Omron SMARTSTEP R7D-AP, SMARTSTEP R7M-A User Manual

Servomotors/Servo Drivers

Cat. No. I533-E1-04

SMARTSTEP A SERIES
R7M-A@ (Servomotors)
R7D-AP@ (Servo Drivers)

USER’S MANUAL

Thank you for choosing this SMARTSTEP A-series product. Proper use and handling
of the product will ensure proper product performance, will lengthen product life, and
may prevent possible accidents.
Please read this manual thoroughly and handle and operate the product with care.
Please keep this manual handy for reference after reading it.

1.To ensure safe and proper use of the OMRON Inverters, please read this USER'S MANUAL (Cat. No.
I533-E1) to gain sufficient knowledge of the devices, safety information, and precautions before actual
use.

2.The products are illustrated without covers and shieldings for closer look in this USER'S MANUAL. For
actual use of the products, make sure to use the covers and shieldings as specified.

3.This USER'S MANUAL and other related user's manuals are to be delivered to the actual end users of the
products.

4.Please keep this manual close at hand for future reference.

5.If the product has been left unused for a long time, please inquire at our sales representative.

Items to Check Before Unpacking

1.Check the following items before removing the product from the package:

• Has the correct product been delivered (i.e., the correct model number and specifications)?

• Has the product been damaged in shipping?

2.Check that the following accessories have been delivered.

• Safety Precautions

No connectors or mounting screws are provided. Obtain these separately.

NOTICE

1.This manual describes information about installation, wiring, switch setting, and troubleshooting of the
SMARTSTEP A-series Servomotors and Servo Drivers. For information about actual operating proce­dures using a Parameter Unit, refer to the SMARTSTEP A Series Operation Manual (I534).

2.Be sure that this manual accompanies the product to its final user.

3.Although care has been given in documenting the product, please contact your OMRON representative
if you have any suggestions on improving this manual.

4.Assume that anything not specifically described in this manual is not possible.

5.Do not allow the Servomotor or Servo Driver to be wired, set, or operated (from a Parameter Unit) by
anyone that is not a profession electrical engineer or the equivalent.

6.We recommend that you add the following precautions to any instruction manuals you prepare for the
system into which the product is being installed.

• Precautions on the dangers of high-voltage equipment.

• Precautions on touching the terminals of the product even after power has been turned OFF. (These
terminals are live even with the power turned OFF.)

7.Specifications and functions may be changed without notice in order to improve product performance.

8.Positive and negative rotation of AC Servomotors described in this manual are defined as looking at the
end of the output shaft of the motor as follows: Counterclockwise rotation is positive and clockwise rota­tion is negative.

9.Do not perform withstand-voltage or other megameter tests on the product. Doing so may damage inter­nal components.

10.Servomotors and Servo Drivers have a finite service life. Be sure to keep replacement products on hand
and to consider the operating environment and other conditions affecting the service life.

11.Do not set values for any parameters not described in this manual. Operating errors may result. Consult
your OMRON representative if you have questions.

12.Before using the product under conditions which are not described in the manual or applying the product
to nuclear control systems, railroad systems, aviation systems, vehicles, combustion systems, medical
equipment, amusement machines, safety equipment, and other systems, machines, and equipment that
may have a serious influence on lives and property if used improperly, consult your OMRON represen­tative.

USER’S MANUAL

SMARTSTEP A SERIES

MODELS R7M-A@ (Servomotors)

R7D-AP@ (Servo Drivers)

Servomotors/Servo Drivers

Notice:

OMRON products are manufactured for use according to proper procedures by a qualified operator
and only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always heed
the information provided with them. Failure to heed precautions can result in injury to people or dam­age to property.

!DANGER Indicates an imminently hazardous situation which, if not avoided, will result in

death or serious injury. Additionally, there may be severe property damage.

!WARNING Indicates a potentially hazardous situation which, if not avoided, could result in

death or serious injury. Additionally, there may be severe property damage.

!Caution Indicates a potentially hazardous situation which, if not avoided, may result in

minor or moderate injury, or property damage.

OMRON Product References

All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to
an OMRON product, regardless of whether or not it appears in the proper name of the product.

The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means
“word” and is abbreviated “Wd” in documentation in this sense.

The abbreviation “PC” means Programmable Controller and is not used as an abbreviation for anything
else.

Visual Aids

The following headings appear in the left column of the manual to help you locate different types of
information.

Note Indicates information of particular interest for efficient and convenient operation of the product.

 OMRON, 2001

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, o

r

by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission o

f

OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is con­stantly striving to improve its high-quality products, the information contained in this manual is subject to change without
notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility
for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in
this publication.

General Warnings

Observe the following warnings when using the SMARTSTEP Servomotor and Servo Driver and all
connected or peripheral devices.

This manual may include illustrations of the product with protective covers removed in order to
describe the components of the product in detail. Make sure that these protective covers are on the
product before use.

Consult your OMRON representative when using the product after a long period of storage.

!WARNING Always connect the frame ground terminals of the Servo Driver and the Servomo-

tor to a class-3 ground (to 100

Ω or less). Not connecting to a class-3 ground may

result in electric shock.

!WARNING Do not touch the inside of the Servo Driver. Doing so may result in electric shock.

!WARNING Do not remove the front cover, terminal covers, cables, or optional items while the

power is being supplied. Doing so may result in electric shock.

!WARNING Installation, operation, maintenance, or inspection must be performed by autho-

rized personnel. Not doing so may result in electric shock or injury.

!WARNING Wiring or inspection must not be performed for at least five minutes after turning

OFF the power supply. Doing so may result in electric shock.

!WARNING Do not damage, press, or put excessive stress or heavy objects on the cables.

Doing so may result in electric shock.

!WARNING Do not touch the rotating parts of the Servomotor in operation. Doing so may

result in injury.

!WARNING Do not modify the product. Doing so may result in injury or damage to the product.

!WARNING Provide a stopping mechanism on the machine to ensure safety. The holding

brake is not designed as a stopping mechanism for safety purposes.

!WARNING Provide an external emergency stopping mechanism that can stop operation and

shutting off the power supply immediately. Not doing so may result in injury.

!WARNING Do not come close to the machine immediately after resetting momentary power

interruption to avoid an unexpected restart. (Take appropriate measures to secure
safety against an unexpected restart.) Doing so may result in injury.

!Caution Use the Servomotors and Servo Drivers in a specified combination. Using them

incorrectly may result in fire or damage to the products.

!Caution Do not store or install the product in the following places. Doing so may result in

fire, electric shock, or damage to the product.

• Locations subject to direct sunlight.

• Locations subject to temperatures or humidity outside the range specified in the
specifications.

• Locations subject to condensation as the result of severe changes in tempera­ture.

• Locations subject to corrosive or flammable gases.

• Locations subject to dust (especially iron dust) or salts.

• Locations subject to shock or vibration.

• Locations subject to exposure to water, oil, or chemicals.

!Caution Do not touch the Servo Driver radiator, Servo Driver regeneration resistor, or Ser-

vomotor while the power is being supplied or soon after the power is turned OFF.
Doing so may result in a skin burn due to the hot surface.

Storage and Transportation Precautions

!Caution Do not hold the product by the cables or motor shaft while transporting it. Doing so

may result in injury or malfunction.

!Caution Do not place any load exceeding the figure indicated on the product. Doing so

may result in injury or malfunction.

Installation and Wiring Precautions

!Caution Do not step on or place a heavy object on the product. Doing so may result in

injury.

!Caution Do not cover the inlet or outlet ports and prevent any foreign objects from entering

the product. Doing so may result in fire.

!Caution Be sure to install the product in the correct direction. Not doing so may result in

malfunction.

!Caution Provide the specified clearances between the Servo Driver and the control panel

or with other devices. Not doing so may result in fire or malfunction.

!Caution Do not apply any strong impact. Doing so may result in malfunction.

!Caution Be sure to wire correctly and securely. Not doing so may result in motor runaway,

injury, or malfunction.

!Caution Be sure that all the mounting screws, terminal screws, and cable connector

screws are tightened to the torque specified in the relevant manuals. Incorrect
tightening torque may result in malfunction.

!Caution Use crimp terminals for wiring. Do not connect bare stranded wires directly to ter-

minals. Connection of bare stranded wires may result in burning.

!Caution Always use the power supply voltage specified in the User’s Manual. An incorrect

voltage may result in malfunction or burning.

!Caution Take appropriate measures to ensure that the specified power with the rated volt-

age and frequency is supplied. Be particularly careful in places where the power
supply is unstable. An incorrect power supply may result in malfunction.

!Caution Install external breakers and take other safety measures against short-circuiting in

external wiring. Insufficient safety measures against short-circuiting may result in
burning.

!Caution Take appropriate and sufficient countermeasures when installing systems in the

following locations. Failure to do so may result in damage to the product.

• Locations subject to static electricity or other forms of noise.

• Locations subject to strong electromagnetic fields and magnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies.

Operation and Adjustment Precautions

!Caution Confirm that no adverse effects will occur in the system before performing the test

operation. Not doing so may result in equipment damage.

!Caution Check the newly set parameters and switches for proper execution before actually

running them. Not doing so may result in equipment damage.

!Caution Do not make any extreme adjustments or setting changes. Doing so may result in

unstable operation and injury.

!Caution Separate the Servomotor from the machine, check for proper operation, and then

connect to the machine. Not doing so may cause injury.

!Caution When an alarm occurs, remove the cause, reset the alarm after confirming safety,

and then resume operation. Not doing so may result in injury.

!Caution Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may

result in malfunction.

Maintenance and Inspection Precautions

!WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so

may result in malfunction, fire, or electric shock.

!Caution Resume operation only after transferring to the new Unit the contents of the data

required for operation. Not doing so may result in an unexpected operation.

Warning Labels

Warning labels are pasted on the product as shown in the following illustration. Be sure to follow the
instructions given there.

Warning label

Example from R7D-AP01L

Example from R7D-AP01L

Read and Understand this Manual

Please read and understand this manual before using the product. Please consult your OMRON
representative if you have any questions or comments.

Warranty and Limitations of Liability

WARRANTY

OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a
period of one year (or other period if specified) from date of sale by OMRON.

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON­INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE
PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS
DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR
INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.

LIMITATIONS OF LIABILITY

OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES,
LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS,
WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT
LIABILITY.

In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which
liability is asserted.

IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS
REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS
WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO
CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.

Application Considerations

SUITABILITY FOR USE

OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the
combination of products in the customer's application or use of the products.

At the customer's request, OMRON will provide applicable third party certification documents identifying
ratings and limitations of use that apply to the products. This information by itself is not sufficient for a
complete determination of the suitability of the products in combination with the end product, machine,
system, or other application or use.

The following are some examples of applications for which particular attention must be given. This is not
intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses
listed may be suitable for the products:

• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or
uses not described in this manual.

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical
equipment, amusement machines, vehicles, safety equipment, and installations subject to separate
industry or government regulations.

• Systems, machines, and equipment that could present a risk to life or property.

Please know and observe all prohibitions of use applicable to the products.

NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

PROGRAMMABLE PRODUCTS

OMRON shall not be responsible for the user's programming of a programmable product, or any
consequence thereof.

Disclaimers

CHANGE IN SPECIFICATIONS

Product specifications and accessories may be changed at any time based on improvements and other
reasons.

It is our practice to change model numbers when published ratings or features are changed, or when
significant construction changes are made. However, some specifications of the products may be changed
without any notice. When in doubt, special model numbers may be assigned to fix or establish key
specifications for your application on your request. Please consult with your OMRON representative at any
time to confirm actual specifications of purchased products.

DIMENSIONS AND WEIGHTS

Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when
tolerances are shown.

PERFORMANCE DATA

Performance data given in this manual is provided as a guide for the user in determining suitability and does
not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must
correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and
Limitations of Liability.

ERRORS AND OMISSIONS

The information in this manual has been carefully checked and is believed to be accurate; however, no
responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

Table of Contents

Chapter 1. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1-1 Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-2 System Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1-3 Servo Driver Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5

1-4 Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1-5 System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-7

Chapter 2. Standard Models and Specifications. . . . . . . . . . . . . . . . 2-1

2-1 Standard Models. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2-2 External and Mounted Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

2-3 Servo Driver Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17

2-4 Servomotor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31

2-5 Reduction Gear Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-39

2-6 Cable and Connector Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-43

2-7 Servo Relay Units and Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-58

2-8 Parameter Unit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-111

2-9 External Regeneration Resistor Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-113

2-10 DC Reactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-114

Chapter 3. System Design and Installation . . . . . . . . . . . . . . . . . . . . 3-1

3-1 Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3-2 Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

3-3 Regenerative Energy Absorption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37

Chapter 4. Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4-1 Operational Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4-2 Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4-3 Preparing for Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7

4-4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

4-5 Gain Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11

4-6 User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15

4-7 Operating Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26

Chapter 5. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5-1 Measures when Trouble Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5-2 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5

5-3 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7

5-4 Overload Characteristics (Electron Thermal Characteristics) . . . . . . . . . . . . . . . . . . . . . . . . 5-15

5-5 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16

Chapter 6. Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

6-1 Connection Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . R-1

Chapter 1

Introduction

1-1 Features

1-2 System Configuration

1-3 Servo Driver Nomenclature

1-4 Applicable Standards

1-5 System Block Diagrams

Chapter 1

1-2

Introduction

1-1 Features

The SMARTSTEP A-series Servomotors and Servo Drivers have been developed as pulse string
input-type Position Controllers to replace stepping motors in simple positioning systems. The
SMARTSTEP A-series Servomotors and Servo Drivers combine the stepping motor’s ease of use
with faster positioning resulting from high speed and high torque, higher reliability with no loss of
positioning accuracy even during sudden load changes, and other advanced features.

■ Faster Response and Rotation Speed

SMARTSTEP A-series Servomotors and Servo Drivers incorporate the same high-speed and high­torque features, unachievable with stepping motors, as the OMNUC W Series. The SMARTSTEP A­series Servomotors provide faster rotation speeds of up to 4,500 r/min, with constant operation pos­sible at this speed. Faster output torque of up to 1 s can output up to approximately 300% of the
rated torque, providing even faster middle- and long-stroke positioning.

■ Constant Accuracy

The A-series product line’s higher encoder resolution of 2,000 pulses/rotation provides feedback
control enabling continuous operation without loss of positioning accuracy, even with sudden load
changes or sudden acceleration or deceleration.

■ Minimal Setting with Servo Driver Front Panel Switches

The SMARTSTEP A Series can be operated immediately without time-consuming parameter setting.
The A-series Servo Drivers’ front panel switches enable easier alteration of function or positioning
resolution settings.

● Resolution Settings

SMARTSTEP A-series Servomotor resolution can be selected from the following four levels:
500 pulses/rotation (0.72

°/step); 1,000 pulses/rotation (0.36°/step) (default setting); 5,000 pulses/

rotation (0.072

°/step); or 10,000 pulses/rotation (0.036°/step)

● Command Pulse Input Setting

SMARTSTEP A-series command pulse input setting can be switched between CW/CCW (2-pulse)
and SIGN/PULS (single-pulse) methods to easily adapt to Position Controller output specifica­tions.

● Dynamic Brake Setting

SMARTSTEP A-series Servomotors can be forcibly decelerated to a stop at RUN OFF or when
an alarm occurs.

● Gain Setting

A special rotary switch on SMARSTEP A-series Servo Drivers enables easy gain setting. Online
autotuning can also be activated with the flick of a switch, and responsiveness can be easily
matched to the machinery to be used.

Chapter 1

1-3

Introduction

Note Using a Parameter Unit or personal computer enables operation with parameter settings.

■ Cylinder-style and Flat-style Servomotors

The SMARTSTEP A Series offers Flanged Cylinder-style Servomotors, with a smaller mounting
area, and Flat-style Servomotors, with a shorter overall length. The Flat Servomotor depth dimen­sions are approximately the same as those of stepping motors of the same output capacity. Servo­motors can be selected by size, thereby making equipment more compact.

■ A Wider Selection of Programming Devices

Special SMARTSTEP A-series Parameter Units and personal computer monitoring software are
available. The special monitoring software enables performing parameter setting, speed and current
monitoring, speed and current waveform displays, I/O monitoring, autotuning, jogging, and other
operations from a computer. It is also possible to perform multiple-axis communications that set the
parameters and monitor operations for multiple Servo Drivers. For details, refer to the Servo Driver

Personal Computer Monitor Software (CD-ROM) for Windows 95/98, Version 2.0 (WMON Win
Ver.2.0) (Catalog No.: SBCE-011).

Chapter 1

1-4

Introduction

1-2 System Configuration

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D

E

ALARM

LS

S

O

F

T

L

IM

IT

O

R

G

S

R

H

N

G

E

N

C

O

D

E

R

A

L

M

S

T

O

P

D

R

IV

E

R

A

L

M

O

T

H

E

R

M0

M1

M2

(

R

E

D

:

)

C

C

W

C

W

O

P

E

N

L

IN

E

O

P

E

N

L

IN

E

I/O

P

A

20

3

P

O

W

E

R

/

SCROLL

SCROLL

MODE/SET

MODE/SET

DATA

DATA

RESET

JOG

JOG

RUN

RUN

DRIVER PR

DRIVER PR

PR DRIVER

PR DRIVER

READ

READ

WRITE

WRITE

R7A–PR02A PARAMETER UNIT

B.B

B.B

INP

INP

VCMP

VCMP

TGON

TGON

REF

REF

POWER

POWER

SYSMAC CJ/CS/C/CV
Programmable Controller

Position Control Units
CJ1W-NC113/213/413
CJ1W-NC133/233/433
CS1W-NC113/213/413
CS1W-NC133/233/433
C200HW-NC113/213/413
C500-NC113/211

R7A-PR02A Parameter Unit
(Hand-held)

Pulse String

SMARTSTEP A-series
R7D-AP@ Servo Driver

SMARTSTEP A-series
R7M-A@ Servomotor

3F88M-DRT141 Single-shaft
Positioner for DeviceNet

SYSMAC CQM1H

SYSMAC CPM2C

SYSMAC CPM2A

SYSMAC + Position Control Unit with pulse string output

SYSMAC Programmable Controllers with pulse outputs

Single-shaft Positioner with pulse string output

Chapter 1

1-5

Introduction

1-3 Servo Driver Nomenclature

Rotary switch for unit No. selection

Rotary switch for gain adjustment

Function selection switches:

Alarm display

Control-circuit power supply indicator

Communications connector (CN3)

Monitor output connector (CN4)

Control I/O connector (CN1)

Encoder input connector (CN2)

Main-circuit power supply
indicator

Main-circuit power
supply input terminals

DC reactor connection terminals

Control-circuit power supply
input terminals

Servomotor power terminals

FG terminals for power supply and
servomotor power

External regeneration
resistance terminals

• Switch/parameter setting enable switch

• Resolution setting

• Command pulse input setting

• Dynamic braking setting

• Online autotuning switch

Chapter 1

1-6

Introduction

1-4 Applicable Standards

■ EC Directives

Note Installation under the conditions stipulated in 3-2-5 EMC-compatible Wiring must be met to

ensure conformance to EMC Directives.

■ UL and cUL Standards

EC Directives Product Applicable standards Remarks

Low Voltage
Directive

AC Servo Drivers EN50178 Safety requirements for electrical

devices for measurement, control,
and research facilities

AC Servomotors IEC60034-1, -5, -8, -9

EN60034-1, -9

Rotating electrical equipment

EMC Directives AC Servo Drivers and

AC Servomotors

EN55011 class A group 1 Wireless interference and measure-

ment methods for radio-frequency
devices for industry, science, and
medical application

EN61000-6-2 Electromagnetic compatibility and

immunity standards for industrial
environments

Standards Product Applicable standards File No. Remarks

UL AC Servo Drivers UL508C E179149 Power conversion devices

AC Servomotors UL1004 E179189 Electric motors

cUL AC Servo Drivers cUL C22.2 No. 14 E179149 Industrial control devices

AC Servomotors cUL C22.2 No. 100 E179189 Motors and generators

Chapter 1

1-7

Introduction

1-5 System Block Diagrams

■ 100 V AC: R7D-APA3L/-APA5L/-AP01L/-AP02L/-AP04L

AC Servo Driver

Command
pulse input

Control I/O

Serial port

Speed
control

Current

command

processing

Position

control

Encoder signal

processing

Digital

current amp

PWM

generation

Current

detection

Interface

Gate drive

overcurrent protection

Gate drive

Voltage

detection

Relay
drive

Fuse

DC/DC

conversion

Analog
voltage

conversion

CN4
Analog monitor output

CN3
Parameter Unit/computer

Voltage

detection

1

2

L1

L2

L2C

L1C

R

T

P1

N1

+

∼

∼

+

−

±5 V
+16.5 V
+5 V
±15 V

+

−

M

E

CHARGE

B1 B2

P2

N2

U
V

W

U
V

W

CN2

CN1

I/O

CPU

ASIC

+5 V

POWER

0 V

(See note.)

RS-422

AC Servomotor

Alarm code display

−

Command

pulse

processing

Note Only on R7D-AP04H/AP04L.

Chapter 1

1-8

Introduction

■ 200 V AC: R7D-APA3H/-APA5H/-AP01H/-AP02H/-AP04H

■ 200 V AC: R7D-AP08H

AC Servo Driver

Command
pulse input

Control I/O

Serial port

Speed
control

Current
command
processing

Position

control

Encoder signal

processing

Digital

current amp

PWM

generation

Current

detection

Interface

Gate drive

overcurrent protection

Gate drive

Voltage

detection

Relay

drive

Fuse

DC/DC

conversion

Analog
voltage

conversion

CN4
Analog monitor output

CN3
Parameter Unit/computer

Voltage

detection

1

2

L1

L2

L2C

L1C

R

T

P1

N1

+

∼

∼

+

−

±5 V
+16.5 V
+5 V
±15 V

+

−

M

E

CHARGE

B1 B2

P2

N2

U
V

W

U
V

W

CN2

CN1

I/O

CPU

ASIC

+5 V

POWER

0 V

(See note.)

RS-422

AC Servomotor

Alarm code display

−

Command

pulse

processing

Note Only on R7D-AP04H/AP04L.

AC Servo Driver

Ther­mistor

AC Servomotor

Command
pulse input

Control I/O

Serial port

Speed
control

Current
command
processing

Position

control

Command

pulse

processing

Encoder

signal

processing

Digital

current amp

PWM

generation

Interface

Gate drive over-

current protection

Gate

drive

Voltage

detection

Relay

drive

Fuse

DC/DC

conversion

Analog
voltage

conversion

Alarm code display

CN4
Analog monitor output

CN3
Parameter Unit/computer

Voltage

detection

1

2

L1

L2

L3

L2C

L1C

R

S

T

P

N

+∼

∼

+

−

±5 V

+16.5 V
+5 V
±15 V

+

−

M

E

CHARGE

B1 B2 B3

P

N

U
V

W

U
V

W

CN2

CN1

RS-422

I/O

CPU

ASIC

+5 V

POWER

0 V

±12 V

FAN

Current

detection

−

Chapter 2

Standard Models and
Specifications

2-1 Standard Models

2-2 External and Mounted Dimensions

2-3 Servo Driver Specifications

2-4 Servomotor Specifications

2-5 Reduction Gear Specifications

2-6 Cable and Connector Specifications

2-7 Servo Relay Units and Cable Specifications

2-8 Parameter Unit Specifications

2-9 External Regeneration Resistor Specifications

2-10 DC Reactors

Chapter 2

2-2

Standard Models and Specifications

2-1 Standard Models

■ Servomotors

● 3,000-r/min Cylinder-style Servomotors

● 3,000-r/min Flat-style Servomotors

■ Servo Drivers

Specifications Model

Without
brake

Straight shaft
without key

30 W R7M-A03030

50 W R7M-A05030

100 W R7M-A10030

200 W R7M-A20030

400 W R7M-A40030

750 W R7M-A75030

Straight shaft
with key

30 W R7M-A03030-S1

50 W R7M-A05030-S1

100 W R7M-A10030-S1

200 W R7M-A20030-S1

400 W R7M-A40030-S1

750 W R7M-A75030-S1

With
brake

Straight shaft
without key

30 W R7M-A03030-B

50 W R7M-A05030-B

100 W R7M-A10030-B

200 W R7M-A20030-B

400 W R7M-A40030-B

750 W R7M-A75030-B

Straight shaft
with key

30 W R7M-A03030-BS1

50 W R7M-A05030-BS1

100 W R7M-A10030-BS1

200 W R7M-A20030-BS1

400 W R7M-A40030-BS1

750 W R7M-A75030-BS1

Specifications Model

Without
brake

Straight shaft
without key

100 W R7M-AP10030

200 W R7M-AP20030

400 W R7M-AP40030

750 W R7M-AP75030

Straight shaft
with key

100 W R7M-AP10030-S1

200 W R7M-AP20030-S1

400 W R7M-AP40030-S1

750 W R7M-AP75030-S1

With
brake

Straight shaft
without key

100 W R7M-AP10030-B

200 W R7M-AP20030-B

400 W R7M-AP40030-B

750 W R7M-AP75030-B

Straight shaft
with key

100 W R7M-AP10030-BS1

200 W R7M-AP20030-BS1

400 W R7M-AP40030-BS1

750 W R7M-AP75030-BS1

Specifications Model

Single-phase
100 V AC

30 W R7D-APA3L

50 W R7D-APA5L

100 W R7D-AP01L

200 W R7D-AP02L

400 W R7D-AP04L

Single-phase
200 V AC

30 W R7D-APA3H

50 W R7D-APA5H

100 W R7D-AP01H

200 W R7D-AP02H

400 W R7D-AP04H

750 W R7D-AP08H

Chapter 2

2-3

Standard Models and Specifications

■ Reduction Gears (Straight Shaft with Key)

● For Cylinder-style Servomotors

(Backlash = 3′ Max.)

Note There are no reduction gears for 30-W Servo-

motors.

● For Flat-style Servomotors

(Backlash = 3′ Max.)

● For Cylinder-style Servomotors

(Backlash = 45′ Max.)

Note There are no reduction gears for 30-W Servo-

motors.

● For Flat-style Servomotors

(Backlash = 45′ Max.)

Specifications Model

Servomotor

capacity

Reduction gears

(deceleration ratio)

50 W 1/5 R7G-VRSFPB05B50

1/9 R7G-VRSFPB09B50
1/15 R7G-VRSFPB15B50
1/25 R7G-VRSFPB25B50

100 W 1/5 R7G-VRSFPB05B100

1/9 R7G-VRSFPB09B100
1/15 R7G-VRSFPB15B100
1/25 R7G-VRSFPB25B100

200 W 1/5 R7G-VRSFPB05B200

1/9 R7G-VRSFPB09C400
1/15 R7G-VRSFPB15C400
1/25 R7G-VRSFPB25C200

400 W 1/5 R7G-VRSFPB05C400

1/9 R7G-VRSFPB09C400
1/15 R7G-VRSFPB15C400
1/25 R7G-VRSFPB25D400

750 W 1/5 R7G-VRSFPB05C750

1/9 R7G-VRSFPB09D750
1/15 R7G-VRSFPB15D750
1/25 R7G-VRSFPB25E750

Specifications Model

Servomotor

capacity

Reduction gears

(deceleration ratio)

100 W 1/5 R7G-VRSFPB05B100P

1/9 R7G-VRSFPB09B100P
1/15 R7G-VRSFPB15B100P
1/25 R7G-VRSFPB25C100P

200 W 1/5 R7G-VRSFPB05B200P

1/9 R7G-VRSFPB09C400P
1/15 R7G-VRSFPB15C400P
1/25 R7G-VRSFPB25C200P

400 W 1/5 R7G-VRSFPB05C400P

1/9 R7G-VRSFPB09C400P
1/15 R7G-VRSFPB15C400P
1/25 R7G-VRSFPB25D400P

750 W 1/5 R7G-VRSFPB05C750P

1/9 R7G-VRSFPB09D750P
1/15 R7G-VRSFPB15D750P
1/25 R7G-VRSFPB25E750P

Specifications Model

Servomotor

capacity

Reduction gears

(deceleration ratio)

50 W 1/5 R7G-RGSF05B50

1/9 R7G-RGSF09B50
1/15 R7G-RGSF15B50
1/25 R7G-RGSF25B50

100 W 1/5 R7G-RGSF05B100

1/9 R7G-RGSF09B100
1/15 R7G-RGSF15B100
1/25 R7G-RGSF25B100

200 W 1/5 R7G-RGSF05B200

1/9 R7G-RGSF09C400
1/15 R7G-RGSF15C400
1/25 R7G-RGSF25C400

400 W 1/5 R7G-RGSF05C400

1/9 R7G-RGSF09C400
1/15 R7G-RGSF15C400
1/25 R7G-RGSF25C400

750 W 1/5 R7G-RGSF05C750

1/9 R7G-RGSF09C750
1/15 R7G-RGSF15C750
1/25 R7G-RGSF25C750

Specifications Model

Servomotor

capacity

Reduction gears

(deceleration ratio)

100 W 1/5 R7G-RGSF05B100P

1/9 R7G-RGSF09B100P
1/15 R7G-RGSF15B100P
1/25 R7G-RGSF25B100P

200 W 1/5 R7G-RGSF05B200P

1/9 R7G-RGSF09C400P
1/15 R7G-RGSF15C400P
1/25 R7G-RGSF25C400P

400 W 1/5 R7G-RGSF05C400P

1/9 R7G-RGSF09C400P
1/15 R7G-RGSF15C400P
1/25 R7G-RGSF25C400P

750 W 1/5 R7G-RGSF05C750P

1/9 R7G-RGSF09C750P
1/15 R7G-RGSF15C750P
1/25 R7G-RGSF25C750P

Chapter 2

2-4

Standard Models and Specifications

■ Servo Relay Units for CN1

■ Control Cables for CN1

■ Integrated Servomotor Cables

■ Separate Servomotor Cables

● Power Cables

● Encoder Cables

Note Use a robot cable if cable flexibility is required.

Specifications Model

Servo
Relay Unit

For CS1W-NC113/133
CJ1W-NC113/133
C200HW-NC113
C200H-NC112
3F88M-DRT141

(No communications supported.)

XW2B-20J6-1B

For CS1W-NC213/233/413/433
CJ1W-NC213/233/413/433
C200HW-NC213/413
C500-NC113/211
C200H-NC211

(No communications supported.)

XW2B-40J6-2B

For CS1W-HCP22
CQM1H-PLB21
CQM1-CPU43-V1

(No communications supported.)

XW2B-20J6-3B

For CS1W-NC213/233/413/433
CJ1W-NC213/233/413/433

(Communications supported.)

XW2B-40J6-4A

For CJ1M-CPU21/CPU22/
CPU23

XW2B-20J6-8A
XW2B-40J6-9A

For CS1W-HCP22-V1 and
FQM1-MMP21

XW2B-80J7-1A

Servo
Driver
Cable

No communications
supported.

1 m XW2Z-100J-B5
2 m XW2Z-200J-B5

Communications sup­ported.

1 m XW2Z-100J-B7
2 m XW2Z-200J-B7

For FQM1-MMP21 1 m XW2Z-100J-B10

2 m XW2Z-200J-B10

For CS1W-HCP22-V1 1 m XW2Z-100J-B12

2 m XW2Z-200J-B12

Position
Control
Unit Cable

For CQM1H-PLB21,
CQM1-CPU43-V1

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

For C200H-NC112 0.5 m XW2Z-050J-A4

1 m XW2Z-100J-A4

For C200H-NC211,
C500-NC113/211

0.5 m XW2Z-050J-A5
1 m XW2Z-100J-A5

For CS1W-NC113,
C200HW-NC113

0.5 m XW2Z-050J-A8
1 m XW2Z-100J-A8

For CS1W-NC213/413,
C200HW-NC213/413

0.5 m XW2Z-050J-A9
1 m XW2Z-100J-A9

For CS1W-NC133 0.5 m XW2Z-050J-A12

1 m XW2Z-100J-A12

For CS1W-NC233/433 0.5 m XW2Z-050J-A13

1 m XW2Z-100J-A13

For CJ1W-NC113 0.5 m XW2Z-050J-A16

1 m XW2Z-100J-A16

For CJ1W-NC213/413 0.5 m XW2Z-050J-A17

1 m XW2Z-100J-A17

For CJ1W-NC133 0.5 m XW2Z-050J-A20

1 m XW2Z-100J-A20

For CJ1W-NC233/433 0.5 m XW2Z-050J-A21

1 m XW2Z-100J-A21

For CS1W-HCP22
(1 axis)

0.5 m XW2Z-050J-A22
1 m XW2Z-100J-A22

For CS1W-HCP22
(2 axes)

0.5 m XW2Z-050J-A23
1 m XW2Z-100J-A23

For 3F88M-DRT141 0.5 m XW2Z-050J-A25

1 m XW2Z-100J-A25

Position
Control
Unit Cable

For CJ1M-CPU21/
CPU22/CPU23

1 m XW2Z-100J-A26

For FQM1-MMP21 for
general-purpose I/O

0.5 m XW2Z-050J-A28
1 m XW2Z-100J-A28

For CS1W-HCP22-V1
for general-purpose I/O

0.5 m XW2Z-050J-A29
1 m XW2Z-100J-A29

For FQM1-MMP21 for
special I/O

0.5 m XW2Z-050J-A30
1 m XW2Z-100J-A30

For CS1W-HCP22-V1
for special I/O

0.5 m XW2Z-050J-A32
1 m XW2Z-100J-A32

Specifications Model

General-purpose Control Cable
(with Connector on one end)

1 m R88A-CPU001S
2 m R88A-CPU002S

Connector Terminal Block Cable 1 m R88A-CTU001N

2 m R88A-CTU002N

Connector Terminal Blocks XW2B-40F5-P

Specifications Model

For Servomotors without
brakes (both Cylinder- and
Flat-style)

3 m R7A-CEA003S
5 m R7A-CEA005S
10 m R7A-CEA010S
15 m R7A-CEA015S
20 m R7A-CEA020S

For Servomotors with
brakes (both Cylinder- and
Flat-style)

3 m R7A-CEA003B
5 m R7A-CEA005B
10 m R7A-CEA010B
15 m R7A-CEA015B
20 m R7A-CEA020B

Specifications Standard cable

model

Robot cable

model

For Servo­motors with­out brakes
(both Cylin­der- and
Flat-style)

3 m R88A-CAWA003S R88A-CAWA003SR
5 m R88A-CAWA005S R88A-CAWA005SR
10 m R88A-CAWA010S R88A-CAWA010SR
15 m R88A-CAWA015S R88A-CAWA015SR
20 m R88A-CAWA020S R88A-CAWA020SR

For Servo­motors with
brakes (both
Cylinder­and Flat­style)

3 m R88A-CAWA003B R88A-CAWA003BR
5 m R88A-CAWA005B R88A-CAWA005BR
10 m R88A-CAWA010B R88A-CAWA010BR
15 m R88A-CAWA015B R88A-CAWA015BR
20 m R88A-CAWA020B R88A-CAWA020BR

Specifications Standard cable

model

Robot cable

model

For Servo­motors (Cyl­inder-style or
Flat-style)

3 m R7A-CRA003C R7A-CRA003CR

5 m R7A-CRA005C R7A-CRA005CR

10 m R7A-CRA010C R7A-CRA010CR

15 m R7A-CRA015C R7A-CRA015CR

20 m R7A-CRA020C R7A-CRA020CR

Specifications Model