Thermal Characteristics) . . . . . . . . . . . . . . . . . . . . . . . . 5-15

5-5 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16

Chapter 6. Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

6-1 Connection Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . R-1

Introduction

1-1 Features

1-2 System Configuration

1-3 Servo Driver Nomenclature

1-4 Applicable Standards

1-5 System Block Diagrams

Chapter 1

Introduction

Chapter 1

1-1 Features

The SMARTSTEP A-series Servomotors and Servo Drivers have been developed as pulse string
input-type Position Controllers to replace stepping motors in simple positioning systems. The
SMARTSTEP A-series Servomotors and Servo Drivers combine the stepping motor’s ease of use
with faster positioning resulting from high speed and high torque, higher reliability with no loss of
positioning accuracy even during sudden load changes, and other advanced features.

■ Faster Response and Rotation Speed

SMARTSTEP A-series Servomotors and Servo Drivers incorporate the same high-speed and high­torque features, unachievable with stepping motors, as the OMNUC W Series. The SMARTSTEP A­series Servomotors provide faster rotation speeds of up to 4,500 r/min, with constant operation pos­sible at this speed. Faster output torque of up to 1 s can output up to approximately 300% of the
rated torque, providing even faster middle- and long-stroke positioning.

■ Constant Accuracy

The A-series product line’s higher encoder resolution of 2,000 pulses/rotation provides feedback
control enabling continuous operation without loss of positioning accuracy, even with sudden load
changes or sudden acceleration or deceleration.

■ Minimal Setting with Servo Driver Front Panel Switches

The SMARTSTEP A Series can be operated immediately without time-consuming parameter setting.
The A-series Servo Drivers’ front panel switches enable easier alteration of function or positioning
resolution settings.

● Resolution Settings

SMARTSTEP A-series Servomotor resolution can be selected from the following four levels:
500 pulses/rotation (0.72
rotation (0.072

● Command Pulse Input Setting

SMARTSTEP A-series command pulse input setting can be switched between CW/CCW (2-pulse)
and SIGN/PULS (single-pulse) methods to easily adapt to Position Controller output specifica­tions.

● Dynamic Brake Setting

SMARTSTEP A-series Servomotors can be forcibly decelerated to a stop at RUN OFF or when
an alarm occurs.

● Gain Setting

°/step); or 10,000 pulses/rotation (0.036°/step)

°/step); 1,000 pulses/rotation (0.36°/step) (default setting); 5,000 pulses/

A special rotary switch on SMARSTEP A-series Servo Drivers enables easy gain setting. Online
autotuning can also be activated with the flick of a switch, and responsiveness can be easily
matched to the machinery to be used.

1-2

Introduction

Note Using a Parameter Unit or personal computer enables operation with parameter settings.

■ Cylinder-style and Flat-style Servomotors

The SMARTSTEP A Series offers Flanged Cylinder-style Servomotors, with a smaller mounting
area, and Flat-style Servomotors, with a shorter overall length. The Flat Servomotor depth dimen­sions are approximately the same as those of stepping motors of the same output capacity. Servo­motors can be selected by size, thereby making equipment more compact.

■ A Wider Selection of Programming Devices

Special SMARTSTEP A-series Parameter Units and personal computer monitoring software are
available. The special monitoring software enables performing parameter setting, speed and current
monitoring, speed and current waveform displays, I/O monitoring, autotuning, jogging, and other
operations from a computer. It is also possible to perform multiple-axis communications that set the
parameters and monitor operations for multiple Servo Drivers. For details, refer to the Servo Driver

Personal Computer Monitor Software (CD-ROM) for Windows 95/98, Version 2.0 (WMON Win
Ver.2.0) (Catalog No.: SBCE-011).

Chapter 1

1-3

Introduction

SCROLL

MODE/SET

DATA

JOG

RUN

DRIVER PR

PR DRIVER

READ

WRITE

B.B

INP

VCMP

TGON

REF

POWER

1-2 System Configuration

SYSMAC + Position Control Unit with pulse string output

N

C

4
1

3

R
U

N

X

E
R

R
O

R

Y

S

E
N

S

Z

D

A
T

A

U

M

A
C

H
IN

E

N

o
.

C

N
1

C

N
2

B
2
4

A
2

4

B
1

A
1

SYSMAC CJ/CS/C/CV
Programmable Controller

SYSMAC Programmable Controllers with pulse outputs

Position Control Units
CJ1W-NC113/213/413
CJ1W-NC133/233/433
CS1W-NC113/213/413
CS1W-NC133/233/433
C200HW-NC113/213/413
C500-NC113/211

Pulse String

Chapter 1

B.B

INP

TGON

REF

SCROLL

MODE/SET

DATA

WRITE

PR DRIVER

POWER

VCMP

R7A–PR02A PARAMETER UNIT

RESET

JOG

RUN

READ

DRIVER PR

R7A-PR02A Parameter Unit
(Hand-held)

SYSMAC CPM2A

P

A

20

3

P

O

W

E

R

SYSMAC CPM2C

/

SYSMAC CQM1H

Single-shaft Positioner with pulse string output

N

E

P

M

S

N

S

3

F

8

M

0

1

A

X

M

1

M

2

3

2

4

1

5

0

N

A

6

9

7

8

×

1
0

3

2

4

1

5

0

6

9

7

8

×

1

123

ON↓

DR0
DR1
L/R

3F88M-DRT141 Single-shaft
Positioner for DeviceNet

O

N

E

P

N

o
.

O

E

IN

L

8

M

-

E

D

IN

R

L

T

W

IS

1

C

4

P

1

O
S

IT

IO

N

E

R

W

C

C

ALARM

LS

IT

M2

IM
L
T

M1

F

G

O

N

S

H
R

M0

S

M

G

L

R

A

O

R
E
D

O
C

N

P

E

O
T

S

M

L

A
R
E

IV
R

R

D

E
H
T

O

N

)

:

D

UNICATIO

E

M
R
(

M

CO

SPEED

s
p
b

H

k

C

5

T

2

I

1

W

1

S

R
P
I

D

D

250kbps
F
F

0

O
R
D

500kbps
F
F

−

F

O
F
O

ON
ON

LOCAL/REMOTE

ON
OFF

E

H

D

C

N

T

O

I
O

W

M

S

REMOTE MODE

L

P

A

I

C

D

/R

LO

L

F
F

O

N

O

I/O

SMARTSTEP A-series
R7D-AP@ Servo Driver

SMARTSTEP A-series
R7M-A@ Servomotor

1-4

Introduction

1-3 Servo Driver Nomenclature

Main-circuit power supply
indicator

Main-circuit power
supply input terminals

Chapter 1

Rotary switch for unit No. selection

Rotary switch for gain adjustment

Function selection switches:

• Switch/parameter setting enable switch

• Resolution setting

• Command pulse input setting

• Dynamic braking setting

• Online autotuning switch

Alarm display

Control-circuit power supply indicator

Communications connector (CN3)

DC reactor connection terminals

Control-circuit power supply
input terminals

External regeneration
resistance terminals

Servomotor power terminals

FG terminals for power supply and
servomotor power

Monitor output connector (CN4)

Control I/O connector (CN1)

Encoder input connector (CN2)

1-5

Introduction

Chapter 1

1-4 Applicable Standards

■ EC Directives

EC Directives Product Applicable standards Remarks

Low Voltage
Directive

EMC Directives AC Servo Drivers and

Note Installation under the conditions stipulated in 3-2-5 EMC-compatible Wiring must be met to

ensure conformance to EMC Directives.

AC Servo Drivers EN50178 Safety requirements for electrical

devices for measurement, control,
and research facilities

AC Servomotors IEC60034-1, -5, -8, -9

EN60034-1, -9
EN55011 class A group 1 Wireless interference and measure-

AC Servomotors

EN61000-6-2 Electromagnetic compatibility and

Rotating electrical equipment

ment methods for radio-frequency
devices for industry, science, and
medical application

immunity standards for industrial
environments

■ UL and cUL Standards

Standards Product Applicable standards File No. Remarks

UL AC Servo Drivers UL508C E179149 Power conversion devices

AC Servomotors UL1004 E179189 Electric motors

cUL AC Servo Drivers cUL C22.2 No. 14 E179149 Industrial control devices

AC Servomotors cUL C22.2 No. 100 E179189 Motors and generators

1-6

Introduction

1-5 System Block Diagrams

■ 100 V AC: R7D-APA3L/-APA5L/-AP01L/-AP02L/-AP04L

AC Servo Driver

Gate drive

PWM

generation

Digital

current amp

Current

command

processing

Serial port

B1 B2

(See note.)

Encoder signal

P2

N2

Gate drive

overcurrent protection

Interface

processing

Speed
control

U
V

W

Current

detection

ASIC

Command

pulse

processing

Position

control

CPU

Note Only on R7D-AP04H/AP04L.

1

2

P1

R

T

N1

CHARGE

+

−

Voltage

detection

±5 V
+16.5 V
+5 V

L1

L2

L1C

L2C

Fuse

Voltage

detection

∼

∼

Relay

drive

+

+

DC/DC

−

−

conversion

±15 V

+5 V

POWER

Analog
voltage

0 V

Alarm code display

CN4
Analog monitor output

conversion

CN3
Parameter Unit/computer

Chapter 1

CN2

CN1

I/O

AC Servomotor

U
V

M

W

E

Command
pulse input

Control I/O

RS-422

1-7

Introduction

■ 200 V AC: R7D-APA3H/-APA5H/-AP01H/-AP02H/-AP04H

AC Servo Driver

1

B1 B2

Chapter 1

2

L1

L2

L1C

L2C

Fuse

R

T

Voltage

detection

∼

∼

Alarm code display

P1

N1

AC Servomotor

CHARGE

+

−

(See note.)

P2

U
V

W

U
V

M

W

N2

Gate drive

PWM

generation

Digital

current amp

Current
command
processing

Serial port

overcurrent protection

Interface

Encoder signal

processing

Speed
control

CN2

Current

detection

ASIC

CN1

Command

pulse

processing

Position

control

CPU

I/O

Command
pulse input

Control I/O

RS-422

Note Only on R7D-AP04H/AP04L.

E

Relay

+

+

DC/DC

−

−

conversion

drive

Voltage

detection

±5 V
+16.5 V
+5 V

Gate drive

±15 V

+5 V

POWER

Analog
voltage

conversion

0 V

CN4
Analog monitor output

CN3
Parameter Unit/computer

■ 200 V AC: R7D-AP08H

AC Servo Driver

1

2

L1

L2

L3

L1C

L2C

Alarm code display

R

S

T

Voltage

detection

∼

P

Fuse

CHARGE

+

−

N

Relay

detection

drive

+∼

+

DC/DC

−

−

conversion

±5 V
+16.5 V
+5 V
±15 V

+5 V

POWER

0 V

CN4
Analog monitor output

B1 B2 B3

Voltage

Gate

Analog
voltage

conversion

CN3
Parameter Unit/computer

drive

P

N

PWM

generation

Digital

current amp

Current
command
processing

Serial port

Gate drive over-

current protection

Interface

Encoder

processing

Speed
control

signal

FAN

±12 V

AC Servomotor

CN2

U
V

W

M

E

U
V

W

Ther­mistor

Current

detection

ASIC

CN1

Command

pulse

processing

Position

control

CPU

I/O

Command
pulse input

Control I/O

RS-422

1-8

Chapter 2

Standard Models and Specifications

2-1 Standard Models

2-2 External and Mounted Dimensions

2-3 Servo Driver Specifications

2-4 Servomotor Specifications

2-5 Reduction Gear Specifications

2-6 Cable and Connector Specifications

2-7 Servo Relay Units and Cable Specifications

2-8 Parameter Unit Specifications

2-9 External Regeneration Resistor Specifications

2-10 DC Reactors

Standard Models and Specifications

2-1 Standard Models

Chapter 2

■ Servomotors

● 3,000-r/min Cylinder-style Servomotors

Specifications Model

Without
brake

With
brake

Straight shaft
without key

Straight shaft
with key

Straight shaft
without key

Straight shaft
with key

30 W R7M-A03030

50 W R7M-A05030

100 W R7M-A10030

200 W R7M-A20030

400 W R7M-A40030

750 W R7M-A75030

30 W R7M-A03030-S1

50 W R7M-A05030-S1

100 W R7M-A10030-S1

200 W R7M-A20030-S1

400 W R7M-A40030-S1

750 W R7M-A75030-S1

30 W R7M-A03030-B

50 W R7M-A05030-B

100 W R7M-A10030-B

200 W R7M-A20030-B

400 W R7M-A40030-B

750 W R7M-A75030-B

30 W R7M-A03030-BS1

50 W R7M-A05030-BS1

100 W R7M-A10030-BS1

200 W R7M-A20030-BS1

400 W R7M-A40030-BS1

750 W R7M-A75030-BS1

■ Servo Drivers

Specifications Model

Single-phase
100 V AC

Single-phase
200 V AC

30 W R7D-APA3L

50 W R7D-APA5L

100 W R7D-AP01L

200 W R7D-AP02L

400 W R7D-AP04L

30 W R7D-APA3H

50 W R7D-APA5H

100 W R7D-AP01H

200 W R7D-AP02H

400 W R7D-AP04H

750 W R7D-AP08H

● 3,000-r/min Flat-style Servomotors

Specifications Model

Without
brake

With
brake

Straight shaft
without key

Straight shaft
with key

Straight shaft
without key

Straight shaft
with key

100 W R7M-AP10030

200 W R7M-AP20030

400 W R7M-AP40030

750 W R7M-AP75030

100 W R7M-AP10030-S1

200 W R7M-AP20030-S1

400 W R7M-AP40030-S1

750 W R7M-AP75030-S1

100 W R7M-AP10030-B

200 W R7M-AP20030-B

400 W R7M-AP40030-B

750 W R7M-AP75030-B

100 W R7M-AP10030-BS1

200 W R7M-AP20030-BS1

400 W R7M-AP40030-BS1

750 W R7M-AP75030-BS1

2-2

Standard Models and Specifications

■ Reduction Gears (Straight Shaft with Key)

Chapter 2

● For Cylinder-style Servomotors

(Backlash = 3′ Max.)

Specifications Model

Servomotor

capacity

50 W 1/5 R7G-VRSFPB05B50

100 W 1/5 R7G-VRSFPB05B100

200 W 1/5 R7G-VRSFPB05B200

400 W 1/5 R7G-VRSFPB05C400

750 W 1/5 R7G-VRSFPB05C750

Reduction gears

(deceleration ratio)

1/9 R7G-VRSFPB09B50
1/15 R7G-VRSFPB15B50
1/25 R7G-VRSFPB25B50

1/9 R7G-VRSFPB09B100
1/15 R7G-VRSFPB15B100
1/25 R7G-VRSFPB25B100

1/9 R7G-VRSFPB09C400
1/15 R7G-VRSFPB15C400
1/25 R7G-VRSFPB25C200

1/9 R7G-VRSFPB09C400
1/15 R7G-VRSFPB15C400
1/25 R7G-VRSFPB25D400

1/9 R7G-VRSFPB09D750
1/15 R7G-VRSFPB15D750
1/25 R7G-VRSFPB25E750

● For Cylinder-style Servomotors

(Backlash = 45′ Max.)

Specifications Model

Servomotor

capacity

50 W 1/5 R7G-RGSF05B50

100 W 1/5 R7G-RGSF05B100

200 W 1/5 R7G-RGSF05B200

400 W 1/5 R7G-RGSF05C400

750 W 1/5 R7G-RGSF05C750

Reduction gears

(deceleration ratio)

1/9 R7G-RGSF09B50
1/15 R7G-RGSF15B50
1/25 R7G-RGSF25B50

1/9 R7G-RGSF09B100
1/15 R7G-RGSF15B100
1/25 R7G-RGSF25B100

1/9 R7G-RGSF09C400
1/15 R7G-RGSF15C400
1/25 R7G-RGSF25C400

1/9 R7G-RGSF09C400
1/15 R7G-RGSF15C400
1/25 R7G-RGSF25C400

1/9 R7G-RGSF09C750
1/15 R7G-RGSF15C750
1/25 R7G-RGSF25C750

Note There are no reduction gears for 30-W Servo-

motors.

● For Flat-style Servomotors

(Backlash = 3′ Max.)

Specifications Model

Servomotor

capacity

100 W 1/5 R7G-VRSFPB05B100P

200 W 1/5 R7G-VRSFPB05B200P

400 W 1/5 R7G-VRSFPB05C400P

750 W 1/5 R7G-VRSFPB05C750P

Reduction gears

(deceleration ratio)

1/9 R7G-VRSFPB09B100P
1/15 R7G-VRSFPB15B100P
1/25 R7G-VRSFPB25C100P

1/9 R7G-VRSFPB09C400P
1/15 R7G-VRSFPB15C400P
1/25 R7G-VRSFPB25C200P

1/9 R7G-VRSFPB09C400P
1/15 R7G-VRSFPB15C400P
1/25 R7G-VRSFPB25D400P

1/9 R7G-VRSFPB09D750P
1/15 R7G-VRSFPB15D750P
1/25 R7G-VRSFPB25E750P

Note There are no reduction gears for 30-W Servo-

motors.

● For Flat-style Servomotors

(Backlash = 45′ Max.)

Specifications Model

Servomotor

capacity

100 W 1/5 R7G-RGSF05B100P

200 W 1/5 R7G-RGSF05B200P

400 W 1/5 R7G-RGSF05C400P

750 W 1/5 R7G-RGSF05C750P

Reduction gears

(deceleration ratio)

1/9 R7G-RGSF09B100P
1/15 R7G-RGSF15B100P
1/25 R7G-RGSF25B100P

1/9 R7G-RGSF09C400P
1/15 R7G-RGSF15C400P
1/25 R7G-RGSF25C400P

1/9 R7G-RGSF09C400P
1/15 R7G-RGSF15C400P
1/25 R7G-RGSF25C400P

1/9 R7G-RGSF09C750P
1/15 R7G-RGSF15C750P
1/25 R7G-RGSF25C750P

2-3

Standard Models and Specifications

Chapter 2

■ Servo Relay Units for CN1

Specifications Model

Servo
Relay Unit

Servo
Driver
Cable

Position
Control
Unit Cable

For CS1W-NC113/133
CJ1W-NC113/133
C200HW-NC113
C200H-NC112
3F88M-DRT141

(No communications supported.)
For CS1W-NC213/233/413/433

CJ1W-NC213/233/413/433
C200HW-NC213/413
C500-NC113/211
C200H-NC211

(No communications supported.)
For CS1W-HCP22

CQM1H-PLB21
CQM1-CPU43-V1

(No communications supported.)
For CS1W-NC213/233/413/433

CJ1W-NC213/233/413/433
(Communications supported.)

For CJ1M-CPU21/CPU22/
CPU23

For CS1W-HCP22-V1 and
FQM1-MMP21

No communications
supported.

Communications sup­ported.

For FQM1-MMP21 1 m XW2Z-100J-B10

For CS1W-HCP22-V1 1 m XW2Z-100J-B12

For CQM1H-PLB21,
CQM1-CPU43-V1

For C200H-NC112 0.5 m XW2Z-050J-A4

For C200H-NC211,
C500-NC113/211

For CS1W-NC113,
C200HW-NC113

For CS1W-NC213/413,
C200HW-NC213/413

For CS1W-NC133 0.5 m XW2Z-050J-A12

For CS1W-NC233/433 0.5 m XW2Z-050J-A13

For CJ1W-NC113 0.5 m XW2Z-050J-A16

For CJ1W-NC213/413 0.5 m XW2Z-050J-A17

For CJ1W-NC133 0.5 m XW2Z-050J-A20

For CJ1W-NC233/433 0.5 m XW2Z-050J-A21

For CS1W-HCP22
(1 axis)

For CS1W-HCP22
(2 axes)

For 3F88M-DRT141 0.5 m XW2Z-050J-A25

1 m XW2Z-100J-B5
2 m XW2Z-200J-B5
1 m XW2Z-100J-B7
2 m XW2Z-200J-B7

2 m XW2Z-200J-B10

2 m XW2Z-200J-B12

0.5 m XW2Z-050J-A3
1 m XW2Z-100J-A3

1 m XW2Z-100J-A4

0.5 m XW2Z-050J-A5
1 m XW2Z-100J-A5

0.5 m XW2Z-050J-A8
1 m XW2Z-100J-A8

0.5 m XW2Z-050J-A9
1 m XW2Z-100J-A9

1 m XW2Z-100J-A12

1 m XW2Z-100J-A13

1 m XW2Z-100J-A16

1 m XW2Z-100J-A17

1 m XW2Z-100J-A20

1 m XW2Z-100J-A21

0.5 m XW2Z-050J-A22
1 m XW2Z-100J-A22

0.5 m XW2Z-050J-A23
1 m XW2Z-100J-A23

1 m XW2Z-100J-A25

XW2B-20J6-1B

XW2B-40J6-2B

XW2B-20J6-3B

XW2B-40J6-4A

XW2B-20J6-8A
XW2B-40J6-9A
XW2B-80J7-1A

Specifications Model

Position
Control
Unit Cable

For CJ1M-CPU21/
CPU22/CPU23

For FQM1-MMP21 for
general-purpose I/O

For CS1W-HCP22-V1
for general-purpose I/O

For FQM1-MMP21 for
special I/O

For CS1W-HCP22-V1
for special I/O

1 m XW2Z-100J-A26

0.5 m XW2Z-050J-A28
1 m XW2Z-100J-A28

0.5 m XW2Z-050J-A29
1 m XW2Z-100J-A29

0.5 m XW2Z-050J-A30
1 m XW2Z-100J-A30

0.5 m XW2Z-050J-A32
1 m XW2Z-100J-A32

■ Control Cables for CN1

Specifications Model

General-purpose Control Cable
(with Connector on one end)

Connector Terminal Block Cable 1 m R88A-CTU001N

Connector Terminal Blocks XW2B-40F5-P

1 m R88A-CPU001S
2 m R88A-CPU002S

2 m R88A-CTU002N

■ Integrated Servomotor Cables

Specifications Model

For Servomotors without
brakes (both Cylinder- and
Flat-style)

For Servomotors with
brakes (both Cylinder- and
Flat-style)

3 m R7A-CEA003S
5 m R7A-CEA005S
10 m R7A-CEA010S
15 m R7A-CEA015S
20 m R7A-CEA020S
3 m R7A-CEA003B
5 m R7A-CEA005B
10 m R7A-CEA010B
15 m R7A-CEA015B
20 m R7A-CEA020B

■ Separate Servomotor Cables

● Power Cables

Specifications Standard cable

For Servo­motors with­out brakes
(both Cylin­der- and
Flat-style)

For Servo­motors with
brakes (both
Cylinder­and Flat­style)

3 m R88A-CAWA003S R88A-CAWA003SR
5 m R88A-CAWA005S R88A-CAWA005SR
10 m R88A-CAWA010S R88A-CAWA010SR
15 m R88A-CAWA015S R88A-CAWA015SR
20 m R88A-CAWA020S R88A-CAWA020SR
3 m R88A-CAWA003B R88A-CAWA003BR
5 m R88A-CAWA005B R88A-CAWA005BR
10 m R88A-CAWA010B R88A-CAWA010BR
15 m R88A-CAWA015B R88A-CAWA015BR
20 m R88A-CAWA020B R88A-CAWA020BR

model

Robot cable

model

● Encoder Cables

Specifications Standard cable

For Servo­motors (Cyl­inder-style or
Flat-style)

3 m R7A-CRA003C R7A-CRA003CR

5 m R7A-CRA005C R7A-CRA005CR

10 m R7A-CRA010C R7A-CRA010CR

15 m R7A-CRA015C R7A-CRA015CR

20 m R7A-CRA020C R7A-CRA020CR

model

Robot cable

model

Note Use a robot cable if cable flexibility is required.

2-4

Standard Models and Specifications

■ Peripheral Cable Connectors

Specifications Model

Analog Monitor Cable (CN4) 1 m R88A-CMW001S
Computer Monitor Cable (CN3) DOS 2 m R7A-CCA002P2

PC98 2 m R7A-CCA002P3
Control I/O Connector (CN1) R88A-CNU01C
Encoder Connector (CN2) R7A-CNA01R
Encoder Connector (Servomotor end) R7A-CNA02R
Communications Cable 1 m XW2Z-100J-C1

2 m XW2Z-200J-C1

■ Parameter Units

Specifications Model

Hand-held (with 1-m cable) R7A-PR02A

■ External Regeneration Resistors

Specifications Model

Resistor 220 W 47

■ DC Reactors

Specifications Model

For R7D-APA3L/APA5L/APA01L R88A-PX5063
For R7D-AP02L R88A-PX5062
For R7D-AP04L R88A-PX5061
For R7D-APA3H/APA5H/AP01H R88A-PX5071
For R7D-AP02H R88A-PX5070
For R7D-AP04H R88A-PX5069
For R7D-AP08H R88A-PX5061

Ω R88A-RR22047S

Chapter 2

■ Front-panel Brackets

Specifications Model

For the SMARTSTEP A Series R88A-TK01W

2-5

Standard Models and Specifications

Chapter 2

2-2 External and Mounted Dimensions

2-2-1 Servo Drivers

■ Single-phase 100 V AC: R7D-APA3L/-APA5L/-AP01L/-AP02L (30 W to 200 W)

Single-phase 200 V AC: R7D-APA3H/-APA5H/-AP01H/-AP02H (30 W to 200 W)

● Wall Mounting

External dimensions

Mounted dimensions

Two, M4

5.5

160

55

(75) 130

17

● Front Panel Mounting (Using Mounting Brackets)

External dimensions

7.5(7.5)

5 dia. 24.5

52661.5

2

160

149.5±0.5

5

(5)

55

Mounted dimensions

7.5(7.5)

10

Two, M4

2-6

195

180

195

180±0.5

5

32.5

11.542

(168)

Standard Models and Specifications

■ Single-phase 100 V AC: R7D-AP04L (400 W)

Single-phase 200 V AC: R7D-AP04H (400 W)

● Wall Mounting

External dimensions

5 dia.

Mounted dimensions

Chapter 2

5.5

Two, M4

160

149.5 5.5(5)

5

12

75

(75) 130

17

● Front Panel Mounting (Using Mounting Brackets)

External dimensions

7.5

52 1.5

5 dia.

24.5

2

160

149.5±0.5

12

(5)

75

Mounted dimensions

7.5(7.5)

10

Two, M4

195

180

(7.5)

195

180±0.5

5

32.5

11.542

(168) 66

2-7

Standard Models and Specifications

■ Single-phase/Three-phase 200 V AC: R7D-AP08H (750 W)

● Wall Mounting

External dimensions

5 dia.

Mounted dimensions

5.5

Chapter 2

Two, M4

160

149.5 5.5(5)

90

(75) 180

17

160

149.5±0.5

(5)

● Front Panel Mounting (Using Mounting Brackets)

External dimensions Mounted dimensions

7.5(7.5)

5 dia.

52 12.5

24.5

2

7.5(7.5)

10

27

90

Two, M4

2-8

195

180

195

180±0.5

5

43.5

42

22.5

(168) 66

Standard Models and Specifications

DRIVER PR

PR DRIVER

WRITE

B.B

INP

VCMP

TGON

REF

POWER

2-2-2 Parameter Unit

■ R7A-PR02A Hand-held Parameter Unit

70

B.B

INP

TGON

REF

POWER

1201000

VCMP

R7A–PR02A PARAMETER UNIT

RESET

SCROLL MODE/SET

1.5

17

Chapter 2

0.8

42

JOG

RUN

READ

DRIVER PR

6

DATA

WRITE

PR DRIVER

4.8 dia.

13.2 dia.

2-9

Standard Models and Specifications

2-2-3 Servomotors

■ Cylinder-style Servomotors without a Brake

● 30 W/50 W/100 W R7M-A03030(-S1)/-A05030(-S1)/-A10030(-S1)

300±30

Chapter 2

6 dia.

19.5 20

9.5

7 dia.

300±30

11

LL 25

S dia.

30h7 dia.

Two, 4.3 dia.

46 dia.

21.5 5

Dimensions of shaft end with key (-S1)

b

40

14

4052.5

Model Dimensions (mm)

LL S b h t1

R7M-A03030-@ 69.5 6h6 2 2 1.2
R7M-A05030-@ 77 6h6 2 2 1.2
R7M-A10030-@ 94.5 8h6 3 3 1.8

■ Cylinder-style Servomotors with a Brake

● 30 W/50 W/100 W R7M-A03030-B(S1)/-A05030-B(S1)/-A10030-B(S1)

300±30

h

t1

6 dia. 7 dia.

19.5 27

9.5

11

LL 25

300±30

S dia.

Two, 4.3 dia.

30h7 dia.

21.5 5

46 dia.

Dimensions of shaft end with key (-BS1)

h

b

40

14

405 2.5

t1

Model Dimensions (mm)

LL S b h t1

R7M-A03030-B@ 101 6h6 2 2 1.2
R7M-A05030-B@ 108.5 6h6 2 2 1.2
R7M-A10030-B@ 135 8h6 3 3 1.8

2-10

Standard Models and Specifications

■ Cylinder-style Servomotors without a Brake

● 200 W/400 W/750 W R7M-A20030(-S1)/-A40030(-S1)/-A75030(-S1)

300±30

Chapter 2

6 dia.

13

9

7 dia.

20

11

LL LR

300±30

G3

S dia.

21.5

Four, Z dia.

D1 dia.

D2 dia.

C

Dimensions of output section of 750-W Servomotors

2

Dimensions of shaft end with key (-S1)

C

QK

5

5

3

Model Dimensions (mm)

LL LR C D1 D2 G Z S QK

R7M-A20030-@ 96.5 30 60 70 50h7 6 5.5 14h6 20
R7M-A40030-@ 124.530607050h76 5.514h620
R7M-A75030-@ 14540809070h78 7 16h630

■ Cylinder-style Servomotors with a Brake

● 200 W/400 W/750 W R7M-A20030-B(S1)/-A40030-B(S1)/-A75030-B(S1)

300±30

Dimensions of output section of

6 dia. 7 dia.

13 27

9

11

LL LR

300±30

G3

S dia.

Four, Z dia.

D

D2 dia.

21.5

1 dia.

C

750-W Servomotors

2

Dimensions of shaft end with key (-BS1)

C

QK

5

5

3

Model Dimensions (mm)

LL LR C D1 D2 G Z S QK

R7M-A20030-B@ 13630607050h76 5.514h620
R7M-A40030-B@ 16430607050h76 5.514h620
R7M-A75030-B@ 189.540809070h78 7 16h630

2-11

Standard Models and Specifications

Chapter 2

■ Flat-style Servomotors without a Brake

● 100 W/200 W/400 W/750 W R7M-AP10030(-S1)/-AP20030(-S1)/-AP40030(-S1)/AP75030(-S1)

300±30

6 dia.7 dia.

13

300±30

A2

A1

A5

GF

LL LR

S dia.

D1 dia.

D2 dia.

A3

A4

Dimensions of shaft end with key (-S1)

h

b

C

QK

C

Four, Z dia.

t1

Model Dimensions (mm)

Basic servomotor dimensions With key (shaft

Cable outlet dimensions

end dimensions)

LLLRCD1 D2 F G Z SQKb h t1A1A2A3A4A5

R7M-AP10030-@ 62 25 60 70 50h7 3 6 5.5 8h6 14 3 3 1.8 9 18 25 21 14
R7M-AP20030-@ 67 30 80 90 70h7 3 8 7 14h6 16 5 5 3
R7M-AP40030-@ 87
R7M-AP75030-@ 86.5 40 120 145 110h7 3.5 10 10 16h6 22 5 5 3 28 38 19

■

Flat-style Servomotors with a Brake

● 100 W/200 W/400 W/750 W R7M-AP10030-B(S1)/-AP20030-B(S1)/-AP40030-B(S1)/AP75030-B(S1)

300±30

6 dia.

7 dia.

13

A2

A1

A5

LL LR

300±30

D1 dia.

S dia.

D2 dia.

GF

A3

A4

Dimensions of shaft end with key (-BS1)

h

b

C

QK

C

Four, Z dia.

t1

Model Dimensions (mm)

Basic servomotor dimensions With key (shaft

Cable outlet dimensions

end dimensions)

LL LR C D1 D2 F G Z S QK b h t1 A1 A2 A3 A4 A5

R7M-AP10030-B@ 91 25 60 70 50h7 3 6 5.5 8h6 14 3 3 1.8 9 18 25 21 23
R7M-AP20030-B@ 98.5 30 80 90 70h7 3 8 7 14h6 16 5 5 3
R7M-AP40030-B@ 118.5
R7M-AP75030-B@ 120 40 120 145 110h7 3.5 10 10 16h6 22 5 5 3 28 38 26

2-12

Standard Models and Specifications

Chapter 2

2-2-4 Reduction Gears

■ For Cylinder-style Servomotors (Backlash = 3′ Max.)

Model Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 E3 F G S T Z1 Z2 AT* l Key dimensions

QK b h t1

50 W 1/5 R7G-VRSFPB05B50 67.5 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.55

1/9 R7G-VRSFPB09B50 67.5 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.55

1/15 R7G-VRSFPB15B50 78 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.7

1/25 R7G-VRSFPB25B50 78 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.7

100 W 1/5 R7G-VRSFPB05B100 67.5 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.55

1/9 R7G-VRSFPB09B100 67.5 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.55

1/15 R7G-VRSFPB15B100 78 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.7

1/25 R7G-VRSFPB25C100 92 50 78 40 46 90 70 62 17 3 6 19 30 M4 M6 M3 20 22 6 6 3.5 1.7

200 W 1/5 R7G-VRSFPB05B200 72.5 32 52 60 70 60 50 45 10 3 10 12 20 M5 M5 M4 12 16 4 4 2.5 0.72

1/9 R7G-VRSFPB09C400 89.5 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 1.7

1/15 R7G-VRSFPB15C400 100 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 2.1

1/25 R7G-VRSFPB25C400 100 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 2.1

400 W 1/5 R7G-VRSFPB05C400 89.5 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 1.7

1/9 R7G-VRSFPB09C400 89.5 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 1.7

1/15 R7G-VRSFPB15C400 100 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 2.1

1/25 R7G-VRSFPB25D400 104 61 98 60 70 115 90 75 18 5 8 24 40 M5 M8 M4 20 30 8 7 4 3.2

750 W 1/5 R7G-VRSFPB05C750 93.5 50 78 80 90 90 70 62 17 3 10 19 30 M6 M6 M4 20 22 6 6 3.5 2.1

1/9 R7G-VRSFPB09D750 97.5 61 98 80 90 115 90 75 18 5 10 24 40 M6 M8 M4 20 30 8 7 4 3.4

1/15 R7G-VRSFPB15D750 110 61 98 80 90 115 90 75 18 5 10 24 40 M6 M8 M4 20 30 8 7 4 3.8

1/25 R7G-VRSFPB25E750 135 75 125 80 90 135 110 98 17 5 10 32 55 M6 M10 M4 20 45 10 8 5 7.2

* "AT" in the table refers to the set bolt.

Weig ht

(kg)

External Diagrams

Four, Z1 dia.

D1 dia.

@C2

Set bolt (AT)

G

LM

Key dimensions

QK

E3

F

D4 dia.

Sh6 dia.

T

LR

b

t1

h

D3h7 dia.

Four, Z2 dia.
(effective depth: l)

D2 dia.

@C1

2-13

Standard Models and Specifications

Chapter 2

■ For Cylinder-style Servomotors (Backlash = 45′ Max.)

Model Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 E3 F G S T Z1 Z2 AT* l Key dimensions

QK b h t1

50 W 1/5 R7G-RGSF05B50 67.5 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.55

1/9 R7G-RGSF09B50 67.5 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.55

1/15R7G-RGSF15B5078 3252 404660 50 451036 1220M4M5M31216442.50.70

1/25R7G-RGSF25B5078 3252 404660 50 451036 1220M4M5M31216442.50.70

100 W 1/5 R7G-RGSF05B100 67.5 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.55

1/9 R7G-RGSF09B100 67.5 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.55

1/15 R7G-RGSF15B100 78 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.70

1/25 R7G-RGSF25B100 78 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.70

200 W 1/5 R7G-RGSF05B200 72.5 32 52 60 70 60 50 45 10 3 10 12 20 M5 M5 M4 12 16 4 4 2.5 0.72

1/9 R7G-RGSF09C400 89.5 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 1.7

1/15R7G-RGSF15C400100 5078 60 7090 70 621738 1930M5M6M42022663.52.1

1/25R7G-RGSF25C400100 5078 60 7090 70 621738 1930M5M6M42022663.52.1

400 W 1/5 R7G-RGSF05C400 89.5 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 1.7

1/9 R7G-RGSF09C400 89.5 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 1.7

1/15R7G-RGSF15C400100 5078 60 7090 70 621738 1930M5M6M42022663.52.1

1/25R7G-RGSF25C400100 5078 60 7090 70 621738 1930M5M6M42022663.52.1

750 W 1/5 R7G-RGSF05C750 93.5 50 78 80 90 90 70 62 17 3 10 19 30 M6 M6 M4 20 22 6 6 3.5 2.1

1/9 R7G-RGSF09C750 93.5 50 78 80 90 90 70 62 17 3 10 19 30 M6 M6 M4 20 22 6 6 3.5 2.1

1/15 R7G-RGSF15C750 110 50 78 80 90 90 70 62 17 3 10 19 30 M6 M6 M4 20 22 6 6 3.5 2.5

1/25 R7G-RGSF25C750 110 50 78 80 90 90 70 62 17 3 10 19 30 M6 M6 M4 20 22 6 6 3.5 2.5

Weig ht

(kg)

External Diagrams

Four, Z1 dia.

D1 dia.

@C2

Set bolt (AT)

G

LM

Key dimensions

* "AT" in the table refers to the set bolt.

E3

F

D4 dia.

Sh6 dia.

T

LR

b

D3h7 dia.

Four, Z2 dia.
(effective depth: l)

D2 dia.

@C1

2-14

QK

t1

h

Standard Models and Specifications

Chapter 2

■ For Flat-style Servomotors (Backlash = 3′ Max.)

Model Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 E3 F G S T Z1 Z2 AT* l Key dimensions

QK b h t1

100 W 1/5 R7G-VRSFPB05B100P 72.5 32 52 60 70 60 50 45 10 3 10 12 20 M5 M5 M4 12 16 4 4 2.5 0.72

1/9 R7G-VRSFPB09B100P 72.5 32 52 60 70 60 50 45 10 3 10 12 20 M5 M5 M4 12 16 4 4 2.5 0.72

1/15 R7G-VRSFPB15B100P 83 32 52 60 70 60 50 45 10 3 10 12 20 M5 M5 M4 12 16 4 4 2.5 0.77

1/25 R7G-VRSFPB25C100P 92 50 78 60 70 90 70 62 17 3 10 19 30 M5 M6 M3 20 22 6 6 3.5 1.8

200 W 1/5 R7G-VRSFPB05B200P 72.5 32 52 80 90 60 50 45 10 3 12 12 20 M6 M5 M4 12 16 4 4 2.5 0.85

1/9 R7G-VRSFPB09C400P 93.5 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 1.8

1/15 R7G-VRSFPB15C400P 100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 2.2

1/25 R7G-VRSFPB25C200P 100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 2.2

400 W 1/5 R7G-VRSFPB05C400P 93.5 50 78 80 90 90 70 62 17 3 10 19 30 M6 M6 M4 20 22 6 6 3.5 1.8

1/9 R7G-VRSFPB09C400P 93.5 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 1.8

1/15 R7G-VRSFPB15C400P 100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 2.2

1/25 R7G-VRSFPB25D400P 109 61 98 80 90 115 90 75 18 5 12 24 40 M6 M8 M4 20 30 8 7 4 3.4

750 W 1/5 R7G-VRSFPB05C750P 98 50 78 120 145 90 70 62 17 3 15 19 30 M8 M6 M4 20 22 6 6 3.5 2.6

1/9 R7G-VRSFPB09D750P 97.5 61 98 120 145 115 90 75 18 5 15 24 40 M8 M8 M4 20 30 8 7 4 3.8

1/15 R7G-VRSFPB15D750P 110 61 98 120 145 115 90 75 18 5 15 24 40 M8 M8 M4 20 30 8 7 4 4.2

1/25 R7G-VRSFPB25E750P 155 75 125 120 145 135 110 98 17 5 15 32 55 M8 M10 M4 20 45 10 8 5 7.8

* "AT" in the table refers to the set bolt.

Weig ht

(kg)

External Diagrams

D1 dia.

@C2

Set bolt (AT)

Four, Z1 dia.

G

Key dimensions

QK

LM

E3

F

D4 dia.

Sh6 dia.

T

LR

b

t1

D3h7 dia.

Four, Z2 dia.
(effective depth: l)

D2 dia.

@C1

h

2-15

Standard Models and Specifications

Chapter 2

■ For Flat-style Servomotors (Backlash = 45′ Max.)

Model Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 E3 F G S T Z1 Z2 AT* l Key dimensions

QK b h t1

100 W 1/5 R7G-RGSF05B100P 72.5 32 52 60 70 60 50 45 10 3 10 12 20 M5 M5 M4 12 16 4 4 2.5 0.72

1/9 R7G-RGSF09B100P 72.5 32 52 60 70 60 50 45 10 3 10 12 20 M5 M5 M4 12 16 4 4 2.5 0.72

1/15 R7G-RGSF15B100P 78 32 52 60 70 60 50 45 10 3 8 12 20 M5 M5 M4 12 16 4 4 2.5 0.77

1/25 R7G-RGSF25B100P 78 32 52 60 70 60 50 45 10 3 8 12 20 M5 M5 M4 12 16 4 4 2.5 0.77

200 W 1/5 R7G-RGSF05B200P 72.5 32 52 80 90 60 50 45 10 3 12 12 20 M6 M5 M4 12 16 4 4 2.5 0.85

1/9 R7G-RGSF09C400P 89.5 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 1.8

1/15 R7G-RGSF15C400P 100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 2.2

1/25 R7G-RGSF25C400P 100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 2.2

400 W 1/5 R7G-RGSF05C400P 89.5 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 1.8

1/9 R7G-RGSF09C400P 89.5 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 1.8

1/15 R7G-RGSF15C400P 100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 2.2

1/25 R7G-RGSF25C400P 100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 2.2

750 W 1/5 R7G-RGSF05C750P 93.5 50 78 120 145 90 70 62 17 3 15 19 30 M8 M6 M4 20 22 6 6 3.5 2.5

1/9 R7G-RGSF09C750P 93.5 50 78 120 145 90 70 62 17 3 15 19 30 M8 M6 M4 20 22 6 6 3.5 2.5

1/15 R7G-RGSF15C750P 110 50 78 120 145 90 70 62 17 3 15 19 30 M8 M6 M4 20 22 6 6 3.5 2.9

1/25 R7G-RGSF25C750P 110 50 78 120 145 90 70 62 17 3 15 19 30 M8 M6 M4 20 22 6 6 3.5 2.9

* "AT" in the table refers to the set bolt.

Weight

External Diagrams

(kg)

D1 dia.

@C2

Set bolt (AT)

Four, Z1 dia.

G

Key dimensions

QK

LM

E3

F

D4 dia.

Sh6 dia.

T

LR

b

t1

h

Four, Z2 dia.
(effective depth: l)

D2 dia.

D3h7 dia.

@C1

2-16

Standard Models and Specifications

Chapter 2

2-3 Servo Driver Specifications

■ SMARTSTEP A-series R7D-AP@ Servo Drivers

Select a Servo Driver to match the Servomotor to be used.

2-3-1 General Specifications

Item Specifications

Ambient operating temperature 0 to 55
Ambient operating humidity 90% max. (with no condensation)
Ambient storage temperature –20 to 85
Ambient storage humidity 90% max. (with no condensation)
Storage and operating atmo-

sphere
Vibration resistance 10 to 55 Hz in X, Y, and Z directions with 0.1-mm double amplitude; accel-

Impact resistance

Insulation resistance Between power line terminals and case: 0.5 M
Dielectric strength Between power line terminals and case: 1,500 V AC for 1 min at 50/60 Hz

Protective structure Built into panel (IP10).

No corrosive gasses.

eration: 4.9 m/s

Acceleration 19.6 m/s

Between each control signal and case: 500 V AC for 1 min

°C

°C

2

max.

2

max., in X, Y, and Z directions, three times

Ω min. (at 500 V DC)

Note 1. The above items reflect individual evaluation testing. The results may differ under compound

conditions.

Note 2. Absolutely do not conduct a withstand voltage test with a Megger tester on the Servo Driver.

If such tests are conducted, internal elements may be damaged.

Note 3. Depending on the operating conditions, some Servo Driver parts will require maintenance.

Refer to 5-5 Periodic Maintenance for details.

Note 4. The service life of the Servo Driver is 50,000 hours at an average ambient temperature of

°C at 80% of the rated torque.

40

2-17

Standard Models and Specifications

Chapter 2

2-3-2 Performance Specifications

■ Control Specifications

● 100-V AC Input Type

Item R7D-APA3L R7D-APA5L R7D-AP01L R7D-AP02L R7D-AP04L

Continuous output cur­rent (rms)

Momentary maximum out­put current (rms)

Input power
supply

Heating value Main cir-

Control method All-digital servo
Speed feedback 2,000 pulses/revolution, incremental encoder
Inverter method PWM method based on IGBT
PWM frequency 11.7 kHz
Maximum applicable fre-

quency (command pulse
application)

Weight Approx. 0.8 kg Approx. 0.8 kg Approx. 0.8 kg Approx. 0.8 kg Approx. 1.1 kg
Applicable Servomotor

wattage
Applicable

Servomotor
(R7M-)

Main cir­cuits

Control
circuits

cuits
Control

circuits

Cylinder­style

Flat-style – – AP10030 AP20030 AP40030

0.42 A 0.6 A 0.89 A 2.0 A 2.6 A

1.3 A1.9 A2.8 A6.0 A8.0 A

Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz (double voltage method)

Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz

3.1 W4.6 W6.7 W13.3 W20.0 W

13 W13 W13 W13 W13 W

250 kpps

30 W 50 W 100 W 200 W 400 W

A03030 A05030 A10030 A20030 A40030

● 200-V AC Input Type (Single-phase Input)

Item R7D-

APA3H

Continuous output cur­rent (rms)

Momentary maximum
output current (rms)

Input power
supply

Heating
value

Control method All-digital servo

Main cir­cuits

Control
circuits

Main cir­cuits

Control
circuits

0.42 A 0.6 A 0.89 A 2.0 A 2.6 A 4.4 A

1.3 A 1.9 A 2.8 A 6.0 A 8.0 A 13.9 A

Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz (for R7D–AP08H only, three­phase input possible)

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

3.1 W 4.6 W 6.7 W 13.3 W 20 W 47 W

20 W 20 W 20 W 20 W 20 W 20 W

R7D-

APA5H

2-18

R7D-

AP01H

R7D-

AP02H

R7D-

AP04H

R7D-

AP08H

Standard Models and Specifications

Chapter 2

Item R7D-

APA3H

Speed feedback 2,000 pulses/revolution, incremental encoder
Inverter method PWM method based on IGBT
PWM frequency 11.7 kHz
Maximum applicable

frequency (command
pulse application)

Weight Approx.

Applicable Servomotor
wattage

Applicable
Servomotor
(R7M-)

Cylinder­type

Flat-type – – AP10030 AP20030 AP40030 AP75030

250 kpps

0.8 kg
30 W 50 W 100 W 200 W 400 W 750 W

A03030 A05030 A10030 A20030 A40030 A75030

R7D-

APA5H

Approx.

0.8 kg

R7D-

AP01H

Approx.

0.8 kg

Approx.

0.8 kg

2-3-3 Terminal Block Specifications

Signal Function Condition

L1 Main circuits power
L2
L3

+1 DC Reactor termi­+2

– Main circuit DC out-

L1C Control circuits
L2C
B1 External regenera­B2
B3

UServomotor con­VWhite
WBlue

supply input

nal for power sup­ply harmonic
control

put (Reverse)

power supply input

tion resistance con­nection terminals

nection terminals

Frame ground This is the ground terminal. Ground to a minimum of 100

R7D–AP@H: Single-phase 200/230 V AC (170 to 253 V AC) 50/60 Hz
R7D–AP@L: Single-phase 100/115 V AC (85 to 127 V AC) 50/60 Hz
Note: Only the R7D–AP08H (750 W) has an L3 terminal, enabling three-

phase input: Three-phase 200/230 V AC (170 to 253 V AC) 50/60 Hz
Normally short-circuit between +1 and +2.
If harmonic control measures are required, connect a DC Reactor between +1

and +2.

Do not connect anything.

R7D-AP@H: Single-phase 200/230 V AC (170 to 253 V AC) 50/60 Hz
R7D-AP@L: Single-phase 100/115 V AC (85 to 127 V AC) 50/60 Hz

30 to 200 W: No External Regeneration Resistor can be connected.
400 W: This terminal does not normally need to be connected. If regenerative

energy is high, connect an External Regeneration Resistor between B1 and
B2.

750 W: Normally shorted between B2 and B3. If there is high regenerative
energy, remove the short bar between B2 and B3 and connect an External
Regeneration Resistor between B1 and B2.

Red These are the terminals for outputs to the Servomotor. Be sure to

wire these terminals correctly.

Green/
Ye l l o w

R7D-

AP02H

R7D-

AP04H

Approx.

1.1 kg

Ω (class D, class 3).

R7D-

AP08H

Approx.

1.7 kg

2-19

Standard Models and Specifications

2-3-4 Control I/O Specifications (CN1)

■ Control I/O and External Signals for Position Control

200 Ω

Reverse pulse

Forward pulse

Deviation
counter reset

+CW

−CW

+CCW

−CCW

+ECRST

−ECRST

1

2

3

4

5

6

200 Ω

200 Ω

(See
note 2.)

(See
note 2.)

(See
note 2.)

(See
note 2.)

INP8

Positioning
completed output

BKIR7

Brake interlock

OGND

10

Z32

Phase Z

ZCOM

33

ALM34

Alarm output

ALMCOM

35

Chapter 2

Maximum operating
voltage: 30 V DC

Maximum Output
Current:
Phase Z: 20 mA DC
Other than Phase Z:
50 mA DC

RUN command

Alarm reset

+24VIN24 V DC

13

14RUN

18RESET

3.3 k

3.3 k

22

23 TXD−

20 RXD+

21 RXD−

24 RT

Shell

TXD+

Transmission data

Reception data

Terminating
resistance terminal

FG

Frame ground

(See note 1.)

Note 1. Interface for RS-422:

• Applicable line driver: T.I. SN75174, MC3487 or equivalent

• Applicable line receiver: T.I. SN75175, MC3486 or equivalent

Note 2. Automatic-reset fuses are used for output protection. If overcurrent causes the fuse to oper-

ate, current will not flow, and after a fixed period of time it will automatically reset.

2-20

Standard Models and Specifications

■ Control I/O Signals

● CN1 Control Inputs

Pin

Signal name Function Contents

No.

1 +PULS/CW/A Feed pulses, reverse
2–PULS/CW/A

3 +SIGN/CCW/B Direction signal, for­4 –SIGN/CCW/B

5 +ECRST Deviation counter
6 –ECRST

pulses, or 90
difference pulses
(phase A)

ward pulses, or 90
phase difference
pulses (phase B)

reset

° phase

Pulse string input terminals for position commands.
Line-driver input: 7 mA at 3 V

Maximum response frequency: 250 kpps
Open-collector input: 7 to 15 mA

Maximum response frequency: 250 kpps

°

Any of the following can be selected by means of a Pn200.0
setting: feed pulses or direction signals (PULS/SIGN); forward
or reverse pulses (CW/CCW); 90
signals (A/B).

Line-driver input: 7 mA at 3 V
Open-collector input: 7 to 15 mA
ON: Pulse commands prohibited and deviation counter cleared.

Chapter 2

° phase difference (phase A/B)

Note Input for at least 20

13 +24VIN +24-V power supply

input for control DC
14 RUN RUN command input ON: Servo ON (Starts power to Servomotor.)
18 RESET Alarm reset input ON: Servo alarm status is reset.

● CN1 Control Outputs

Pin

No.

32 Z Phase Z output Outputs the Encoder’s phase Z. (1 pulse/revolution)
33 ZCOM

34 ALM
35 ALMCOM

7 BKIR Brake interlock output Outputs the holding brake timing signals.
8 INP Positioning completed

10 OGND

Note An open-collector output interface is used for pin-7 and -8 sequence outputs. (Maximum operating volt-

Signal

name

Alarm output When the Servo Driver generates an alarm, the output turns

output
Output ground common Ground common for sequence outputs (pins 7 and 8).

age: 30 V DC; maximum output current: 50 mA)

Function Contents

Power supply input terminal (+24 V DC) for sequence inputs
(pins 14 and 18).

Open collector output (maximum output voltage: 30 V DC max;
maximum output current: 20 mA)

OFF. Open collector output (maximum operating voltage: 30 V
DC; maximum output current: 50 mA)

ON when the position error is within the positioning completed
range (Pn500).

µs.

2-21

Standard Models and Specifications

● Interface for RS-422

Pin

Signal name Function Contents

No.

20 RXD+
21 RXD–
22 TXD+
23 TXD–
24 RT
19 GND

■ CN1: Pin Arrangement

Reception data Interface for RS-422A transmission and reception.

Transmission data

Terminating resistance terminal Connect to pin 21 (RXD–) on the end Unit.
RS-422A ground Ground for RS-422A.

Chapter 2

−PULS

2

/−CW/−A

−SIGN

4

/−CCW

/−B

6

−ECRST

8

INP

10 OGND

12

RUN

14

− feed pulse,

− reverse pulse,

− phase A

− direction

signal,

− forward pulse,

− phase B

Deviation

counter reset

Positioning

completed

output

Output ground

common

RUN command

input

1

/+CW/+A

3

/+CCW/+B

5

+ECRST

7

9

11

13

15

+PULS

+SIGN

BKIR

+24VIN

+ feed pulse,

+ reverse pulse,

+ phase A

+ direction

signal,

+ forward pulse,

+ phase B

+ deviation

counter reset

Brake interlock

output

Control DC
+24-V input

20

22

24

26

28

30

32

RXD+

TXD+

RT

Z

Reception

data +

Transmission

data +

Terminating

resistance

terminal

Encoder
phase-Z

output

19

21

23

25

27

29

31

33

GND

RXD−

TXD−

ZCOM

Ground for

RS-422A

Reception

data −

Transmission

data −

Phase-Z

output ground

16

18

RESET

17

Alarm reset

input

34

36

ALM

Note Do not wire the empty pins.

● CN1 Connectors (36P)

Servo Driver receptacle 10236-52A2JL (Sumitomo 3M)
Cable solder plug 10136-3000VE (Sumitomo 3M)
Cable case 10336-52A0-008 (Sumitomo 3M)

2-22

Alarm output

35

ALMCOM

Alarm output

ground

Standard Models and Specifications

■ Control Input Circuits

● Position Command Pulse Inputs and Deviation Counter Reset Inputs

Line Driver Input

Chapter 2

Controller

+

−

Applicable line driver:
AM26LS31A or equivalent

Servo Driver

200 Ω

+

−

Input current: 7 mA, 3 V

Open Collector Input

Using External Power Supply

Controller

Vcc

R

Note Select a value for resistance R so that the input current will be from 7 to 15 mA.

Servo Driver

200 Ω

+

−

Input current: 7 to 15 mA

Vcc R

24 V 1.6 to 2.4 k

Ω

12 V 750 to 1.1 kΩ
5 V None

● Sequence Inputs

Servo Driver

13+24VIN

External power supply:
24 V + 1 V DC

Power supply capacity:
50 mA min. (per Unit)

To other input circuit GNDs

Minimum ON time: 2 ms

To other input circuits

14

3.3 k

Signal Levels ON level: Minimum (+24VIN-11) V

OFF level: Maximum (+24VIN-1) V

Photocoupler input: 24 V DC, 7 mA

2-23

Standard Models and Specifications

Chapter 2

■ Control Output Circuits

● Sequence and Alarm Outputs

Servo Driver

To other output circuits

+

X

External power supply
24 V DC ± 1 V

(See note.)

−

Di

Di: Diode for preventing surge voltage (Use speed diodes.)

Note Automatic-reset fuses are used for output protection. If overcurrent causes the fuse to operate,

current will not flow, and after a fixed period of time it will automatically reset.

● Phase-Z Output

Servo Driver

Controller

Maximum operating voltage: 30 V DC
Maximum output current: 50 mA

Z32

Maximum operating voltage: 30 V DC
Maximum output current: 20 mA

FG

(See note.)

33

ZCOM

Note Automatic-reset fuses are used for output protection. If overcurrent causes the fuse to operate,

current will not flow, and after a fixed period of time it will automatically reset.

2-24

Standard Models and Specifications

■ Control Input Details

● Feed Pulse/Direction Signal, Reverse Pulse/Forward Pulse, +90° Phase Difference

Chapter 2

Signals (Phase A/Phase B)

CN1 Pin Numbers

CN1 pin 1:

+Feed Pulse (+PULS), +Reverse Pulse (+CW), +90

° Phase Difference Signals (Phase A) (+A)

CN1 pin 2:

–Feed Pulse (–PULS), –Reverse Pulse (–CW), –90

° Phase Difference Signals (Phase A) (–A)

CN1 pin 3:

+Direction Signal (+SIGN), +Forward Pulse (+CCW), +90

° Phase Difference Signals (Phase B) (+B)

CN1 pin 4:

–Direction Signal (–SIGN), –Forward Pulse (–CCW), –90

° Phase Difference Signals (Phase B) (–B)

Functions

The function of these signals depends on the setting of Pn200.0 (command pulse mode: position
control setting 1).

Logic Pn200.0

setting

0 Feed pulse and

1 Reverse pulse

Positive

290

390

490

Command pulse

mode

direction signal

and forward
pulse

° phase differ-

ence signals (

° phase differ-

ence signals (

° phase differ-

ence signals (

×1)

×2)

×4)

Input pins Servomotor forward

command

1: +PULS
2:

–PULS

3: +SIGN

–SIGN

4:

1: +CW
2:

–CW

3: +CCW
4:

–CCW

1: +A

–A

2:
3: +B

–B

4:

H

L

Servomotor reverse

command

L

L

2-25

Standard Models and Specifications

Chapter 2

Logic Pn200.0

setting

5 Feed pulse and

6 Reverse pulse

Negative

790

890

990

Command pulse

mode

direction signal

and forward
pulse

° phase differ-

ence signals (

° phase differ-

ence signals (

° phase differ-

ence signals (

×1)

×2)

×4)

Input pins Servomotor forward

command

1: +PULS

–PULS

2:
3: +SIGN
4:

–SIGN

1: +CW
2:

–CW

3: +CCW
4:

–CCW

1: +A
2:

–A

3: +B
4:

–B

L

H

Servomotor reverse

command

H

H

2-26

Standard Models and Specifications

Chapter 2

Command Pulse Timing

The following wave forms are for positive logic. Conditions are the same for negative logic.

Command pulse

mode

Feed pulse and direc­tion signal

Maximum input fre­quency: 250 kpps

Reverse pulse and for­ward pulse

Maximum input fre­quency: 250 kpps

Direction signals

Feed pulses

Reverse pulses

Forward pulses

Timing

Forward rotation command

t1 t1t2 t2 t2

t1 t1

Forward rotation command Reverse rotation command

t1 t1

τ

T

τ

T

t2

Reverse rotation command

t1 ≤ 0.1 µs
t2 > 3.0 µs
τ ≥ 2.0 µs
T ≥ 4.0 µs
(τ/T) × 100 ≤ 50 (%)

t1 ≤ 0.1 µs
t2 > 3.0 µs
τ ≥ 2.0 µs
T ≥ 4.0 µs
(τ/T) × 100 ≤ 50 (%)

90

° phase difference

signals
Maximum input fre-

quency:

×1:

Line driver: 250 kpps

×2:

Line driver: 250 kpps

×4:

Line driver: 187.5 kpps

Phase A pulses

Phase B pulses

Forward rotation command

t1 t1

τ

T

Reverse rotation command

t1 ≤ 0.1 ms
τ ≥ 2.0 ms
T ≥ 4.0 ms
(τ/T) × 100 ≤ 50 (%)

2-27

Standard Models and Specifications

● + Deviation Counter Reset (5: +ECRST)

Chapter 2

– Deviation Counter Reset (6: –ECRST)

The content of the deviation counter will be reset when the deviation counter reset signal turns ON
and the position loop will be disabled. Input the reset signal for 20
be reset if the signal is too short.

● RUN Command Input (14: RUN)

This is the input that turns ON the power drive circuit for the main circuit of the Servo Driver. If this
signal is not input (i.e., servo-OFF status), the Servomotor cannot operate except for JOG opera­tions.

● Alarm Reset (18: RESET)

This is the external reset signal input for the alarm. Remove the cause of the alarm and then restart
operation. Turn OFF the RUN command before inputting the reset signal. It can be dangerous to
input the reset signal while the RUN command is ON.

■ Control Output Details

µs minimum. The counter will not

● Control Output Sequence

Power supply input

(L1C, LC2, L1, L2, (L3))

Alarm output

(ALM)

Positioning completed output

Brake interlock output

(BKIR)

RUN command input

(RUN)

Alarm reset input

(RESET)

(INP)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

0 to 35 ms

ON

OFF

ON

OFF

Approx. 2 s

300 ms

2 ms

2 ms

● Alarm Output (34: ALM)

Alarm Output Ground (35: ALMCOM)

When the Servo Driver detects an error, outputs are turned OFF. This output is OFF at the time of
powering up, and turns ON when the initial processing is completed.

2-28

Standard Models and Specifications

● Positioning Completed Output (8: INP)

Chapter 2

The INP signal turns ON when the number of accumulated pulses in the deviation counter is less
than Pn500 (positioning completed range).

● Brake Interlock Output (7: BKIR)

External brake timing signals are output.

2-3-5 Encoder Input Connector Specifications (CN2)

Pin No. Symbol Signal name Function/Interface

1, 2, 3 E0V Encoder power supply GND Power supply outlet for encoder: 5 V, 180 mA
4, 5, 6 E5V Encoder power supply +5 V
8 S+ Encoder + phase-S input Line driver input (conforming to EIARS-422A)
9 S– Encoder – phase-S input
10 A+ Encoder + phase-A input Line driver input (conforming to EIARS-422A)
11 A– Encoder – phase-A input
12 B+ Encoder + phase-B input Line driver input (conforming to EIARS-422A)
13 B– Encoder – phase-B input
Shell FG Shield ground Cable shield ground

(Input impedance: 300

(Input impedance: 300

(Input impedance: 300

Ω±5%)

Ω±5%)

Ω±5%)

● CN2 Connectors Used (14P)

Servo Driver receptacle: 10214-52A2JL (Sumitomo 3M)
Cable solder plug: 10114-3000VE (Sumitomo 3M)
Cable case: 10314-52A0-008 (Sumitomo 3M)

2-3-6 Communications Connector Specifications (CN3)

Pin No. Symbol Signal name Function/Interface

1 /TXD Transmission data
2 /RXD Reception data
3 PRMU Unit switching This is the switching terminal for a Parameter

7 +5V +5 V output This is the +5-V power supply output to the
8 GND Ground
Shell FG Shield ground Cable shield ground

● CN3 Connectors Used (8P)

Servo Driver receptacle: HR12-10R-8 SDL (Hirose Electric)
Cable connector: HR212-10P-8P (Hirose Electric)

Transmission data, RS-232C output
Reception data, RS-232C input

Unit or personal computer.

Parameter Unit.

2-29

Standard Models and Specifications

2-3-7 Monitor Output Connector Specifications (CN4)

Pin No. Symbol Signal name Function/Interface

1NM

2AM

3 GND Monitor ground
4 GND Monitor ground

● CN4 Connectors Used (4P)

Servo Driver receptacle: DF11-4DP-2DSA (01) (Hirose Electric)
Cable connector socket: DF11-4DS-2C (Hirose Electric)
Cable connector contact: DF11-2428SCF (Hirose Electric)

Speed monitor Speed monitor output: 1 V per 1,000 r/min

Forward rotation: – voltage; reverse rotation: + voltage
The output accuracy is approximately

Current monitor Current monitor output: 1 V / rated torque

Forward rotation: – voltage; reverse rotation: + voltage
The output accuracy is approximately

Grounds for monitor output

±15%.

±15%.

Chapter 2

2-30

Standard Models and Specifications

Chapter 2

2-4 Servomotor Specifications

■ SMARTSTEP A-series Servomotors (R7M-A@)

There are two kinds of SMARTSTEP A-series Servomotor:

• 3,000-r/min Cylinder-style Servomotors

• 3,000-r/min Flat-style Servomotors

These Servomotors also have optional specifications, such as
the shaft type, brake, etc. Select the appropriate Servomotor
for your system according to the load conditions and installa­tion environment.

2-4-1 General Specifications

Item Specification

Ambient operating temperature 0 to 40
Ambient operating humidity 20% to 80% (with no condensation)
Storage ambient temperature –20 to 60
Ambient storage temperature 20% to 80% (with no condensation)
Storage and operating atmo-

sphere
Vibration resistance

(See note 1.)

Impact resistance

Insulation resistance Between power line terminals and FG: 10 M

Dielectric strength Between power line terminals and FG: 1,500 V AC for 1 min at 50/60 Hz
Run position All directions
Insulation grade Type B
Structure Totally-enclosed self-cooling
Protective structure IP55 (Excluding through-shaft portion)
Vibration grade V-15
Mounting method Flange-mounting

No corrosive gasses.

10 to 2,500 Hz, 0.2-mm double amplitude or 24.5 m/s
whichever is smallest, in X, Y, and Z directions.

Acceleration 98 m/s

Te ste r)

°C

°C

2

max. acceleration,

2

max., in X, Y, and Z directions, two times

Ω min. (via 500-V DC Megger

Note 1. Vibration may be amplified due to sympathetic resonance of machinery, so use the Servo-

motor Driver under conditions that will not exceed 80% of the specification values over a
long period of time.

Note 2. The above items reflect individual evaluation testing. The results may differ under compound

conditions.

Note 3. The Servomotors cannot be used in misty environments.

2-31

Standard Models and Specifications

2-4-2 Performance Specifications

■ 3,000-r/min Cylinder-style Servomotors

Chapter 2

Item Unit R7M-

A03030

Rated output* W 30 50 100 200 400 750
Rated torque* N
Rated rotation

speed
Momentary maxi-

mum rotation speed
Momentary maxi-

mum torque*
Rated current* A (rms) 0.42 0.60 0.89 2.0 2.6 4.4
Momentary maxi-

mum current*
Rotor inertia

Torque constant* N⋅m/A 0.255 0.286 0.408 0.355 0.533 0.590
Induced voltage

constant*
Power rate* kW/s 5.31 11.5 28.1 34.1 86.3 85.6
Mechanical time

constant
Winding resistance Ω 15.8 9.64 6.99 1.34 1.23 0.45
Winding inductance mH 23.1 16.9 13.2 7.2 7.9 5.7
Electrical time con-

stant
Allowable radial

load
Allowable thrust

load

Without brake kg Approx. 0.3 Approx. 0.4 Approx. 0.5 Approx. 1.1 Approx. 1.7 Approx. 3.4
With brake kg Approx. 0.6 Approx. 0.7 Approx. 0.8 Approx. 1.6 Approx. 2.2 Approx. 4.3

Weight

Radiation shield dimensions
(material)

Applicable Servo
Driver (R7D-)

⋅m 0.095 0.159 0.318 0.637 1.27 2.39

r/min 3,000

r/min 4,500

N

⋅m 0.29 0.48 0.96 1.91 3.82 7.1

A (rms) 1.3 1.9 2.8 6.0 8.0 13.9

2

kg

⋅m

(GD

mV/ (r/
min)

ms 1.2 0.8 0.5 0.4 0.2 0.3

ms 1.5 1.8 1.9 5.4 6.4 13

N 68 68 78 245 245 392

N5454547474147

100 VAC APA3L APA5L AP01L AP02L AP04L –
200 VAC APA3H APA5H AP01H AP02H AP04H AP08H

1.7

2

/4)

8.89 9.98 14.0 12.4 18.6 20.6

t6

–6

× 10

× @250 mm (Al)

R7M-

A05030

2.2 × 10

–6

R7M-

A10030

3.6 × 10

R7M-

A20030

–6

1.19 × 10–51.87 × 10–56.67 × 10

R7M-

A40030

R7M-

A75030

–5

2-32

Standard Models and Specifications

Chapter 2

Item Unit R7M-

A03030

Brake inertia

Excitation volt­age

Power con­sumption (at
20

°C)

Brake specifications

Current con­sumption (at

°C)

20
Static friction

torque
Attraction time

(See note 3.)
Release time

(See note 3.)
Backlash 1
Rating – Continuous
Insulation grade – Type F

2

⋅m

kg
(GD
V24 V DC ±10%

W666777.7

A 0.25 0.25 0.25 0.29 0.29 0.32

N

⋅m 0.2 min. 0.2 min. 0.34 min. 1.47 min. 1.47 min. 2.45 min.

ms 30 max. 30 max. 30 max. 60 max. 60 max. 60 max.

ms 60 max. 60 max. 60 max. 20 max. 20 max. 20 max.

8.5

2

/4)

× 10

° (reference value)

–7

R7M-

A05030

8.5 × 10

–7

R7M-

A10030

8.5 × 10

–7

R7M-

A20030

6.4 × 10

–6

R7M-

A40030

6.4 × 10

–6

R7M-

A75030

1.71 × 10

–5

Note 1. *The values for items marked by asterisks are the values at an armature winding tempera-

ture of 100

°C, combined with the Servo Driver. Other values are at normal conditions (20°C,

65%). The momentary maximum torque shown above indicates the standard value.

Note 2. The brakes are the non-excitation operation type (released when excitation voltage is ap-

plied).

Note 3. The operation time is the measured value (reference value) with a surge killer (CR50500, by

Okaya Electric Industries co. LTD) inserted.

Note 4. The allowable radial and thrust loads are the values determined for a service life of 20,000

hours at normal operating temperatures.

Note 5. The value indicated for the allowable radial load is for the positions shown in the diagrams

following the next table.

Radial load

Thrust load

5 mm

2-33

Standard Models and Specifications

Chapter 2

● 3,000-r/min Cylinder-style Servomotors: Torque and Rotation Speed Characteristics

The following graphs show the characteristics with a 3-m standard cable, and a 100-V AC input for
R7D-AP@L Servo Drivers, or a 200-V AC input for R7D-AP@H Servo Drivers.

R7M-A03030 (30 W)

(N·m)

0.3

0.29 0.29

R7M-A05030 (50 W)

(N·m)

0.5

0.48 0.48

0.4

0.2

0.1

Repeated usage

Continuous usage

0

1000

2000 3000

R7M-A10030 (100 W)

(N·m)

1.0

0.96

0.8

0.6

0.4

0.2

Repeated usage

Continuous usage

0.0950.095

0.3180.318

4000 5000

0.96

(3600)

0.069

0.91

0.222

(r/min)

0.3

0.2

0.1

Continuous usage

Repeated usage

0

1000

2000 3000

R7M-A20030 (200 W)

(N·m)

2.0

1.91

1.5

Repeated usage

1.0

0.5

Continuous usage

0.1590.159

0.6370.637

1.91

(3650)

0.107

4000 5000

1.33

0.452

(r/min)

0

1000

2000 3000

R7M-A40030 (400 W)

(N·m)

4.0

3.0

3.82

(2000)

100-V AC
input

Repeated usage

2.0

1.0

Continuous usage

0

1000

2000 3000

2-34

3.82
(2900)

1.271.27

4000 5000

1.45

1.24

0.89

4000 5000

(r/min)

(r/min)

0

1000

2000 3000

R7M-A75030 (750 W)

(N·m)

8.0

7.1

6.0

Repeated usage

4.0

2.0

7.1

(2225)

Continuous usage

0

1000

2000 3000

2.392.39

4000 5000

1.24

4000 5000

(r/min)

(r/min)

Standard Models and Specifications

■ 3,000-r/min Flat-style Servomotors

Chapter 2

Item Unit R7M-

AP10030

R7M-

AP20030

R7M-

AP40030

AP75030

Rated output* W 100 200 400 750
Rated torque* N

⋅m 0.318 0.637 1.27 2.39

Rated rotation speed r/min 3,000
Momentary maximum

r/min 4,500

rotation speed
Momentary maximum

N

⋅m 0.96 1.91 3.82 7.1

torque*
Rated current* A (rms) 0.89 2.0 2.6 4.1
Momentary maximum

A (rms) 2.8 6.0 8.0 13.9

current*
Rotor inertia

2

kg

⋅m

(GD2/4) 6.5 × 10

–6

2.09 × 10

–5

3.47 × 10

–5

2.11 × 10

Torque constant* N⋅m/A 0.392 0.349 0.535 0.641
Induced voltage con-

mV/ (r/min) 13.7 12.2 18.7 22.4

stant*
Power rate* kW/s 15.7 19.4 46.8 26.9
Mechanical time con-

ms 0.7 0.6 0.4 0.7

stant
Winding resistance Ω 5.53 1.13 1.04 0.43
Winding inductance mH 20.7 8.4 8.9 7.7
Electrical time con-

ms 3.7 7.4 8.5 18

stant
Allowable radial load N 78 245 245 392
Allowable thrust load N 49 68 68 147

Without brake kg Approx. 0.7 Approx. 1.4 Approx. 2.1 Approx. 4.2
With brake kg Approx. 0.9 Approx. 1.9 Approx. 2.6 Approx. 5.7

Weight

Radiation shield dimensions (mate­rial)

Applicable Servo
Driver (R7D-)

Brake inertia

100 VAC AP01L AP02L AP04L –

200 VAC AP01H AP02H AP04H AP08H

2

⋅m

(GD2/4) 2.9 × 10

kg

t6

× @250 mm (Al) t12 × @300 mm

(Al)

–6

1.09 × 10

–5

1.09 × 10

–5

8.75 × 10

Excitation voltage V 24 V DC ±10%
Power consump-

tion (at 20

°C)

Current consump­tion (at 20

Brake specifications

Static friction

°C)

W6 5 7.6 7.5

A 0.25 0.21 0.32 0.31

N

⋅m 0.4 min. 0.9 min. 1.9 min. 3.5 min.

torque
Attraction time

ms 40 max. 40 max. 40 max. 40 max.

(See note 3.)
Release time (See

ms 20 max. 20 max. 20 max. 20 max.

note 3.)
Backlash 1

° (reference value)

Rating – Continuous
Insulation

–Type F

grade

R7M-

–4

–5

2-35

Standard Models and Specifications

Note 1. *The values for items marked by asterisks are the values at an armature winding tempera-

ture of 100
65%). The momentary maximum torque shown above indicates the standard value.

Note 2. The brakes are the non-excitation operation type (released when excitation voltage is ap-

plied).

Note 3. The operation time is the measured value (reference value) with a surge killer (CR50500, by

Okaya Electric Industries co. LTD) inserted.

Note 4. The allowable radial and thrust loads are the values determined for a service life of 20,000

hours at normal operating temperatures.

Note 5. The value indicated for the allowable radial load is for the position shown in the following di-

agram.

°C, combined with the Servo Driver. Other values are at normal conditions (20°C,

Radial load

Thrust load

5 mm

Chapter 2

2-36

Standard Models and Specifications

Chapter 2

3,000-r/min Flat-style Servomotors: Torque and Rotation Speed Characteristics

The following graphs show the characteristics with a 3-m standard cable, and a 100-V AC input for R7D-AP@L
Servo Drivers, or a 200-V AC input for R7D-AP@H Servo Drivers.

R7M-AP10030 (100 W)

(N·m)

1.0

0.96

0.8

0.6

0.4

0.2

Repeated usage

Continuous usage

0.96

(3725)

0.800

0.3180.318

0.222

R7M-AP20030 (200 W)

(N·m)

2.0

1.91

1.5

Repeated usage

1.0

0.5

Continuous usage

1.91

(3600)

1.40

0.6370.637

0.452

0

1000

2000 3000

R7M-AP40030 (400 W)

(N·m)

4.0

3.82

(2350)

100-V AC input

3.0

2.0

1.0

Repeated usage

Continuous usage

0

1000

2000 3000

1.271.27

4000 5000

3.82
(3250)

4000 5000

1.77

1.22

0.87

(r/min)

(r/min)

0

1000

2000 3000

R7M-AP75030 (750 W)

(N·m)

8.0

7.1
(2500)

6.0

Single-phase
200-V AC input

4.0

2.0

Repeated usage

Continuous usage

0

1000

2000 3000

2.392.39

4000 5000

7.1
(3200)

4000 5000

(r/min)

Three-phase
200-V AC input

2.45

1.64

1.54

(r/min)

2-37

Standard Models and Specifications

● Servomotor and Mechanical System Temperature Characteristics

Chapter 2

• SMARTSTEP A-series Servomotors use rare earth magnets (neodymium-iron magnets). The tem­perature coefficient for these magnets is approximately –0.13%/

°C. As the temperature drops, the

Servomotor’s momentary maximum torque increases, and as the temperature rises the Servomo­tor’s momentary maximum torque decreases. When the normal temperature of 20

°C and –10°C

are compared, the momentary maximum torque increases by approximately 4%. Conversely, when
the magnet warms up to 80

°C from the normal temperature of 20°C, the momentary maximum

torque decreases by approximately 8%.

• Generally, in a mechanical system, when the temperature drops the friction torque increases and
the load torque becomes larger. For that reason, overloading may occur at low temperatures. In
particular, in systems which use reduction gear, the load torque at low temperatures may be nearly
twice the load torque at normal temperatures. Check with a current monitor to see whether over­loading is occurring at low temperatures, and how much the load torque is. Likewise, check to see
whether there abnormal Servomotor overheating or alarms are occurring at high temperatures.

• An increase in load friction torque visibly increases load inertia. Therefore, even if the Servo Driver
parameters are adjusted at a normal temperature, there may not be optimal operation at low tem­peratures. Check to see whether there is optimal operation at low temperatures too.

2-4-3 Encoder Specifications

Item Specification

Cylinder-style Servomotors Flat-style Servomotors

Encoder method Optical encoder (incremental) Magnetic encoder

(incremental)

Number of output pulses Phase A, B: 2,000 pulses/revolution

Phase Z: 1 pulse/revolution
Power supply voltage 5 V DC
Power supply current 150 mA max.
Maximum rotation speed 4,500 r/min
Output signals +A, –A, +B, –B, +S, –S
Output interface Conforming to EIA RS-422A.

Output based on AM26LS31CN or equivalent.
Serial communications data Phase Z, poll sensor, phases U, V, W
Serial communications method Combined communications method using phases A, B, and S.

±5%

2-38

Standard Models and Specifications

Chapter 2

2-5 Reduction Gear Specifications

■ Reduction Gears for SMARTSTEP A-series Servomotors (R7G-@)

There are two kinds of reduction gears for SMARTSTEP A-series Servomotors:

• Reduction gears for 3,000-r/min Cylinder-style Servomotors
(Backlash 3

• Reduction gears for 3,000-r/min Flat-style Servomotors
(Backlash 3

There are four reduction ratios: 1/5, 1/9, 1/15, and 1/25. Select a reduction ratio to match the ca­pacity of the Servomotor.

Note There are no 30-W reduction gears for Cylinder-style Servomotors.

■ Reduction Gears for Cylinder-style Servomotors

● Backlash = 3′ Max.

Model Rated

50 W 1/5 R7G-VRSFPB05B50 600 0.517 65 900 1.56

1/9 R7G-VRSFPB09B50 333 0.93 65 500 2.81

1/15 R7G-VRSFPB15B50 200 1.67 70 300 5.04

1/25 R7G-VRSFPB25B50 120 2.78 70 180 8.40

100 W 1/5 R7G-VRSFPB05B100 600 1.19 75 900 3.60

1/9 R7G-VRSFPB09B100 333 2.29 80 500 6.91

1/15 R7G-VRSFPB15B100 200 3.82 80 300 11.5

1/25 R7G-VRSFPB25C100 120 6.36 80 180 19.2

200 W 1/5 R7G-VRSFPB05B200 600 2.71 85 900 8.12

1/9 R7G-VRSFPB09C400 333 3.78 66 500 11.3

1/15 R7G-VRSFPB15C400 200 6.31 66 300 18.9

1/25 R7G-VRSFPB25C200 120 11.1 70 180 33.4

400 W 1/5 R7G-VRSFPB05C400 600 5.40 85 900 16.2

1/9 R7G-VRSFPB09C400 333 9.49 83 500 28.5

1/15 R7G-VRSFPB15C400 200 15.8 83 300 47.6

1/25 R7G-VRSFPB25D400 120 26.4 83 180 79.3

750 W 1/5 R7G-VRSFPB05C750 600 10.8 90 900 32.0

1/9 R7G-VRSFPB09D750 333 18.3 85 500 54.3

1/15 R7G-VRSFPB15D750 200 30.5 85 300 90.5

1/25 R7G-VRSFPB25E750 120 50.8 85 180 151

′ max. and backlash 45′ max.)

′ max. and backlash 45′ max.)

Rated

rotat ion

speed

r/min N

torque

Ratio Maximum

⋅m% r/min N⋅m

momentary

rotation speed

Maximum

momentary

torque

Reduction

gear inertia

kg

⋅m

4.13

× 10

3.53

× 10

3.67

× 10

3.59

× 10

4.08

× 10

3.43

× 10

3.62

× 10

3.92

× 10

1.53

× 10

2.68

× 10

2.71

× 10

× 10

2.67

3.22

× 10

2.68

× 10

2.71

× 10

2.79

× 10

7.17

× 10

6.50

× 10

7.09

× 10

7.05

× 10

Allowable

radial torque

2

–6

392 196

–6

441 220

–6

588 294

–6

686 343

–6

392 196

–6

441 220

–6

588 294

–6

1323 661

–5

392 196

–5

931 465

–5

1176 588

–5

1323 661

–5

784 392

–5

931 465

–5

1176 588

–5

1617 808

–5

784 392

–5

1176 588

–5

1372 686

–5

2058 1029

Allowable

thrust torque

NN

Note 1. The reduction gear inertia indicates the Servomotor shaft conversion value.
Note 2. The enclosure rating for Servomotors with reduction gears is IP44.
Note 3. The allowable radial torque is the value for the center of the shaft.

2-39

Standard Models and Specifications

● Backlash = 45′ Max.

Model Rated

50 W 1/5 R7G-RGSF05B50 600 0.517 65 900 1.56

1/9 R7G-RGSF09B50 333 0.93 65 500 2.81

1/15 R7G-RGSF15B50 200 1.67 70 300 5.04

1/25 R7G-RGSF25B50 120 2.78 70 180 8.40

100 W 1/5 R7G-RGSF05B100 600 1.19 75 900 3.60

1/9 R7G-RGSF09B100 333 2.29 80 500 6.91

1/15 R7G-RGSF15B100 200 3.82 80 300 11.5

1/25 R7G-RGSF25B100 120 4.02 (See note 4.) 50 180 12.0 (See note 4.)

200 W 1/5 R7G-RGSF05B200 600 2.71 85 900 8.10

1/9 R7G-RGSF09C400 333 3.78 66 500 11.3

1/15 R7G-RGSF15C400 200 6.31 66 300 18.9

1/25 R7G-RGSF25C400 120 11.1 70 180 33.4

400 W 1/5 R7G-RGSF05C400 600 5.40 85 900 16.2

1/9 R7G-RGSF09C400 333 9.49 83 500 28.5

1/15 R7G-RGSF15C400 200 15.8 83 300 47.6

1/25 R7G-RGSF25C400 120 21.7 (See note 4.) 68 180 65.1 (See note 4.)

750 W 1/5 R7G-RGSF05C750 600 10.8 90 900 32.0

1/9 R7G-RGSF09C750 333 9.7 (See note 4.) 45 500 29.1 (See note 4.)

1/15 R7G-RGSF15C750 200 16.2 (See note 4.) 45 300 48.6 (See note 4.)

1/25 R7G-RGSF25C750 120 21.7 (See note 4.) 36 180 65.1 (See note 4.)

rotation

speed

r/min N

Rated torque Ratio Maximum

⋅m % r/min N⋅m

momentary

rotation speed

Maximum

momentary

torque

Reduction

gear inertia

⋅m

kg

4.13

× 10

3.53

× 10

3.67

× 10

3.59

× 10

4.08

× 10

3.43

× 10

3.62

× 10

× 10

3.54

× 10

1.53

2.68

× 10

2.71

× 10

2.67

× 10

3.22

× 10

2.68

× 10

2.71

× 10

2.67

× 10

7.17

× 10

6.46

× 10

7.53

× 10

7.22

× 10

Chapter 2

Allow-

able

radial

torque

2

–6

–6

–6

–6

–6

–6

–6

–6

–5

–5

–5

–5

–5

–5

–5

–5

–5

–5

–5

–5

NN

392 196

441 220

588 294

686 343

392 196

441 220

588 294

686 343

392 196

931 465

1176 588

1323 661

784 392

931 465

1176 588

1323 661

784 392

931 465

1176 588

1323 661

Allow-

able
thrust
torque

Note 1. The reduction gear inertia indicates the Servomotor shaft conversion value.
Note 2. The enclosure rating for Servomotors with reduction gears is IP44.
Note 3. The allowable radial torque is the value for the center of the shaft.
Note 4. These are the allowable torque values for the reduction gears. Do not exceed these values.

2-40

Standard Models and Specifications

■ Reduction Gears for Flat-style Servomotors

● Backlash = 3′ Max.

Model Rated

100 W 1/5 R7G-VRSFPB05B100P 600 1.19 75 900 3.60

1/9 R7G-VRSFPB09B100P 333 2.29 80 500 6.91

1/15 R7G-VRSFPB15B100P 200 3.82 80 300 11.5

1/25 R7G-VRSFPB25C100P 120 6.36 80 180 19.2

200 W 1/5 R7G-VRSFPB05B200P 600 2.71 85 900 8.12

1/9 R7G-VRSFPB09C400P 333 3.78 66 500 11.3

1/15 R7G-VRSFPB15C400P 200 6.31 66 300 18.9

1/25 R7G-VRSFPB25C200P 120 11.1 70 180 33.4

400 W 1/5 R7G-VRSFPB05C400P 600 5.40 85 900 16.2

1/9 R7G-VRSFPB09C400P 333 9.49 83 500 28.5

1/15 R7G-VRSFPB15C400P 200 15.8 83 300 47.6

1/25 R7G-VRSFPB25D400P 120 26.4 83 180 79.3

750 W 1/5 R7G-VRSFPB05C750P 600 10.8 90 900 32.0

1/9 R7G-VRSFPB09D750P 333 18.3 85 500 54.3

1/15 R7G-VRSFPB15D750P 200 30.5 85 300 90.5

1/25 R7G-VRSFPB25E750P 120 50.8 85 180 151

rotation

speed

r/min N

Rated

torque

Ratio Maximum

⋅m % r/min N⋅m

momentary

rotation speed

Maximum

momentary

torque

Reduction

gear inertia

kg

⋅m

1.60

× 10

1.37

× 10

3.38

× 10

3.68

× 10

1.53

× 10

2.56

× 10

2.71

× 10

2.67

× 10

3.23

× 10

2.56

× 10

× 10

2.71

2.79

× 10

7.17

× 10

6.50

× 10

6.86

× 10

7.05

× 10

Allowable

radial torque

2

–5

392 196

–5

441 220

–6

588 294

–6

1323 661

–5

392 196

–5

931 465

–5

1176 588

–5

1323 661

–5

784 392

–5

931 465

–5

1176 588

–5

1617 808

–5

784 392

–5

1176 588

–5

1372 686

–5

2058 1029

Chapter 2

Allowable

thrust torque

NN

Note 1. The reduction gear inertia indicates the Servomotor shaft conversion value.
Note 2. The enclosure rating for Servomotors with reduction gears is IP44.
Note 3. The allowable radial torque is the value for the center of the shaft.

2-41

Standard Models and Specifications

● Backlash = 45′ Max.

Model Rated

100 W 1/5 R7G-RGSF05B100P 600 1.19 75 900 3.60

1/9 R7G-RGSF09B100P 333 2.29 80 500 6.91

1/15 R7G-RGSF15B100P 200 3.82 80 300 11.5

1/25 R7G-RGSF25B100P 120 4.02 (See note 4.) 50 180 12.0

200 W 1/5 R7G-RGSF05B200P 600 2.71 85 900 8.10

1/9 R7G-RGSF09C400P 333 3.78 66 500 11.3

1/15 R7G-RGSF15C400P 200 6.31 66 300 18.9

1/25 R7G-RGSF25C400P 120 11.1 70 180 33.4

400 W 1/5 R7G-RGSF05C400P 600 5.40 85 900 16.2

1/9 R7G-RGSF09C400P 333 9.49 83 500 28.5

1/15 R7G-RGSF15C400P 200 15.8 83 300 47.6

1/25 R7G-RGSF25C400P 120 21.7 (See note 4.) 68 180 65.1 (See note

750 W 1/5 R7G-RGSF05C750P 600 10.8 90 900 32.0

1/9 R7G-RGSF09C750P 333 9.7 (See note 4.) 45 500 29.1 (See note

1/15 R7G-RGSF15C750P 200 16.2 (See note 4.) 45 300 48.6 (See note

1/25 R7G-RGSF25C750P 120 21.7 (See note 4.) 36 180 65.1 (See note

rotat ion

speed

r/min N

Rated torque Ratio Maximum

⋅m % r/min N⋅m

momentary

rotation speed

(See note 4.)

4.)

4.)

4.)

4.)

Maximum

momentary

torque

Reduction

gear inertia

⋅m

kg

1.60

× 10

1.37

× 10

3.38

× 10

× 10

3.78

1.53

× 10

2.56

× 10

2.71

× 10

2.67

× 10

3.23

× 10

2.56

× 10

2.71

× 10

× 10

2.67

7.17

× 10

6.00

× 10

× 10

7.65

× 10

7.22

Chapter 2

Allow-

able

radial

torque

2

–5

–5

–6

–6

–5

–5

–5

–5

–5

–5

–5

–5

–5

–5

–5

–5

NN

392 196

441 220

588 294

686 343

392 196

931 465

1176 588

1323 661

784 392

931 465

1176 588

1323 661

784 392

931 465

1176 588

1323 661

Allow-

able

thrust

torque

Note 1. The reduction gear inertia indicates the Servomotor shaft conversion value.
Note 2. The enclosure rating for Servomotors with reduction gears is IP44.
Note 3. The allowable radial torque is the value for the center of the shaft.
Note 4. These are the allowable torque values for the reduction gears. Do not exceed these values.

2-42

Standard Models and Specifications

Chapter 2

2-6 Cable and Connector Specifications

2-6-1 Control Cables

■ General Control Cables (R88A-CPU@@@S)

A General Control Cable is connected to the Servo Driver’s Control I/O Connector (CN1). There is no
connector on the Controller end. When connecting it to a Position Control Unit with no special cable
provided, or to a controller manufactured by another company, wire a connector to match the control­ler.

Note There is one method for connecting to a Controller with no special cable provided, and another method

for using connector Terminal Block cable and a connector Terminal Block.

● Cable Models

Model Length (L) Outer diameter of sheath Weight

R88A-CPU001S 1 m 9.9 dia. Approx. 0.3 kg
R88A-CPU002S 2 m Approx. 0.6 kg

● Connection Configuration and External Dimensions

39L

Controller

43.6

t=18

Servo Driver

R7D-AP@

2-43

Standard Models and Specifications

● Wiring

Chapter 2

Wire/Mark colorNo. Symbol

1 Orange/Black (−) +CW
2 Orange/Red (−) −CW
3 Gray/Black (−) +CCW
4 Gray/Red (−) −CCW
5 White/Black (−)
6 White/Red (−)
7 Yellow/Black (−) BKIR
8 Yellow/Red (−) INP

9 Pink/Black (−)
10 Pink/Red (−)
11 Gray/Black (−−)
12 Gray/Red (−−)

Orange/Black (−−)

13

Orange/Red (−−)
14 White/Black (−−)
15 White/Red (−−)
16 Yellow/Black (−−)
17 Yellow/Red (−−)
18 Pink/Black (−−) RESET

+ECRST

−ECRST

OGND

+24VIN
+24VIN

RUN

Shell Shield FG

Wire/Mark colorNo. Symbol

19 Pink/Red (−−)
20 Orange/Black (−−−) RXD+
21 Orange/Red (−−−) RXD−
22 Gray/Black (−−−) TXD+
23 Gray/Red (−−−)
24 White/Black (−−−)
25 White/Red (−−−)
26 Yellow/Black (−−−)
27 Yellow/Red (−−−)
28 Pink/Black (−−−)
29 Pink/Red (−−−)
30 Orange/Black (−−−−)
31 Orange/Red (−−−−)
32 Gray/Black (−−−−) Z
33 Gray/Red (−−−−) ZCOM
34 White/Black (−−−−)

White/Red (−−−−) ALMCOM

35
36

Connector plug: 10136-3000VE (Sumitomo 3M)
Connector case: 10336-52A0-008 (Sumitomo 3M)
Cable: AWG24

× 18P UL20276

GND

TXD−

RT

ALM

Connector Pin Arrangement

10
12
14
16
18

1

2

3

4

5

6

7

8

9
11
13
15
17

20
22
24
26
28
30
32
34
36

19
21
23
25
27
29
31
33
35

Note Wires with the same wire color and the same number of marks form twisted pairs. For example, the

orange wire with one red mark (–) is twisted together with the orange wire with one black mark (–).

Connector Terminal Block Cables (R88A-CTU@@@N)

■

● Cable Models

Model Length (L) Outer diameter of sheath Weight

R88A-CTU001N 1 m 9.9 dia. Approx. 0.3 kg
R88A-CTU002N 2 m Approx. 0.6 kg

● Connection Configuration and External Dimensions

39L46

Connector Terminal Block

Servo Driver

R7D-AP@

XW2B-40F5-P

72.72

43.6

t=18

t=10.3

2-44

Standard Models and Specifications

● Wiring

Terminal Block Connector

No.

1
2
3
4
5
6
7
8

9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40

No.

1

A

1

B

2

A

2

B

3

A

3

B

4

A

4

B

5

A

5

B

6

A

6

B

7

A

7

B

8

A

8

B

9

A

9

B

10

A

10

B

11

A

11

B

12

A

12

B

13

A

13

B

14

A

14

B

15

A

15

B

16

A

16

B

17

A

17

B

18

A

18

B

19

A

19

B

20

A

20

B

Servo Driver

No.

Symbol

+CW

1

−CW

2

−CCW

3

−CCW

4
5

+ECRST

6

−ECRST

BKIR

7
8

9
10
11
12
13
14
15
16
17
18
19
20 RXD+
21 RXD−
22 TXD+
23
24
25
26
27
28
29
30
31
32 Z
33 ZCOM
34
35 ALMCOM

Shell FG

INP

OGND

+24VIN

RUN

RESET

GND

TXD−

RT

ALM

Chapter 2

Servo Driver connector:
Connector plug:
10136-3000VE (Sumitomo 3M)

Connector case:
10336-52A0-008 (Sumitomo 3M)

Terminal block connector
Connector plug:
FCN-361J040-AU (Fujitsu)

Connector case:
FCN-360C040-B (Fujitsu)

Cable: AWG24

× 18P UL20276

2-45

Standard Models and Specifications

Chapter 2

2-6-2 Servomotor Cables

A Servomotor Cable connects a Servomotor to the Servo Driver and is available in either of
two types: Separate Cables and Integrated Cables. The Integrated Cables include the
encoder cable and power cable. Select a Cable to match the Servomotor being used. The
maximum distance between the Servomotor and the Servo Driver is 20 meters.

Note: Use a robot cable if cable flexibility is required.

Integrated

cables

Model Standard cable

For Servomotors
without brakes

For Servomotors
with brakes

● Robot Cable Bending Durability

R7A-CEA@@@S Power cable R88A-CAWA@@@S R88A-CAWA@@@SR

Encoder cable R7A-CRA@@@C R7A-CRA@@@CR

R7A-CEA@@@B Power cable R88A-CAWA@@@B R88A-CAWA@@@BR

Encoder cable R7A-CRA@@@C R7A-CRA@@@CR

models

Separate cables

Robot cable models

A Robot Cable uses materials that enable a service life of 20 million bendings minimum under the fol­lowing conditions for the minimum bending radius (R) or larger.

Note 1. The service life data on bending durability consists of test values. Use this data only as ref-

erence values, and allow margin in actual application.

Note 2. The bending durability is the number of times that the Cable can be bent without breaking

or other damage occurring that affects the sheath functionality when the conductors inside
the cable are conducting electricity. The bending durability does not apply to the shield
breaking.

Note 3. Mechanical failure, ground faults, or other problems may occur due to damaged insulation if

the Cable is used with a radius smaller than the minimum bending radius. Contact your
OMRON representative if the Cable will be used with a radius smaller than the minimum
bending radius.

● Power Cables

For Servomotors
without brakes

For Servomotors
with brakes

R88A-CAWA

R88A-CAWA

@: 003 to 020

● Encoder Cables

Model Minimum bending radius

R7A-CRA@@@CR 46 mm

@: 003 to 020

2-46

Model Minimum bending radius

(R)

@@@SR

@@@BR

(R)

55 mm

55 mm

Standard Models and Specifications

e

● Bending Test

Stroke

320 mm

Bending

radius (R)

100 times/minut

Chapter 2

2-6-3 Specifications of Integrated Cables

■ Integrated Cables for Servomotors without Brakes (R7A-CEA@@@S)

● Cable Models

Model Length (L) Outer diameter of sheath Weight

R7A-CEA003S 3 m 12.4 dia. Approx. 0.8 kg
R7A-CEA005S 5 m Approx. 1.2 kg
R7A-CEA010S 10 m Approx. 2.1 kg
R7A-CEA015S 15 m Approx. 3.1 kg
R7A-CEA020S 20 m Approx. 4.0 kg

● Connection Configuration and External Dimensions

Servo Driver

R7D-AP@

29.5

t=12.7

5039 50L

80

43.7

27.4

t=15.7

t=12

Servomotor

R7M-A@

21.5

27.7

2-47

Standard Models and Specifications

● Wiring

Servo Driver

Symbol No.

E0V 1
E0V 2
E0V 3
E5V 4
E5V 5
E5V 6

− 7

S+ 8
S− 9
A+ 10
A− 11
B+ 12
B− 13

− 14

FG Shell
Connector plug:
10114-3000VE (Sumitomo 3M)
Connector case:
10314-52A0-008 (Sumitomo 3M)

M4 crimp terminal

AWG22 Black

AWG22 Red

AWG24 Green

AWG24 Green/White

AWG24 Blue

AWG24 Blue/White

AWG24 Yellow

AWG24 Yellow/White

AWG20 Red

AWG20 White

AWG20 Blue

AWG20 Green/Yellow

Servomotor

SymbolNo.
7 E0V
8 E5V
5
6
1
2
3
4

Shell FG

SymbolNo.
1 U phase
2 V phase
34W phase

Chapter 2

Connector kit:
54280-0800 (Molex Japan)

S+
S−
A+
A−
B+
B−

Connector cap:
350780-1 (Tyco Electronics AMP)
Connector socket:
350570-3 (Tyco Electronics AMP)

FG

■ Integrated Cables for Servomotors with Brakes (R7A-CEA@@@B)

● Cable Models

Model Length (L) Outer diameter of sheath Weight

R7A-CEA003B 3 m 12.4 dia. Approx. 0.8 kg
R7A-CEA005B 5 m Approx. 1.2 kg
R7A-CEA010B 10 m Approx. 2.1 kg
R7A-CEA015B 15 m Approx. 3.1 kg
R7A-CEA020B 20 m Approx. 4.0 kg

2-48

Standard Models and Specifications

● Connection Configuration and External Dimensions

Servo Driver

R7D-AP@

5039 50L

43.7

Chapter 2

Servomotor

R7M-A@

● Wiring

Servo Driver

Symbol No.

Connector plug:
10114-3000VE (Sumitomo 3M)
Connector case:
10314-52A0-008 (Sumitomo 3M)

M4 crimp terminal
M4 crimp terminal
M4 crimp terminal

29.5

E0V 1
E0V 2
E0V 3
E5V 4
E5V 5
E5V 6

− 7

S+ 8
S− 9
A+ 10
A− 11
B+ 12
B− 13

− 14

FG Shell

t=12.7

80

AWG22 Black

AWG22 Red

AWG24 Green

AWG24 Green/White

AWG24 Blue

AWG24 Blue/White

AWG24 Yellow

AWG24 Yellow/White

AWG20 Red

AWG20 White

AWG20 Blue

AWG20 Green/Yellow

AWG20 Black

AWG20 Brown

Servomotor

SymbolNo.
7 E0V
8 E5V
5
6
1
2
3
4

Shell FG

SymbolNo.
1 U phase
2 V phase
34W phase

5 Brake
6 Brake

t=12

27.4

14

t=28.4

Connector kit:
54280-0800 (Molex Japan)

S+
S−
A+
A−
B+
B−

Connector cap:
350781-1 (Tyco Electronics AMP)
Connector socket
350570-3 (Tyco Electronics AMP)

FG

21.5

2-49

Standard Models and Specifications

Chapter 2

2-6-4 Specifications of Separate Cables

■ Specifications of Standard Power Cables (R88A-CAWA@@@@)

Select a Power Cable to match the Servomotor being used. The cable length is 3 to 20 m.
(The maximum distance between the Servomotor and the Servo Driver is 20 m.)

Power Cables for Servomotors without Brakes Power Cables for Servomotors with Brakes

Model Length

(L)

R88A-CAWA003S 3 m 6.2 dia. Approx.

R88A-CAWA005S 5 m Approx.

R88A-CAWA010S 10 m Approx.

R88A-CAWA015S 15 m Approx.

R88A-CAWA020S 20 m Approx.

Outer

diameter

of sheath

Weight Model Length

(L)

R88A-CAWA003B 3 m 7.4 dia. Approx.

0.2 kg
R88A-CAWA005B 5 m Approx.

0.3 kg
R88A-CAWA010B 10 m Approx.

0.6 kg
R88A-CAWA015B 15 m Approx.

0.9 kg
R88A-CAWA020B 20 m Approx.

1.2 kg

Outer

diameter

of sheath

0.3 kg

0.5 kg

0.9 kg

1.3 kg

1.7 kg

Weight

● Connection Configuration and External Dimensions

Power Cables for Servomotors without Brakes

50

Servo Driver Servomotor

R7D-AP@

L

Power Cables for Servomotors with Brakes

50

Servo Driver Servomotor

R7D-AP@

● Wiring

L

Power Cables for Servomotors without Brakes

Servo Driver

Red

White

Blue

Green/Yellow

M4 crimp terminal

Cable: AWG20 x 4C, UL2464

Servomotor

No.

1

2

3

4

Symbol

U phase

V phase

W phase

FG

Cable side:

Connector cap: 350780-1 (Tyco Electronics AMP)

Connector socket: 350689-3 (Tyco Electronics AMP)

Servomotor side:

Connector plug: 350779-1 (Tyco Electronics AMP)

Contact pin:

350690-3: Pin No. 1 to 3 (Tyco Electronics AMP)

770210-1: Pin No. 4 (Tyco Electronics AMP)

t=15.7

t=28.4

27.4

27.4

26.7

14

R7M-A@

R7M-A@

2-50

Standard Models and Specifications

Chapter 2

Power Cables for Servomotors with Brakes

Servo Driver

Red

White

Blue

Green/Yellow

Black

Brown

M4 crimp terminal

Cable: AWG20 x 6C, UL2464

Servomotor

No.

1

2

3

4

5

6

Symbol

U phase

V phase

W phase

FG

Brake

Brake

■ Specifications of Robot Power Cables (R88A-CAWA@@@R)

Use one of the following Robot Power Cables if the cable will be used in an environment that requires
cable flexibility or if it will be used with moving parts.

Power Cables for Servomotors without Brakes Power Cables for Servomotors with Brakes

Model Length

R88A­CAWA003SR

R88A­CAWA005SR

R88A­CAWA010SR

R88A­CAWA015SR

R88A­CAWA020SR

(L)

3 m 7.4 dia. Approx.

5 m Approx.

10 m Approx.

15 m Approx.

20 m Approx.

Outer

diameter

of sheath

Weight Model Length

0.2 kg

0.3 kg

0.7 kg

1.0 kg

1.3 kg

Cable side:

Connector cap: 350781-1 (Tyco Electronics AMP)

Connector socket: 350689-3 (Tyco Electronics AMP)

Servomotor side:

Connector plug: 350715-1 (Tyco Electronics AMP)

Contact pin:

350690-3: Pin No. 1 to 3, 5, and 6
(Tyco Electronics AMP)

770210-1: Pin No. 4 (Tyco Electronics AMP)

Outer

(L)

diameter

of sheath

R88A-

3 m 7.0 dia. Approx.

CAWA003BR
R88A-

5 m Approx.

CAWA005BR
R88A-

10 m Approx.

CAWA010BR
R88A-

15 m Approx.

CAWA015BR
R88A-

20 m Approx.

CAWA020BR

Weight

0.3 kg

0.4 kg

0.9 kg

1.3 kg

1.7 kg

● Connection Configuration and External Dimensions

Power Cables for Servomotors without Brakes

50

Servo Driver Servomotor

R7D-AP@

L

Power Cables for Servomotors with Brakes

50

Servo Driver Servomotor

R7D-AP@

L

t=15.7

t=28.4

27.4

27.4

26.7

14

R7M-A@

R7M-A@

2-51

Standard Models and Specifications

● Wiring

Power Cables for Servomotors without Brakes

Servo Driver

Red

White

Blue

Green/Yellow

M4 crimp terminal

Cable: AWG21 x 4C, UL2464

Power Cables for Servomotors with Brakes

Servo Driver

Red

White

Blue

Green/Yellow

Black

Brown

M4 crimp terminal

Cable: AWG21 x 6C, UL2464

Servomotor

No.

1

2

3

4

Servomotor

No.

1

2

3

4

5

6

Symbol

U phase

V phase

W phase

FG

Symbol

U phase

V phase

W phase

FG

Brake

Brake

Cable side:

Servomotor side:

Chapter 2

Cable side:

Connector cap: 350780-1 (Tyco Electronics AMP)

Connector socket: 350689-3 (Tyco Electronics AMP)

Servomotor side:

Connector plug: 350779-1 (Tyco Electronics AMP)

Contact pin:

350690-3: Pin No. 1 to 3 (Tyco Electronics AMP)

770210-1: Pin No. 4 (Tyco Electronics AMP)

Connector cap: 350781-1 (Tyco Electronics AMP)

Connector socket: 350689-3 (Tyco Electronics AMP)

Connector plug: 350715-1 (Tyco Electronics AMP)

Contact pin:

350690-3: Pin No. 1 to 3, 5, and 6
(Tyco Electronics AMP)

770210-1: Pin No. 4 (Tyco Electronics AMP)

■ Specifications of Standard Encoder Cables (R7A-CRA@@@C)

Model Length (L) Outer diameter of

Weight

sheath

R7A-CRA003C 3 m 7.4 dia. Approx. 0.2 kg
R7A-CRA005C 5 m Approx. 0.3 kg
R7A-CRA010C 10 m Approx. 0.7 kg
R7A-CRA015C 15 m Approx. 1.0 kg
R7A-CRA020C 20 m Approx. 1.3 kg

■ Specifications of Robot Encoder Cables (R7A-CRA@@@CR)

Model Length (L) Outer diameter of

Weight

sheath

R7A-CRA003CR 3 m 7.0 dia. Approx. 0.3 kg
R7A-CRA005CR 5 m Approx. 0.4 kg
R7A-CRA010CR 10 m Approx. 0.9 kg
R7A-CRA015CR 15 m Approx. 1.3 kg
R7A-CRA020CR 20 m Approx. 1.7 kg

Note The connection configuration, external dimensions, and wiring are the same for both Standard Cables

and Robot Cables.

2-52

Standard Models and Specifications

● Connection Configuration and External Dimensions

39 L

Chapter 2

43.7

Servo Driver

R7D-AP@

29.5

t=12.7

● Wiring

Servo Driver

Symbol

Connector plug:
10114-3000VE (Sumitomo 3M)
Connector case:
10314-52A0-008 (Sumitomo 3M)

No.
E0V
E0V
E0V
E5V
E5V
E5V

−

S+
S−
A+

10

A−

11

B+

12

B−

13

−

14

FG Shell

1
2
3
4
5
6
7
8
9

AWG22 Black

AWG22 Red

AWG24 Green

AWG24 Green/White

AWG24 Blue

AWG24 Blue/White

AWG24 Yellow

AWG24 Yellow/White

Servomotor

SymbolNo.

E0V

7

E5V

8
5
6
1
2
3
4

Shell FG

t=12

Connector kit:
54280-0800 (Molex Japan)

S+
S−
A+
A−
B+
B−

Servomotor

21.5

R7M-A@

2-53

Standard Models and Specifications

Chapter 2

2-6-5 Peripheral Cables and Connector Specifications

■ Analog Monitor Cable (R88A-CMW001S)

This is cable for connecting to the Servo Driver’s Monitor Output Connector (CN4). It is required for
connecting monitor outputs to external devices such as measuring instruments.

● Cable Model

Model Length (L) Weight

R88A-CMW001S 1 m Approx. 0.1 kg

● Connection Configuration and External Dimensions

7.3 L

Servo Driver

External device

R7D-AP@

● Wiring

Servo Driver

Symbol

NM

AM
GND
GND

Connector socket:
DF11-4DS-2C (Hirose Electric)
Connector contacts:
DF11-2428SCF (Hirose Electric)

No.

5

Red

1

White

2

Black

3

Black

4

Cable: AW24 × 4C UL1007

t=6

1.7 dia.

2-54

Standard Models and Specifications

Chapter 2

■ Computer Monitor Cables (R7A-CCA002P@)

Computer Monitor Cable and Computer Monitoring Software (run on Windows, Cat. No. SBCE-011)
for Servo Drivers are required to use a personal computer for monitoring and setting parameters for a
Servo Driver. There are two kinds of cable, one for DOS personal computers, and the other for NEC
PC98 notebook computers (but not for PC98 desktop computers).

● Cable Models

For DOS Computers

Model Length (L) Outer diameter of sheath Weight

R7A-CCA002P2 2 m 4.2 dia. Approx. 0.1 kg

For NEC PC98 Notebook Computers

Model Length (L) Outer diameter of sheath Weight

R7A-CCA002P3 2 m 4.2 dia. Approx. 0.1 kg

● Connection Configuration and External Dimensions

For DOS Personal Computers:

39 42L

Personal computer
(DOS)

32.2

t=15

For NEC PC98 Notebook Computers

39

Notebook computer
(NEC PC98)

29.5

t=12.7

6

L

42

6

13.2 dia.

13.2 dia.

Servo Driver

R7D-AP@

Servo Driver

R7D-AP@

2-55

Standard Models and Specifications

● Wiring

For DOS Personal Computers:

Chapter 2

Computer

Symbol

RXD

RTS
CTS

GND

FG

Connector:

No. No.

Orange/Black

21

Orange/Red

3
7
8

Gray/Black

5

Shell

Cable: AWG28 × 3C UL2464

17JE-13090-02 (D8A) (DDK Ltd.)

For NEC PC98 Notebook Computers

Computer

Symbol

RXD

RTS
CTS

GND

FG
FG

Connector plug:
10114-3000VE (Sumitomo 3M)
Connector case:
10314-52F0-008 (Sumitomo 3M)

No. No.

Orange/Black

11

Orange/Red

9

10

4

Gray/Black

14
12

Shell

Cable: AWG28 × 3C UL2464

Servo Driver

Symbol

TXD

2

RXDTXD

8

GND

Case

FG

Servo Driver

Symbol

TXD

2

RXDTXD

8

GND

Case

FG

Connector: HR212-10P-8P (Hirose Electric)

Connector: HR212-10P-8P (Hirose Electric)

■ Control I/O Connector (R88A-CNU01C)

This is the connector for connecting to the Servo Driver’s Control I/O Connector (CN1). This connec­tor is used when the cable is prepared by the user.

● External Dimensions

39

Connector plug:
10136-3000VE (Sumitomo 3M)

43.6

Connector case:
10336-52A0-008 (Sumitomo 3M)

t=18

2-56

Standard Models and Specifications

■ Encoder Connector (R7A-CNA0@R)

Chapter 2

This is the connector for the Encoder Cable. This connector is used when the cable is prepared by
the user. It is a soldered-type connector, and the applicable cable is as follows.

• Applicable cable: AWG16 max.

• Outer diameter of coating: 2.1 mm dia. max.

• Outer diameter of sheath: 6.7

● External Dimensions

± 0.5 mm dia.

R7A-CNA01R (Servo Driver CN2)

39

t=12.7

R7A-CNA02R (Servomotor)

43.7

t=12

29.5

Connector plug:
10114-3000VE (Sumitomo 3M)

Connector case:
10314-52A0-008 (Sumitomo 3M)

Connector kit:
54280-0800 (Molex Japan)

21.5

2-57

Standard Models and Specifications

2-7 Servo Relay Units and Cable Specifications

This section provides the specifications for the Servo Relay Units and cables used for
connecting to OMRON Position Control Units. Select the models that match the
Position Control Unit being used. For details, refer to 3-2-1 Connecting Cable.

All dimensions are in millimeters unless otherwise specified.

2-7-1 Servo Relay Units

■ XW2B-20J6-1B

This Servo Relay Unit connects to the following OMRON
Position Control Units. Communications are not supported.

0
1

1
1

2

0

1

3

1

1

4

2

1

5

3

1

6

4

1

7

5

1

8

6

1

9

7

1

8

9

• CS1W-NC113/-NC133

• CJ1W-NC113/-NC133

• C200HW-NC113

Chapter 2

● External Dimensions

Position Control Unit connector

3.5
7

29.5

10

0

Two, 3.5 dia.

20.5

• C200H-NC112

• 3F88M-DRT141

Servo Driver connector

3.5135
7

15.5

19

9

2

45

44.3

(46)

Note Terminal Block pitch: 7.62 mm

2-58

Standard Models and Specifications

● Wiring

Emergency stop

0 V

Com­mon

CW
limit

+24 V

0

24 V DC

■ XW2B-40J6-2B

0

2

1

2

2

0

2

1

23

4

2

2

3

4

5

2

5

Com­mon

2

6

CCW
limit

6

7

2

8

2

7

8

Origin proximity

Com­mon

29

30

9

31

0

1

32

1

1

33

2

1

13

14

RUN ALM BKIR10

Com-

Com­mon

External
interrupt

RESET ALMCOM

X1 XB

mon

X1

FG

19

9

(See note 1.)

24 V DC

This Servo Relay Unit connects to the following OMRON
Position Control Units. Communications are not supported.

• CS1W-NC213/-NC233/-NC413/-NC433

• CJ1W-NC213/-NC233/-NC413/-NC433

34

35

36

15

37

16

38

17

39

18

19

• C200HW-NC213/-NC413

• C500-NC113/-NC211

• C200H-NC211

Chapter 2

Note 1. The XB contact is used to turn ON/OFF

the electromagnetic brake.

2. Do not connect unused terminals.

3. The 0 V terminal is internally connected to
the common terminals.

4. The following crimp terminal is applicable:
R1.25-3 (round with open end).

● External Dimensions

Position Control Unit connector

3.5 180 3.5
7

29.5

20

0

Two, 3.5 dia.

20.5

Note Terminal Block pitch: 7.62 mm

X-axis Servo
Driver connector

Y-axis Servo Driver connector

7

15.5

39

19

45

(46)

44.3

2

2-59

Standard Models and Specifications

● Wiring

Y-axis
CW
limit

Com­mon

Y-axis origin proximity

Y-axis
CCW
limit

Com­mon

Y-axis
RUN

Com­mon

X/Y-axis emergency stop

+24 V

Com-

0 V200

mon

X-axis
CW
limit

Com­mon

X-axis
CCW
limit

X-axis origin proximity

X-axis
RUN

Com­mon

X1 Y1

Com­mon

Com­mon

X-axis
ALMCOM

X-axis
external
interrupt

X-axis
ALM

X-axis
RESET

X1 XB

24 V DC

X-axis
BKIR

(See note 1.)

24 V DC

Note 1. The XB contact is used to turn ON/OFF the electromagnetic brake.

2. Do not connect unused terminals.

3. The 0 V terminal is internally connected to the common terminals.

4. The following crimp terminal is applicable: R1.25-3 (round with open end).

Com­mon

Y-axis
external
interrupt

Y-axis
ALM

Y-axis
RESET

Y1 YB

24 V DC

Y-axis
BKIR

Y-axis ALMCOM

(See note 1.)

Chapter 2

39

FG

19

■ XW2B-20J6-3B

0

1

1

1

2

0

1

3

1

1

4

2

1

5

3

1

6

4

1

7

5

1

8

6

1

9

7

1

8

9

● External Dimensions

CQM1 connector

3.5
7

29.5

Two, 3.5 dia.

10

This Servo Relay Unit connects to the following OMRON Pro­grammable Controllers. Communications are not supported.

• CQM1-CPU43-V1

• CQM1H-PLB21
(Pulse I/O Board for CQM1H-CPU51/-CPU61)

• CS1W-HCP22

Servo Driver connector

3.5135
7

15.5

19

0

9

45

2-60

20.5

(46)

44.3

2

Note Terminal Block pitch: 7.62 mm

Standard Models and Specifications

● Wiring

+24 V

CW CCW RUN INP ALM BKIR10

Com-

0 V

0

CW CCW

mon

Com-

mon

ECRST

Z

RESET ALMCOM

19

FG

Chapter 2

9

Unit

X1 XB

(See note 3.)

24 V DC

24 V DC

(See
note 1.)

(See
note 1.)

X1

CQM1 Input

(See note 2.)

Note 1. If these signals are input, the CQM1 output pulse can be input into the High-

speed Counter.

Note 2. Input this output signal to the CQM1 Input Unit.
Note 3. The XB contact is used to turn ON/OFF the electromagnetic brake.
Note 4. Phase Z is an open-collector output.
Note 5. Do not connect unused terminals.
Note 6. The 0-V terminal is internally connected to the common terminals.
Note 7. The following crimp terminal is applicable: R1.25-3 (round with open end).

2-61

Standard Models and Specifications

Chapter 2

■ XW2B-40J6-4A

This Servo Relay Unit connects to the following OMRON Position Control Units. Communications are
supported.

• CS1W-NC213/-NC233/-NC413/-NC433

• CJ1W-NC213/-NC233/-NC413/-NC433

● External Dimensions

Position Control Unit connector

X-axis Servo

Driver connector

Y-axis Servo

Driver connector

3.5 3.5
7

29.5

20

0

Two, 3.5 dia.

20.5

Note Terminal Block pitch: 7.62 mm.

● Wiring

X/Y-axis emergency stop

+24 V

20

0 V

0

Com­mon

X-axis
CW
limit

Com­mon

X-axis
CCW
limit

X-axis origin proximity

X-axis
RUN

Com­mon

X1 Y1

Com­mon

Com­mon

X-axis
ALMCOM

X-axis
external
interrupt

X-axis
ALM

X-axis
RESET

X1 XB

24 V DC

X-axis
BKIR

(See note 1.)

247.5

Y-axis
CW
limit

Com­mon

Y-axis
CCW
limit

39

19

Y-axis origin proximity

Y-axis
RUN

Com­mon

Com­mon

Com­mon

Y-axis
external
interrupt

Y-axis
ALM

Y-axis
RESET

Y1 YB

24 V DC

7

2.8

Y-axis
BKIR

Y-axis ALMCOM

(See note 1.)

15.5

FG

45

2.8

44.3

39

(46)

19

24 V DC

Note 1. The XB contact is used to turn ON/OFF the electromagnetic brake.

2. Do not connect unused terminals.

3. The 0 V terminal is internally connected to the common terminals.

4. The following crimp terminal is applicable: R1.25-3 (round with open end).

2-62

Standard Models and Specifications

■ XW2B-20J6-8A

This Servo Relay Unit connects to the following OMRON
Programmable Controllers. Communications are not sup­ported.

• CJ1M-CPU21/-CPU22/-CPU23

● External Dimensions

Chapter 2

3.5

7

29.5

20.5

● Wiring

CJ1M-CPU connector

135

Servo Driver connector

3.5

7

Two, 3.5 dia.

2

Note Terminal pitch: 7.62 mm

15.5

45

44.3

(46)

+24 V

10

0

24 V DC

IN6

0 V

CW limit
(See note 1.)
(CIO: 2960.06)

Com­mon

IN7

Com­mon

CCW limit
(See note 1.)
(CIO: 2960.07)

IN8

Com­mon

Origin
prox-

RUN ALM BKIR

imity

Com-

IN9

Com-

mon

mon

X1

RESET

X1

ALMCOM

24
V DC

19

FG

9

XB

(See note 2.)

Note1. The CW limit input signal and CCW limit input signal can be

input through an Input Unit. The following flags function as
the CW/CCW limit input signals in the CJ1M:
Pulse Output 0: CW: A540.08, CCW: A540.09
Pulse Output 1: CW: A541.08, CCW: A541.09
Program the actual inputs from the Input Unit to control these
flags as ladder program outputs as shown below.

Example:

2960.06
A540.08

Note2. The XB contacts are used to turn ON/OFF the electromag-

netic brake.

a) Do not connect anything to unused terminals.

b) The 0 V terminal is internally connected to the common

terminals.

c) The following crimp terminal is applicable:

R1.25-3 (round with open end).

2-63

Standard Models and Specifications

■ XW2B-40J6-9A

This Servo Relay Unit connects to the following OMRON
Programmable Controllers. Communications are not sup­ported.

• CJ1M-CPU21/-CPU22/-CPU23

● External Dimensions

Chapter 2

29.5

20.5

3.5

7

CJ1M-CPU connector X-axis Servo Driver connector

180

Y-axis Servo Driver connector

3.5

7

15.5

45

Two, 3.5 dia.

44.3

2

Note Terminal pitch: 7.62 mm

(46)

2-64

Standard Models and Specifications

● Wiring

Chapter 2

+24 V

20

24 V DC

X-axis

X-axis

Com­mon

origin

IN7

proximity

Com­mon

X-axis
CCW limit
(See note 1.)
(CIO 2960.07)

Com­mon

RUN

X1

Com­mon

IN6

Com-

0

0 V

mon

X-axis
CW limit
(See note 1.)
(CIO 2960.06)

Com­mon

X-axis
RESET

X-axis
ALM

X1

X-axis
ALMCOM

24
V DC

X-axis
BKIR

XB

(See note 2.)

Y-axis
CW limit
(See note 1.)
(CIO 2960.08)

IN8

Com­mon

Y-axis
origin

IN9

proximity

Com­mon

Y-axis
CCW limit
(See note 1.)
(CIO 2960.09)

Com­mon

Y-axis
RUN

Com­mon

Y1

Com­mon

Y-axis
RESET

Y-axis
ALM

Y1

Y-axis
ALMCOM

24
V DC

Note1. The CW limit input signal and CCW limit input signal can be input through an Input Unit. The follow-

ing flags function as the CW/CCW limit input signals in the CJ1M:
Pulse Output 0: CW: A540.08, CCW: A540.09
Pulse Output 1: CW: A541.08, CCW: A541.09
Program the actual inputs from the Input Unit to control these flags as ladder program outputs as
shown below.

Example:

2960.06
A540.08

Note2. The XB contacts are used to turn ON/OFF the electromagnetic brake.

a) Do not connect anything to unused terminals.

b) The 0 V terminal is internally connected to the common terminals.

c) The following crimp terminal is applicable: R1.25-3 (round with open end).

Y-axis
BKIR

YB

39

FG

(See note 2.)

19

■ XW2B-80J7-1A

0

19

This Servo Relay Unit connects to the following OMRON
Programmable Controllers.

• CS1W-HCP22-V1

servo1

ABS _CW-

INC

• FQM1-MMP21

2-65

Standard Models and Specifications

● External Dimensions

Chapter 2

10041.7

9015.9

Signal selectors

Communications support connectors

Controller general-purpose I/O

Controller special I/O

Terminating resistance selector

160

4.5 dia.

Servo B phase selectors

Y-axis Servo Driver

X-axis Servo Driver

30.7

2-66

Standard Models and Specifications

Chapter 2

● Terminal Block Connection

1. RS-422 Connector

Connect to an RS-422 line. Pin No. Signal name

1TXD

−

2TXD+
3 --­4 --­5 --­6RXD

−

7 --­8RXD+
9 ---

Shell FG

2. Screwless Clamp Terminal Blocks

Use the screwless clamp terminal blocks to wire controller general-purpose I/O and Servo Driver
control signals.

60

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

Upper terminal block

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

Lower terminal block

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0

Upper Terminal Block Pin Arrangement

No.

60 61 62 63

Signal name

5 V (See note 1.)

Latch signal input 1

No.

40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59

64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79

+ input

+ input

CNT1 A phase LD

Latch signal input 2

CNT1 B phase LD

Voltage input (+)

Servo Driver #1

Z phase LD+ output

Servo Driver #1 ALM

--­IN4

IN5

IN6

IN7

--­RESET

Servo Driver #1

Servo Driver #1 RUN

Servo Driver #1

ECRST

79

19

--­TXD+

RXD+

0 V

Signal name

common (0 V)

Latch signal 1

common (0 V)

Latch signal 2

---

Z phase LD−

Servo Driver #1

CNT1 B phase LD−

CNT1 A phase LD−

Voltage input (−)

Common (0 V)

Common (0 V)

Common (0 V)

Common (0 V)

---

Common (0 V)

OUT0

OUT1

OUT2

OUT3

TXD−

RXD−

2-67

Standard Models and Specifications

Lower Terminal Block Pin Arrangement

No.

20 21 22 23

24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39

Chapter 2

IN0

IN1

IN2

Signal name

No.

Signal name

+24 V (See note 3.)

+24 V (See note 2.)

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19

0 V

0 V

Common (0 V)

Common (0 V)

Common (0 V)

---

IN3

Servo Driver #2 ALM

---

Common (0 V)

Servo Driver #2 INP

Servo Driver #2 TGON

Common (0 V)

IN8

Common (0 V)

IN9

IN10

Common (0 V)

Common (0 V)

IN11

Common (0 V)

---

Servo Driver #2 RUN

Servo Driver #2 RESET

Servo Driver #2 ECRST

--­OUT4

OUT5

OUT6

---

Servo Driver #2 MING

---

OUT7

FG

FG

Note 1. Used for the pulse output power supply for the FQM1-MMP21.
Note 2. IN4 to IN11 and OUT0 to OUT7 are used for the Servo control power supply.
Note 3. IN0 to IN3 are used for the latch input power supply.

3. Signal Selectors

TER_A TER_B TER_Z X axis CUR

SER_A

CNT1

SER_B

CNT1

SER_Z

CNT1

Y axis

DA2

VOL

AD

Selector Setting description

CNT1 SER_A SER_A Not used.

TER_A Connects phase A of an external encoder to the CNT1 phase A of the

controller.

CNT1 SER_B SER_B Not used.

TER_B Connects phase A of an external encoder to the CNT1 phase B of the

controller.

CNT1 SER_Z SER_Z Connects phase Z of Servo Driver #1 to the CNT1 phase Z of the control-

ler.

TER_Z Outputs the phase-Z output of Servo Driver #1 from the terminals.
DA2 --- Not used. (Always set to the Y axis.)
AD --- Not used.

4. Terminating Resistance Selector

Set this selector to ON if there is no wiring from port 2 of the Servo Relay Unit to port 1 of another
Servo Relay Unit when the Servo Relay Unit is positioned at the end of an RS-422 line.

TERM

ON

SW6

OFF

2-68

Standard Models and Specifications

r

5. Servo Phase-B Selectors (Not Used)

Leave these selectors set to INC mode.

Chapter 2

Servo #2 phase-B

selector servo2

ABS_CW-

SW7

INC

Servo #1 phase-B

selector servo1

ABS_CW-

SW8

INC

■ Wiring to Screwless Clamp Terminal Blocks

Screwless clamp terminal blocks enable wiring without securing the wires with screws. Special fer­rules must be attached to the cables for sensors or external devices if sensors or external devices
are also to be connected when wiring the Servo Driver and the control signal.

The following ferrules are applicable.

Manufacturer Model Applicable wire

Phoenix Contact AI-0.5-10

AI-0.75-10

AI-1.5-10

Nihon Weidmuller H 0.5/16 D

H 0.75/16 D

H 1.5/16 D

0.5 mm

0.75 mm

1.25 mm

0.5 mm

0.75 mm

1.25 mm

2

(20 AWG)

2

(18 AWG)

2

(16 AWG)

2

(20 AWG)

2

(18 AWG)

2

(16 AWG)

● Wiring Procedure

Inserting a Wire

Fully insert the ferrule all the way into the desired terminal hole.

Releasing a Wire

Insert a small flathead screwdriver into the release button above the terminal hole, and pull out the
wire while pressing the button.

Small flathead screwdrive

Release button

2-69

Standard Models and Specifications

w

k

Chapter 2

The following screwdriver can be used to release wires.

Recommended Screwdriver

Model Manufacturer

SZF1 Phoenix Contact

Side view Front vie

0.6 mm 3.5 mm

■

Servo Relay Unit Wiring Example

I/O power is supplied from terminals 20-0, 21-1, and 60-40 when a Servo Relay Unit is used. As
shown in the following example, wiring can be performed by simply connecting the signals.

60

0 1 2 3 4 5 6 7 8 9

5 V

24 V

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0

Upper Terminal Block Pin Arrangement

5 V

60 61 62 63

5 V

Latch signal input 1

Latch signal input 2

40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59

64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79

+ input

+ input

CNT1 A phase LD

CNT1 B phase LD

---

Servo Driver #1

Z phase LD+ output

Servo Driver #1 ALM

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

--­IN4

IN5

IN6

IN7

---

Servo Driver #1 RUN

79

Upper terminal block

Lower terminal bloc

19

---

ECRST

RESET

Servo Driver #1

Servo Driver #1

TXD+

RXD+

2-70

0 V

Latch signal 1

common (0 V)

common (0 V)

Latch signal 2

LD-/0 V

LD-/-0 V

CNT1 B phase

CNT1 A phase

Servo Driver #1

Z phase LD-/0 V

---

Common (0 V)

Common (0 V)

Common (0 V)

Servo Driver #1 INP

Common (0 V)

---

Common (0 V)

OUT0

OUT1

OUT2

OUT3

TXD-

RXD-

Standard Models and Specifications

Lower Terminal Block Pin Arrangement

Chapter 2

24 V

20 21 22 23

+24 V

+24 V

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19

0 V

0 V

Common (0 V)

24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39

IN0

IN1

Common (0 V)

IN2

Common (0 V)

---

IN3

---

Common (0 V)

Servo Driver #2 ALM

Common (0 V)

Servo Driver #2 INP

---

IN8

IN9

IN10

Common (0 V)

Common (0 V)

Common (0 V)

IN11

Common (0 V)

---

Servo Driver #2 RUN

Servo Driver #2 RESET

--­OUT4

OUT5

---

Servo Driver #2 ECRST

OUT7

OUT6

---

---

FG

FG

2-71

Standard Models and Specifications

Chapter 2

2-7-2 Cables for Servo Relay Units

■ Servo Driver Cables (XW2Z-@J-B5)

These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit. These Cables are
used when connecting a Servo Relay Unit that does not support communications.

● Cable Models

Model Length (L) Outer diameter of sheath Weight

XW2Z-100J-B5 1 m 8.0 dia. Approx. 0.1 kg
XW2Z-200J-B5 2 m Approx. 0.2 kg

● Connection Configuration and External Dimensions

39L6

Servo Relay Unit

XW2B-20J6-1B
XW2B-40J6-2B
XW2B-20J6-3B

● Wiring

Servo Relay Unit

No.

1
2
3
4
5
6
7
8

9
10
11
12
13
14
15
16
17
18
19
20

30

Cable: AWG28 × 4P + AWG28 × 9C

t=18

Servo Driver

No.

Symbol

13 +24VIN
10

OGND

3

+CCW

4

−CCW

1 +CW
2 −CW
5

+ECRST

6

−ECRST

33 ZCOM
32 Z

8

INP

14 RUN

15
18 RESET

7 BKIR
34 ALM
35 ALMCOM

Shell

FG

Servo Driver

43.6

R7D-AP@

Connector plug:
10136-3000VE (Sumitomo 3M)
Connector case:
10336-52A0-008 (Sumitomo 3M)

2-72

Standard Models and Specifications

Chapter 2

■ Servo Driver Cables (XW2Z-@J-B7)

These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit. These Cables are
used when connecting a Servo Relay Unit that supports communications (XW2B-40J6-4A).

● Cable Models

Model Length (L) Outer diameter of sheath Weight

XW2Z-100J-B7 1 m 8.0 dia. Approx. 0.1 kg
XW2Z-200J-B7 2 m Approx. 0.2 kg

● Connection Configuration and External Dimensions

39L6

Servo Relay Unit

XW2B-40J60-4A

● Wiring

Servo Relay Unit

No.

10
11
12
13
14
15
16
17
18
19
21
22
23
24
25
26
20

Servo Driver

30

t=18

Servo Driver

SymbolNo.
1
2
3
4
5
6
7
8
9

Cable: AWG28×6P+AWG28×9C

13 +24VIN

OGND

10

3

+CCW

4

−CCW

1 +CW
2 −CW
5

+ECRST

−ECRST

6

33 ZCOM
32 Z

INP

8

14 RUN

15
18 RESET

7 BKIR
34 ALM
35 ALMCOM
20 RXD+
21 RXD−
22 TXD+
23 TXD−

Shell

FG

43.6

Connector plug:
10136-3000VE (Sumitomo 3M)
Connector case:
10336-52A0-008 (Sumitomo 3M)

R7D-AP@

2-73

Standard Models and Specifications

■ Servo Driver Cables (XW2Z-@@@J-B12)

Chapter 2

These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit. Use these cables to con­nect to a Customizable Counter Unit (CSW-HCP22-V1) or Servo Relay Unit (XW2B-80J7-1A).

● Cable Models

Model Length (L) Outer diameter of sheath Weight

XW2Z-100J-B12 1 m 8.0 dia. Approx. 0.1 kg
XW2Z-200J-B12 2 m Approx. 0.2 kg

● Connection Configuration and External Dimensions

39L6

Servo Relay Unit

XW2B-80J7-1A

48

Servo Driver

43.6

R7D-AP@

2-74