Omron SMARTSTEP 2 SERVO DRIVE, SMARTSTEP 2 SERVO DRIVES DATASHEET

R7D@, R88D-GP08H
SmartStep 2 servo drive
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
• Electronic gear, four internal speed settings and wide range of pulse settings
• Adaptive filters for suppresion of vibration and resonance
• Configuration and commissioning using CX Drive­software
Ratings
• 230 VAC single-phase 50 W to 750 W (0.16 to
2.4 Nm)
System configuration
AC Servo systems
(Refer to G-Series ser vomotors chapter)
G-Series servo motor
Encoder cable
Power cable
Brake cable
SmartStep 2 servo drive
Position control unit
Personal computer software: CX-One
Position control unit
Connector terminal block General purpose controller (with pulse output)
89SmartStep 2 servo drive
Servo motor / servo drive combination
Servo motor SmartStep2 servo drive
Family Voltage Speed Rated torque Capacity Model
Cylindric 50 -750 W 230 V 3000 min-10.16 Nm 50 W R88M-G05030H-@S2 R7D-BP01H
0.32 Nm 100 W R88M-G10030H-@S2 R7D-BP01H
0.64 Nm 200 W R88M-G20030H-@S2 R7D-BP02HH
1.3 Nm 400 W R88M-G40030H-@S2 R7D-BP04H
2.4 Nm 750 W R88M-G75030H-@S2 R88D-GP08H
Flat 100-400 W 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
Servo drive type designation
R7D-BP01H
SmartStep 2 Servo Drive
Drive Type
P: Pulse input control
Capacity
100 W
01
200 W
02
04
400 W
SmartStep 2 Servo Drive (750 W)
Drive Type
P: Pulse input control
Capacity
08
750 W
Source voltage
H: Single-phase 230 VAC for 100/400 W HH: Single-phase 230 VAC for 200 W
R88D-GP08H
Source voltage
H: 230 V
90 AC servo systems
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
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
Control circuit input power - Single-phase 200 to
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
Applicable servo motor (R88M-)
100 W 200 W 400 W 750 W
R7D-BP01H R7D-BP02HH R7D-BP04H R88D-GP08H
100 W
G05030H
G10030H
GP10030H
2
max., 3 times each in X, Y, and Z directions,
200 W 400 W 750 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
PWR
Alarm indicator (ALM)
ALM
C N 3
C N 1
C N 2
C N B
C N A
SmartStep 2 servo drive 91
SmartStep2 Servo Drive (750 W model)
Analog monitor outputs
Main-circuit power terminals
Control-circuit power terminals
External regeneration resistor
connection terminals
UNITNo.
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)
Servomotor connection terminals
Protective ground terminals
Encoder connector (CN2)
92 AC servo systems
Dimensions
Servo drives
R7D-BP01H (230 V, 100 W) R7D-BP02HH/04H (230 V, 200-400 W)
35
15
20
5
5
5.2 dia.
PWR
ALM
C N 3
C N 1
130
120
140
C N 2
C N B
C N A
5.1
5.2
70
R88D-GP08H (230 V, 750 W)
65
AC SERVO DRIVER
UNITNo.
DATA
IM SPG
Mounting Hole
Dimensions
Two, M4
140
130±0.5 55
105
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
5.1
5.2
70
4
105
Two, M4
Mounting Hole
Dimensions
55
140
130±0.5
15 25
Two, M4
AC Servo systems
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
SmartStep 2 servo drive 93
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
SMARTSTEP2
Servo drive
(100-400 W)
CN1
CNB
CN2
U V
W
/ALM
9
Servo motor
Optical encoder
Alarm Output
10
INP
Positioning Completed Output
BKIR
11
Brake Interlock
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.
94 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 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 drive 95
Ordering information
SmartStep2 Servo Drive Configuration (100-400 W)
(Refer to G-Series ser vo motors chapter)
G-Series Servo motor
A
Encoder cable
D
Power cable
B
Brake cable
C
E
SmartStep 2 Ser vo drive (100-40 0W models)
K
Position control unit
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 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-@
H
Position control unit
Power Supply cables (for CNA)
Symbol Specifications Model Appearance
E
Power Supply Input Cable for Single-Phase Power (connectors at­tached)
R7A-CLB002S2
Control cables (for CN1)
Symbol Description Connect to Model
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
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
96 AC servo systems
Symbol Description Connect to Model
I
J
K
L
M
N
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 connecting cable CJ1W-NC133 0.5 m XW2Z-050J-A18
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
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)
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
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)
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
AC Servo systems
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
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
R7D-BP01H/ 02HH/ 04H 4 A 1 pH, 230 V R7A-FIB104-RE
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
External regeneration resistor
Specification Model
80 W, 50 Ω R88A-RR08050S 80 W, 100 Ω R88A-RR080100S 220 W, 47 Ω R88A-RR22047S
SmartStep 2 servo drive 97
SmartStep2 Servo Drive Configuration (750W)
(Refer to G-Series ser vo motors chapter)
SmartStep 2 Servo drive
B
(750W model)
Personal computer software: CX-One
O
G-Series
A
Servo motor
Q
Power cable
D
Encoder cable
C
P
Filter
External regenerative resistor
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 motor
Note: ACDE refer to G-Series motor chapter for detailed motor specifications and selection.
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-@
Terminal block for external signals
H
Position control unit
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 (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
(M3.5 screw, fork/round terminals) - XW2B-20G5 (M3 screw, fork/round terminals) - XW2D-20G6
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
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)
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
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)
98 AC servo systems
Symbol Description Connect to Model
K
L
M
N
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
General purpose cable For general purpose controllers 1 m R88A-CPG001S
2 m R88A-CPG002S
Terminal block cable For general purpose controllers 1 m XW2Z-100J-B24
2 m XW2Z-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)
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
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
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
SmartStep 2 servo drive 99
ALL DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527.
Cat. No. I106E-EN-02A
In the interest of product improvement, specifications are subject to change without notice.
100 AC servo systems
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