H: Single-phase
230 VAC for 100/400 W
HH: Single-phase
230 VAC for 200 W
R88D-GP08H
Source voltage
H: 230 V
90AC servo systems
Servo drive specifications
General specifications
ItemSpecification
Ambient operating temperature0 to 55°C
Ambient operating humidity90% max. (with no condensation)
Ambient storage temperature-20 to 65°C
Ambient storage humidity90% max. (with no condensation)
Storage/operating atmosphereNo corrosive gases.
Vibration resistance10 to 60 Hz; acceleration : 5.9 m/s² (0.6G) max.
Impact resistanceAcceleration 19.6 m/s
Insulation resistanceBetween power supply/power line terminals and frame ground: 0.5 MΩ min. (at 500 VDC)
Dielectric strengthBetween 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 structureBuilt into panel (IP10).
International standardsApproval 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
Performance specifications
Item200 VAC input type
Continuous output current (rms)1.0 A1.6 A2.5 A4 A
Momentary maximum output current (rms)3.3 A4.9 A7.8 A14.1 A
Main-circuit power supplySingle-phase 200 to 240 VAC (170 to 264 V), 50/60 HzSingle-phase/three-phase
Control circuit input power-Single-phase 200 to
Control methodAll-digital method
Feedback10,000 pulses/revolution incremental encoder
Inverter methodPWM method based on IGBT
PWM frequency12 kHz6 kHz
Weight0.35 kg0.42 kg0.42 kg1.5 kg
Compatible motor voltage200 V
Command pulse responseLine drive: 500 kpps
Compatible motor capacity50 W
Applicable servo motor
(R88M-)
100 W200 W400 W750 W
R7D-BP01HR7D-BP02HHR7D-BP04HR88D-GP08H
100 W
G05030H
G10030H
GP10030H
2
max., 3 times each in X, Y, and Z directions,
200 W400 W750 W
G020030H
GP20030H
G40030H
GP40030H
200 to 240 VAC (170 to
264 V), 50/60 Hz
240 VAC (170 to 264 V)
G75030H
AC Servo systems
Servodrive part names
SmartStep2 Servo Drive (100 - 400 W models)
Power supply indicator
Communications connector
(CN3)
Control I/O connector
(CN1)
Encoder input connector
(CN2)
Motor connector (CNB)
Main circuit connector
(CNA)
FG terminals for
power supply and
Servomotor power
Maximum operating
voltage: 30 VDC
Maximum Output
Current: 50 mA DC
WARN
12
Warning Output
13
OGND
Z
21
Z-phase Output
(open collector output)
14
GND
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.
2. When turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN) signal at the same time.
94AC 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 pu
lse
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
L1
L3
L1C
L2C
1
3
4
2
5
6
44
45
46
47
7+24 VIN
29RUN
26
27
28GESEL
30ECRST
31RESET
32TVSEL
33IPG
8NOT
9POT
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
43 kΩ
43 kΩ
43 kΩ
43 kΩ
Ω
Ω
Ω
Ω
Ω
Ω
Ω
*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
(output 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
Maximum
service voltage: 30 VDC
Maximum
output current: 50 mADC
*3
*3
AC Servo systems
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 drive95
Ordering information
SmartStep2 Servo Drive Configuration (100-400 W)
(Refer to G-Series ser vo motors chapter)
G-SeriesServo motor
A
Encoder cable
D
Power cable
B
Brake cable
C
E
SmartStep 2 Ser vo drive
(100-40 0W models)
K
Position controlunit
Filter
P
O
F
I
L
M
Personal computer
software: CX-One
Position control unit
-High-speed type-
J
N
G
K
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
Note: ABCD refer to G-Series motor chapter for detailed motor specifications and selection.
Servo drives
Symbol SpecificationsSmartStep 2 drive modelCompatible servo motors A
Power Supply Input Cable for Single-Phase Power (connectors attached)
R7A-CLB002S2
Control cables (for CN1)
Symbol DescriptionConnect toModel
F
G
H
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
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
Cable from servo relay unit to servo driveCS1W-NC1@3, CJ1W-NC1@3,
Servo relay unitCS1W-NC1@3, CJ1W-NC1@3 or
Position control unit connecting cableCJ1W-NC1330.5 m XW2Z-050J-A18
General purpose cableFor general purpose controllers1 mR7A-CPB001S
Terminal block cableFor general purpose controllers1 mXW2Z-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
C200HW-NC113, CS1W-NC2@3/4@3,
CJ1W-NC2@3/4@3, C200HW-NC213/413,
CQM1H-PLB21 or CQM1-CPU43-V1
CJ1M-CPU21/22/231 mXW2Z-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)
CJ1W-NC233/4330.5 m XW2Z-050J-A19
CS1W-NC1330.5 m XW2Z-050J-A10
CS1W-NC233/4330.5 m XW2Z-050J-A11
CJ1W-NC1130.5 m XW2Z-050J-A14
CJ1W-NC213/4130.5 m XW2Z-050J-A15
CS1W-NC113
C200HW-NC113
CS1W-NC213/413
C200HW-NC213/413
CJ1M-CPU21/22/230.5 m XW2Z-050J-A33
CQM1H-PLB21
CQM1-CPU43-V1
1 mXW2Z-100J-B29
2 mXW2Z-200J-B29
2 mXW2Z-200J-B32
-XW2B-20J6-1B (1 axis)
-XW2B-40J6-2B (2 axes)
XW2B-40J6-9A (2 axes)
1 mXW2Z-100J-A18
1 mXW2Z-100J-A19
1 mXW2Z-100J-A10
1 mXW2Z-100J-A11
1 mXW2Z-100J-A14
1 mXW2Z-100J-A15
0.5 m XW2Z-050J-A6
1 mXW2Z-100J-A6
0.5 m XW2Z-050J-A7
1 mXW2Z-100J-A7
1 mXW2Z-100J-A33
0.5 m XW2Z-050J-A3
1 mXW2Z-100J-A3
2 mR7A-CPB002S
2 mXW2Z-200J-B28
AC Servo systems
Cable for CN3
Symbol NameLenghModel
O
Personal Computer Monitor Cable2 mR88A-CCG002P2
Filters
Symbol Applicable servo driveRated currentRated voltageFilter model
P
Connectors
SpecificationsModel
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 CableR88A-CNG02R
Servomotor Connector for Servomotor Power Cable R88A-CNG01A
Brake Cable ConnectorR88A-CNG01B
0.5 m XW2Z-C50X
1 mXW2Z-100X
2 mXW2Z-200X
3 mXW2Z-300X
5 mXW2Z-500X
10 m XW2Z-010X
1 mXW2Z-100J-B25
2 mXW2Z-200J-B25
2 mXW2Z-200J-B31
-XW2B-20J6-1B (1 axis)
-XW2B-40J6-2B (2 axes)
XW2B-40J6-9A (2 axes)
98AC servo systems
SymbolDescriptionConnect toModel
K
L
M
N
Position control unit connecting cableCQM1H-PLB210.5 m XW2Z-050J-A3
1 mXW2Z-100J-A3
CS1W-NC113 or C200HW-NC1130.5 m XW2Z-050J-A6
1 mXW2Z-100J-A6
CS1W-NC213/413 or C200HW-NC213/4130.5 m XW2Z-050J-A7
1 mXW2Z-100J-A7
CS1W-NC1330.5 m XW2Z-050J-A10
1 mXW2Z-100J-A10
CS1W-NC233/433 0.5 m XW2Z-050J-A11
1 mXW2Z-100J-A11
CJ1W-NC1130.5 m XW2Z-050J-A14
1 mXW2Z-100J-A14
CJ1W-NC213/4130.5 m XW2Z-050J-A15
1 mXW2Z-100J-A15
CJ1W-NC1330.5 m XW2Z-050J-A18
1 mXW2Z-100J-A18
CJ1W-NC233/4330.5 m XW2Z-050J-A19
1 mXW2Z-100J-A19
CJ1M-CPU21/22/230.5 m XW2Z-050J-A33
1 mXW2Z-100J-A33
General purpose cableFor general purpose controllers1 mR88A-CPG001S
2 mR88A-CPG002S
Terminal block cableFor general purpose controllers1 mXW2Z-100J-B24
2 mXW2Z-200J-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
AC Servo systems
Computer cable (for CN3)
SymbolNameModel
O
Computer cable RS2322 mR88A-CCG002P2
Filter
SymbolApplicable
P
servodrive
R88D-GP08HR88A-FIK107-RE 6.6 A3.5 mA 250 VAC
Filter modelRated
current
Leakage
current
Rated
voltage
singlephase
External regenerative resistor
SymbolRegenerative resistor unit modelSpecifications
Q
R88A-RR08050S50 Ω, 80 W
R88A-RR080100S100 Ω, 80 W
R88A-RR22047S47 Ω,220 W
R88A-RR50020S20 Ω, 500 W