Omron SMARTSTEP 2 User Manual

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Cat. No. I561-E1-02

USER’S MANUAL

SMARTSTEP 2 SERIES

R88M-G@

(Servomotors)

R7D-BP@

(Servo Drives)

SERVOMOTORS/SERVO DRIVES

Trademarks and Copyrights

•

Product names and system names in this manual are trademarks or registered trademarks of their respective companies.

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

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to chang 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

ublication.

Introduction

Thank you for choosing the SMARTSTEP 2 Series. This User’s Manual describes installation/wiring methods and parameter setting procedures required for the operation of the SMARTSTEP 2 Series as well as troubleshooting and inspection methods.

Intended Readers

This manual is intended for the following personnel. Those with knowledge of electrical systems (a qualified electrical engineer or the equivalent) as follows:

 Personnel in charge of introducing FA equipment  Personnel in charge of designing FA systems  Personnel in charge of managing FA systems and facilities

NOTICE

Introduction

This manual contains information necessary to ensure safe and proper use of the SMARTSTEP 2 Series and its peripheral devices. Please read this manual thoroughly and understand its contents before using the products. Please keep this manual handy for future reference. Make sure this User’s Manual is delivered to the actual end user of the products.

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 NON-INFRINGEMENT, 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 applicatio n 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 e xamples of applicat ions f or which particular attention mu st be giv en. 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 program mable product, or any consequence thereof.

Disclaimers

CHANGE IN SPECIFICATIONS

Product specifications and accessories may be change d at an y t ime based o n impro vements 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. Whe n in doubt , special mo del nu mbers may be assigned to fix or establish key specifications f or y our application o n your re quest. Please consult with y our OMR ON representativ e 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 require ments. 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.

Precautions for Safe Use

WARNING

Caution

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. Additionally, there may be severe property damage.

Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage.

WARNING

Precautions for Safe Use

 To ensure safe and proper use of the SMARTSTEP 2 Series and its peripheral devices, read the “Precautions

for Safe Use” and the rest of the manual thoroughly to acquire sufficient knowledge of the devices, safety information, and precautions before using the products.

 Make sure this User’s Manual is delivered to the actual end users of the products.  Please keep this manual close at hand for future reference.

Explanation of Signal Words

 The precautions indicated here provide important information for safety. Be sure to heed the information

provided with the precautions.

 The following signal words are used to indicate and classify precautions in this manual.

Failure to heed the precautions classified as “Caution” may also lead to serious results. Strictly heed these precautions.

Safety Precautions

 This manual may include illustrations of the product with protective covers or shields removed in order to show

the components of the product in detail. Make sure that these protective covers and shields are put in place as specified before using the product.

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

Always connect the frame ground terminals of the Servo Drive and the Servomotor to 100 Ω or less. Not doing so may result in electric shock.

Do not touch the inside of the Servo Drive. Doing so may result in electric shock.

When turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN) at the same time. Residual voltage may cause the Servomotor to continue rotating and result in injury or equipment damage even if the main circuit power supply is turned OFF externally, e.g., with an emergency stop.

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.

Precautions for Safe Use

Installation, operation, maintenance, or inspection must be performed by authorized personnel only. Not doing so may result in electric shock or injury.

Wiring or inspection must not be performed for at least 15 minutes after turning OFF the power supply. Doing so may result in electric shock.

Do not damage, pull on, put excessive stress on, or put heavy objects on the cables. Doing so may result in electric shock, stopping product operation, or burning.

Do not touch the rotating parts of the Servomotor during operation. Doing so may result in injury.

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

Provide a stopping mechanism on the machine side to ensure safety. *The holding brake is not designed as a stopping mechanism for safety purposes. Not doing so may result in injury.

Provide an external emergency stopping mechanism that can stop operation and shut off the power supply immediately. Not doing so may result in injury.

Do not come close to the machine immediately after resetting momentary power interruption to avoid danger due to an unexpected restart. Doing so may result in injury. Take precautions to secure safety in case of an unexpected restart.

Confirm safety after an earthquake has occurred. Not doing so may result in electric shock, injury, or fire.

Do not use external force to drive the Servomotor. Doing so may result in fire.

Precautions for Safe Use

WARNING

Caution

Do not place any flammable materials near the Servomotor, Servo Drive, or Regeneration Resistor. Doing so may result in fire.

Mount the Servomotor, Servo Drive, and Regeneration Resistor on metal or other nonflammable materials. Not doing so may result in fire.

Do not turn ON/OFF the main power supply of the Servo Drive repeatedly at frequent intervals. Doing so may result in product failure.

Use the Servomotors and Servo Drives in a combination as specified in the manual. Not doing so may result in fire or damage to the products.

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 ambient temperature exceeding the specified level.  Locations subject to relative humidity exceeding the specified level.  Locations subject to condensation due to temperature fluctuations.  Locations subject to corrosive or flammable gases.  Locations subject to dust (especially iron dust) or salt.  Locations subject to exposure to water, oil, or chemicals.  Locations subject to shock or vibration.

Do not touch the Servo Drive radiator, Regeneration Resisto r, or Se rvomotor while the power is being supplied or for some time after the power is turned OFF. Doing so may result in burn injuries.

 Storage and Transportation Precautions

Do not hold the product by the cables or motor shaft while transporting it. Doing so may result in injury or malfunction.

Do not overly pile the products. (Follow the instructions on the product package.) Doing so may result in injury or malfunction.

Precautions for Safe Use

Caution

 Installation and Wiring Precautions

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

Do not cover the inlet/outlet ports and do not let any foreign objects enter the product. Doing so may result in fire.

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

Keep the specified distance between the Servo Drive and the control pan el or with other devices. Not doing so may result in fire or malfunction.

Do not apply a strong impact on the Servom ot or sh aft or Servo Drive. Doing so may result in malfunction.

Be sure to wire correctly and securely. Not doing so may result in motor runaway, injury, or malfunction.

Be sure that all the mounting screws, terminal block screws, and cable connector screws are tightened securely. Not doing so may result in malfunction.

Use crimp terminals for wiring. Do not connect bare stranded wires directly to the protective ground terminal. Doing so may result in fire.

Always use the power supply voltage specified in the User’s Manual. Not doing so may result in malfunction or burning.

Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied. Use particular caution if the product is used in a place where a stable power supply cannot be provided. Not doing so may result in equipment damage.

Install breakers and take other safety measures against short-circuiting of external wiring. Not doing so may result in fire.

Take sufficient shielding measures when using the product in the following locations. Not doing 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 lines.

Connect an emergency stop shutoff relay in series with the brake control relay. Not doing so may result in injury or product failure.

 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.

Check that the newly set parameters function properly before the actual operation. Not doing so may result in equipment damage.

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

Check for the proper operation of the Servomotor separately from the mechanical system before connecting it to the machine. Not doing so may cause injury.

When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation. Not doing so may result in injury.

Precautions for Safe Use

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

Do not operate the Servomotor connected to a load that exceeds the applicable load inertia. Doing so may result in malfunction.

 Maintenance and Inspection Precautions

Resume operation only after transferring to the new Unit the contents of the data required for operation restart. Not doing so may result in equipment damage.

Do not dismantle or repair the product. Doing so may result in electric shock or injury.

Precautions for Safe Use

Warning label

(Example of R7D-BP01H)

PWR

ALM

C N 3

C N 1

C N 2

C N B

C N A

 Warning Label Position

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

 Warning Label Contents

 Disposing of the Product

 Dispose of the product as industrial waste.

Items to Check When Unpacking

Check the following items after removing the product from the package.

 Has the correct product been delivered?  Has the product been damaged in shipping?

 Accessories Provided with Product

Safety Precautions document × 1

 No connectors or mounting screws are provided. They have to be prepared by the user.  Should you find any problems (missing parts, damage to the Servo Drive, etc.), please contact

your local sales representative or OMRON sales office.

 Understanding Model Numbers

Servo Drive Models

The model number provides information such as the Servo Drive type, the applicable Servomotor capacity, and the power supply voltage.

SMARTSTEP 2 Servo Drive

Drive Type

P: Pulse-string input type

Applicable Servomotor Capacity

A5: 50 W 01: 100 W 02: 200 W 04: 400 W

Power Supply Voltage

L: 100 VAC H: Single/Three-phase 200 VAC HH: Single-phase 200 VAC

Note Single phase: Haploid phase

R7D-BP01H

Items to Check When Unpacking

R88M-GP10030H-BOS2

Servomotor Capacity

Rated Rotation Speed

Motor Type

P: Flat type

050: 50 W 100: 100 W 200: 200 W 400: 400 W

30: 3000 r/min

None: Cylinder type

Power Supply Voltage

H: 200 VAC L: 100 VAC

Options

None: Straight shaft B: With brake O: With oil seal

G-Series Servomotor

S2: With key and tap

Servomotor Models

The model number provides information such as the Servomotor type, Servomotor capacity, rated rotation speed, and options.

About this Manual

This manual consists of the following chapters. Refer to this table and choose the required chapters of the manual.

About this Manual

Overview

Chapter 1

Chapter 2

Chapter 3 Specifications

Chapter 4 System Design

Chapter 5 Operating Functions

Chapter 6 Operation

Chapter 7 Adjustment Functions

Chapter 8 Troubleshooting

Appendix

Features and System Configuration

Standard Models and Dimensions

Connection Examples

Describes the features and names of parts of the product as well as the EC Directives and the UL standards.

Provides the model numbers, external and mounted dimensions for Servo Drives, Servomotors, Decelerators, and peripheral devices.

Provides the general specifications, performance specifications, connector specifications, and I/O circuit specifications for Servo Drives and the general specifications and performance specifications for Servomotors, as well as specifications for accessories such as encoders.

Describes the installation conditions for Servo Drives, Servomotors, and Decelerators, EMC conforming wiring methods, calculations of regenerative energy, and performance information on the External Regeneration Resistor.

Describes the electronic gear function and other operating functions as well as the parameter setting procedure.

Describes operating procedures and how to use the Parameter Unit.

Describes realtime autotuning function, manual tuning and other procedures for gain adjustment.

Describes items to check for troubleshooting, error diagnoses using alarm displays and the countermeasures, error diagnoses based on the operation status and the countermeasures, and periodic maintenance.

Provides examples of connection with OMRON PLCs and Position Controllers.

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

Precautions for Safe Use............................................................. 5

Items to Check When Unpacking ................................................ 11

About this Manual........................................................................ 13

Chapter 1 Features and System Configuration

1-1 Overview ................................................................................................. 1-1

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

1-3 Names of Parts and Functions................................................................ 1-3

1-4 System Block Diagrams.......................................................................... 1-5

1-5 Applicable Standards .............................................................................. 1-6

Chapter 2 Standard Models and Dimensions

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

2-2 External and Mounted Dimensions......................................................... 2-13

Chapter 3 Specifications

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

3-2 Servomotor Specifications ...................................................................... 3-16

3-3 Decelerator Specifications ...................................................................... 3-26

3-4 Cable and Connector Specifications....................................................... 3-30

3-5 Servo Relay Units and Cable Specifications........................................... 3-52

3-6 Parameter Unit Specifications................................................................. 3-77

3-7 External Regeneration Resistors Specifications ........ .... .... ..... .... .... .... .... 3-78

3-8 Reactor Specifications ............................................................................ 3-79

Chapter 4 System Design

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

4-2 Wiring...................................................................................................... 4-9

4-3 Wiring Conforming to EMC Directives... .... .... ..... ..................................... 4-17

4-4 Regenerative Energy Absorption ............................................................ 4-32

Chapter 5 Operating Functions

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

5-2 Internally Set Speed Control................................................................... 5-4

5-3 Forward and Reverse Drive Prohibit....................................................... 5-7

5-4 Encoder Dividing..................................................................................... 5-8

5-5 Electronic Gear ....................................................................................... 5-9

5-6 Brake Interlock ..................... .... ..... .... .... .... .............................................. 5-11

5-7 Gain Switching ........................................................................................ 5-13

5-8 Torque Limit............................................................................................ 5-15

5-9 Overrun Limit........................................................................................... 5-16

5-10 User Parameters.............. .... .... ..... .... .... .... .... .......................................... 5-17

CONTENTS

Chapter 6 Operation

6-1 Operational Procedure.............................................................................6-1

6-2 Preparing for Operation......................................... .... .... ..... .... .... .... .... .....6-2

6-3 Using the Parameter Unit ........................................................................6-4

6-4 Trial Operation.........................................................................................6-23

Chapter 7 Adjustment Functions

7-1 Gain Adjustment......................................................................................7-1

7-2 Realtime Autotuning ................................................................................7-3

7-3 Autotuning................................................................................................7-8

7-4 Disabling the Automatic Gain Adjustment Function.................................7-13

7-5 Manual Tuning.........................................................................................7-15

Chapter 8 Troubleshooting

8-1 Error Processing......................................................................................8-1

8-2 Alarm Table .............................................. ..... .... .... .... .... ..... .... .... .... .... .....8-3

8-3 Troubleshooting.......................................................................................8-5

8-4 Overload Characteristics (Electronic Thermal Function) .........................8-16

8-5 Periodic Maintenance..............................................................................8-17

Chapter 1 Features and System

Configuration

1-1 Overview .............................................................1-1

Overview of the SMARTSTEP 2 Series...................................1-1

Features of the SMARTSTEP 2 Series....................................1-1

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

1-3 Names of Parts and Functions .........................1-3

Servo Drive Part Names..........................................................1-3

Servo Drive Functions..............................................................1-4

1-4 System Block Diagrams ....................................1-5

1-5 Applicable Standards ........................................1-6

EC Directives...........................................................................1-6

UL Standards...........................................................................1-6

1-1 Overview

1Features and System Con figuration

Features and System Configuration

1-1 Overview

Overview of the SMARTSTEP 2 Series

The SMARTSTEP 2 Series is a series of pulse-string input type Servo Drives for position controlling and it has been designed to function for low-capacity positioning systems. In spite of the compact size, the SMARTSTEP 2 Series features realtime autotuning and adaptive filter functions that automatically perform complicated gain adjustments. A notch filter can also be automatically set to suppress machine vibration by reducing mechanical resonance during operation. The damping control function of the SMARTSTEP 2 Series realizes stable stopping perf ormance in a mechanism which vibrates because of the low rigidity of the load.

Features of the SMARTSTEP 2 Series

The SMARTSTEP 2 Series has the following features.

 Compact AC Servo Drives

Compared to the SMARTSTEP A Series, the SMARTSTEP 2 Series can reduce the installation space by 48% and the installation size by 39% in terms of volume. The AC Servo Drives of the SMARTSTEP 2 Series are equipped with newly de veloped functions f or applications requiring more precise positioning.

 Suppressing Vibration of Low-rigidity Mechanisms during Acceleration/

Deceleration

The damping control function can suppress vibration of low-rigidity mechanisms or devices whose ends tend to vibrate.

 High-speed Positioning via Resonance Suppression Control

The realtime autotuning function automatically estimates the load inertia of the machine in realtime and sets the optimal gain. The adaptive filter automatically suppresses vibration caused by resonance.

 Compatible with Command Pulse of 90° Phase Difference Inputs

In addition to conventional CW/CCW inputs (2 pulse inputs) and SIGN/PULS inputs (1 pulse input), the SMARTSTEP 2 supports 90° phase difference inputs. This makes it possible to input encoder output signals directly into the Servo Drive for simplified synchronization control.

 A Wide Range of Pulse Setting Functions

A wide range of pulse setting functions, such as the command pulse multiplying, electronic gear, and encoder dividing, enable you to perform pulse settings suitable for your device or system.

 Simplified Speed Control with Internal Speed Settings

Four internal speed settings allow the speed to be easily switched by using external signals.

 Encoder Dividing Output Function

The number of motor encoder pulses output by the Servo Drive can be freely set in the range of 1 to 2,500 pulses per rotation. A parameter can also be set to change the phase.

1-1

1-2 System Configuration

SYSMAC PLC + Position Control

Unit with pulse-string output

Pulse string

SYSMAC

CJ1/CS1/C-Series Programmable Controller

SYSMAC PLC with pulse output functions

Position Control Unit CJ1W-NC113/213/413 CJ1W-NC133/233/433 CS1W-NC113/213/413 CS1W-NC133/233/433 C200HW-NC113/213/413

Features and System Configuration

SYSMAC CJ1M

SYSMAC CP1H/CP1L

Flexible Motion Controller with Pulse I/O

AC100

-240V INPUT

L2/N

FQM1-MMP22

SMARTSTEP 2 Servo Drive

R7D-BP@

OMNUC G-Series Servomotor

R88M-G@/-GP@

1-2

1-3 Names of Parts and Functions

C N 1

C N 2

C N A

C N B

C N 3

PWR

ALM

Encoder input connector (CN2)

Motor connector (CNB)

Communications connector (CN3)

Alarm LED indicator (ALM)Power supply LED indicator

FG terminals for power supply and Servomotor power

Main circuit connector (CNA)

Control I/O connector (CN1)

Features and System Configuration

1-3 Names of Parts and Functions

Servo Drive Part Names

1-3

Servo Drive Functions

Orange: 10s digit, Red: 1s digit

Example:

When an overload alarm (alarm code 16) has occurred and the Unit has stopped the indicator will flash 1 time in orange and 6 times in red.

Orange

1 s

Red

0.5 s

0.5 s1 s Red

0.5 s

Red

0.5 s

Red

0.5 s

Red

0.5 s

Red

0.5 s

0.5 s 0.5 s 0.5 s 0.5 s

2 s later

1-3 Names of Parts and Functions

 Power Supply LED Indicator (PWR)

LED Indicator Status

Lit green Main power is ON.

Flashing orange at 1-second intervals

Lit red An alarm has occurred.

A warning has occurred (i.e., an overload, excessive regenerative energy, or fan speed error).

 Alarm LED Indicator (ALM)

This indicator is lit when an alarm has occurred. The number of orange and red flashes indicate the alarm code. For details on the alarm code, refer to Alarm List on page 8-4.

Features and System Configuration

1-4

1-4 System Block Diagrams

L1 L2 L3

15 V VCC1

VCC2 G1

+VCC G2

FAN

5 V

Voltage detection

Overcurrent detection

Regenerative control

MPU & ASIC

Position, speed, and torque processor

Control I/O photo isolation

Input signals

1.CW/CCW

2.ECRST

3.RUN 4.RESET

5.POT 6.NOT

7.GSEL/GESEL

Phases A, B, Z

2.INP

3.BKIR

4.ALM

5.WARN

+VCC

RS485 I/F

−S

CN2 encoder signal connector

Display circuit

CN3 connector

RS-232C I/F

U V

VCC

SW power supply

Main circuit control

Control power

supply

Relay

drive

Gate drive

Current detection

CN1 control I/O connector

Fan

alarm

Photo isolation

Output signals

Features and System Configuration

1-4 System Block Diagrams

1-5

1-5 Applicable Standards

EC Directives

EC Directive Product Applicable standards Comments Low Voltage

Directive

EMC

Directive

Note To conform to the EMC Directives, the Servomotor and Servo Drive m ust be installed under

the conditions described in 4-3 Wiring Conforming to EMC Directives.

AC Servo Drive EN 50178 Safety requirements for elec-

AC Servomotor IEC 60034-1 Rotating electric machines

AC Servo Drive and

AC Servomotor

EN 55011 class A

group1

EN 61000-6-2 Electromagnetic compatibility

tronic equipment for measure-

ment, control, or laboratory use

Radio disturbance limits and

measurement methods of in-

dustrial, scientific, and medical

radio-frequency equipment

(EMC): Immunity standard for

industrial environments

Features and System Configuration

UL Standards

Standard Product Applicable standards File number Comments

UL Standard AC Servo Drive UL 508C E179149 Power conversion

equipment

1-6

Chapter 2 Standard Models and

Dimensions

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

Servo Drives ............................................................................2-1

Servomotors.............................................................................2-1

Parameter Unit.........................................................................2-2

Servo Drive-Servomotor Combinations ...................................2-2

Decelerators.............................................................................2-4

Accessories and Cables ..........................................................2-8

2-2 External and Mounted Dimensions ................2-13

Servo Drives ..........................................................................2-13

Servomotors...........................................................................2-15

Parameter Unit Dimensions...................................................2-18

Decelerator Dimensions.........................................................2-19

External Regeneration Resistor Dimensions.........................2-27

Reactor Dimensions...............................................................2-28

DIN Rail Mounting Unit Dimensions.......................................2-29

2-1 Standard Models

2Standard Models and Di mensions

2-1 Standard Models

Servo Drives

Specifications Model

Single-phase 100 VAC 50 W R7D-BPA5L

100 W R7D-BP01L 200 W R7D-BP02L

Single-phase/three-phase 200 VAC

Single-phase 200 VAC 200 W R7D-BP02HH Three-phase 200 VAC 200 W R7D-BP02H

50 W

R7D-BP01H

100 W 400 W R7D-BP04H

Servomotors

Standard Models and Dimensions

 3,000-r/min Servomotors

Specifications

100/200 V 50 W R88M-G05030H R88M-G05030H-S2 100 V 100 W R88M-G10030L R88M-G10030L-S2

200 W R88M-G20030L R88M-G20030L-S2

200 V 100 W R88M-G10030H R88M-G10030H-S2

Without brake

100/200 V 50 W R88M-G05030H-B R88M-G05030H-BS2 100 V 100 W R88M-G10030L-B R88M-G10030L-BS2

200 V 100 W R88M-G10030H-B R88M-G10030H-BS2

With brake

200 W R88M-G20030H R88M-G20030H-S2 400 W R88M-G40030H R88M-G40030H-S2

200 W R88M-G20030L-B R88M-G20030L-BS2

200 W R88M-G20030H-B R88M-G20030H-BS2 400 W R88M-G40030H-B R88M-G40030H-BS2

Model

Straight shaft Straight shaft with key and tap

2-1

Note Models with oil seals are also available.

 3,000-r/min Flat Servomotors

2-1 Standard Models

Specifications

100 V 100W R88M-GP10030L R88M-GP10030L-S2

200 V 100W R88M-GP10030H R88M-GP10030H-S2

Without brake

100 V 100W R88M-GP10030L-B R88M-GP10030L-BS2

200 V 100W R88M-GP10030H-B R88M-GP10030H-BS2

With brake

Note Models with oil seals are also available.

Parameter Unit

Model

Straight shaft Straight shaft with key and tap

200W R88M-GP20030L R88M-GP20030L-S2

200W R88M-GP20030H R88M-GP20030H-S2 400W R88M-GP40030H R88M-GP40030H-S2

200W R88M-GP20030L-B R88M-GP20030L-BS2

200W R88M-GP20030H-B R88M-GP20030H-BS2 400W R88M-GP40030H-B R88M-GP40030H-BS2

Specifications Model

Parameter Unit R88A-PR02G

Servo Drive-Servomotor Combinations

Only the Servomotor and Servo Drive combinations listed here can be used. Do not use other combinations.

 Single-phase 100-VAC Combinations

3,000-r/min Servomotors

Rated output

50 W R7D-BPA5L R88M-G05030H-@ R88M-G05030H-B@ 100 W R7D-BP01L R88M-G10030L-@ R88M-G10030L-B@ 200 W R7D-BP02L R88M-G20030L-@ R88M-G20030L-B@

3,000-r/min Flat Servomotors

Rated output

100 W R7D-BP01L R88M-GP10030L-@ R88M-GP10030L-B@ 200 W R7D-BP02L R88M-GP20030L-@ R88M-GP20030L-B@

Servo Drive Servomotor

Pulse-string input Without brake With brake

Servo Drive Servomotor

Pulse-string input Without brake With brake

Standard Models and Dimensions

2-2

2-1 Standard Models

 Single-phase 200-VAC Combinations

3,000-r/min Servomotors

Rated output

50 W 100 W R88M-G10030H-@ R88M-G10030H-B@ 200 W R7D-BP02HH R88M-G20030H-@ R88M-G20030H-B@ 400 W R7D-BP04H R88M-G40030H-@ R88M-G40030H-B@

Servo Drive Servomotor

Pulse-string input Without brake With brake

R7D-BP01H

3,000-r/min Flat Servomotors

Rated

output

100 W R7D-BP01H R88M-GP10030H-@ R88M-GP10030H-B@ 200 W R7D-BP02HH R88M-GP20030H-@ R88M-GP20030H-B@ 400 W R7D-BP04H R88M-GP40030H-@ R88M-GP40030H-B@

Servo Drive Servomotor

Pulse-string input Without brake With brake

 Three-phase 200-VAC Combinations

Standard Models and Dimensions

3,000-r/min Servomotors

Rated

output

Servo Drive Servomotor

Pulse-string input Without brake With brake

R88M-G05030H-@ R88M-G05030H-B@

50 W 100 W R88M-G10030H-@ R88M-G10030H-B@ 200 W R7D-BP02H R88M-G20030H-@ R88M-G20030H-B@ 400 W R7D-BP04H R88M-G40030H-@ R88M-G40030H-B@

R7D-BP01H

3,000-r/min Flat Servomotors

Rated

output

100 W R7D-BP01H R88M-GP10030H-@ R88M-GP10030H-B@ 200 W R7D-BP02H R88M-GP20030H-@ R88M-GP20030H-B@ 400 W R7D-BP04H R88M-GP40030H-@ R88M-GP40030H-B@

Servo Drive Servomotor

Pulse-string input Without brake With brake

R88M-G05030H-@ R88M-G05030H-B@

2-3

Decelerators

 Backlash = 3’ Max.

2-1 Standard Models

Decelerators for Cylindrical Servomotors

Specifications

Motor capacity Gear ratio

1/5 R88G-HPG11A05100B@ 1/9 R88G-HPG11A09050B@

50 W

100 W

200 W

1/21 R88G-HPG14A21100B@ 1/33 R88G-HPG14A33050B@ 1/45 R88G-HPG14A45050B@

1/5 R88G-HPG11A05100B@ 1/11 R88G-HPG14A11100B@ 1/21 R88G-HPG14A21100B@ 1/33 R88G-HPG20A33100B@ 1/45 R88G-HPG20A45100B@

1/5 R88G-HPG14A05200B@ 1/11 R88G-HPG14A11200B@ 1/21 R88G-HPG20A21200B@ 1/33 R88G-HPG20A33200B@ 1/45 R88G-HPG20A45200B@

1/5 R88G-HPG14A50400B@

Model

Standard Models and Dimensions

1/11 R88G-HPG20A11400B@

400 W

Note1. The standard models have a straight shaft. Note2. A model with a key and tap is indicated by adding “J” to the end of the model number (the

suffix shown in the box). Example: R88G-HPG11A05100BJ

1/21 R88G-HPG20A21400B@ 1/33 R88G-HPG32A33400B@

1/45 R88G-HPG32A4

5400

2-4

2-1 Standard Models

Decelerator for Flat Servomotors

Specifications

Motor capacity Gear ratio

1/5 R88G-HPG11A05100PB@

100 W

200 W

400 W

1/11 R88G-HPG14A11100PB@ 1/21 R88G-HPG14A21100PB@ 1/33 R88G-HPG20A33100PB@ 1/45 R88G-HPG20A45100PB@

1/5 R88G-HPG14A05200PB@ 1/11 R88G-HPG20A11200PB@ 1/21 R88G-HPG20A21200PB@ 1/33 R88G-HPG20A33200PB@ 1/45 R88G-HPG20A45200PB@

1/5 R88G-HPG20A05400PB@ 1/11 R88G-HPG20A11400PB@ 1/21 R88G-HPG20A21400PB@ 1/33 R88G-HPG32A33400PB@ 1/45 R88G-HPG32A45400PB@

Model

Note1. The standard models have a straight shaft.

Standard Models and Dimensions

Note2. A model with a key and tap is indicated by adding “J” to the end of the model number (the

suffix shown in the box). Example: R88G-HPG11A05100PBJ

2-5

 Backlash = 15’ Max.

Decelerators for Cylindrical Servomotors

2-1 Standard Models

Specifications

Motor capacity Gear ratio

1/5 R88G-VRSF05B100CJ 1/9 R88G-VRSF09B100CJ

50 W

1/15 R88G-VRSF15B100CJ 1/25 R88G-VRSF25B100CJ

1/5 R88G-VRSF05B100CJ 1/9 R88G-VRSF09B100CJ

100 W

1/15 R88G-VRSF15B100CJ 1/25 R88G-VRSF25B100CJ

1/5 R88G-VRSF05B200CJ 1/9 R88G-VRSF09C200CJ

200 W

1/15 R88G-VRSF15C200CJ 1/25 R88G-VRSF25C200CJ

1/5 R88G-VRSF05C400CJ 1/9 R88G-VRSF09C400CJ

400 W

1/15 R88G-VRSF15C400CJ 1/25 R88G-VRSF25C400CJ

Model

Standard Models and Dimensions

Note1. The standard models have a straight shaft with a key. Note2. The backlash is the value when a load of ±5% of the allowable output torque is applied to

the output shaft.

2-6

2-1 Standard Models

Decelerators for Flat Servomotors

Specifications

Motor capacity Gear ratio

1/5 R88G-VRSF05B100PCJ

100 W

200 W

400 W

Note1. The standard models have a straight shaft with a key. Note2. The backlash is the value when a load of ±5% of the allowable output torque is applied to

the output shaft.

1/9 R88G-VRSF09B100PCJ 1/15 R88G-VRSF15B100PCJ 1/25 R88G-VRSF25B100PCJ

1/5 R88G-VRSF05B200PCJ

1/9 R88G-VRSF09C200PCJ 1/15 R88G-VRSF15C200PCJ 1/25 R88G-VRSF25C200PCJ

1/5 R88G-VRSF05C400PCJ

1/9 R88G-VRSF09C400PCJ 1/15 R88G-VRSF15C400PCJ 1/25 R88G-VRSF25C400PCJ

Model

Standard Models and Dimensions

2-7

Accessories and Cables

 Encoder Cables (for CN2)

Standard Cables (connectors attached) 3 m R88A-CRGB003C

Robot Cables (connectors attached) 3 m R88A-CRGB003CR

2-1 Standard Models

Specifications Model

5 m R88A-CRGB005C 10 m R88A-CRGB010C 15 m R88A-CRGB015C 20 m R88A-CRGB020C

5 m R88A-CRGB005CR 10 m R88A-CRGB010CR 15 m R88A-CRGB015CR 20 m R88A-CRGB020CR

 Servomotor Power Cables (for CNB)

Specifications Model

Standard Cables (connectors attached) 3 m R7A-CAB003S

Robot Cables (connectors attached) 3 m R7A-CAB003SR

 Brake Cables

Specifications Model

Standard Cables 3 m R88A-CAGA003B

5 m R7A-CAB005S 10 m R7A-CAB010S 15 m R7A-CAB015S 20 m R7A-CAB020S

5 m R7A-CAB005SR 10 m R7A-CAB010SR 15 m R7A-CAB015SR 20 m R7A-CAB020SR

5 m R88A-CAGA005B 10 m R88A-CAGA010B 15 m R88A-CAGA015B

Standard Models and Dimensions

20 m R88A-CAGA020B

Robot Cables 3 m R88A-CAGA003BR

5 m R88A-CAGA005BR 10 m R88A-CAGA010BR 15 m R88A-CAGA015BR 20 m R88A-CAGA020BR

2-8

2-1 Standard Models

 Power Supply Cables

Specifications Model

Power Supply Input Cable for Single-Phase Power (connectors attached)

Power Supply Input Cable for Three-Phase Power (connectors attached)

External Regeneration Resistor Connection Cable 2 m R7A-CLB002RG

 Personal Computer Monitor Cable

Personal Computer Monitor Cable 2 m R88A-CCG002P2

 Connectors

Main Circuit Connector (CNA) R7A-CNB01P Servomotor Connector (CNB) R7A-CNB01A Control I/O Connector (CN1) R88A-CNW01C Encoder Input Connector (CN2) R88A-CNW01R Servomotor Connector for Encoder Cable R88A-CNG02R Servomotor Connector for Servomotor Power Cable R88A-CNG01A Brake Cable Connector R88A-CNG01B

Standard Models and Dimensions

2 m R7A-CLB002S2

2 m R7A-CLB002S3

Specifications Model

2-9

 Servo Relay Units (for CN1)

Specifications Model

For CJ1W-NC133/-NC113 For CS1W-NC133/-NC113 For C200HW-NC113

For CJ1W-NC233/-NC433/-NC213/-NC413 For CS1W-NC233/-NC433/-NC213/-NC413 For C200HW-NC213/-NC413

Servo Relay Units

For CJ1M-CPU21 For CJ1M-CPU22 For CJ1M-CPU23

For FQM1-MMP22 XW2B-80J7-12A For CQM1H-PLB21

For CQM1-CPU43-V1

 Servo Relay Unit Cables for Servo Drives

Specifications Model

For Position Control Unit/CQM1 (XW2B-@J6-@B)

Servo Drive Cables

For CJ1M (XW2B-20J6-8A/XW2B-40J6-9A)

For FQM1-MMP22 (XW2B-80J7-12A)

2-1 Standard Models

XW2B-20J6-1B

XW2B-40J6-2B

XW2B-20J6-8A XW2B-40J6-9A

(for 2 axes)

XW2B-20J6-3B

1 m XW2Z-100J-B29 2 m XW2Z-200J-B29 1 m XW2Z-100J-B32 2 m XW2Z-200J-B32 1 m XW2Z-100J-B30 2 m XW2Z-200J-B30

Standard Models and Dimensions

2-10

2-1 Standard Models

 Servo Relay Unit Cables for Position Control Units

Specifications Model

For CJ1W-NC133

For CJ1W-NC233/-NC433

For CS1W-NC133

For CS1W-NC233/-NC433

For CJ1W-NC113

For CJ1W-NC213/-NC413

Position Control Unit Cables

Standard Models and Dimensions

For CS1W-NC113 For C200HW-NC113

For CS1W-NC213/-NC413 For C200HW-NC213/-NC413

For CJ1M-CPU21 For CJ1M-CPU22 For CJ1M-CPU23

For FQM1-MMP22

General-purpose I/O Cables

0.5 m XW2Z-050J-A18 1 m XW2Z-100J-A18

0.5 m XW2Z-050J-A19 1 m XW2Z-100J-A19

0.5 m XW2Z-050J-A10 1 m XW2Z-100J-A10

0.5 m XW2Z-050J-A11 1 m XW2Z-100J-A11

0.5 m XW2Z-050J-A14 1 m XW2Z-100J-A14

0.5 m XW2Z-050J-A15 1 m XW2Z-100J-A15

0.5 m XW2Z-050J-A6 1 m XW2Z-100J-A6

0.5 m XW2Z-050J-A7 1 m XW2Z-100J-A7

0.5 m XW2Z-050J-A33 1 m XW2Z-100J-A33

0.5 m XW2Z-050J-A28 1 m XW2Z-100J-A28 2 m XW2Z-200J-A28

0.5 m XW2Z-050J-A30

 Control Cables (for CN1)

Connector-Terminal Block Cables 1 m XW2Z-100J-B28

General-purpose Control Cables 1 m R7A-CPB001S

Special I/O Cables

For CQM1H-PLB21 For CQM1-CPU43-V1

Specifications Model

1 m XW2Z-100J-A30 2 m XW2Z-200J-A30

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

2 m XW2Z-200J-B28

2 m R7A-CPB002S

2-11

 Connector-Terminal Block Conversion Units

Specifications Model M3 screws type XW2B-34G4 M3.5 screws type XW2B-34G5 M3 screws type XW2D-34G6

 External Regeneration Resistors

Specifications Model Regeneration capacity: 70 W, 47 Ω R88A-RR22047S Regeneration capacity: 20 W, 100 Ω R88A-RR080100S Regeneration capacity: 20 W, 50 Ω R88A-RR08050S

 Reactors

Specifications Applicable Servo Drive Model

R7D-BPA5L 3G3AX-DL2002

Single-phase 100 V

R7D-BP01L 3G3AX-DL2004 R7D-BP02L 3G3AX-DL2007

2-1 Standard Models

Single-phase 200 V

Three-phase 200 V

 DIN Rail Mounting Unit

DIN Rail Mounting Unit R7A-DIN01B

R7D-BP01H 3G3AX-DL2004 R7D-BP02HH 3G3AX-DL2004 R7D-BP04H 3G3AX-DL2007 R7D-BP01H 3G3AX-AL2025 R7D-BP02H 3G3AX-AL2025 R7D-BP04H 3G3AX-AL2025

Specifications Model

Standard Models and Dimensions

2-12

2-2 External and Mounted Dimensions

Two, M4

C N 1

C N 2

C N B

C N A

C N 3

ALMPWR

5.1

5.2

105

5.2 dia.

130

120

140

130±0.5 55

15 20

Mounting Hole

Dimensions

2-2 External and Mounted Dimensions

Servo Drives

 R7D-BPA5L/-BP01L/-BP01H/-BP02H (50 W/100 W/200 W)

Standard Models and Dimensions

2-13

2-2 External and Mounted Dimensions

 R7D-BP02L/-BP02HH/-BP04H (200 W/400 W)

140

130

120

5.2 dia.

ALMPWR

C N 3

C N 1

C N 2

C N B

Mounting Hole

Dimensions

Two, M4

140

130±0.5

5.2

C N A

5.1

105

15 25

Standard Models and Dimensions

2-14

2-2 External and Mounted Dimensions

3, height: 9

M3 (depth: 6)

1.8

12.5

(Dimensions of shaft end with key and tap)

230

200

LL 25

40 × 40

Motor Connector

Encoder Connector

8 dia., height: 6

46 dia.

Two, 4.3 dia.

30 dia., height: 7

Brake Connector

Servomotors

 3,000-r/min 50-/100-W Servomotors

Standard Models and Dimensions

/-G05030H-B(S2)/-G10030L-B(S2)/-G10030H-B(S2)

Model

R88M-G05030H 72 26.5 R88M-G05030H-B R88M-G10030@ R88M-G10030@-B

*1, *2

R88M-G05030H(-S2)/-G10030L(-S2)/-G10030H(-S2)

LL LN

(mm) (mm)

102 26.5

92 46.5

122 46.5

2-15

*1. This is the model number for the Servomotor with a brake. *2. Put “L” or “H” in the place indicated by the box.

Note The standard models have a straight shaft. A model with a key and tap is indicated by

adding “S2” to the end of the model number.

 3,000-r/min 200-/400-W Servomotors

220

200

36.5

LL 30

S dia., height: 6

50 dia., height: 7

60 × 60

70 dia.

(Dimensions of shaft end with key and tap)

Four,

4.5 dia.

M (depth: L)

Brake connector

Servomotor connector

Encoder connector

R88M-G20030L(-S2)/-G20030H(-S2)/-G40030H(-S2)

/-G20030L-B(S2)/-G20030H-B(S2)/-G40030H-B(S2)

2-2 External and Mounted Dimensions

Model

R88M-G20030@ R88M-G20030@-B R88M-G40030H 99 14 22.5 5h9 5 3 M5 10 R88M-G40030H-B

*1. Put “L” or “H” in the place indicated by the box. *2 .This is the model number for the Servomotor with a brake. *3. A model with a key and tap is indicated by adding “S2” to the end of the model number.

Note The standard models have a straight shaft.

*1,*2

LL S

(mm) (mm) (mm) (mm) (mm) (mm)

79.5 11 18 4h9 4 2.5 M4 8 116 11 18 4h9 4 2.5 M4 8

135.5 14 22.5 5h9 5 3 M5 10

Dimensions for models with key and tap

QK b h t1 M L

Standard Models and Dimensions

2-16

2-2 External and Mounted Dimensions

LL LR

200

220

D2 dia., height: 7

KL1

S dia., height: 6

C × C

Four, Z-dia.

(7)

Encoder connector

(Dimensions of shaft end with key and tap)

M (depth: L)

Servomotor connector

Break connector

D1 dia.

 3,000-r/min 100-/200-/400-W Flat Servomotors

R88M-GP10030L(-S2)/-GP10030H(-S2)/-GP20030L(-S2)/-GP20030H(-S2)

/-GP40030H(-S2)

R88M-GP10030L-B(S2)/-GP10030H-B(S2)/-GP20030L-B(S2)/-GP20030H-B(S2)

/-GP40030H-B(S2)

Standard Models and Dimensions

Model

*1, *2

Model

*1,*2

R88M-GP10030@ R88M-GP10030@-B R88M-GP20030@ R88M-GP20030@-B R88M-GP40030H 82.5 30149070805 8 R88M-GP40030H-B

R88M-GP10030@ R88M-GP10030@-B R88M-GP20030@ R88M-GP20030@-B R88M-GP40030H 53 5.5 22.5 5h9 5 3.0 M5 10 R88M-GP40030H-B

LL LR S D1 D2 C F G

(mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm)

60.5 25 8 70 50 60 3 7

84.5 25 8 70 50 60 3 7

67.5 30119070805 8 100 30119070805 8

115 30149070805 8

KL1 Z

Dimensions for models with key and tap

QK b h t1 M L

(mm) (mm) (mm) (mm) (mm) (mm)

43 4.5 12.5 3h9 3 1.8 M3 6 43 4.5 12.5 3h9 3 1.8 M3 6 53 5.5 18 4h9 4 2.5 M4 8 53 5.5 18 4h9 4 2.5 M4 8

53 5.5 22.5 5h9 5 3.0 M5 10

2-17

*1. Put “L” or “H” in the place indicated by the box. *2. This is the model number for the Servomotor with a brake. *3. A model with a key and tap is indicated by adding “S2” to the end of the model number.

Note The standard models have a straight shaft.

Parameter Unit Dimensions

Mini DIN 8-pin MD connector

(62)

(24)

(15)

(1500)

M3, depth: 5

(114)

(15)

 R88A-PR02G

2-2 External and Mounted Dimensions

Standard Models and Dimensions

2-18

2-2 External and Mounted Dimensions

C1 × C1

F2LRG

Set bolt (AT)

Four, Z2 dia.

Four, Z1 dia.

D1 dia.

D3 dia.

D4 dia.

D5 dia.

S dia., height: 7

D2 dia.

Decelerator Dimensions

 Backlash = 3’ Max.

Decelerators for Cylindrical Servomotors

Model

(R88G-)

1/5 1/9

50 W

100 W

200 W

Standard Models and Dimensions

400 W

1/21 1/33 1/45

1/5 1/11 1/21 1/33 1/45

HPG11A05100B@ HPG11A09050B@ HPG14A21100B@ HPG14A33050B@ HPG14A45050B@ HPG11A05100B@ HPG14A11100B@ HPG14A21100B@ HPG20A33100B@ HPG20A45100B@ HPG14A05200B@ HPG14A11200B@ HPG20A21200B@ HPG20A33200B@ HPG20A45200B@ HPG14A05400B@ HPG20A11400B@ HPG20A21400B@ HPG32A33400B@ HPG32A45400B@

Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5

39.5 42 40 40 × 40 46 46 40.0 39.5 29

64.0 58 60 60 × 60 70 46 56.0 55.5 40

39.5 42 40 40 × 40 46 46 40.0 39.5 29

64.0 58 60 60 × 60 70 46 56.0 55.5 40

66.5 80 90 55 dia. 105 46 85.0 84.0 59

64.0 58 60 60 × 60 70 70 56.0 55.5 40

71.0 809089 dia. 105 70 85.0 84.0 59

64.0 58 60 60 × 60 70 70 56.0 55.5 40

71.0 809089 dia. 105 70 85.0 84.0 59

104.0 133 120 122 dia. 135 70 115.0 114.0 84

NoteThe standard models have a straight shaft. A model with a ke y and tap is indicated b y adding “J” to the end

2-19

of the model number (the suffix shown in the box).

Outline Drawings

Dimensions (mm) Key and tap dimensions (mm)

E F1 F2 G S T Z1 Z2 AT 27 2.2 15 5 8 20 3.4 M4 M3 27 2.2 15 5 8 20 3.4 M4 M3

372.5218 16 28 5.5 M4 M3

372.5218 16 28 5.5 M4 M3 27 2.2 15 5 8 20 3.4 M4 M3

372.5218 16 28 5.5 M4 M3

53 7.527102542 9.0M4 M4 53 7.527102542 9.0M4 M4

372.5218 16 28 5.5 M4 M3

53 7.527102542 9.0M4 M4 53 7.527102542 9.0M4 M4 53 7.527102542 9.0M4 M4

372.5218 16 28 5.5 M4 M3 53 7.527102542 9.0M4 M4 53 7.527102542 9.0M4 M4 98 12.5 3513 40 82 11.0 M4 M4 98 12.5 3513 40 82 11.0 M4 M4

2-2 External and Mounted Dimensions

Weight

QK b h t1 M L

15 331.8 M3 60.29 15 331.8 M3 60.29 25553 M4 8 1.04 25553 M4 8 1.04 25553 M4 8 1.04 15 331.8 M3 60.29 25553 M4 8 1.04 25553 M4 8 1.04

36 8 7 4.0 M6 12 2.4 36 8 7 4.0 M6 12 2.4

25553 M4 8 1.02 25553 M4 8 1.09

36 8 7 4.0 M6 12 2.9 36 8 7 4.0 M6 12 2.9 36 8 7 4.0 M6 12 2.9 25553 M4 8 1.09 36 8 7 4.0 M6 12 2.9 36 8 7 4.0 M6 12 2.9

70 12 8 5.0 M10 20 7.5 70 12 8 5.0 M10 20 7.5

(kg)

Standard Models and Dimensions

*1. This is the set bolt.

Key and Tap Dimensions

M (depth: L)

2-20

2-2 External and Mounted Dimensions

Decelerators for Flat Servomotors

Model

(R88G-)

1/5

100 W

200 W

400 W

1/11 1/21 1/33 1/45

1/5 1/11 1/21 1/33 1/45

HPG11A05100PB@ HPG14A11100PB@ HPG14A21100PB@ HPG20A33100PB@ HPG20A45100PB@ HPG14A05200PB@ HPG20A11200PB@ HPG20A21200PB@ HPG20A33200PB@ HPG20A45200PB@ HPG20A05400PB@ HPG20A11400PB@ HPG20A21400PB@ HPG32A33400PB@ HPG32A45400PB@

LM LR C1 C2 D1 D2 D3 D4 D5

39.5424060 × 60 46 70 40.0 39.5 29

64.0 58 60 60 × 60 70 70 56.0 55.5 40

71.0 809089 dia. 105 70 85.0 84.0 59

65.0 58 60 80 × 80 7090 56.0 55.540

78.0 809080 × 8010590 85.0 84.0 59

104.0 133 120 122 dia. 135 90 115.0 114.0 84

Dimensions (mm)

NoteThe standard models have a straight shaft. A model with a ke y and tap is indicated b y adding “J” to the end

Standard Models and Dimensions

of the model number.

Outline Drawings

C1 × C1

D1 dia.

D5 dia.

D4 dia.

D3 dia.

S dia., height: 7

Four, Z1 dia.

F2LRG

Set bolt (AT)

D2 dia.

Four, Z2 dia.

2-21

2-2 External and Mounted Dimensions

Dimensions (mm) Key and tap dimensions (mm)

E F1 F2 G S T Z1 Z2 AT*1QK b h t1 M L

27 2.2 15 5 8 20 3.4 M4 M3

372.5218 16 28 5.5 M4 M3

53 7.527102542 9.0M4 M3 53 7.527102542 9.0M4 M3

372.5218 16 28 5.5 M4 M4 53 7.527102542 9.0M5 M4 53 7.527102542 9.0M5 M4 53 7.527102542 9.0M5 M4 53 7.527102542 9.0M5 M4 53 7.527102542 9.0M5 M4 53 7.527102542 9.0M5 M4 53 7.527102542 9.0M5 M4 98 12.5 3513 40 82 11.0 M5 M6 98 12.5 3513 40 82 11.0 M5 M6

15 33 1.8 M3 60.34 25 5 5 3.0 M4 8 1.04 25 5 5 3.0 M4 8 1.04

36 8 7 4.0 M6 12 2.9 36 8 7 4.0 M6 12 2.9 25 5 5 3.0 M4 8 0.99 36 8 74.0M6 12 3.1 36 8 74.0M6 12 3.1 36 8 74.0M6 12 3.1 36 8 74.0M6 12 3.1 36 8 74.0M6 12 3.1 36 8 74.0M6 12 3.1 36 8 74.0M6 12 3.1

70 12 8 5.0 M10 20 7.8 70 12 8 5.0 M10 20 7.8

Weight

(kg)

*1. This is the set bolt.

Key and Tap Dimensions

M (depth: L)

Standard Models and Dimensions

2-22

2-2 External and Mounted Dimensions

C2 × C2

C1 × C1

Four, Z1

D1 dia.

D4 dia.

S dia., height: 6

D2 dia.

D3 dia., height: 7

Four, Z2 (effective depth: L)

 Backlash = 15’ Max.

Decelerators for Cylindrical Servomotors

Model

50 W

100 W

200 W

400 W

Standard Models and Dimensions

(R88G-)

1/5 VRSF05B100CJ

1/9 VRSF09B100CJ 1/15 VRSF15B100CJ 1/25 VRSF25B100CJ

1/5 VRSF05B100CJ

1/9 VRSF09B100CJ 1/15 VRSF15B100CJ 1/25 VRSF25B100CJ

1/5 VRSF05B200CJ

1/9 VRSF09C200CJ 1/15 VRSF15C200CJ 1/25 VRSF25C200CJ

1/5 VRSF05C400CJ

1/9 VRSF09C400CJ 1/15 VRSF15C400CJ 1/25 VRSF25C400CJ

Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 E3 F G

67.5 32405246 60 504510 3 6

78.0 32405246 60 504510 3 6

67.5 32405246 60 504510 3 6

78.0 32405246 60 504510 3 6

72.5 32605270 60 504510 3 10

89.5506078 70 90 70 62 17 38

100.0 50 60 78 70 90 70 62 17 38

89.5506078 70 90 70 62 17 38

100.0 50 60 78 70 90 70 62 17 38

NoteThe standard models have a straight shaft with a key.

Outline Drawings

2-23

2-2 External and Mounted Dimensions

Key Dimensions

Set bolt (AT)

Dimensions (mm) Key dimensions (mm)

S T Z1 Z2 AT

12 20 M4 M5 M3 12 16 4 4 2.5 12 20 M4 M5 M3 12 16 4 4 2.5 12 20 M4 M5 M3 12 16 4 4 2.5 12 20 M4 M5 M3 12 16 4 4 2.5 12 20 M4 M5 M3 12 16 4 4 2.5 12 20 M4 M5 M3 12 16 4 4 2.5 12 20 M4 M5 M3 12 16 4 4 2.5 12 20 M4 M5 M3 12 16 4 4 2.5 12 20 M4 M5 M4 12 16 4 4 2.5 19 30M4 M6 M4 20 22 6 63.5 19 30M4 M6 M4 20 22 6 63.5 19 30M4 M6 M4 20 22 6 63.5 19 30M4 M6 M4 20 22 6 63.5 19 30M4 M6 M4 20 22 6 63.5 19 30M4 M6 M4 20 22 6 63.5 19 30M4 M6 M4 20 22 6 63.5

L QK b h t1

Weight

(kg)

0.55 VRSF05B100CJ 1/5

0.55 VRSF09B100CJ 1/9

0.70 VRSF15B100CJ 1/15

0.70 VRSF25B100CJ 1/25

0.55 VRSF05B100CJ 1/5

0.55 VRSF09B100CJ 1/9

0.70 VRSF15B100CJ 1/15

0.70 VRSF25B100CJ 1/25

0.72 VRSF05B200CJ 1/5

1.70 VRSF09C200CJ 1/9

2.10 VRSF15C200CJ 1/15

2.10 VRSF25C200CJ 1/25

1.70 VRSF05C400CJ 1/5

1.70 VRSF09C400CJ 1/9

2.10 VRSF15C400CJ 1/15

2.10 VRSF25C400CJ 1/25

Model

(R88G-)

50 W

100 W

200 W

400 W

Standard Models and Dimensions

*1. This is the set bolt.

2-24

2-2 External and Mounted Dimensions

C2 × C2

C1 × C1

Four, Z1

D1 dia.

D4 dia.

S dia., height: 6

D2 dia.

D3 dia., height: 7

Four, Z2 (effective depth: L)

Decelerators for Flat Servomotors

Model

(R88G-)

1/5 VRSF05B100PCJ

100 W

200 W

400 W

1/9 VRSF09B100PCJ 1/15 VRSF15B100PCJ 1/25 VRSF25B100PCJ

1/5 VRSF05B200PCJ

1/9 VRSF09C200PCJ 1/15 VRSF15C200PCJ 1/25 VRSF25C200PCJ

1/5 VRSF05C400PCJ

1/9 VRSF09C400PCJ 1/15 VRSF15C400PCJ 1/25 VRSF25C400PCJ

LM LR C1 C2 D1 D2 D3 D4 E3 F G

67.5 32605270 60 504510 38

78.0 32605270 60 504510 38

72.5 32 805290 60 504510 3 12

89.5 50 8078 90 90 70 62 17 3 12

100.0 50 8078 90 90 70 62 17 3 12

89.5 50 8078 90 90 70 62 17 3 12

100.0 50 8078 90 90 70 62 17 3 12

Dimensions (mm)

NoteThe standard models have a straight shaft with a key.

Outline Drawings

Standard Models and Dimensions

2-25

2-2 External and Mounted Dimensions

Key Dimensions

Set bolt (AT)

Dimensions (mm) Key dimensions (mm)

S T Z1 Z2 AT

12 20 M4 M5 M3 12 16 4 4 2.5 12 20 M4 M5 M3 12 16 4 4 2.5 12 20 M4 M5 M3 12 16 4 4 2.5 12 20 M4 M5 M3 12 16 4 4 2.5 12 20 M5 M5 M4 12 16 4 4 2.5 19 30M5 M6 M4 20 22 6 63.5 19 30M5 M6 M4 20 22 6 63.5 19 30M5 M6 M4 20 22 6 63.5 19 30M5 M6 M4 20 22 6 63.5 19 30M5 M6 M4 20 22 6 63.5 19 30M5 M6 M4 20 22 6 63.5 19 30M5 M6 M4 20 22 6 63.5

L QK b h t1

*1. This is the set bolt.

Weight

(kg)

0.72 VRSF05B100PCJ 1/5

0.72 VRSF09B100PCJ 1/9

0.87 VRSF15B100PCJ 1/15

0.87 VRSF25B100PCJ 1/25

0.85 VRSF05B200PCJ 1/5

1.80 VRSF09C200PCJ 1/9

2.20 VRSF15C200PCJ 1/15

2.20 VRSF25C200PCJ 1/25

1.80 VRSF05C400PCJ 1/5

1.80 VRSF09C400PCJ 1/9

2.20 VRSF15C400PCJ 1/15

2.20 VRSF25C400PCJ 1/25

Model

(R88G-)

100 W

200 W

400 W

Standard Models and Dimensions

2-26

2-2 External and Mounted Dimensions

t1.2 104

122 130

43.5

4.2

1.5 dia.

(0.3 mm

)

(0.75 mm

)

3 dia.

Thermal switch output

500

t1.2 200

220 230

4.2

Thermal switch output

500

1.5 dia.

(0.3 mm

)

(0.75 mm

)

3 dia.

External Regeneration Resistor Dimensions

 External Regeneration Resistor

R88A-RR08050S/R88A-RR080100S

R88A-RR22047S

Standard Models and Dimensions

2-27

Reactor Dimensions

Ground terminal (M4)

Four,

5.2 × 8

Two, M4

Ground terminal (M4)

Four, 5.2 × 8

Two, M4

105

 3G3AX-DL2002/-DL2004

2-2 External and Mounted Dimensions

 3G3AX-DL2007

Model

3G3AX-DL2002 85 3G3AX-DL2004 95

Dimension

(mm)

Standard Models and Dimensions

2-28

2-2 External and Mounted Dimensions

 3G3AX-AL2025

Six, M4 terminal screws

Ground terminal (M5)

Ro R So S To T

150

50±1

130

Four, 6 dia.

67±1

60 40

67±1

Connections

Ro R So S To T

DIN Rail Mounting Unit Dimensions

R7A-DIN01B

Standard Models and Dimensions

5130.5

140

(7)

*1. Two mounting screws (M4, length: 8) are included. *2. When the rail stopper is extended, this dimension becomes 10 mm.

Two, M4 mounting screws*1

(6)

Mounting panel

Rail stopper

(6)

2-29

Chapter 3 Specifications

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

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

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

Main Circuit and Servomotor Connector Specifications

(CNA and CNB) .......................................................................3-3

Control I/O Connector Specifications (CN1) ............................3-4

Control Input Circuits ...............................................................3-8

Control Input Details ................................................................3-9

Control Output Circuits...........................................................3-12

Control Output Details............................................................3-13

Encoder Connector Specifications (CN2) ..............................3-15

3-2 Servomotor Specifications..............................3-16

General Specifications...........................................................3-16

Characteristics.......................................................................3-17

Encoder Specifications ..........................................................3-25

3-3 Decelerator Specifications..............................3-26

Standard Models and Specifications......................................3-26

3-4 Cable and Connector Specifications..............3-30

Encoder Cable Specifications................................................3-30

Servomotor Power Cable Specifications................................3-32

Power Cable Specifications ...................................................3-36

Communications Cable Specifications...................................3-39

Connector Specifications.......................................................3-40

Control Cable Specifications..................................................3-44

3-5 Servo Relay Units and Cable

Specifications...................................................3-52

Servo Relay Units Specifications...........................................3-52

Servo Drive-Servo Relay Unit Cable Specifications ..............3-62

Position Control Unit-Servo Relay Unit Cable

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

3-6 Parameter Unit Specifications ........................3-77

3-7 External Regeneration Resistors

Specifications...................................................3-78

3-8 Reactor Specifications ....................................3-79

3-1 Servo Drive Specifications

WARNING

Never perform withstand-voltage or other megameter tests on the Servo Drive.

3Specifications

3-1 Servo Drive Specifications

Select the Servo Drive matching the Servomotor to be used. (For details, refer to Servo Drive-Servomotor Combinations on page 2-2.)

Specifications

General Specifications

Item Specifications

Ambient operating temperature Ambient operating humidity

Ambient storage temperature Ambient storage humidity

Storage and operating atmosphere

Vibration resistance 10 to 60 Hz; acceleration: 5.9 m/s Impact resistance Acceleration of 19.6 m/s

Insulation resistance

Dielectric strength

Altitude 1,000 m above sea level max. (860 hp min.) Protective structure Built into panel (IP10).

EC International standards

Direc-

tives

UL standards UL 508C

cUL standards cUL C22.2 No.14

EMC

Directive

Low

Voltage

Directive

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

−20 to 65°C, 90% RH max. (with no condensation)

No corrosive gasses, no dust, no iron dust, no exposure to moisture or cutting oil

(0.6 G) max.

max. 3 times each in X, Y, and Z directions.

Between power supply/power line terminals and frame ground:

0.5 MΩ. min. (at 500 VDC) Between power supply/power line terminals and frame ground:

1,500 VAC for 1 min at 50/60 Hz Between each control signal and frame ground: 500 VAC for 1 min

EN 55011 class A group 1 EN 61000-6-2

EN 50178

Note1. The above items reflect individual ev aluation testing. The results may diff er under compound

conditions.

Note2. Depending on the operating conditions, some Servo Drive parts will require maintenance.

Refer to Servo Drive Service Life on page 8-18 in the User’s Manual for details.

Note3. The service life of the Servo Drive is 50,000 hours at an average ambient temperature of

40°C at 80% of the rated torque (excluding axial-flow fan).

3-1

Characteristics

 Control Specifications

Item

Continuous output current (rms)

Momentary maximum output current (rms)

Power supply capacity 0.16 KVA 0.25 KVA 0.42 KVA

3-1 Servo Drive Specifications

Servo Drive model

R7D-

BPA5L

1.0 A 1.6 A 2.5 A

3.3 A 5.1 A 7.5 A

R7D-

BP01L

R7D-

BP02L

Input power supply voltage (main circuit)

Input power supply current (rms) (main circuit)

Heat generated (main circuit) 12 W 16 W 22 W Control method All-digital servo Inverter method IGBT-driven PWM method PWM frequency 12 kHz 6 kHz Maximum response

frequency (command pulses) Weight 0.35 kg 0.42 kg Applicable motor capacity 50 W 100 W 200 W

Item

Continuous output current (rms)

Momentary maximum output current (rms)

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

1.4 A 2.2 A 3.7 A

Line driver: 500 kpps, Open collector: 200 kpps

Servo Drive model

R7D-

BP01H

1.0 A 1.6 A 1.6 A 2.5 A

3.3 A 4.9 A 4.9 A 7.8 A

R7D-

BP02HH

R7D-

BP02H

R7D-

BP04H

Specifications

Power supply capacity

Input power supply voltage (main circuit)

Input power supply current (rms) (main circuit)

Heat generated (main circuit) 14 W 16 W 20 W 26W Control method All-digital servo Inverter method IGBT-driven PWM method PWM frequency 12 kHz 6 kHz Maximum response

frequency (command pulses) Weight 0.35 kg 0.42 kg Applicable motor capacity 100 W 200 W 200 W 400 W

*1.Values inside parentheses ( ) are for single-phase 200-V use.

0.27 KVA

(0.30 KVA)

0.7 A

(1.5 A)

Line driver: 500 kpps, Open collector: 200 kpps

0.35 KVA 0.42 KVA

Both single-phase and three-phase

200 to 240 VAC (170 to 264 V), 50/60 Hz

1.6 A 1.1 A

0.69 KVA

(0.77 KVA)

1.8 A

(3.5 A)

3-2

CNA Connector

510

C N 1

C N 2

C N A

C N B

C N 3

PWR

ALM

CNB Connector

C N 1

C N 2

C N A

C N B

C N 3

PWR

ALM

Specifications

3-1 Servo Drive Specifications

Main Circuit and Servomotor Connector Specifications (CNA and CNB)

 R7A-CNB01P Main Circuit Connector (CNA) Specifications

Main Circuit Connector (CNA) Pin Arrangement

Symbol Pin No. Name Function

L1 10 L2 8

Main circuit power supply input terminals

L3 6

P 5 External Regeneration

Resistor connection

B1 3

terminals

FG 1 Frame ground This is the ground terminal. Ground to 100 Ω or less.

For three-phase 200 V, connect to L1 (pin 10), L2 (pin 8), and L3 (pin 6). For single-phase 100/200 V, connect to L1 (pin 10) and L3 (pin 6).

If regenerative energy is high, connect an External Regeneration Resistor.

 R7A-CNB01A Servomotor Connector (CNB) Specifications

Servomotor Connector (CNB) Pin Arrangement

Symbol Pin No. Name Color Function

U1 V4 White

Servomotor connection terminals

W6 Blue

3 Frame ground

Red

Green/ Yellow

These are the output terminals to the Servomotor. Be careful to wire them correctly.

Connect the Servomotor FG terminals.

3-3

3-1 Servo Drive Specifications

4.7 kΩ

BKIR

Brake Interlock

Maximum operating voltage: 30 VDC Maximum Output Current: 50 mA DC

RUN Command Input

+CW

−CW

+CCW

−CCW

Reverse pulse

Forward pulse

RUN

24VIN

12 to 24 VDC

Frame ground

FGShell, 26

Z-phase Output (open collector output)

/ALM

GND

Alarm Output

INP

OGND

Positioning Completed Output

RESET 3

Alarm Reset Input

ECRST 4

Deviation Counter Reset Input

Gain Switch Input

GSEL 5

GESEL 6

Electronic Gear Switch Input

Reverse Drive Prohibit Input

Forward Drive Prohibit Input

NOT 7

POT 8

−Z

−B

−A

12 W

ARN

rning Output

Encoder A-phase Output

Encoder B-phase Output

Encoder Z-phase Output

220 Ω

Line driver output Conforms to EIA RS-422A (Load resistance: 220 Ω min.)

Control I/O Connector Specifications (CN1)

 Control I/O Signal Connections and External Signal Processing

Specifications

3-4

3-1 Servo Drive Specifications

 Control I/O Signals

Control Inputs (CN1)

Specifications

Pin No.

1 +24VIN

2 RUN

3 RESET Alarm Reset Input

Signal

name

ECRST/

VSEL2

GSEL/

VZERO/

TLSEL

Name Function/Interface

DC power supply input for control

RUN Command Input

Deviation Counter Reset Input or Internally Set Speed Selection 2 Input

Gain Switch Input, Zero Speed Designation Input, or Torque Limit Switch Input

Power supply input terminal (12 to 24 VDC) for sequence input (pin 1).

ON: Servo ON (Starts power to Servomotor.)

ON: Servo alarm status is reset. Must be ON for 120 ms min.

Deviation Counter Reset Input in Position Control Mode (when Pn02 is set to 0 or 2). ON: Pulse commands prohibited and deviation counter cleared. Must be ON for at least 2 ms.

Internally set speed selection 2 in Internal Speed Control Mode (when Pn02 is set to 1). ON: Internally Set Speed Selection 2 Input.

Gain Switch Input in Position Control Mode (when Pn02 is set to 0 or 2) when Zero Speed Designation/Torque Limit Switch (Pn06) is set to 0 or 1.

Zero speed designation input in Internal Speed Control Mode (when Pn02 is set to 1). OFF: Speed command is zero. Input can also be disabled by the Zero Speed Designation/ Torque Limit Switch (Pn06) setting: Enabled: Pn06 = 1, Disabled: Pn06 = 0

Torque limit selection in both Position Control Mode and Internal Speed Control Mode when Zero Speed Designation/Torque Limit Switch (Pn06) is set to 2. OFF: Torque limit 1 enabled. (Pn70, 5E, 63) ON: Torque limit 2 enabled. (Pn71, 72, 73)

Electronic Gear Switch Input in Position Control Mode

Electronic Gear

GESEL/

VSEL1

7NOT

8 POT

*1.Some alarms cannot be cleared using this input. Fo r details, refer to 8-2 Alarm Table. *2.Do not input command pulses for 10 ms before or after switching the electronic gear.

Switch Input or Internally Set Speed Selection 1 Input

Reverse Drive Prohibit Input

Forward Drive Prohibit Input

(when Pn02 is set to 0 or 2). OFF: Electronic Gear Ratio Numerator 1 (Pn46) ON: Electronic Gear Ratio Numerator 2 (Pn47)

Internally set speed selection 1 in Internal Speed Control Mode (when Pn02 is set to 1). ON: Internally set speed selection 1 is input.

Reverse rotation overtravel input. OFF: Prohibited, ON: Permitted

Forward rotation overtravel input. OFF: Prohibited, ON: Permitted

3-5

3-1 Servo Drive Specifications

Pin No.

Signal

name +CW/

PULS/FA

−CW/

PULS/FA

+CCW/

SIGN/FB

−CCW/

SIGN/FB

Control Outputs (CN1)

Signal name Name Function/Interface

No.

9/ALM

10 INP/TGON

11 BKIR

Name Function/Interface

Reverse Pulses Input, Feed Pulses Input, or 90° Phase Difference Pulses (Phase A)

Forward Pulses, Direction Signal, or 90° Phase Difference Pulses (Phase B)

Alarm Output When the Servo Drive generates an alarm, the output turns

Positioning Completed Output or Servomotor Rotation Speed Detection Output

Brake Interlock Output

Input terminals for position command pulses. Line-driver input:

Maximum response frequency: 500 kpps Open-collector input: Maximum response frequency: 200 kpps

Any of the following can be selected by using the Pn42 setting: forward and reverse pulses (CW/CCW); feed pulse and direction signal (PULS/SIGN); 90° phase difference (phase A/B) signals (FA/FB).

OFF. Positioning completed output in Position Control Mode

(when Pn02 is set to 0 or 2). ON: The residual pulses for the deviation counter are within the setting for Positioning Completion Range (Pn60).

Motor rotation detection output in Internal Speed Control Mode (when Pn02 is set to 1). ON: The number of Servomotor rotations exceeds the value set for Servomotor Rotation Detection Speed (Pn62).

Outputs the holding brake timing signals. Release the holding brake when this signal is ON.

Specifications

12 WARN Warning Output

13 OGND

14 GND

15 +A 16 −A 17 −B Encoder 18 +B 19 +Z Encoder 20 −Z

21 Z Phase-Z Output

*1.This is OFF for approximately 2 seconds after turning ON the power.

Output Ground Common

Ground Common

Encoder Phase-A Output

Phase-B Output

Phase-Z Output

The signal selected in the Warning Output Selection (Pn09) is output.

Ground common for sequence outputs (pins 9, 10, 11, and

12). Common for Encoder output and phase-Z output (pin 21).

These signals output encoder pulses according to the Encoder Dividing Ratio Setting (Pn44).

This is the line-driver output (equivalent to RS-422).

Outputs the phase Z for the Encoder (1 pulse/rotation). This is the open-collector output.

Note An open-collector output interface is used for sequence outputs (maximum operating

voltage: 30 VDC; maximum output current: 50 mA).

3-6

+24VIN

OGND

RUN

RESET

ECRST/

VSEL2

GSEL/

VZERO/

TLSEL

GESEL/

VSEL1

NOT

POT

/ALM

INP/

TGON

WARN

BKIR

−B

−CW/

−PULS/

−FA

−CCW/

−SIGN/

−FB

GND

−A

−Z

+CW/

+PULS/

+FA

+CCW/ +SIGN/

+FB

RUN Command Input

Forward Drive Prohibit Input

Warning Output

Alarm Reset Input

Reverse Drive Prohibit

Alarm Output

Brake Interlock Output

Output Ground Common

Encoder Phase-A + Output

Encoder Phase-B − Output

Encoder Phase-Z + Output

Phase-Z Output

Ground Common

Encoder Phase-A − Output

Encoder Phase-B + Output

Encoder Phase-Z − Output

Frame ground

Deviation Counter Reset/ Internally Set

Speed Selection 2

12 to 24 VDC power supply input for control

Electronic Gear Switch/ Internally Set

Speed Selection 1

Gain Switch/ Zero Speed Designation/ Torque Limit Switch

−

Reverse Pulses/

−

Feed Pulses/

−

Phase-A

+ Reverse Pulses/ + Feed Pulses/ + Phase-A

+ Forward Pulses/ + Forward Pulse/ Reverse Pulse/ + Phase-B

−

Forward Pulses/

−

Forward Pulse/

Reverse Pulse/

−

Phase-B

Positioning Completed/ Servomotor Rotation Speed Detection

Specifications

3-1 Servo Drive Specifications

 Control I/O Signal (CN1) Pin Arrangement

 CN1 Connectors (26 Pins)

Soldered Connectors

Name Model Manufacturer Servo Drive Connector 5178238-4 Tyco Electronics AMP Cable plug 10126-3000PE Cable case (shell kit) 10326-52A0-008

3-7

Sumitomo 3M

Control Input Circuits

Precautions for Correct Use

1.2 kΩ

+24 VIN

Signal Levels ON level: 10 V min. OFF level: 3 V max.

External power supply:

12 VDC±5% to 24 VDC±5%

Power supply capacity:

50 mA min. (per Unit)

Photocoupler input

RUN

4.7 kΩ

To other input circuit ground commons

To other input circuits

 Position Command Pulse Inputs

Line Driver Input

3-1 Servo Drive Specifications

Controller

Applicable line driver: AM26LS31A or e

uivalent

Open-collector Input

Controller

Vcc

Servo Drive

2.2 kΩ

220 Ω

 The twisted-pair cable should not exceed 10 m in length.

Servo Drive

2.2 kΩ

220 Ω

Input current: 6.8 mA, 3 V

Input current: 7 to 15 mA

Specifications

 Control Inputs

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

following table.

Vcc R 24 V 2 kΩ 12 V 1 kΩ

 The twisted-pair cable should not exceed 2 m in length.

3-8

3-1 Servo Drive Specifications

Control Input Details

Details on the input pins for the CN1 connector are described here.

 RUN Command Input (RUN)

Pin 2: RUN Command Input (RUN)

Function

 Alarm Reset Input

 This input turns ON the power drive circuit for the main circuit of the Servo Drive. The Servomotor

cannot operate without the input of this signal (i.e., servo-OFF status).

 The RUN Command Input is enabled approximately 2 seconds after the power supply is turned

ON.

 After turning ON the RUN Command Input, wait for a minimum of 100 ms to lapse before inputting

pulses or a speed command.

Specifications

 Deviation Counter Reset/Internally Set Speed Selection 2 Input

Pin 3: Alarm Reset Input (RESET)

Function

 Pin 3 is the external reset signal input for Servo Drive alarms. (The alarms are reset when this

signal is input.)

 Eliminate the cause of the alarm before resuming operation. To prevent danger, turn OFF the RUN

Command Input first, then input the alarm reset signal.

 Resetting is performed after the Alarm Reset Input is kept ON for 120 ms or longer.  Some alarms cannot be cleared using the Alarm Reset Input. For details, refer to 8-2 Alarm Table.

Pin 4: Deviation Counter Reset/Internally Set Speed Selection 2 Input (ECRST/VSEL2)

Function: Deviation Counter Reset

 Pin 4 is the Deviation Counter Reset Input (ECRST) in Position Control Mode (when Pn02 is set

to 0 or 2).

 When the deviation counter reset signal turns ON, the value of the deviation counter will be reset

and the position loop will be disabled.

 Input the reset signal for 2 ms minimum. The counter may not be reset if the signal is too short.

Function: Internally Set Speed Selection 2

 Pin 4 is the Internally Set Speed Selection 2 Input (VSEL2) in Internal Speed Control Mode (when

Pn02 is set to 1).

 Four speeds can be selected by using pin 4 in combination with the Internally Set Speed Selection

1 Input (VSEL1).

3-9

3-1 Servo Drive Specifications

 Gain Switch/Zero Speed Designation/Torque Limit Switch Input

Pin 5: Gain Switch/Zero Speed Designation/Torque Limit Switch Input (GSEL/VZERO/TLSEL)

Function: Gain Switch

 Pin 5 is the Gain Switch Input (GSEL) when Pn02 is set to 0 or 2 (Position Control Mode) and the

Zero Speed Designation/Torque Limit Switch (Pn06) is set to anything other than 2.

 The Gain Switch Input (GSEL) switches between PI and P operation, or between gain 1 and gain

 When the Gain Switch Input Operating Mode Selection (Pn30) is set to 0, this input switches

between PI and P operation. When Pn30 is set to 1 and the Gain Switch Setting (Pn31) is set to 2, this input switches between gain 1 and gain 2.

 Gain 1 includes the Position Loop Gain (Pn10), Speed Loop Gain (Pn11), Speed Loop Integration

Time Constant (Pn12), Speed Feedback Filter Time Constant (Pn13), and Torque Command Filter Time Constant (Pn14).

 Gain 2 includes the Position Loop Gain 2 (Pn18), Speed Loop Gain 2 (Pn19), Speed Loop

Integration Time Constant 2 (Pn1A), Speed Feedback Filter Time Constant 2 (Pn1B), and Torque Command Filter Time Constant 2 (Pn1C).

Function: Zero Speed Designation

 Pin 5 is the Zero Speed Designation Input (VZERO) when Pn02 is set to 1 (Internal Speed Control

Mode) and the Zero Speed Designation/Torque Limit Switch (Pn06) is set to anything other than 2.

 When Zero Speed Designation Input (VZERO) is OFF, the speed command is zero. Turn ON the

Zero Speed Designation Input (VZERO) for normal operation.

 Zero Speed Designation Input (VZERO) is enabled when the Zero Speed Designation/Torque

Limit Switch (Pn06) is set to 1, and disabled when Pn06 is set to 0.

Specifications

Function: Torque Limit Switch

 Pin 5 is the Torque Limit Switch Input (TLSEL) in both Position Control Mode and Internal Speed

Control Mode when the Zero Speed Designation/Torque Limit Switch (Pn06) is set to 2.

 This input switches the Overspeed Detection Level, Torque Limit, and Deviation Counter Overflow

Level parameters.

 When the input is OFF, torque limit 1 (Pn70, Pn5E, Pn63) is enabled, and when the input is ON,

torque limit 2 (Pn71, Pn72, Pn73) is enabled.

 Electronic Gear Switch/Internally Set Speed Selection 1 Input

Pin 6: Electronic Gear Switch/Internally Set Speed Selection 1 Input (GESEL/VSEL1)

Function: Electronic Gear Switch

 Pin 6 is the Electronic Gear Switch Input (GESEL) in Position Control Mode (when Pn02 is set to

0 or 2).

 The numerator setting for the electronic gear can be switched between Electronic Gear Ratio

Numerator 1 and Electronic Gear Ratio Numerator 2.

 When the input is turned OFF, Electronic Gear Ratio Numerator 1 (Pn46) is enabled, and when

the input is turned ON, Electronic Gear Ratio Numerator 2 (Pn47) is enabled.

 It takes 1 to 5 ms to switch the electronic gear after the Gear Switch input changes. Therefore, do

not input a command pulse for 10-ms before and after switching.

3-10

3-1 Servo Drive Specifications

Function: Internally Set Speed Selection 1

 Pin 6 is the Internally Set Speed Selection 1 Input (VSEL1) in Internal Speed Control Mode (when

Pn02 is set to 1).

 Four speeds can be selected by using pin 6 in combination with the Internally Set Speed Selection

2 Input (VSEL2).

 Reverse Drive Prohibit/Forward Drive Prohibit Input

Specifications

Pin 7: Reverse Drive Prohibit Input (NOT) Pin 8: Forward Drive Prohibit Input (POT)

Functions

 These inputs prohibit forward and reverse operation (overtravel).  When an input is ON, operation is possible in that direction.  These inputs can be disabled using the setting of Drive Prohibit Input Selection (Pn04).  The motor will stop according to the setting of the Stop Selection for Drive Prohibition Input (Pn66).

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

Signal (Phase A/Phase B)

Pin 22: +Reverse Pulse (+CW), +Feed Pulse (+PULS), or +Phase A (+FA) Pin 23: −Reverse Pulse (−CW), −Feed Pulse (−PULS), or −Phase A (−FA) Pin 24: +Forward Pulse (+CCW), +Direction Signal (+SIGN), or +Phase B (+FB) Pin 25: −Forward Pulse (−CCW), −Direction Signal (−SIGN), or −Phase B (−FB)

Functions

The functions of these signals depend on the setting of the Command Pulse Mode (Pn42).

Setting Command pulse mode Input pins Servomotor forward command Servomotor reverse command

t1 t1 t1 t1

22: +FA

0 or 2

 If the photocoupler LED is turned ON, each signal will go high as shown above.

90° phase difference

signals

Reverse pulse/forward

pulse

Feed pulse/direction

signal

23: −FA 24: +FB 25: −FB

22: +CW 23: −CW 24: +CCW 25: −CCW

22: +PULS 23: PULS 24: SIGN 25: −SIGN

Phase A

Phase B

Line driver: t1 ≥ 2 μs

Open collector: t1 ≥ 5 μs

Low

t2 t2

Line driver: t2 ≥ 1 μs

Open collector: t2 ≥ 2.5 μs

High

t2 t2 t2 t2

Line driver: t2 ≥ 1 μs

Open collector: t2 ≥ 2.5 μs

t1 t1t1 t1

t2t2t2

Low

t2t2

Low

3-11

Control Output Circuits

ControllerServo Drive

+A15

−A16

+B18

−B17

+Z19

−Z20

GND14

FGShell

−A

−B

−Z

GND

Phase A

Phase B

Phase Z

Phase A

Phase B

Phase Z

Output line driver AM26C31 or equivalent

0 V

R = 120 to 220 Ω

0 V

+5 V

Applicable line receiver AM26C32 or equivalent

Servo Drive

External power supply 24 VDC ±1 V

To other output circuits

Maximum operating voltage: 30 VDC Maximum output current: 50 mA

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

 Position Feedback Output

3-1 Servo Drive Specifications

Specifications

 Control/Alarm Outputs

 Phase-Z Output (Open-collector Output)

Servo Drive

Z21

GND

Controller

Maximum operating voltage: 30 VD Maximum output current: 50 mA

3-12

Power supply input (L1 and L2)

Alarm Output (/ALM)

Positioning Completed Output (INP)

Brake Interlock Output (BKIR)

RUN Command Input (RUN)

OFF

Approx. 2 s

30 s max.

0 to 35 ms 2 ms

Specifications

3-1 Servo Drive Specifications

Control Output Details

The details of the output pins for the CN1 connector are described as follows.

 Control Output Sequence

 Alarm Output

 Positioning Completed Output/Servomotor Rotation Speed Detection Output

Pin 9: Alarm Output (/ALM)

Function

 The alarm output is turned OFF when the Servo Drive detects an error.  This output is OFF at startup, but turns ON when the initial processing of the Servo Drive has been

completed.

Pin 10: Positioning Completed Output/Servomotor Rotation Speed Detection Output (INP/TGON)

Function: Positioning Completed Output

 Pin 10 is the Positioning Completed Output (INP) in Position Control Mode (when Pn02 is set to 0

or 2).

 The INP signal turns ON when the number of accumulated pulses in the deviation counter is less

than the Positioning Completion Range (Pn60).

Function: Servomotor Rotation Speed Detection Output

 Pin 10 is the Servomotor Rotation Speed Detection Output (TGON) in Internal Speed Control

Mode (when Pn02 is set to 1).

 The TGON signal turns ON when the motor rotation speed exceeds the Rotation Speed for

Servomotor Rotation Detection (Pn62).

3-13

 Brake Interlock Output

Pin 11: Brake Interlock Output (BKIR)

Function

 The external brake timing signal is output.  This output is turned ON to release the external brake.

3-1 Servo Drive Specifications

 Warning Output

Pin 12: Warning Output (WARN)

Function

 Pin 12 outputs the warning signal selected in the Warning Output Selection (Pn09).

 Feedback Output

Pin 15: Encoder Phase A+ Output (+A) Pin 16: Encoder Phase A− Output (−A) Pin 17: Encoder Phase B− Output (−B) Pin 18: Encoder Phase B+ Output (+B) Pin 19: Encoder Phase Z+ Output (+Z) Pin 20: Encoder Phase Z− Output (−Z)

Function

 This signal outputs encoder pulses according to the Encoder Divider Setting (Pn44).  Line-driver output (equivalent to RS-422).  The output logic can be reversed with Encoder Output Direction Switch (Pn45).

 Phase-Z Output

Specifications

Pin 21: Phase-Z Output (Z) Pin 14: Ground Common (GND)

Function

 Pin 21 is the open-collector output for the phase-Z signal.  The encoder phase Z is output.  One pulse is output for each rotation.

3-14

3-1 Servo Drive Specifications

Encoder Connector Specifications (CN2)

Pin No. Signal name Name Function/Interface

Specifications

1 E5V Encoder power supply +5 V 2 E0V Encoder power supply GND 3 NC 4NC 5 S+ Encoder + phase S I/O 6S− Encoder − phase S I/O

Shell FG Shield ground Cable shield ground

 Connectors for CN2 (6 Pins)

Name Model Maker

Servo Drive Connector 53460-0629

Cable Connector 55100-0670

Power supply output for the encoder 5 V, 70 mA

Do not connect anything to these pins.

RS-485 line-driver I/O

Molex Japan Co.

3-15

3-2 Servomotor Specifications

Forward

Reverse

3-2 Servomotor Specifications

Select a Servomotor based on the mechanical system’s load conditions and the installation environment. There are various options available on the Servomotors, such as models with brakes.

General Specifications

Item Specifications

Ambient operating temperature Ambient operating humidity

Ambient storage temperature Ambient storage humidity

Storage and operating atmosphere No corrosive gases Vibration resistance 49 m/s2 max. in the X, Y, and Z directions

Impact resistance

Insulation resistance

Dielectric strength

Operating position All directions Insulation grade Type B Structure Totally-enclosed self-cooling Protective structure IP65 (excluding through-shaft parts and lead wire ends) Vibration grade V-15 Mounting method Flange-mounting

EMC

EC Directives

standards

UL standards UL 1004 File No. E179189

International

cUL standards cUL 22.2, No.100

Directive Low Voltage

Directive

0 to 40°C, 85% RH max. (with no condensation)

−20 to 65°C, 85% RH max. (with no condensation)

Acceleration of 98 m/s directions

Between the power line terminals and FG: 20 MΩ min. (at 500 VDC)

Between the power line terminals and FG: 1,500 VAC for 1 min at 50/60 Hz

EN 60034-1:2004

IEC 60034-5:2001

max. 3 times each in the X, Y, and Z

Specifications

 Motor Rotation Directions

In this manual, the Servomotors rotation directions are defined as forward and reverse. Viewed from the end of the motor’s output shaft, counterclockwise (CCW) rotation is forward and clockwise (CW) rotation is reverse.

3-16

3-2 Servomotor Specifications

Characteristics

 3,000-r/min Cylindrical Servomotors

Specifications

Rated output Rated torque

Item Unit

W 50 100 200

N·m 0.16 0.320.64

R88M-

G05030H

R88M-

G10030L

Rated rotation speed r/min 3000 Max. rotation speed r/min 5000 Max. momentary torque Rated current

Max. momentary current

Rotor inertia kg·m Applicable load inertia --- 30 times the rotor inertia max. Power rate Allowable radial load Allowable thrust load

N·m 0.48 0.95 1.78 A(rms) 1.1 1.7 2.5 A(rms) 3.4 5.1 7.6

2.5 × 10

−6

5.1 × 10

−6

kW/s 10.4 20.1 30.3

N68 68 245 N58 58 98

Without brake kg 0.3 0.5 0.8 With brake kg 0.5 0.7 1.3

Weight

Radiation shield dimensions (material)

Brake inertia kg·m Excitation voltage

Power consumption (at 20°C)

Current consumption (at 20°C)

--- 100 × 80 × t10 (Al) 130 × 120 × t12 (Al)

2.0 × 10

−7

2.0 × 10

−7

V 24 VDC ±10%

W7 7 9

A0.300.300.36

Static friction torque N·m 0.29 min. 0.29 min. 1.27 min. Attraction time Release time

ms 35 max. 35 max. 50 max.

ms 20 max. 20 max. 15 max. Backlash ±1° max. Allowable work per

Brake specifications

braking operation Allowable total work J 4.9 × 10 Allowable angular

acceleration

J 39.2 39.2 137

rad/s

30,000 max.

(Speed of 2,800 r/min or more must not be changed in less than 10 ms)

4.9 × 10

Brake life --- 10,000,000 operations Rating --- Continuous

R88M-

G20030L

1.4 × 10

1.8 × 10

44.1 × 10

−5

−6

3-17

3-2 Servomotor Specifications

Center of shaft (LR/2)

Radial load

Thrust load

Rated output Rated torque

Item Unit

W 50 100 200 400

N·m 0.16 0.320.64 1.3

R88M-

G05030H

R88M-

G10030H

R88M-

G20030H

Rated rotation speed r/min 3000 Max. rotation speed r/min 5000 Max. momentary torque Rated current

Max. momentary current

Rotor inertia kg·m Applicable load inertia --- 30 times the rotor inertia max. Power rate Allowable radial load Allowable thrust load

N·m 0.48 0.95 1.783.60

A(rms) 1.1 1.1 1.6 2.6 A(rms) 3.4 3.4 4.9 7.9

2.5 × 10

−6

5.1 × 10

−6

1.4 × 10

−5

kW/s 10.4 20.1 30.3 62.5

N68 68 245 245 N58 58 98 98

Without brake kg 0.3 0.5 0.8 1.2 With brake kg 0.5 0.7 1.3 1.7

Weight

Radiation shield dimensions (material)

Brake inertia kg·m Excitation voltage

Power consumption (at 20°C)

Current consumption (at 20°C)

--- 100 × 80 × t10 (Al) 130 × 120 × t12 (Al)

2.0 × 10

−7

2.0 × 10

−7

1.8 × 10

−6

V 24 VDC ±10%

W7799

A0.300.300.360.36

Static friction torque N·m 0.29 min. 0.29 min. 1.27 min. 1.27 min. Attraction time Release time

ms 35 max. 35 max. 50 max. 50 max.

ms 20 max. 20 max. 15 max. 15 max. Backlash ±1° max. Allowable work per

Brake specifications

braking operation Allowable total work J 4.9 × 10 Allowable angular

acceleration

J 39.2 39.2 137 196

rad/s

(Speed of 2,800 r/min or more must not be stopped in less than 10 ms)

4.9 × 10

30,000 max.

44.1 × 10

Brake life --- 10,000,000 operations Rating --- Continuous

R88M-

G40030H

2.6 × 10

7.5 × 10

147 × 10

−5

Specifications

−6

*1.These are the values when the Servomotor is combined with a Servo Drive at room temperature. The maximum

momentary torque shown above indicates the standard value. *2.For detailed information on the ap plicable load inertia, refer to Applicable Load Inertia on page 3-25. *3.The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating

temperatures. The values are also for the locations shown in the following diagram. *4.The brakes are non-excitation operation type. They are released when excitation voltage is applied. *5.The operation time is the measured value (reference value) with a varistor installed as a surge suppressor.

3-18

3-2 Servomotor Specifications

 3,000-r/min Flat Servomotors

Specifications

Rated output Rated torque

Item Unit

W 100 200

N·m 0.320.64

R88M-

GP10030L

R88M-

GP20030L

Rated rotation speed r/min 3,000 Max. rotation speed r/min 5,000 Max. momentary torque Rated current

Max. momentary current

Rotor inertia kg·m

N·m 0.851.86 A(rms) 1.6 2.5 A(0-p) 6.9 10.5

9.0 × 10

−6

3.4 × 10 Applicable load inertia --- 20 times the rotor inertia max. Power rate Allowable radial load Allowable thrust load

kW/s 11.4 12.0

N68 245 N58 98

Without brake kg 0.65 1.3 With brake kg 0.90 2.0

Weight

Radiation shield dimensions (material)

Brake inertia kg·m Excitation voltage

Power consumption (at 20°C)

Current consumption (at 20°C)

--- 130 × 120 × t10 (Al) 170 × 160 × t12 (Al)

3.0 × 10

−6

9.0 × 10

V 24 VDC ±10%

W7 10

A 0.29 0.41

Static friction torque N·m 0.29 min. 1.27 min. Attraction time Release time

ms 50 max. 60 max.

ms 15 max. 15 max. Backlash ±1° max. Allowable work per

Brake specifications

braking operation Allowable total work J 44.1 × 10

Allowable angular acceleration

J137 196

10,000 max.

rad/s

(Speed of 950 r/min or more must not be stopped

in less than 10 ms)

147 × 10

Brake life --- 10,000,000 operations Rating --- Continuous

−5

−6

3-19

3-2 Servomotor Specifications

Center of shaft (LR/2)

Radial load

Thrust load

Rated output Rated torque

Item Unit

W 100 200 400

N·m 0.320.64 1.3

R88M-

GP10030H

R88M-

GP20030H

Rated rotation speed r/min 3000 Max. rotation speed r/min 5000 Max. momentary torque Rated current

Max. momentary current

Rotor inertia kg·m Applicable load inertia --- 20 times the rotor inertia max. Power rate Allowable radial load Allowable thrust load

N·m 0.90 1.82 3.60

A(rms) 1.0 1.6 4.4

A(0-p) 4.3 6.8 18.6

9.0 × 10

−6

3.4 × 10

−5

kW/s 11.4 11.8 25.5

N68 245 245 N58 98 98

Without brake kg 0.7 1.3 1.8 With brake kg 0.9 2.0 2.5

Weight

Radiation shield dimensions (material)

Brake inertia kg·m Excitation voltage

Power consumption (at 20°C)

Current consumption (at 20°C)

--- 130 × 120 × t10 (Al) 170 × 160 × t12 (Al)

3.0 × 10

−6

9.0 × 10

−6

V 24 VDC ±10%

W 7 10 10

A 0.29 0.41 0.41

Static friction torque N·m 0.29 min. 1.27 min. 1.27 min. Attraction time Release time

ms 50 max. 60 max. 60 max.

ms 15 max. 15 max. 15 max. Backlash ±1° max. Allowable work per

Brake specifications

braking operation Allowable total work J 44.1 × 10 Allowable angular

acceleration

J137 196 196

rad/s

147 × 10

10,000 max.

(Speed of 950 r/min or more must not be stopped in less than 10 ms)

Brake life --- 10,000,000 operations Rating --- Continuous

R88M-

GP40030H

−5

6.4 × 10

−6

9.0 × 10

147 × 10

Specifications

*1.These are the values when the Servomotor is combined with a Servo Drive at room temperature. The maximum

momentary torque shown above indicates the standard value. *2.For detailed information on the applicable load inertia, refer to Applicable Load Inertia on page 3-25. *3.The allowable radial and thrust loads are the valu es determined for a service life of 20,000 hours at normal

operating temperatures. The values are also for the locations shown in the following diagram. *4.The brakes are non-excitation operation type. They are released when excitation voltage is applied. *5.The operation time is the measured value (reference value) with a varistor installed as a surge suppressor.

3-20

0.1

1000 2000 3000 4000 5000

0.2

0.3

0.4

0.5

(N·m)

(r/min)

0.2

1000 2000 3000 4000 5000

0.4

0.6

0.8

1.0

R88M-G05030H R88M-G10030L

Continuous usage

Repetitive usage

0.48

0.160.16

0.09

0.77

0.95

0.32

0.20

0.32

0.5

1000 2000 3000 4000 5000

1.0

1.5

2.0

R88M-G20030L

Continuous usage

Repetitive usage

0.90

1.78

0.36

0.640.64

Continuous usage

Repetitive usage

(3300)

1.78

0.95 (3000)

Specifications

3-2 Servomotor Specifications

 Torque and Rotation Speed Characteristics

3,000-r/min Cylindrical Servomotors

The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.

3-21

3-2 Servomotor Specifications

0.2

1000 2000 3000 4000 5000

0.4

0.6

0.8

1.0

(N·m)

(r/min)

0.5

1000 2000 3000 4000 5000

1.0

1.5

2.0

R88M-G10030H R88M-G20030H

Continuous usage

Repetitive usage

0.95

0.320.32

0.19

1.65

1.82 (4300)

0.64

0.36

0.64

1.0

1000 2000 3000 4000 5000

2.0

3.0

4.0

R88M-G40030H

Continuous usage

Repetitive usage

2.1

3.60

0.88

1.31.3

Continuous usage

Repetitive usage

(3200)

3.60

1.82

0.2

1000 2000 3000 4000 5000

0.4

0.6

0.8

1.0

0.5

1000 2000 3000 4000 5000

1.0

1.5

2.0

R88M-GP10030L R88M-GP20030L

0.85

0.320.32

0.22

0.7

1.86

0.64

0.32

0.64

1.86 (3400)

0.85 (4100)

0.75

(N·m) (N·m)

(r/min) (r/min)

Contin

uous usage

Repetitive usage

Continuous usage

Repetitive usage

The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.

Specifications

3,000-r/min Flat Servomotors

The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.

3-22

0.2

1000 2000 3000 4000 5000

0.4

0.6

0.8

1.0

0.5

1000 2000 3000 4000 5000

1.0

1.5

2.0

R88M-GP10030H R88M-GP20030H

0.90

0.320.32

0.16

1.75

1.82 (4700)

0.64

0.28

0.64

1.0

1000 2000 3000 4000 5000

2.0

3.0

4.0

R88M-GP40030H

2.0

3.60

0.64

1.31.3

(3600)

3.60

1.82

0.90

(N·m)

(r/min)

Continuous usage

Repetitiv

e usage

Continuous usage

Repetitive usage

Continuous usage

Repetitive usage

Specifications

3-2 Servomotor Specifications

The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.

 Temperature Characteristics of the Servomotor and Mechanical System

 OMNUC G-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 maximum momentary torque increases, and as the temperature rises, the Servomotor's maximum momentary torque decreases.

 The maximum momentary torque rises by 4% at a normal temperature of 20°C compared to a

temperature of −10°C. Conversely, the maximum momentary torque decreases about 8% when the magnet warms up to 80°C from the normal temperature of 20°C.

 Generally, when the temperature drops in a mechanical system, the friction torque and the load

torque increase. For that reason, overloading may occur at low temperatures. In particular, in systems that use a Decelerator, the load torque at low temperatures may be nearly twice as much as the load torque at normal temperatures. Check whether overloading may occur at low temperature startup. Also check to see whether abnormal Servomotor overheating or alarms occur at high temperatures.

 An increase in load friction torque seemingly increases load inertia. Therefore, even if the Servo

Drive gains are adjusted at a normal temperature, the Servomotor may not operate properly at low temperatures. Check to see whether there is optimal operation even at low temperatures.

3-23

3-2 Servomotor Specifications

Precautions for Correct Use

10 20 30 40

100

Rated T orque Ratio (%)

50 W (Without Oil Seal)

10 20 30 40

Ambient temperature

Rated T orque Ratio (%)

50 W (With Oil Seal)

Ambient temperature

100

With brake

95%

60%

70%

With brake

Without brake

10 20 30 40

100

Rated T orque Ratio (%)

100 W (Without Oil Seal)

10 20 30 40

Ambient temperature

Rated T orque Ratio (%)

100 W (With Oil Seal)

Ambient temperature

100

With brake

95%

75% 70%

With brake

Without brake

 Use Cylindrical Servomotors in the ranges shown in the following graphs.

Using outside of these ranges may cause the Servomotor to generate heat, which could result in encoder malfunction.

Specifications

3-24

3-2 Servomotor Specifications

10 20 30 40

100

Rated T orque Ratio (%)

400 W (Without Oil Seal)

10 20 30 40

Ambient temperature

Rated T orque Ratio (%)

400 W (With Oil Seal)

Ambient temperature

100

With brake

90%

75%

With brake

200 W (With Oil Seal)

Rated T orque Ratio (%)

100

80 60

40 20

Without brake

With brake

80% 70%

Specifications

 Applicable Load Inertia

10 20 30 40

Ambient temperature

 The drivable load inertia ratio (load inertia/rotor inertia) depends on the configuration and rigidity

of the machine being driven. Machines with high rigidity can be operated with a large load inertia. Select the appropriate Servomotor and confirm the applicable load inertia.

 Frequently operating a dynamic brake with a large load inertia may burn the dynamic brake

resistor. Do not turn ON/OFF the Servomotor frequently with the dynamic brake enabled.

Encoder Specifications

3-25

Item Specifications Encoder system Optical encoder (incremental encoder) No. of output pulses Ph ases A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation Power supply voltage 5 V ±5% Power supply current 180 mA (max.) Output signals +S, −S

Output interface

EIA-RS-485 compliance Bidirectional serial communications data

3-3 Decelerator Specifications

The following Decelerators are available for use with OMNUC G-Series Servomotors. Select a Decelerator matching the Servomotor capacity.

Standard Models and Specifications

 Backlash = 3’ Max.

Decelerators for Cylindrical Servomotors

Rated

Model

(R88G-)

1/5 HPG11A05100B 600 0.60 75 1000 1.805.00 1/9 HPG11A09050B 333 1.17 81 555 3.51 3.00

1/21 HPG14A21100B 143 2.18 65 238 6.54 5.00

1/33 HPG14A33050B 91 3.73 71 151 11.2 4.40 1/45 HPG14A45050B 67 5.09 71 111 15.2 4.40

1/5 HPG11A05100B 600 1.37 861000 4.075.00

1/11 HPG14A11100B 273 2.63 75 454 7.806.00

100

1/21 HPG14A21100B 143 5.40 80238 16.0 5.00

1/33 HPG20A33100B 91 6.91 65 151 20.5 6.50 1/45 HPG20A45100B 67 9.42 65 111 27.9 6.50

1/5 HPG14A05200B 600 2.49 78 1000 7.44 2.07

1/11 HPG14A11200B 273 6.01 85 454 17.9 1.93

200

1/21 HPG20A21200B 143 10.2 76 238 30.6 4.90

1/33 HPG20A33200B 91 17.0 81 151 50.8 4.50 1/45 HPG20A45200B 67 23.2 81 111 69.3 4.50

1/5 HPG14A05400B 600 5.66 87 1000 16.5 2.07

1/11 HPG20A11400B 273 11.7 82 454 34.2 5.70

400

1/21 HPG20A21400B 143 23.5 86238 68.8 4.90

1/33 HPG32A33400B 91 34.7 81 151 101.7 6.20 1/45 HPG32A45400B 67 47.4 81 111 138.6 6.10

rota-

speed

r/min N·m % r/min N·m kg·m

tion

Rated

torque

Effi-

cien-

Maxi-

mum

momen-

tary

rotation

speed

Maximum

momen-

tary

torque

Decelera-

tor

inertia

×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10

Allow-

radial

−7

−6

−7

−6

−5

1006 3541 2.4

−5

1006 3541 2.9

−5

1565 6240 7.5

−5

1718 6848 7.5

Allow-

able

load

135538 0.29 161 642 0.29

340 1358 1.04 389 1555 1.04

able

thrust

load

N N kg

427 1707

135538 0.29 280 1119 1.04 340 1358 1.04 916 3226 2.4

221 883 1.02 280 1119 1.09 800 2817 2.9 916 3226 2.9

221 883 1.09 659 2320 2.9 800 2547 2.9

Weight

Specifications

1.04

Note1. The Decelerator inertia is the Servomotor shaft conversion value. Note2. The protective structure of Servomotors with Decelerators satisfies IP44. Note3. The allowable radial load is the value at the LR/2 position. Note4. The standard models have a straight shaft. Models with a key and tap are indicated by adding “J” to

the end of the model number.

3-26

3-3 Decelerator Specifications

Decelerator for Flat Servomotors

Specifications

Maxi-

Rated

Model

(R88G-)

1/5 HPG11A05100PB 600 1.37 85 1000

1/11 HPG14A11100PB 273 2.63 75 454

100

1/21 HPG14A21100PB 143 5.40 80238

1/33 HPG20A33100PB 91 6.91 65 151

1/45 HPG20A45100PB 67 9.42 65 111

1/5 HPG14A05200PB 600 2.49 78 1000 7.09 2.07

1/11 HPG20A11200PB 273 4.75 68 454 13.5 5.80

200

1/21 HPG20A21200PB 143 10.2 76 238 29.2 4.90

1/33 HPG20A33200PB 91 17.0 81 151 48.5 4.50 1/45 HPG20A45200PB 67 23.2 81 111 66.1 4.50

1/5 HPG20A05400PB 600 4.67 72

1/11 HPG20A11400PB 273 11.7 82

400

1/21 HPG20A21400PB 143 23.5 86

1/33 HPG32A33400PB 91 34.7 81

1/45 HPG32A45400PB 67 47.4 81

rota-

tion

speed

r/min N·m % r/min N·m kg·m

Rated

torque

Effi-

cien-

mum

momen-

tary

rotation

speed

1000

(900)

454

(409)

238

(214)

151

(136)

111

(100)

momen-

Maxi-

mum

tary

torque

3.84

(3.63)

7.39

(6.98)

15.2

(14.6)

19.4

(18.3)

26.5

(25.0)

12.9 7.10

32.4 5.80

65.2 4.90

96.2 2.80

131.2 2.80

Decelera-

5.00

6.00

5.00

4.50

tor

inertia

×10

×10 ×10 ×10 ×10 ×10

×10

Allow-

able

radial

load

−7

135538 0.34

−6

280 1119 1.04

−6

340 1358 1.04

−5

916 3226 2.9

−5

1006 3541 2.9

−5

221 883 0.99

−5

659 2320 3.1

−5

800 2817 3.1

−5

916 3226 3.1

−5

1006 3541 3.1

−5

520 1832 3.1

−5

659 2320 3.1

−5

800 2817 3.1

−4

1565 6240 7.8

−4

1718 6848 7.8

Allow-

thrust

N N kg

able

load

Weight

end of the model number.

Note5. The values in parentheses ( ) are those when using a 100-V motor.

3-27

 Backlash = 15’ Max.

Decelerators for Cylindrical Servomotors

3-3 Decelerator Specifications

Maxi-

Rated

Model

(R88G-)

1/5 VRSF05B100CJ 600 0.52 65 1000 1.55 4.00 1/9 VRSF09B100CJ 333 0.93 65 556 2.79 3.50

1/15 VRSF15B100CJ 200 1.67 70 333 5.01 3.50 1/25 VRSF25B100CJ 120 2.78 70 200 8.34 3.25

1/5 VRSF05B100CJ 600 1.19 75 1000 3.57 4.00 1/9 VRSF09B100CJ 333 2.29 80 556 6.87 3.50

100

1/15 VRSF15B100CJ 200 3.81 80 333 11.4 3.50 1/25 VRSF25B100CJ 120 6.36 80 200 19.0 3.25

1/5 VRSF05B200CJ 600 2.70 851000 8.10 1.18 1/9 VRSF09C200CJ 333 3.77 66 556 11.3 2.75

200

1/15 VRSF15C200CJ 200 6.29 66 333 18.83.00 1/25 VRSF25C200CJ 120 11.1 70 200 33.3 2.88

1/5 VRSF05C400CJ 600 5.40 851000 16.23.63 1/9 VRSF09C400CJ 333 9.50 83 556 28.5 2.75

400

1/15 VRSF15C400CJ 200 15.8 83 333 47.4 3.00 1/25 VRSF25C400CJ 120 26.4 83 200 79.2 2.88

rota-

tion

speed

r/min N·m % r/min N·m kg·m

Rated

torque

Effi-

cien-

mum

momen-

tary

rotation

speed

Maxi-

mum

momen-

tary

torque

Decelera-

tor

inertia

×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10 ×10

Allow-

able

radial

load

−6

392 196 0.55

−6

441 220 0.55

−6

588 294 0.70

−6

686 343 0.70

−6

392 196 0.55

−6

441 220 0.55

−6

588 294 0.70

−6

686 343 0.70

−5

392 196 0.72

−5

931 465 1.70

−5

1176 588 2.10

−5

1323 661 2.10

−5

784 392 1.70

−5

931 465 1.70

−5

1176 588 2.10

−5

1323 661 2.10

Allow-

able

thrust

load

N N kg

Weight

Specifications

3-28

3-3 Decelerator Specifications

Decelerator for Flat Servomotors

Specifications

Maxi-

Rated

Model

(R88G-)

1/5 VRSF05B100PCJ 600 1.19 75 1000

1/9 VRSF09B100PCJ 333 2.29 80556

100

1/15 VRSF15B100PCJ 200 3.81 80 333

1/25 VRSF25B100PCJ 120 6.36 80200

1/5 VRSF05B200PCJ 600 2.70 85 1000 7.74 1.18 1/9 VRSF09C200PCJ 333 3.77 66 556 10.8 2.75

200

1/15 VRSF15C200PCJ 200 6.29 66 333 18.0 3.00 1/25 VRSF25C200PCJ 120 11.1 70 200 31.8 2.88

1/5 VRSF05C400PCJ 600 5.40 85

1/9 VRSF09C400PCJ 333 9.50 83

400

1/15 VRSF15C400PCJ 200 15.883

1/25 VRSF25C400PCJ 120 26.4 83

rota-

speed

r/min N·m % r/min N·m kg·m

tion

Rated torque

Effi-

cien-

mum

momen-

tary

rotation

speed

1000 (900)

556

(500)

333

(300)

200

(180)

Maxi-

mum

momen-

tary

torque

3.38

(3.19)

6.48

(6.12)

10.8

(10.2)

18.0

(17.0)

15.33.63

26.9 2.75

44.83.00

74.7 2.88

Decelera-

tor

inertia

×10

4.00

×10

3.50

×10

3.50

×10

3.25

×10 ×10 ×10 ×10

×10

Allow-

able

radial

load

−6

−5

1176 588 2.20

−5

1323 661 2.20

−5

1176 588 2.20

−5

1323 661 2.20

Allow-

able

thrust

load

N N kg

392 196 0.72

441 220 0.72

588 294 0.87

686 343 0.87

392 196 0.85 931 465 1.80

784 392 1.80

931 465 1.80

Weight

Note1. The Decelerator inertia is the Servomotor shaft conversion value. Note2. The protective structure of Servomotors with Decelerators satisfies IP44. Note3. The allowable radial load is the value at the LR/2 position. Note4. The standard models have a straight shaft. Note5. The values in parentheses ( ) are those when using a 100-V motor.

3-29

3-4 Cable and Connector Specifications

Precautions for Correct Use

6.5 dia.

4144

11.8

Servomotor end

R88M-G@

Servo Drive end

R7D-BP@

3-4 Cable and Connector Specifications

Encoder Cable Specifications

These cables are used to connect the encoder between the Servo Drive and Servomotor. Encoder Cables with connectors for CN2 are available.

 Use robot cables for applications with moving parts.

 Standard Cables for Encoders

Cable Models

Model Length (L)

R88A-CRGB003C 3 m

Outer diameter of sheath Weight

Approx. 0.2 kg

Specifications

R88A-CRGB005C 5 m Approx. 0.3 kg R88A-CRGB010C 10 m Approx. 0.6 kg

6.5 dia. R88A-CRGB015C 15 m Approx. 0.9 kg R88A-CRGB020C 20 m Approx. 1.2 kg

*1.The maximum distance between the Servo Drive and Servomotor is 20 m.

Connection Configuration and External Dimensions

Wiring

Servo Drive Servomotor

No.

14 25 5 6 31 46

Shell

Signal

E5V E0V

S+

S−

NC NC FG

Red Black Orange

Orange /White

AWG22 AWG22

AWG24 AWG24

No.

2 3

Signal

E5V E0V

S+

S−

NC FG

Servo Drive Connector

Connector pins: 50639-8028 (Molex Japan) Connector case: Crimp-type I/O Connector (Molex Japan)

Servomotor Connector

Connector pins: 170365-1 (Tyco Electronics AMP KK) Connector case: 172160-1 (Tyco Electronics AMP KK)

3-30

3-4 Cable and Connector Specifications

4144

11.8

Servo Drive end

Servomotor end

R88M-G@

R7D-BP@

7.5 dia.

AWG24 AWG24

AWG24

E5V

E0V

NC NC

25 5

3 31 46

No.

AWG24

E5V

AWG24 AWG24

Servo Drive

Servomotor

Signal

Shell

S+ S−

Servomotor Connector

Connector pins: 170365-1 (Tyco Electronics AMP KK) Connector case: 172160-1 (Tyco Electronics AMP KK)

Servo Drive Connector

Connector pins: 50639-8028 (Molex Japan) Connector case: Crimp-type I/O Connector (Molex Japan)

S+ S−

Blue /Black

Blue /Red

Pink /Red

Orange /Red Orange /Black

Pink /Black

 Robot Cables for Encoders

Cable Models

Model Length (L)

Outer diameter of sheath Weight

Specifications

R88A-CRGB003CR 3 m R88A-CRGB005CR 5 m Approx. 0.4 kg R88A-CRGB010CR 10 m Approx. 0.8 kg

7.5 dia. R88A-CRGB015CR 15 m Approx. 1.1 kg R88A-CRGB020CR 20 m Approx. 1.5 kg

*1.The maximum distance between the Servo Drive and Servomotor is 20 m.

Connection Configuration and External Dimensions

Wiring

Approx. 0.2 kg

3-31

3-4 Cable and Connector Specifications

Precautions for Correct Use

Servomotor Power Cable Specifications

These are the cables connecting between the Servo Drive and Servomotor. Servomotor Power Cables with connectors for the CNB are available. When using Cables for a Servomotor with a brake, a Brake Cable is also required. Brake cables are also available as standard cables and robot cables.

 Use robot cables for applications with moving parts.

 Standard Cables for Servomotor Power (with CNB Connector)

Cable Models

Model Length (L) R7A-CAB003S 3 m R7A-CAB005S 5 m Approx. 0.3 kg R7A-CAB010S 10 m Approx. 0.6 kg R7A-CAB015S 15 m Approx. 0.9 kg

Outer diameter of sheath Weight

dia.

6.2

Approx. 0.2 kg

Specifications

R7A-CAB020S 20 m Approx. 1.2 kg

*1. The maximum distance betwee n the Servo Drive and Servomotor is 20 m.

Connection Configuration and External Dimensions

50 50L

Servo Drive end R7D-BP@

6.2 dia.

10.0

Servomotor end

12.0

Wiring

Servo Drive Servomotor

No.

1 4 6 3 2

Signal

Phase-U

Phase-V

Phase-W

Red White

Blue Green/Yellow

Cable: AWG20 × 4C UL2464

No.

1 2

3 4

R88M-G@

Signal

Phase-U Phase-V

Phase-W

Servo Drive Connector

Connector pins:

5556PBTL (Molex Japan)

Connector case:

5557-06R-210 (Molex Japan)

Servomotor Connector

Connector pins: 170366-1 or 170362-1 (Tyco Electronics AMP KK)

Connector case:

172159-1 (Tyco Electronics AMP KK)

3-32

3-4 Cable and Connector Specifications

No.

4 6 3 2

No.

FG FG

Servo Drive

Servomotor

Signal

Phase-U Phase-U Phase-V

Phase-V

Phase-W

Red White

Black Green/Yellow

Cable: AWG20 × 4C UL2464

Servo Drive Connector

Connector pins: 5556PBTL (Molex Japan)

Connector case:

5557-06R-210 (Molex Japan)

Servomotor Connector

Connector pins: 170366-1 or 170362-1 (Tyco Electronics AMP KK)

Connector case:

172159-1 (Tyco Electronics AMP KK)

 Robot Cables for Servomotor Power (with CNB Connector)

Cable Models

Model Length (L) R7A-CAB003SR 3 m R7A-CAB005SR 5 m Approx. 0.3 kg

Outer diameter of sheath Weight

Approx. 0.2 kg

Specifications

R7A-CAB010SR 10 m Approx. 0.7 kg R7A-CAB015SR 15 m Approx. 1.0 kg R7A-CAB020SR 20 m Approx. 1.3 kg

*1. The maximum distance between the Servo Drive and Servomotor is 20 m.

6.9

Connection Configuration and External Dimensions

50 50L

Servo Drive end

R7D-BP@

6.9 dia.

10.0

Wiring

dia.

Servomotor end

12.0

R88M-G@

3-33

 Standard Cables for Brakes

No.

A B

Signal Brake Brake

M4 crimp terminal

Black Brown

Cable: AWG20 × 2C UL2464

Servo Drive Servomotor

Servomotor Connector

Connector pins: 170366-1 or 170362-1 (Tyco Electronics AMP KK) Connector case: 172157-1 (Tyco Electronics AMP KK)

Cable Models

Model Length (L) R88A-CAGA003B 3 m R88A-CAGA005B 5 m Approx. 0.2 kg

3-4 Cable and Connector Specifications

Outer diameter of sheath Weight

Approx. 0.1 kg

R88A-CAGA010B 10 m Approx. 0.4 kg R88A-CAGA015B 15 m Approx. 0.6 kg R88A-CAGA020B 20 m Approx. 0.8 kg

*1. The maximum distance betwee n the Servo Drive and Servomotor is 20 m.

5.4

Connection Configuration and External Dimensions

50 50

Serv Drive end R7D-BP@

5.4 dia.

Wiring

dia.

12.0

5.6

Servomotor end

10.0

R88M-G@

Specifications

3-34

3-4 Cable and Connector Specifications

5.6

12.0

10.0

50 50

6.1 dia.

Servomotor end

R88M-G@

Serv Drive end R7D-BP@

No.

A B

Signal Brake Brake

M4 crimp terminal

Black White

Cable: AWG20 × 2C UL2464

Servo Drive Servomotor

Servomotor Connector

Connector pins: 170366-1 or 170362-1 (Tyco Electronics AMP KK) Connector case: 172157-1 (Tyco Electronics AMP KK)

 Robot Cables for Brakes

Cable Models

Model Length (L) R88A-CAGA003BR 3 m R88A-CAGA005BR 5 m Appro x. 0.2 kg

Outer diameter of sheath Weight

Approx. 0.1 kg

Specifications

R88A-CAGA010BR 10 m Approx. 0.4 kg R88A-CAGA015BR 15 m Approx. 0.7 kg R88A-CAGA020BR 20 m Approx. 0.9 kg

*1. The maximum distance between the Servo Drive and Servomotor is 20 m.

6.1

Connection Configuration and External Dimensions

Wiring

dia.

3-35

Power Cable Specifications

This is the Cable that supplies power to the Servo Drive. Power Cables are available in two forms: single-phase and three-phase. Select the Cable matching the Servo Drive to be used. When connecting an External Regeneration Resistor, use an External Regeneration Resistor Cable.

3-4 Cable and Connector Specifications

 Single-phase Power Cable (with CNA Connector)

Cable Models

Model Length (L) Outer diameter of sheath Weight

R7A-CLB002S2

Connection Configuration and External Dimensions

Power supply end

Single-phase 100/200 V AC

Wiring

Power supply end Servo Drive

2 m 6.1 dia. Approx. 0.1 kg

50 502000

6.1 dia.

No.

Specifications

Servo Drive end

R7D-BP@

Signal

M4 crimp terminal

Blue

Red

Cable: AWG18 × 2C UL2464

3 4 5 6L3 7 8 9

10 L1

Servo Drive Connector Connector pins:

5556PBTL (Molex Japan) Connector case: 5557-10R-210 (Molex Japan)

3-36

3-4 Cable and Connector Specifications

50 502000

6.4 dia.

Power supply end

Three-phase 200 V AC

Servo Drive end

R7D-BP@

 Three-phase Power Cable (with CNA Connector)

Cable Models

Model Length (L) Outer diameter of sheath Weight

Specifications

R7A-CLB002S3

2 m 6.4 dia. Approx. 0.1 kg

Connection Configuration and External Dimensions

Wiring

Power supply end Servo Drive

No.

1 2

3 4

Signal

M4 crimp terminal

Blue

White

Red

Cable: AWG18 × 3C UL2464

5 6L3 7 8 9

10 L1

Servo Drive Connector Connector pins:

5556PBTL (Molex Japan) Connector case: 5557-10R-210 (Molex Japan)

3-37

3-4 Cable and Connector Specifications

50 502000

6.1 dia.

External Regeneration Resistor end

R88A-RR22047S R88A-RR080100S R88A-RR08050S

Servo Drive end

R7D-BP@

10 L19(NC)8L27(NC)6L3

5 P

(NC)3B12(NC)1FG

 External Regeneration Resistor Connection Cable (with Crimp Pins)

Cable Models

Model Length (L) Outer diameter of sheath Weight

R7A-CLB002RG

2 m 6.1 dia. Approx. 0.1 kg

Connection Configuration and External Dimensions

Wiring

Insert into the P (pin 5) and B1 (pin 3) slots of the Main Circuit Connector (CNA).

Specifications

3-38

3-4 Cable and Connector Specifications

R7D-BP@

Servo Drive end

Signal

Personal computer

Shell Shell

Cable: AWG28 x 3C UL20276

Servo Drive

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

Precautions for Correct Use

Communications Cable Specifications

 Personal Computer Monitor Cable

Cable Models

Model Length (L) Outer diameter of sheath Weight

Specifications

R88A-CCG002P2

2 m 4.2 dia. Approx. 0.1 kg

Connection Configuration and External Dimensions

Wiring

 Communications with the Host Device

After confirming the startup of the Servo Drive, initiate communications with the host device. Note that irregular signals may be received from the host interface during startup. For this reason, take appropriate initialization measures such as clearing the receive buffer.

3-39

Connector Specifications

 Main Circuit Connector (R7A-CNB01P)

The Main Circuit Connector connects to the Servo Drive’s Main Circuit Connector (CNA).

Dimensions

3-4 Cable and Connector Specifications

5.4

4.2

2.7 2.7

16.8

22.2

4.2

9.6

8.56.3

11.6

10.7

19.6

3.5

Specifications

Connector pins:

5556PBTL (Molex Japan) Connector case: 5557-10R-210 (Molex Japan)

3-40

11.6

10.7

19.6

3.5

8.56.3

8.4

13.8

2.7 2.7

4.2

9.6

5.4

Connector pins:

5556PBTL (Molex Japan) Connector case: 5557-06R-210 (Molex Japan)

37.2

t = 14

Connector plug: 10126-3000PE (Sumitomo 3M) Connector case: 10326-52A0-008 (Sumitomo 3M)

Specifications

3-4 Cable and Connector Specifications

 Servomotor Connector (R7A-CNB01A)

The Servomotor Connector connects to the Servo Drive’s Servomotor Connector (CNB).

Dimensions

 Control I/O Connector (R88A-CNW01C)

This Connector connects to the Control I/O Connector (CN1) of the Servo Drive. Use this Connector when preparing a control cable yourself.

Dimensions

3-41

 Encoder Connectors

These Connectors are used for Encoder Cables. Use them when preparing an encoder cable yourself.

R88A-CNW01R (CN2 Servo Drive Connector)

This connector is soldering type. Use the following cable.

 Applicable wire: AWG16 max.  Insulating cover outer diameter: 2.1 mm max.  Sheath outer diameter: 6.7±0.5 mm

Dimensions

R88A-CNG02R (Servomotor Connector)

Use the following cable.

 Applicable wire: AWG22 max.  Insulating cover outer diameter: 1.75 mm max.

3-4 Cable and Connector Specifications

Connector plug: 55100-0670 (Molex Japan Co.)

Specifications

8.4

2.8 4.2

11.8

9.8

±0.4

±0.15

)

(

±0.15

2.84.2

23.7

±0.4

(

8.8

)

 Connector housing: 172160-1 (Tyco Electronics AMP KK)  Contact socket: 170365-1 (Tyco Electronics AMP KK)  Applicable panel thickness: 0.8 to 2.0 mm

)

2.28

(

3.35

19.1

14.55

2.5 5.35

10.351.6

3-42

10.351.6

2.5 5.35

10.35

(

2.28

)

3.35

14.9

23.7

±0.4

9.8

±0.15

(

)

11.8

±0.4

9.8

±0.15

2.84.2

2.8 4.2

(

8.8

)

10.351.6

2.5 5.35

6.15

(

2.28

)

3.35

10.7

23.7

±0.4

(

8.8

)

5.6

±0.15

9.8

±0.15

2.84.2

2.8

(

)

Specifications

3-4 Cable and Connector Specifications

 Power Cable Connector (R88A-CNG01A)

This Connector is used for Power Cables. Use it when preparing a power cable yourself.

 Connector housing: 172159-1 (Tyco Electronics AMP KK)  Contact socket: 170366-1 (Tyco Electronics AMP KK)  Applicable panel thickness: 0.8 to 2.0 mm

 Brake Cable Connector (R88A-CNG01B)

This Connector is used for brake cables. Use it when preparing a brake cable yourself.

 Connector housing:172157-1 (Tyco Electronics AMP KK)  Contact socket:170366-1 (Tyco Electronics AMP KK)  Applicable panel thickness: 0.8 to 2.0 mm

3-43

Omron SMARTSTEP 2 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Read and Understand this Manual

Precautions for Safe Use

Items to Check When Unpacking

About this Manual

CONTENTS

1-1 Overview

Overview of the SMARTSTEP 2 Series

Features of the SMARTSTEP 2 Series

1-2 System Configuration

1-3 Names of Parts and Functions

Servo Drive Part Names

Servo Drive Functions

1-4 System Block Diagrams

1-5 Applicable Standards

EC Directives

UL Standards

2-1 Standard Models

Servo Drives

Servomotors

Parameter Unit

Servo Drive-Servomotor Combinations

Decelerators

Accessories and Cables

2-2 External and Mounted Dimensions

Servo Drives

Servomotors

Parameter Unit Dimensions

Decelerator Dimensions

External Regeneration Resistor Dimensions

Reactor Dimensions

DIN Rail Mounting Unit Dimensions

Chapter 3 Specifications

3-1 Servo Drive Specifications

General Specifications

Characteristics

Main Circuit and Servomotor Connector Specifications (CNA and CNB)

Control I/O Connector Specifications (CN1)

Control Input Circuits

Control Input Details

Control Output Circuits

Control Output Details

Encoder Connector Specifications (CN2)

3-2 Servomotor Specifications

General Specifications

Characteristics

Encoder Specifications

3-3 Decelerator Specifications

Standard Models and Specifications

3-4 Cable and Connector Specifications

Encoder Cable Specifications

Servomotor Power Cable Specifications

Power Cable Specifications

Communications Cable Specifications

Connector Specifications