Omron SMARTSTEP 2 User Manual
Cat. No. I561-E1-02
USER’S MANUAL
SMARTSTEP 2 SERIES
R88M-G@
(Servomotors)
R7D-BP@
(Servo Drives)
SERVOMOTORS/SERVO DRIVES
Trademarks and Copyrights
y
e
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Product names and system names in this manual are trademarks or registered trademarks of their
respective companies.
© OMRON, 2008
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.
1
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.
2
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.
3
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.
4
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.
5
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.
6
Precautions for Safe Use
WARNING
Caution
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.
7
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.
8
Operation and Adjustment Precautions
Caution
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.
9
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.
10
Items to Check When Unpacking
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
11
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.
12
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.
13
CONTENTS
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
14
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
15
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
1
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
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
1
Features and System Configuration
SYSMAC CJ1M
SYSMAC CP1H/CP1L
Flexible Motion Controller with Pulse I/O
L1
AC100
-240V
INPUT
L2/N
NC
NC
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)
1
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.
1
Features and System Configuration
1-4
1-4 System Block Diagrams
P
B1
L1
L2
L3
GR
N
15 V
VCC1
VCC2
G1
+VCC
G2
FAN
5 V
G
P
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
1
.
Phases A, B, Z
2.INP
3.BKIR
4.ALM
5.WARN
G
+VCC
RS485
I/F
+S
−S
CN2 encoder signal connector
Display circuit
CN3 connector
RS-232C
I/F
E
U
V
W
P
G1
OH
VCC
1
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
1
Features and System Configuration
1-4 System Block Diagrams
1-5
1-5 Applicable Standards
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
1
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
2
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
2
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
2
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
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