Omron SMARTSTEP2 DATASHEET

SMARTSTEP 2 SERVO SYSTEM

A new step in servodrive simplicity

Precise and cost-effective »

Ultra-compact design »

Simple to use and set up »

SmartStep 2 –

the right step forward...

Omron knows that simplicity and precision are

vital in your positioning application.

The new SmartStep offers an ideal solution for

point-to-point motion applications where

simplicity is essential. SmartStep 2 keeps things

simple whilst combining high performance

in a cost-effective solution.

SmartStep 2 has a completely new compact

design that gives a 50% space saving compared

with the previous model. It also has new

features and functionality to help you to make

your machines more efficient and cost-effective.

Features at a glance:

•

Pulse control servo drive

•

Ultra-compact size

•

Auto-tuning

•

Vibration suppression

•

Adaptive resonance suppression filter

•

Two programmable torque limits

•

Feedback pulse output

•

Power range from 50 W to 750 W

•

Cylindrical and flat servo motors

•

Electronic gear

•

10,000 steps per revolution

…to faster development with great drive simplicity

Getting started quickly

CX-Drive is a single, easy-to-use software tool for configuring,
commissioning and maintaining both inverters and servos.
SmartStep 2 is fully supported with a wide range of features making
the servo drive set-up easier and faster than ever:

•

Auto-tuning

•

Parameter editing and monitoring

•

Speed and position diagrams

•

I/O status and alarms

•

Real-time data trace

Real-time data trace

Frequency analysis

A compact design
that’s easy to connect

Although it has more functionality than previous
models, SmartStep 2 has a compact design with an
ultra-small footprint that saves considerable space.
In addition, SmartStep 2 can be easily integrated with
other automation devices such as the CP1L compact
machine controller and NS operator terminals, helping
to make an efficient and cost-effective machine design.

Additional features:

•

Position control via pulse input 500 kpps

•

Rated speed 4,000 rpm; peak 5,000 rpm

•

Wide range of pulse configurations

•

Four internal speed settings switched by external

signal for easy control

•

Servomotors compatible with SmartStep

130 mm

105 mm

160 mm

55 mm

120 mm

35 mm

Compact space-saving design

SmartStep 2 has a footprint 48% smaller than
that of previous models and the volume is
39% smaller, saving cabinet space and costs.

Command pulse

Feedback pulse

CP1H-Yxx

Feedback pulse output

Enables servo position feedback to the
controller for close control position loop and
monitor real positioning; it can be also used to
synchronise with another axis.

AUTO

Adjustment-free operation

Depending on load variations, the real-time
auto-tuning function automatically calculates
and adjusts the optimum gain values for the
machine.

Quickly suppression vibrationVibration

Vibration suppression

An adaptive filter ensures that resonant
frequency changes are automatically followed
to reduce the effect of vibration due to low
mechanical rigidity. A further filter minimises
vibration for better positioning when stopping
the load.

R7D-BP@, R88D-GP@, R88M-G@

SmartStep 2 servo system

Another step forward in drive simplicity

• On-line Auto-tuning and Easy set up

• Ultra-compact size. The footprint is only 48% that of
the SmartStep series

• Two torque limits

• Electronic gear, four internal speed settings and
wide range of pulse settings

• Adaptive filters for suppresion of vibration and
resonance

• Servomotors with IP65 as standard and shaft oil
seal available

• Motors with brake as option

Ratings

• 230 VAC single-phase 50 W to 750 W (0.16 to

2.4 Nm)

System configuration

(Refer to chapter SmartStep servo motors)

SmartStep 2
Servo Motor

Encoder cable

Power cable

SmartStep 2
Servo Drive

Personal computer
software: CX-One

Position control unit

Position control
unit

Terminal block
General purpose controller
(with pulse output)

6 AC servo systems

Servo drive type designation

SmartStep 2
Servo Drive

R7D-BP01H

Drive Type

P: Pulse input control

Source voltage

H: Single-phase
230 VAC for 100/400 W
HH: Single-phase

Capacity

100 W

01

200 W

02

04

400 W

230 VAC for 200 W

R88D-GP08H

SmartStep 2
Servo Drive (750 W)

Drive Type

P: Pulse input control

Capacity

08

750 W

Servo drive specifications

General specifications

Item Specification

Ambient operating temperature 0 to 55°C
Ambient operating humidity 90% max. (with no condensation)
Ambient storage temperature -20 to 65°C
Ambient storage humidity 90% max. (with no condensation)
Storage/operating atmosphere No corrosive gases.
Vibration resistance 10 to 60 Hz; acceleration : 5.9 m/s² (0.6G) max.
Impact resistance Acceleration 19.6 m/s
Insulation resistance Between power supply/power line terminals and frame ground: 0.5 MΩ min. (at 500 VDC)
Dielectric strength Between power supply/power 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
Protective structure Built into panel (IP10).
International standards Approval obtained for UL: UL 508C; cUL: cUL C22.2 No 14

Approval EC : EMC EN55011 class A Group 1, EN 61000-6-2, low voltage EN50178

2

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

Source voltage

H: 230 V

Performance specifications

Item 200 VAC input type

Continuous output current (rms) 1.0 A 1.6 A 2.5 A 4 A
Momentary maximum output current (rms) 3.3 A 4.9 A 7.8 A 14.1 A
Main-circuit power supply Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz Single-phase/three-phase

100 W 200 W 400 W 750 W

R7D-BP01H R7D-BP02HH R7D-BP04H R88D-GP08H

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

SmartStep 2 servo system 7

Item 200 VAC input type

100 W 200 W 400 W 750 W
R7D-BP01H R7D-BP02HH R7D-BP04H R88D-GP08H

Control circuit input power - Single-phase 200 to

240 VAC (170 to 264 V)
Control method All-digital method
Feedback 10,000 pulses/revolution incremental encoder
Inverter method PWM method based on IGBT
PWM frequency 12 kHz 6 kHz
Weight 0.35 kg 0.42 kg 0.42 kg 1.5 kg
Compatible motor voltage 200 V
Command pulse response Line drive: 500 kpps
Compatible motor capacity 50 W

200 W 400 W 750 W

100 W

Applicable servo motor
(R88M-)

G05030H
G10030H

G020030H
GP20030H

G40030H
GP40030H

G75030H

GP10030H

Servodrive part names

SmartStep2 Servo Drive (100 - 400 W models)

Alarm indicator (ALM)

Power supply indicator

Communications connector
(CN3)

PWR

ALM

C
N
3

Control I/O connector
(CN1)

Encoder input connector
(CN2)

Motor connector (CNB)

Main circuit connector
(CNA)

FG terminals for
power supply and
Servomotor power

SmartStep2 Servo Drive (750 W model)

Analog monitor outputs

Main-circuit power terminals

Control-circuit power terminals

UNITNo.

C
N
1

C
N
2

C
N
B

C
N
A

AC SERVO DRIVER

DATA

Display area

Settings area

RS-485
Communications connector
(CN3A)
RS-232
Communications connector/
Parameter Unit connector
(CN3B)

Control I/O connector
(CN1)

External Regeneration Resistor

connection terminals

Servomotor connection terminals

Encoder connector (CN2)

Protective ground terminals

8 AC servo systems

Servomotor type designation

R88M-GP10030H-BOS2

SmartStep2 Servomotor

Motor Type

Blank: Cylinder type

P: Flat type

Capacity

050

50 W

100 W

100
200

200 W
400 W

400

750 W

750

Rated Speed (r/min)

3000

30

Shaft end specifications

Straigth shaft, no key

Blank

Straigth, key, tapped

S2

Oil seal specifications

No oil seal

Blank

Oil seal

O

Brake specifications

No brake

Blank

Brake

B

Voltage and encoder specifications

H: 230 V with incremental encoder

Servo motor / servo drive combination

Servo motor

Family Voltage Speed Rated torque Capacity Model

Cylindric 50-750 W 230 V 3000 min

Flat 100-400 W 0.32 Nm 100 W R88M-GP10030H-@S2

-1

0.16 Nm 50 W R88M-G05030H-@S2

0.32 Nm 100 W R88M-G10030H-@S2

0.64 Nm 200 W R88M-G20030H-@S2

1.3 Nm 400 W R88M-G40030H-@S2

2.4 Nm 750 W R88M-G75030H-@S2

0.64 Nm 200 W R88M-GP20030H-@S2

1.3 Nm 400 W R88M-GP40030H-@S2

SmartStep 2 servo system 9

Servo motor specifications

General specifications

Item Specification

Ambient operating temperature 0 to 40°C
Ambient operating humidity 85% max. (with no condensation)
Ambient storage temperature −20 to 65°C
Ambient storage humidity 85% max. (with no condensation)
Storage/operating atmosphere No corrosive gases
Vibration resistance 49 m/s
Impact resistance Acceleration of 98 m/s
Insulation resistance 20 MΩ min. at 500 VDC between the power terminals and FG terminal
Dielectric strength 1,500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal
Run position Any direction
Insulation grade Type B
Structure Totally-enclosed, self-cooling
Protective structure IP65 (excluding the through-shaft portion)
Vibration grade V-15
Mounting method Flange-mounting
International standards Approval obtained for UL, cUL, and EN (EMC directive and low-voltage directive)

Performance specifications

Cylindric servo motors

Item Unit R88M-G05030H R88M-G10030H R88M-G20030H R88M-G40030H R88M-G75030H

Rated output W 50 100 200 400 750
Rated torque N·m 0.16 0.32 0.64 1.3 2.4
Rated rotation speed r/min 3000
Momentary maximum rotation speed r/min 5000 4500
Momentary maximum torque N·m 0.48 0.95 1.78 3.60 7.05
Rated current A (rms) 1.1 1.6 2.6 4
Momentary maximum current A (rms) 3.4 4.9 7.9 12.1
Rotor inertia

Power rate kW/s 10.4 20.1 30.3 62.5 66
Allowable radial load N 68 245 392
Allowable thrust load N 58 98 147
Weight Without brake kg 0.3 0.5 0.8 1.2 2.3

Encoder resolution --- Phase A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation
Radiation shield dimensions --- 100 × 80 × t10 (Al) 130 × 120 × t12 (Al) ­Brake

specifications

Applicable servo driver R7D-BP01H R7D-BP02HH R7D-BP04H R88D-GP08H

With brake kg 0.5 0.7 1.3 1.7 3.1

Brake inertia

Excitation voltage V 24 VDC ±10%
Power consumption (at 20 °C) W 7 9 10
Current consumption (at 20 °C) A 0.30 0.36 0.42
Static friction torque N·m 0.29 min. 1.27 min. 2.45 min.
Attraction time ms 35 max. 50 max. 70 max.
Release time ms 20 max. 15 max. 20 max.
Backlash - ±1° max.
Rating - Continuous
Brake life - 10,000,000 operations min.

2

max. in the X, Y, and Z directions

2

kg·m

2

kg·m

2

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

-6

2.5 × 10

-7

2.0 × 10

5.1 × 10

2.0 × 10

-6

-7

1.4 × 10

1.8 × 10

-5

-6

2.6× 10

7.5 × 10

-5

-6

8.7× 10

25 × 10

-5

-6

Torque-speed characteristics

R88M-G05030H

(N·m)

0.5

0.4

Repetitive usage

0.3

0.2

0.1

Continuous usage

0

1000 2000 3000 4000 5000

0.160.16

R88M-G10030H R88M-G20030H

(N·m)

1.0

0.48

0.09

(r/min)

0.8

Repetitive usage

0.6

0.4

0.2
Continuous usage

0

1000 2000 3000 4000 5000

0.320.32

0.95

0.19

(r/min)

(N·m)

2.0

1.82

1.5

Repetitive usage

1.0

0.64

0.5

Continuous usage

0

1000 2000 3000 4000 5000

0.64

1.82 (4300)

1.65

0.36

(r/min)

R88M-G40030H

(N·m)

4.0

3.60

3.0

Repetitive usage

2.0

1.0

Continuous usage

0

1000 2000 3000 4000 5000

R88M-G75030H

(N·m)

3.60
(3200)

1.31.3

2.1

0.88

(r/min)

8.0

7.05

Repetitive usage

4.0

2.4 2.4

Continuous usage

0

1000 2000 3000 4000 5000

7.05 (3600)

4.0

1.0

(r/min

10 AC servo systems

Flat servo motors

Item Unit R88M-GP10030H R88M-G20030H R88M-G40030H

Rated output W 100 200 400
Rated torque N·m 0.32 0.64 1.3
Rated rotation speed r/min 3000
Momentary maximum rotation speed r/min 5000
Momentary maximum torque N·m 0.90 1.82 3.60
Rated current A (rms) 1.0 1.6 4.4
Momentary maximum current A (rms) 4.3 6.8 18.6
Rotor inertia

kg·m

2

9.0 × 10

-6

3.4 × 10

-5

6.4 × 10

Power rate kW/s 11.4 11.8 25.5
Allowable radial load N 68 245
Allowable thrust load N 58 98
Weight Without brake kg 0.7 1.3 1.8

With brake kg 0.9 2.0 2.5
Encoder resolution --- Phase A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation
Radiation shield dimensions --- 130 × 120 × t10 (Al) 170 × 160 × t12 (Al)
Brake

specifications

Brake inertia

Excitation voltage V 24 VDC ±10%

kg·m

2

3.0 × 10

-6

9.0 × 10

-6

9.0 × 10

Power consumption (at 20 °C) W 7 10

Current consumption (at 20 °C) A 0.29 0.41

Static friction torque N·m 0.29 min. 1.27 min.

Attraction time ms 50 max. 60 max.

Release time ms 15 max.

Backlash - ±1° max.

Rating - Continuous

Brake life - 10,000,000 operations min.
Applicable servo driver (R7D-) BP01H BP02HH BP04H

Torque-speed characteristics

(r/min)

R88M-GP40030H

(N·m)

4.0

3.60

3.0

2.0

1.0

Repetitive usage

Continuous usage

0

1000 2000 3000 4000 5000

3.60
(3600)

2.0

1.31.3

0.64

(r/min)

R88M-GP10030H R88M-GP20030H

(N·m)

1.0

0.90

0.8

0.6

0.4

0.2

Repetitive usage

Continuous usage

0

1000 2000 3000 4000 5000

0.90

0.320.32

0.16

(r/min)

(N·m)

2.0

1.82

1.5

Repetitive usage

1.0

0.64

0.5

Continuous usage

0

1000 2000 3000 4000 5000

0.64

1.82 (4700)

1.75

0.28

-5

-6

SmartStep 2 servo system 11

Dimensions

Servo drives

R7D-BP01H R7D-BP02HH/ 04H

35

15

20

5

5

5.2 dia.

PWR

ALM

130

120

140

5.2

R88D-GP08H

65

AC SERVO DRIVER

UNITNo.

DATA

IM SPG

Mounting Hole

Dimensions

Two, M4

C
N
3

C
N
1

C
N
2

C
N
B

C
N
A

5.1

70

105

140

130±0.5 55

15 20

17070

40

15

20

5

5

5.2 dia.

ALMPWR

C
N
3

C
N
1

130

120

140

C
N
2

C
N
B

C
N
A

5.2

70

4

5.1

Two, M4

Mounting Hole

Dimensions

Two, M4

55

140

130±0.5

105

15 25

150

150

7.5

±0.5

50

65

Filters

R7A-FIB104-RE R88A-FIK107-RE

44±1

output
flexes

1 x 130 mm

input
terminals

2 x 170 mm

connector
to servo drive
power supply input

M4

input
terminals

40±1

drive
mounts
2 x M4

20

165±1

output
flexes

179±1

190

180

64
40

drive

mounts

output

flexes

±0.5

140

35

Filter model Rated current Leakage current Rated voltage

R7A-FIB104-RE 4 A 3.5 mA 250 VAC single-phase
R88A-FIK107-RE 6.6 A 3.5 mA 250 VAC single-phase

12 AC servo systems

Servo motors

Cylindrical type 3000 r/min (230 V, 50 - 100W)

Dimensions (mm) Without brake With brake LN Aprox. Mass (Kg)
Model LL LL Without brake With brake

R88M-G05030H-@S2 72 102 26.5 0.3 0.5
R88M-G10030H-@S2 92 122 46.5 0.5 0.7

Encoder
Connector

230

Brake Connector

Motor Connector

LL 25

200

LN

36

8 dia., height: 6

30 dia., height: 7

Two, 4.3 dia.

(Dimensions of shaft end

46 dia.

with key and tap)

12.5

3

3, height: 9

1.8

M3
(depth: 6)

40 × 40

32

Cylindrical type 3000 r/min (230 V, 200 - 750W)

Dimensions (mm) Without

brake

Model LL LL D1 D2 C G Z S QK b h M t1 L Without brake With brake

R88M-G20030H-@S2 79.5 116 30 43 70 50 60 6.5 4.5 11 18 4h9 4 M4 2.5 8 0.8 1.3
R88M-G40030H-@S2 99 135.5 14 22.5 5h9 5 M5 3 10 1.2 1.7
R88M-G75030H-@S2 112.2 149.2 35 53 90 70 80 8 6 19 22 6h9 6 M5 3.5 10 2.3 3.1

With

LR KL1 Flange surface Shaft end Aprox. Mass (Kg)

brake

Encoder connector

220

Brake connector

LL LR

Servomotor connector

200

3G

(Straight shaft with key)

QK

Four,
Z dia.

C × C

h

b

t1

M (depth: L)

.

a

KL1

S dia., height: 6

D2 dia., height: 7

D1 di

Flat type 3000 r/min (230 V, 100 W - 400 W)

Dimensions (mm) Without

brake

Model LL LL D1 D2 C F G Z S QK b h t1 Tap x

R88M-GP10030H-@S2 60.5 84.5 25 43 70 50 60 3 7 4.5 8 12.5 3h9 3 1.8 M3x6 0.7 0.9
R88M-GP20030H-@S2 67.5 100 30 53 90 70 80 5 8 5.5 11 18 4h9 4 2.5 M4x8 1.3 2
R88M-GP40030H-@S2 82.5 115 14 22.5 5h9 5 3.0 M5x10 1.8 2.5

connector

With

LR KL1 Flange surface Shaft end Aprox. Mass (Kg)

brake

LL LR

(7)

220

Servomotor connector

G

(7)

200

F

Break connector

Four,
Z-dia.

S dia., height: 6

KL1

D2 dia., height: 7

C x C

D1 dia.

(Straight shaft with key)

QK

h

b

t1

Tap x Depth

Without brake With brake

depth

SmartStep 2 servo system 13

Installation

Single-phase, 230 VAC

L1
L2
L3

N

Thermal switch

Contactor

Noise filter

Regeneration
resistor *1

Reverse
pulse

Forward
pulse

12 to 24 VDC

RUN Command
Input

Alarm Reset
Input

+CW

−CW

+CCW

−CCW

24VIN

RUN

RESET 3

L1

L3

22

23

24

25

1

2

P

B1

CNA

4.7 kΩ

220 Ω

220 Ω

4.7 kΩ

4.7 kΩ

4.7 kΩ

Servo motor

CNB

U
V

W

SMARTSTEP2

Servo drive

(100-400 W)

CN2

CN1

/ALM

9

10

INP

BKIR

11

.

12

13

21

14

WARN

OGND

Z

GND

Optical encoder

Alarm Output

Positioning
Completed
Output

Brake Interlock

Warning Output

Z-phase Output
(open collector output)

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

Deviation Counter
Reset Input

ECRST4

4.7 kΩ

15

16

18

17

19

20

+A

−A

+B

−B

+Z

−Z

Encoder A-phase
Output

Encoder B-phase
Output

Encoder Z-phase
Output

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

Gain Switch
Input

Electronic Gear
Switch Input

Reverse Drive
Prohibit Input

GSEL 5

4.7 kΩ

GESEL 6

4.7 kΩ

NOT 7

4.7 kΩ

Forward Drive
Prohibit Input

POT 8

FGShell, 26

Frame ground

*1. An External Regeneration Resistor can be connected. Connect this resistor if the regenerative energy exceeds regeneration absorption capacity in the Servo Drive.

Note: 1.The dynamic brake operates when the main circuit power supply or the control circuit power supply is turned OFF.
Note: 2.When turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN) signal at the same time.

14 AC servo systems

Thermal switch

Position reference

L1
L2
L3

N

Contactor

500 kpps max.

2 Mpps max.

Noise filter

Single-Phase
200 to 230 VAC

Reverse pulse

Forward pulse

Reverse pulse

Forward pulse

12 to 24 VDC

Servo ON

Vibration filter
switching

Gain switching

Electronic gear
switching

Deviation counter reset

Alarm reset

Control mode
switching

Pulse prohibition

Reverse run
prohibited

Forward run
prohibited

+24 VCW

+CW

-CW

+24 VCCW

+CCW

-CCW

+CWLD

-CWLD

+CCWLD

-CCWLD

DFSEL

GSEL

1

3

4

2

5

6

44

45

46

47

7+24 VIN

29RUN

26

27

28GESEL

30ECRST

31RESET

32TVSEL

33IPG

8NOT

9POT

L1

L3

L1C

L2C

2.2 kΩ

220 Ω

2.2 kΩ

220 Ω

3

kΩ

110 Ω

3k Ω
3k Ω

110 Ω

3 kΩ

4.7 kΩ

4.7 kΩ

4.7 k

4.7 kΩ

4.7 k

4.7 k

4.7 k

4.7 k

4.7 k

4.7 k

CNA

Ω

Ω

Ω

Ω

Ω

Ω

Ω

43 kΩ

43 kΩ

43 kΩ

43 kΩ

*1

B1

B3

B2

SMARTSTEP2
Servo drive
(750W)

CN1

CNB

1 µF

CN2

100Ω

4.7 kΩ

U

V

W

BKIR

11

BKIRCOM

10

READY

35

READYCOM

34

/ALM37

ALMCOM

36

INP39

INPCOM

38

12

OUTM1

40

OUTM2

41

COM-

19

Z

25 ZCOM

+A21

Encoder phase-A output

-A22

+B49

Encoder phase-B output

-B48

+Z23

Encoder phase-Z output

-Z24

20

SEN

SENGND

13

42

BAT

43

BATGND

50

Servo motor

Optical encoder

Brake release signal output

Servo ready output

Alarm output

Positioning completed output

General-purpose output 1

General-purpose output 2

Phase-Z output
(open collector output)

Line-driver output corresponding
with the EIA RS-422A communications
method (load resistance 120 W min.)

Sensor ON

Backup battery
(3.6 V)

*2

External power supply 12 to 24 VDC

um

Maxim
service voltage: 30 VDC

Maximum
output current: 50 mADC

*3

*3

Shell

*1 B3-B2 are short-circuited. If the internal regenerative resistor is insufficient, remove the wire between B2 and B3 and connect an external regen-

erative resistor between B1 and B2.
*2 Use only when an absolute encoder. If a backup battery is connected, an encoder cable with a battery is not required.
*3 The default values are ZSP (zero-speed detection) for OUTM1 and T-LIMIT (at torque limit) for OUTM2.

SmartStep 2 servo system 15

Ordering information

SmartStep2 Servo Drive Configuration (100-400 W)

(Refer to chapter SmartStep servo motors)

SmartStep 2
Servo Motor

A

Encoder cable

D

Power cable

B

Brake cable

C

E

SmartStep 2 Servo Drive
(100-400W models)

K

Position control
unit

Filter

P

O

F

I

L

M

Personal computer
software: CX-One

Position control unit

-High-speed type-

G

J

N

H

K

Position control
unit

Terminal block
General purpose signals
(with pulse output)

Note: The symbols ABCDE... show the recommended sequence to select the components in a SmartStep 2 servo system

Servo motor

Cylindrical servo motors (3,000-r/min)

Symbol Specifications Servo motor model Compatible servo drives E

A Straight shaft with

Design Rated torque Capacity SmartStep 2

key and tap

Without brake 0.16 Nm 50 W R88M-G05030H-S2 R7D-BP01H

0.32 Nm 100 W R88M-G10030H-S2

0.64 Nm 200 W R88M-G20030H-S2 R7D-BP02HH

1.3 Nm 400 W R88M-G40030H-S2 R7D-BP04H

With brake 0.16 Nm 50 W R88M-G05030H-BS2 R7D-BP01H

0.32 Nm 100 W R88M-G10030H-BS2

0.64 Nm 200 W R88M-G20030H-BS2 R7D-BP02HH

1.3 Nm 400 W R88M-G40030H-BS2 R7D-BP04H

Flat servo motors (3,000-r/min)

Symbol Specifications Servo motor model Compatible servo drives E

A Straight shaft with

Design Rated torque Capacity SmartStep 2

key and tap

Without brake 0.32 Nm 100 W R88M-GP10030H-S2 R7D-BP01H

0.64 Nm 200 W R88M-GP20030H-S2 R7D-BP02HH

1.3 Nm 400 W R88M-GP40030H-S2 R7D-BP04H

With brake 0.32 Nm 100 W R88M-GP10030H-BS2 R7D-BP01H

0.64 Nm 200 W R88M-GP20030H-BS2 R7D-BP02HH

1.3 Nm 400 W R88M-GP40030H-BS2 R7D-BP04H

Servo drives

Symbol Specifications SmartStep 2 drive model Compatible servo motors A

E

200 VAC 100 W R7D-BP01H R88M-G05030H-@ -

200 W R7D-BP02HH R88M-G20030H-@ R88M-GP20030H-@
400 W R7D-BP04H R88M-G40030H-@ R88M-GP40030H-@

Cylindrical type Flat type

R88M-G10030H-@ R88M-GP10030H-@

Power Supply cables (for CNA)

Symbol Specifications Model Appearance

E

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

R7A-CLB002S2

16 AC servo systems

Servo motor cables

Power cables (for CNB)

Symbol Specifications Model Appearance

B

Power cables for SmartStep 2 Servo motors 1.5 m R7A-CAB001-5SR-E

3 m R7A-CAB003SR-E
5 m R7A-CAB005SR-E
10 m R7A-CAB010SR-E
15 m R7A-CAB015SR-E
20 m R7A-CAB020SR-E

Brake cables

Symbol Specifications Model Appearance

C

Brake cables for SmartStep 2 Servo motors 1.5 m R88A-CAGA001-5BR-E

3 m R88A-CAGA003BR-E
5 m R88A-CAGA005BR-E
10 m R88A-CAGA010BR-E
15 m R88A-CAGA015BR-E
20 m R88A-CAGA020BR-E

Encoder cables (for CN2)

Symbol Specifications Model Appearance

D

Encoder cables for SmartStep 2 Servo motors 1.5 R88A-CRGB001-5CR-E

3 m R88A-CRGB003CR-E
5 m R88A-CRGB005CR-E
10 m R88A-CRGB010CR-E
15 m R88A-CRGB015CR-E
20 m R88A-CRGB020CR-E

Note: B, D Flexible and shielded cable

C Flexible cable

Control cables (for CN1)

Symbol Description Connect to Model

F

G

H

I

J

Control cable
(line-driver output for 1 axis)

Control cable
(open-collector output for 1 axis)

Control cable
(line-driver output for 2 axis)

Control cable
(open-collector output for 2 axis)

Terminal block cable for external signals
(for input common, forward/reverse run prohibited inputs,
emergency stop input, origin proximity input and interrupt input)

Terminal block for external signals ( with M3 screw and for pin terminals) - XW2B-20G4
Terminal block ext. signals ( with M3.5 screw and for fork/round terminals) - XW2B-20G5
Terminal block ext. signals ( with M3 screw and fork/round pin terminals) - XW2D-20G6
Cable from servo relay unit to servo drive CS1W-NC1@3, CJ1W-NC1@3,

Servo relay unit CS1W-NC1@3, CJ1W-NC1@3 or

Position control unit (high-speed type)
CJ1W-NC234
CJ1W-NC434

Position control unit (high-speed type)
CJ1W-NC214
CJ1W-NC414

Position control unit (high-speed type)
CJ1W-NC234
CJ1W-NC434

Position control unit (high-speed type)
CJ1W-NC214
CJ1W-NC414

Position control units (high-speed type)
CJ1W-NC234
CJ1W-NC434
CJ1W-NC214
CJ1W-NC414

C200HW-NC113, CS1W-NC2@3/4@3,
CJ1W-NC2@3/4@3, C200HW-NC213/413,
CQM1H-PLB21 or CQM1-CPU43-V1

CJ1M-CPU21/22/23 1 m XW2Z-100J-B32

C200HW-NC113 position control unit
CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3 or

C200HW-NC213/413 position control unit
CQM1H-PLB21 or CQM1-CPU43-V1 - XW2B-20J6-3B (1 axis)
CJ1M-CPU21/22/23 - XW2B-20J6-8A (1 axis)

1 m XW2Z-100J-G12
5 m XW2Z-500J-G12
10 m XW2Z-10MJ-G12
1 m XW2Z-100J-G16
3 m XW2Z-300J-G16

1 m XW2Z-100J-G4
5 m XW2Z-500J-G4
10 m XW2Z-10MJ-G4
1 m XW2Z-100J-G8
3 m XW2Z-300J-G8

0.5 m XW2Z-C50X
1 m XW2Z-100X
2 m XW2Z-200X
3 m XW2Z-300X
5 m XW2Z-500X
10 m XW2Z-010X

1 m XW2Z-100J-B29

2 m XW2Z-200J-B29

2 m XW2Z-200J-B32

- XW2B-20J6-1B (1 axis)

- XW2B-40J6-2B (2 axes)

XW2B-40J6-9A (2 axes)

SmartStep 2 servo system 17

Symbol Description Connect to Model

K

L

M

N

Position control unit connecting cable CJ1W-NC133 0.5 m XW2Z-050J-A18

CJ1W-NC233/433 0.5 m XW2Z-050J-A19

CS1W-NC133 0.5 m XW2Z-050J-A10

CS1W-NC233/433 0.5 m XW2Z-050J-A11

CJ1W-NC113 0.5 m XW2Z-050J-A14

CJ1W-NC213/413 0.5 m XW2Z-050J-A15

CS1W-NC113
C200HW-NC113

CS1W-NC213/413
C200HW-NC213/413

CJ1M-CPU21/22/23 0.5 m XW2Z-050J-A33

CQM1H-PLB21
CQM1-CPU43-V1

General purpose cable For general purpose controllers 1 m R7A-CPB001S

Terminal block cable For general purpose controllers 1 m XW2Z-100J-B28

Terminal block ( with M3 screw and for pin terminals) - XW2B-34G4
Terminal block ( with M3.5 screw and for fork/round terminals) - XW2B-34G5
Terminal block ( with M3 screw and fork/round pin terminals) - XW2D-34G6

1 m XW2Z-100J-A18

1 m XW2Z-100J-A19

1 m XW2Z-100J-A10

1 m XW2Z-100J-A11

1 m XW2Z-100J-A14

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

1 m XW2Z-100J-A33

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

2 m R7A-CPB002S

2 m XW2Z-200J-B28

Cable for CN3

Symbol Name Lengh Model

O

Personal Computer Monitor Cable 2 m R88A-CCG002P2

Filters

Symbol Applicable servo drive Rated current Rated voltage Filter model

P

R7D-BP01H/ 02HH/ 04H 4 A 1 pH, 230 V R7A-FIB104-RE

Connectors

Specifications Model

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

External regeneration resistor

Specification Model

80 W, 50 Ω R88A-RR08050S
80 W, 100 Ω R88A-RR080100S
220 W, 47 Ω R88A-RR22047S

External regeneration resistor cable

Specifications Model

External Regenerative Resistor Connection Cable, 2 meters R7A-CLB002RG

Parameter unit & computer software

Specifications Model

Parameter copy unit (with cable) R88A-PR02G
Configuration and monitoring software tool for servo drives and inverters. (CX-drive version 1.8 or higher) CX-drive

18 AC servo systems

SmartStep2 Servo Drive Configuration (750W)

(Refer to chapter SmartStep servo motors)

SmartStep 2 Servo Drive

B

(750W model)

Personal computer
software: CX-One

O

A

SmartStep 2
Servo Motor (750W)

Power cable

D

Encoder cable

C

External regenerative

Q

resistor

P

Filter

Position control
unit

Position control unit

-High-speed type-

F

I

J

G

K

L

Brake cable

E

M

N

Terminal block
General purpose signals
(with pulse output)

Note: The symbols ABCDE... show the recommended sequence to select the components in a SmartStep 2 servo system.

Servo drives

Symbol Specifications Servo drive model A Compatible rotary servo motors

Cylindric type

B 1 phase 200 VAC 750 W R88D-GP08H R88M-G75030H-@

Encoder Cables

Symbol Specifications Model Appearance

C

Encoder cable
R88M-G75030H-@

1.5 m R88A-CRGB001-5CR-E
3 m R88A-CRGB003CR-E
5 m R88A-CRGB005CR-E

10 m R88A-CRGB010CR-E
15 m R88A-CRGB015CR-E
20 m R88A-CRGB020CR-E

Terminal block
for external signals

H

Position control
unit

Power cables

Symbol Specifications Model Appearance

D

For 750W servomotors without brake
R88M-G75030H-S2

For servomotors with brake, a separate cable
(R88A-CAGA@BR-E) is needed

1.5 m R88A-CAGA001-5SR-E
3 m R88A-CAGA003SR-E
5 m R88A-CAGA005SR-E
10 m R88A-CAGA010SR-E
15 m R88A-CAGA015SR-E
20 m R88A-CAGA020SR-E

Brake cable

Symbol Specifications Model Appearance

E

Brake cable only.
For R88M-G75030H-BS2 servomotors.

1.5 m R88A-CAGA001-5BR-E
3 m R88A-CAGA003BR-E
5 m R88A-CAGA005BR-E

10 m R88A-CAGA010BR-E
15 m R88A-CAGA015BR-E
20 m R88A-CAGA020BR-E

Control cables (for CN1)

Symbol Description Connect to Model

F

Control cable
(line-driver output for 1 axis)

Control cable
(open-collector output for 1 axis)

Control cable
(line-driver output for 2 axis)

Control cable
(open-collector output for 2 axis)

Position control units (high-speed type)
CJ1W-NC234
CJ1W-NC434

Position control units (high-speed type)
CJ1W-NC214
CJ1W-NC414

Position control units (high-speed type)
CJ1W-NC234
CJ1W-NC434

Position control units (high-speed type)
CJ1W-NC214
CJ1W-NC414

1 m XW2Z-100J-G9
5 m XW2Z-500J-G9
10 m XW2Z-10MJ-G9
1 m XW2Z-100J-G13
3 m XW2Z-300J-G13

1 m XW2Z-100J-G1
5 m XW2Z-500J-G1
10 m XW2Z-10MJ-G1
1 m XW2Z-100J-G5
3 m XW2Z-300J-G5

SmartStep 2 servo system 19

Symbol Description Connect to Model

G

H

I

J

K

L

M

N

Terminal block cable for external signals
(for input common, forward/reverse run prohibited inputs,
emergency stop input, origin proximity input and interrupt
input)

Terminal block for external signals (M3 screw, pin terminals) - XW2B-20G4
Terminal block ext. signals
Terminal block ext. signals
Cable from servo relay unit to servo drive CS1W-NC1@3, CJ1W-NC1@3, C200HW-NC113/213/413,

Servo relay unit CS1W-NC1@3, CJ1W-NC1@3 or C200HW-NC113

Position control unit connecting cable CQM1H-PLB21 0.5 m XW2Z-050J-A3

General purpose cable For general purpose controllers 1 m R88A-CPG001S

Terminal block cable For general purpose controllers 1 m XW2Z-100J-B24

Terminal block (M3 screw and for pin terminals) - XW2B-50G4
Terminal block (M3.5 screw and for fork/round terminals) - XW2B-50G5
Terminal block (M3 screw and for fork/found terminals) - XW2D-50G6

(M3.5 screw, fork/round term inals) - XW2B-20G5
(M3 screw, fork/round terminals) - XW2D-20G6

Position control units (high-speed type)
CJ1W-NC234
CJ1W-NC434
CJ1W-NC214
CJ1W-NC414

CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3 or
CQM1H-PLB21

CJ1M-CPU21/22/23 1 m XW2Z-100J-B31

position control unit
CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3 or

C200HW-NC213/413 position control unit
CQM1H-PLB21 - XW2B-20J6-3B (1 axis)
CJ1M-CPU21/22/23 - XW2B-20J6-8A (1 axis)

CS1W-NC113 or C200HW-NC113 0.5 m XW2Z-050J-A6

CS1W-NC213/413 or C200HW-NC213/413 0.5 m XW2Z-050J-A7

CS1W-NC133 0.5 m XW2Z-050J-A10

CS1W-NC233/433 0.5 m XW2Z-050J-A11

CJ1W-NC113 0.5 m XW2Z-050J-A14

CJ1W-NC213/413 0.5 m XW2Z-050J-A15

CJ1W-NC133 0.5 m XW2Z-050J-A18

CJ1W-NC233/433 0.5 m XW2Z-050J-A19

CJ1M-CPU21/22/23 0.5 m XW2Z-050J-A33

0.5 m XW2Z-C50X
1 m XW2Z-100X
2 m XW2Z-200X
3 m XW2Z-300X
5 m XW2Z-500X
10 m XW2Z-010X

1 m XW2Z-100J-B25
2 m XW2Z-200J-B25

2 m XW2Z-200J-B31

- XW2B-20J6-1B (1 axis)

- XW2B-40J6-2B (2 axes)

XW2B-40J6-9A (2 axes)

1 m XW2Z-100J-A3

1 m XW2Z-100J-A6

1 m XW2Z-100J-A7

1 m XW2Z-100J-A10

1 m XW2Z-100J-A11

1 m XW2Z-100J-A14

1 m XW2Z-100J-A15

1 m XW2Z-100J-A18

1 m XW2Z-100J-A19

1 m XW2Z-100J-A33

2 m R88A-CPG002S

2 m XW2Z-200J-B24

Computer cable (for CN3)

Symbol Name Model

O

Computer cable RS232 2 m R88A-CCG002P2

Filter

Symbol Applicable

P

servodrive

R88D-GP08H R88A-FIK107-RE 6.6 A 3.5 mA 250 VAC

Filter model Rated

current

Leak­age
current

Rated
voltage

single­phase

Connectors

Specifications Model

I/O connector kit -50 pins- (for CN1) R88A-CNU11C
Power cable connector (motor side) R88A-CNG01A
Encoder connector (Servo drive side CN2) R88A-CNW01R
Incremental encoder cable connector (motor side) R88A-CNG02R

Computer software

Specifications Model

Configuration and monitoring software tool for servo drives
and inverters (CX-drive version 1.91 or higher).

CX-Drive

External regenerative resistor

Symbol Regenerative resistor unit model Specifications

Q

R88A-RR08050S 50 Ω, 80 W
R88A-RR080100S 100 Ω, 80 W
R88A-RR22047S 47 Ω, 220 W
R88A-RR50020S 20 Ω, 500 W

20 AC servo systems

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KPP_SmartStep2_EN_INT01A

Automation Systems

• Programmable logic controllers (PLC) • Human machine interfaces (HMI) • Remote I/O

• Industrial PC’s • Software

Motion & Drives

• Motion controllers • Servo systems • Inverters

Control Components

• Temperature controllers • Power supplies • Timers • Counters • Programmable relays

• Digital panel indicators • Electromechanical relays • Monitoring products • Solid-state relays

• Limit switches • Pushbutton switches • Low voltage switch gear

Sensing & Safety

• Photoelectric sensors • Inductive sensors • Capacitive & pressure sensors

• Cable connectors • Displacement & width-measuring sensors • Vision systems

• Safety networks • Safety sensors • Safety units/relay units • Safety door/guard lock switches

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or make any representations regarding the correctness or completeness of the information described in this document.
We reserve the right to make any changes at any time without prior notice.