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SMARTSTEP 2 R7D-BP01H

Omron SMARTSTEP 2 R7D-BP01H, SMARTSTEP 2 R7D-BP02HH, SMARTSTEP 2 R7D-BP04H, SMARTSTEP 2 R88D-GP08H Product Manual

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Page 1
A new step in servodrive simplicity
SMARTSTEP 2 SERVO SYSTEM
Simple to use and set up »
Ultra-compact design »
Precise and cost-effective »
Page 2
Omron knows that simplicity and precision are
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
SmartStep 2 –
the right step forward...
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
…to faster development with great drive simplicity
Page 3
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
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.
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.
Adjustment-free operation
Depending on load variations, the real-time auto-tuning function automatically calculates and adjusts the optimum gain values for the machine.
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.
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.
A compact design that’s easy to connect
Quickly suppression vibrationVibration
Feedback pulse
Command pulse
35 mm
55 mm
105 mm
130 mm
120 mm
160 mm
AUTO
CP1H-Yxx
Page 4
6 AC servo systems
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
Position control unit
Power cable
SmartStep 2 Servo Drive
SmartStep 2 Servo Motor
(Refer to chapter SmartStep servo motors)
Terminal block General purpose controller (with pulse output)
Position control unit
Personal computer software: CX-One
Encoder cable
Page 5
SmartStep 2 servo system 7
General specifications
Performance specifications
Servo drive type designation
Servo drive 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
2
max., 3 times each in X, Y, and Z directions, 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
Item 200 VAC input type
100 W 200 W 400 W 750 W
R7D-BP01H R7D-BP02HH R7D-BP04H R88D-GP08H 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
200 to 240 VAC (170 to 264 V), 50/60 Hz
SmartStep 2 Servo Drive
Drive Type
Source voltage
Capacity
P: Pulse input control
R7D-BP01H
H: Single-phase 230 VAC for 100/400 W HH: Single-phase 230 VAC for 200 W
100 W
200 W
400 W
01 02
04
Source voltage
H: 230 V
R88D-GP08H
SmartStep 2 Servo Drive (750 W)
Drive Type
P: Pulse input control
Capacity
750 W
08
Page 6
8 AC servo systems
Servodrive part names
SmartStep2 Servo Drive (100 - 400 W models)
SmartStep2 Servo Drive (750 W model)
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
100 W
200 W 400 W 750 W
Applicable servo motor (R88M-)
G05030H G10030H GP10030H
G020030H GP20030H
G40030H GP40030H
G75030H
Item 200 VAC input type
100 W 200 W 400 W 750 W R7D-BP01H R7D-BP02HH R7D-BP04H R88D-GP08H
Alarm indicator (ALM)
Power supply indicator
Communications connector (CN3)
Control I/O connector (CN1)
Encoder input connector (CN2)
Motor connector (CNB)
FG terminals for power supply and Servomotor power
Main circuit connector (CNA)
C N 1
C N 2
C N A
C N B
C N 3
PWR
ALM
UNITNo.
AC SERVO DRIVER
DATA
RS-485 Communications connector (CN3A) RS-232 Communications connector/ Parameter Unit connector (CN3B)
External Regeneration Resistor
connection terminals
Display area
Settings area
Encoder connector (CN2)
Control I/O connector (CN1)
Servomotor connection terminals
Protective ground terminals
Main-circuit power terminals
Control-circuit power terminals
Analog monitor outputs
Page 7
SmartStep 2 servo system 9
Servomotor type designation
Servo motor / servo drive combination
Servo motor
Family Voltage Speed Rated torque Capacity Model
Cylindric 50-750 W 230 V 3000 min
-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
Flat 100-400 W 0.32 Nm 100 W R88M-GP10030H-@S2
0.64 Nm 200 W R88M-GP20030H-@S2
1.3 Nm 400 W R88M-GP40030H-@S2
50 W 100 W 200 W 400 W
050 100 200 400
750 W
750
SmartStep2 Servomotor
Capacity
Shaft end specifications
R88M-GP10030H-BOS2
Motor Type
Blank: Cylinder type
P: Flat type
Rated Speed (r/min)
3000
30
Straigth shaft, no key
Blank
S2
Straigth, key, tapped
Oil seal specifications
No oil seal
Blank
O
Oil seal
Brake specifications
No brake
Blank
B
Brake
Voltage and encoder specifications
H: 230 V with incremental encoder
Page 8
10 AC servo systems
General specifications
Performance specifications
Cylindric servo motors
Torque-speed characteristics
Servo motor 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
2
max. in the X, Y, and Z directions
Impact resistance Acceleration of 98 m/s
2
max. 3 times each in the X, Y, and Z directions 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)
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
kg·m
2
2.5 × 10
-6
5.1 × 10
-6
1.4 × 10
-5
2.6× 10
-5
8.7× 10
-5
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
With brake kg 0.5 0.7 1.3 1.7 3.1 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
Brake inertia
kg·m
2
2.0 × 10
-7
2.0 × 10
-7
1.8 × 10
-6
7.5 × 10
-6
25 × 10
-6
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. Applicable servo driver R7D-BP01H R7D-BP02HH R7D-BP04H R88D-GP08H
0.2
1000 2000 3000 4000 5000
0
0.4
0.6
0.8
1.0
(N·m)
(N·m)
(N·m)
(r/min)
(r/min)
(r/min)
0.5
1000 2000 3000 4000 5000
0
1.0
1.5
2.0
R88M-G10030H R88M-G20030H
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
(r/min
1000 2000 3000 4000 5000
0
2.0
3.0
4.0
R88M-G40030H
(N·m)
R88M-G75030H
2.1
3.60
0
0.88
1.31.3
(3200)
3.60
1.82
0.1
1000 2000 3000 4000 5000
0
0.2
0.3
0.4
0.5
(N·m)
(r/min)
R88M-G05030H
Continuous usage
Repetitive usage
Continuous usage
Repetitive usage
Continuous usage
Repetitive usage
Continuous usage
Repetitive usage
Continuous usage
Repetitive usage
0.48
0.160.16
0.09
4.0
8.0
7.05
2.4 2.4
4.0
1.0
7.05 (3600)
Page 9
SmartStep 2 servo system 11
Flat servo motors
Torque-speed characteristics
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
-5
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
kg·m
2
3.0 × 10
-6
9.0 × 10
-6
9.0 × 10
-6
Excitation voltage V 24 VDC ±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
0.2
1000 2000 3000 4000 5000
0
0.4
0.6
0.8
1.0
0.5
1000 2000 3000 4000 5000
0
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
0
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)
(N·m)
(N·m)
(r/min)
(r/min)
(r/min)
Continuous usage
Repetitive usage
Continuous usage
Repetitive usage
Continuous usage
Repetitive usage
Page 10
12 AC servo systems
Servo drives
Filters
Dimensions
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
Two, M4
C N 1
C N 2
C N B
C N A
C N 3
ALM
PWR
5.1
5.2
105
35
5.2 dia.
20
130
120
140
15
5
5
140
130±0.5 55
15 20
70
Mounting Hole
Dimensions
C N 1
C N 2
C N B
C N A
C N 3
ALMPWR
5.1
5.2
105
40
5.2 dia.
20
130
120
140
15
5
5
140
130±0.5
Two, M4
55
15 25
70
Mounting Hole
Dimensions
UNITNo.
AC SERVO DRIVER
DATA
IM SPG
50
±0.5
7.5
65
Two, M4
140
±0.5
150
17070
4
150
65
R7D-BP01H R7D-BP02HH/ 04H
R88D-GP08H
179±1
165±1
40±1
20
44±1
input terminals
input terminals
2 x 170 mm
1 x 130 mm
connector to servo drive power supply input
output flexes
output flexes
drive mounts 2 x M4
M4
drive
mounts
output
flexes
190
180
64 40
35
R7A-FIB104-RE R88A-FIK107-RE
Page 11
SmartStep 2 servo system 13
Servo motors
Cylindrical type 3000 r/min (230 V, 50 - 100W)
Cylindrical type 3000 r/min (230 V, 200 - 750W)
Flat type 3000 r/min (230 V, 100 W - 400 W)
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
Dimensions (mm) Without
brake
With
brake
LR KL1 Flange surface Shaft end Aprox. Mass (Kg)
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
Dimensions (mm) Without
brake
With
brake
LR KL1 Flange surface Shaft end Aprox. Mass (Kg)
Model LL LL D1 D2 C F G Z S QK b h t1 Tap x
depth
Without brake With brake
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
3, height: 9
M3 (depth: 6)
3
1.8
12.5
(Dimensions of shaft end with key and tap)
230
200
36
LL 25
32
40 × 40
LN
Motor Connector
Encoder Connector
8 dia., height: 6
46 dia.
Two, 4.3 dia.
30 dia., height: 7
Brake Connector
220
200
3G
LL LR
S dia., height: 6
D2 dia., height: 7
C × C
D1 di
a
.
QK
(Straight shaft with key)
Four, Z dia.
KL1
b
h
t1
M (depth: L)
Brake connector
Servomotor connector
Encoder connector
LL LR
F
G
200
220
D2 dia., height: 7
KL1
S dia., height: 6
C x C
Four, Z-dia.
(7)
(7)
connector
QK
(Straight shaft with key)
b
h
t1
Tap x Depth
Servomotor connector
Break connector
D1 dia.
Page 12
14 AC servo systems
Single-phase, 230 VAC
*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.
Installation
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
.
BKIR
Brake Interlock
Maximum operating voltage: 30 VDC Maximum Output Current: 50 mA DC
RUN Command Input
25
+CW
−CW
+CCW
−CCW
22
23
24
Reverse pulse
Forward pulse
21
9
2
RUN
1
24VIN
12 to 24 VDC
Frame ground
FGShell, 26
Z-phase Output (open collector output)
10
11
/ALM
14
Z
GND
Alarm Output
13
INP
OGND
Positioning Completed Output
RESET 3
Alarm Reset Input
ECRST4
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
+Z
−B
+B
−A
+A
20
19
17
18
16
15
12
WARN
Warning Output
Encoder A-phase Output
Encoder B-phase Output
Encoder Z-phase Output
220 Ω
220 Ω
Line driver output Conforms to EIA RS-422A (Load resistance: 220 Ω min.)
4.7 kΩ
SMARTSTEP2
Servo drive
(100-400 W)
Optical encoder
Servo motor
CN1
CN2
U V
W
B1
L1
L3
Regeneration resistor *1
CNA
CNB
P
Noise filter
Contactor
L1 L2 L3
N
Thermal switch
Page 13
SmartStep 2 servo system 15
*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.
SMARTSTEP2 Servo drive (750W)
Optical encoder
Servo motor
B3
B2
U
V
W
B1
L1
L3
L1C
L2C
Noise filter
Single-Phase 200 to 230 VAC
Contactor
L1 L2 L3
N
Thermal switch
CN1
*1
3 kΩ
110 Ω
43 kΩ
3k Ω
220 Ω
5
2
6
Servo ON
44
45
+CW
-CW
+CCW
-CCW
+CWLD
-CWLD
Reverse pulse
Forward pulse
BKIR
Alarm output
BKIRCOM
11
10
READY
READYCOM
ALMCOM
35
34
/ALM37
36
INPCOM
INP39
38
32TVSEL
31RESET
30ECRST
28GESEL
27
GSEL
26
DFSEL
29RUN
7+24 VIN
Control mode switching
Alarm reset
Deviation counter reset
Electronic gear switching
Gain switching
Vibration filter switching
12 to 24 VDC
External power supply 12 to 24 VDC
Maxim
um
service voltage: 30 VDC
Maximum output current: 50 mADC
Reverse pulse
46
47
110 Ω
43 kΩ
33IPG
Pulse prohibition
500 kpps max.
2 Mpps max.
8NOT
Reverse run prohibited
9POT
Forward run prohibited
OUTM1
General-purpose output 1
12
50
4.7 k
Ω
4.7 k
Ω
4.7 k
Ω
4.7 kΩ
43 kΩ
3
kΩ
+CCWLD
-CCWLD
Forward pulse
+A21
-A22
+B49
-B48
+Z23
-Z24
Line-driver output corresponding with the EIA RS-422A communications method (load resistance 120 W min.)
220 Ω
3
1
4
43 kΩ
3k Ω
4.7 k
Ω
4.7 k
Ω
4.7 k
Ω
4.7 kΩ
4.7 k
Ω
4.7 kΩ
+24 VCW
2.2 kΩ
+24 VCCW
2.2 kΩ
20
100Ω
4.7 kΩ
1 µF
SEN
SENGND
13
Sensor ON
BAT
BATGND
Backup battery (3.6 V)
42
43
Position reference
Shell
*2
CNB
CNA
CN2
Servo ready output
Positioning completed output
COM-
OUTM2
40
41
Brake release signal output
19
25 ZCOM
Z
Phase-Z output (open collector output)
Encoder phase-A output
Encoder phase-B output
Encoder phase-Z output
General-purpose output 2
*3
*3
Page 14
16 AC servo systems
SmartStep2 Servo Drive Configuration (100-400 W)
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)
Flat servo motors (3,000-r/min)
Servo drives
Power Supply cables (for CNA)
Ordering information
Symbol Specifications Servo motor model Compatible servo drives E
Design Rated torque Capacity SmartStep 2
A Straight shaft with
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
Symbol Specifications Servo motor model Compatible servo drives E
Design Rated torque Capacity SmartStep 2
A Straight shaft with
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
Symbol Specifications SmartStep 2 drive model Compatible servo motors A
Cylindrical type Flat type
E
200 VAC 100 W R7D-BP01H R88M-G05030H-@ -
R88M-G10030H-@ R88M-GP10030H-@ 200 W R7D-BP02HH R88M-G20030H-@ R88M-GP20030H-@ 400 W R7D-BP04H R88M-G40030H-@ R88M-GP40030H-@
Symbol Specifications Model Appearance
E
Power Supply Input Cable for Single-Phase Power (connectors at­tached)
R7A-CLB002S2
B
C
D
Position control unit
K
K
L
N
M
O
SmartStep 2 Servo Drive (100-400W models)
SmartStep 2 Servo Motor
(Refer to chapter SmartStep servo motors)
Terminal block General purpose signals (with pulse output)
Position control unit
Personal computer software: CX-One
A
E
F
G
H
I
J
Encoder cable
Power cable
Brake cable
Filter
Position control unit
-High-speed type-
P
Page 15
SmartStep 2 servo system 17
Servo motor cables
Power cables (for CNB)
Brake cables
Encoder cables (for CN2)
Note: B, D Flexible and shielded cable
C Flexible cable
Control cables (for CN1)
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
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
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
Symbol Description Connect to Model
F
Control cable (line-driver output for 1 axis)
Position control unit (high-speed type) CJ1W-NC234 CJ1W-NC434
1 m XW2Z-100J-G12 5 m XW2Z-500J-G12 10 m XW2Z-10MJ-G12
Control cable (open-collector output for 1 axis)
Position control unit (high-speed type) CJ1W-NC214 CJ1W-NC414
1 m XW2Z-100J-G16 3 m XW2Z-300J-G16
Control cable (line-driver output for 2 axis)
Position control unit (high-speed type) CJ1W-NC234 CJ1W-NC434
1 m XW2Z-100J-G4 5 m XW2Z-500J-G4 10 m XW2Z-10MJ-G4
Control cable (open-collector output for 2 axis)
Position control unit (high-speed type) CJ1W-NC214 CJ1W-NC414
1 m XW2Z-100J-G8 3 m XW2Z-300J-G8
G
Terminal block cable for external signals (for input common, forward/reverse run prohibited inputs, emergency stop input, origin proximity input and interrupt input)
Position control units (high-speed type) CJ1W-NC234 CJ1W-NC434 CJ1W-NC214 CJ1W-NC414
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
H
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
I
Cable from servo relay unit to servo drive CS1W-NC1@3, CJ1W-NC1@3,
C200HW-NC113, CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3, C200HW-NC213/413, CQM1H-PLB21 or CQM1-CPU43-V1
1 m XW2Z-100J-B29
2 m XW2Z-200J-B29
CJ1M-CPU21/22/23 1 m XW2Z-100J-B32
2 m XW2Z-200J-B32
J
Servo relay unit CS1W-NC1@3, CJ1W-NC1@3 or
C200HW-NC113 position control unit
- XW2B-20J6-1B (1 axis)
CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3 or C200HW-NC213/413 position control unit
- XW2B-40J6-2B (2 axes)
CQM1H-PLB21 or CQM1-CPU43-V1 - XW2B-20J6-3B (1 axis) CJ1M-CPU21/22/23 - XW2B-20J6-8A (1 axis)
XW2B-40J6-9A (2 axes)
Page 16
18 AC servo systems
Cable for CN3
Filters
Connectors
External regeneration resistor
External regeneration resistor cable
Parameter unit & computer software
K
Position control unit connecting cable CJ1W-NC133 0.5 m XW2Z-050J-A18
1 m XW2Z-100J-A18
CJ1W-NC233/433 0.5 m XW2Z-050J-A19
1 m XW2Z-100J-A19
CS1W-NC133 0.5 m XW2Z-050J-A10
1 m XW2Z-100J-A10
CS1W-NC233/433 0.5 m XW2Z-050J-A11
1 m XW2Z-100J-A11
CJ1W-NC113 0.5 m XW2Z-050J-A14
1 m XW2Z-100J-A14
CJ1W-NC213/413 0.5 m XW2Z-050J-A15
1 m XW2Z-100J-A15
CS1W-NC113 C200HW-NC113
0.5 m XW2Z-050J-A6 1 m XW2Z-100J-A6
CS1W-NC213/413 C200HW-NC213/413
0.5 m XW2Z-050J-A7 1 m XW2Z-100J-A7
CJ1M-CPU21/22/23 0.5 m XW2Z-050J-A33
1 m XW2Z-100J-A33
CQM1H-PLB21 CQM1-CPU43-V1
0.5 m XW2Z-050J-A3 1 m XW2Z-100J-A3
L
General purpose cable For general purpose controllers 1 m R7A-CPB001S
2 m R7A-CPB002S
M
Terminal block cable For general purpose controllers 1 m XW2Z-100J-B28
2 m XW2Z-200J-B28
N
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
Symbol Name Lengh Model
O
Personal Computer Monitor Cable 2 m R88A-CCG002P2
Symbol Applicable servo drive Rated current Rated voltage Filter model
P
R7D-BP01H/ 02HH/ 04H 4 A 1 pH, 230 V R7A-FIB104-RE
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
Specification Model
80 W, 50 Ω R88A-RR08050S 80 W, 100 Ω R88A-RR080100S 220 W, 47 Ω R88A-RR22047S
Specifications Model
External Regenerative Resistor Connection Cable, 2 meters R7A-CLB002RG
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
Symbol Description Connect to Model
Page 17
SmartStep 2 servo system 19
SmartStep2 Servo Drive Configuration (750W)
Note: The symbols ABCDE... show the recommended sequence to select the components in a SmartStep 2 servo system.
Servo drives
Encoder Cables
Power cables
Brake cable
Control cables (for CN1)
Symbol Specifications Servo drive model A Compatible rotary servo motors
Cylindric type
B 1 phase 200 VAC 750 W R88D-GP08H R88M-G75030H-@
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
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
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
Symbol Description Connect to Model
F
Control cable (line-driver output for 1 axis)
Position control units (high-speed type) CJ1W-NC234 CJ1W-NC434
1 m XW2Z-100J-G9 5 m XW2Z-500J-G9 10 m XW2Z-10MJ-G9
Control cable (open-collector output for 1 axis)
Position control units (high-speed type) CJ1W-NC214 CJ1W-NC414
1 m XW2Z-100J-G13 3 m XW2Z-300J-G13
Control cable (line-driver output for 2 axis)
Position control units (high-speed type) CJ1W-NC234 CJ1W-NC434
1 m XW2Z-100J-G1 5 m XW2Z-500J-G1 10 m XW2Z-10MJ-G1
Control cable (open-collector output for 2 axis)
Position control units (high-speed type) CJ1W-NC214 CJ1W-NC414
1 m XW2Z-100J-G5 3 m XW2Z-300J-G5
Position control unit
Power cable
SmartStep 2 Servo Drive (750W model)
SmartStep 2 Servo Motor (750W)
(Refer to chapter SmartStep servo motors)
Terminal block General purpose signals (with pulse output)
Position control unit
Personal computer software: CX-One
Brake cable
A
B
D
I
L
K
M
F
J
N
Filter
External regenerative resistor
Position control unit
-High-speed type-
O
Terminal block for external signals
G
H
P
Q
Encoder cable
C
E
Page 18
20 AC servo systems
Computer cable (for CN3)
Filter
External regenerative resistor
Connectors
Computer software
G
Terminal block cable for external signals (for input common, forward/reverse run prohibited inputs, emergency stop input, origin proximity input and interrupt input)
Position control units (high-speed type) CJ1W-NC234 CJ1W-NC434 CJ1W-NC214 CJ1W-NC414
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
H
Terminal block for external signals (M3 screw, pin terminals) - XW2B-20G4 Terminal block ext. signals
(M3.5 screw, fork/round term inals) - XW2B-20G5
Terminal block ext. signals
(M3 screw, fork/round terminals) - XW2D-20G6
I
Cable from servo relay unit to servo drive CS1W-NC1@3, CJ1W-NC1@3, C200HW-NC113/213/413,
CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3 or CQM1H-PLB21
1 m XW2Z-100J-B25 2 m XW2Z-200J-B25
CJ1M-CPU21/22/23 1 m XW2Z-100J-B31
2 m XW2Z-200J-B31
J
Servo relay unit CS1W-NC1@3, CJ1W-NC1@3 or C200HW-NC113
position control unit
- XW2B-20J6-1B (1 axis)
CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3 or C200HW-NC213/413 position control unit
- XW2B-40J6-2B (2 axes)
CQM1H-PLB21 - XW2B-20J6-3B (1 axis) CJ1M-CPU21/22/23 - XW2B-20J6-8A (1 axis)
XW2B-40J6-9A (2 axes)
K
Position control unit connecting cable CQM1H-PLB21 0.5 m XW2Z-050J-A3
1 m XW2Z-100J-A3
CS1W-NC113 or C200HW-NC113 0.5 m XW2Z-050J-A6
1 m XW2Z-100J-A6
CS1W-NC213/413 or C200HW-NC213/413 0.5 m XW2Z-050J-A7
1 m XW2Z-100J-A7
CS1W-NC133 0.5 m XW2Z-050J-A10
1 m XW2Z-100J-A10
CS1W-NC233/433 0.5 m XW2Z-050J-A11
1 m XW2Z-100J-A11
CJ1W-NC113 0.5 m XW2Z-050J-A14
1 m XW2Z-100J-A14
CJ1W-NC213/413 0.5 m XW2Z-050J-A15
1 m XW2Z-100J-A15
CJ1W-NC133 0.5 m XW2Z-050J-A18
1 m XW2Z-100J-A18
CJ1W-NC233/433 0.5 m XW2Z-050J-A19
1 m XW2Z-100J-A19
CJ1M-CPU21/22/23 0.5 m XW2Z-050J-A33
1 m XW2Z-100J-A33
L
General purpose cable For general purpose controllers 1 m R88A-CPG001S
2 m R88A-CPG002S
M
Terminal block cable For general purpose controllers 1 m XW2Z-100J-B24
2 m XW2Z-200J-B24
N
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
Symbol Description Connect to Model
Symbol Name Model
O
Computer cable RS232 2 m R88A-CCG002P2
Symbol Applicable
servodrive
Filter model Rated
current
Leak­age current
Rated voltage
P
R88D-GP08H R88A-FIK107-RE 6.6 A 3.5 mA 250 VAC
single­phase
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
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
Specifications Model
Configuration and monitoring software tool for servo drives and inverters (CX-drive version 1.91 or higher).
CX-Drive
Page 19
KPP_SmartStep2_EN_INT01A
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