Omron SMARTSTEP SERVO DRIVE DATASHEET

R7D-AP@

SmartStep servo drive

A new concept in servo systems
the smart alternative to stepper motors

• Easy to setup, easy to operate. SmartStep is as
easy to use as a stepper motor

• Front-panel switches make settings easy and
eliminate the need for time-consuming parameter
settings

• Auto-tuning on-line mode, dynamic brake setting,
alarm display, high torque performance

• Easy to wire with prebuilt cables

• Oscilloscope available via CX-Drive software
(CX-One)

• Windows based configuration and commissioning
software

Ratings

• 230 VAC single-phase 30 W to 750 W (2.39 Nm)

System configuration

(Refer to chapter SmartStep servo motors)

SmartStep
Servo Motor

SmartStep
Servo Drive

Personal computer

Position control
unit

Connector terminal block
General purpose controller
(with pulse output)

153SmartStep servo drive

Servo motor supported

Family Voltage Models rated torque Remarks

R7M-A (3000 min

R7M-AP(3000 min

-1

) 230 V 0.095 Nm to 2.39 Nm Refer to the SmartStep servo motors chapter for details

-1

) 230 V 0.318 Nm to 2.39 Nm Refer to the SmartStep servo motors chapter for details

Servo motor

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 85 °C
Ambient storage humidity 90% max. (with no condensation)
Storage/operating atmosphere No corrosive gases.
Vibration resistance 10 to 55 Hz in X, Y, and Z directions with 0.1 mm double amplitude or acceleration of 4.9 m/s

Impact resistance Acceleration 19.6 m/s
Insulation resistance Between power line terminals and case:0.5 MΩ min. (at 500 VDC)
Dielectric strength Between power line terminals and case:1,500 VAC for 1 min at 50/60 Hz

Protective structure Built into panel (IP10).
International standards Approval obtained for UL, cUL, and EN (EMC directiveand low-voltage directive)

whichever is smaller

Between each control signal and case: 500 VAC for 1 min

2

max., in X, Y, and Z directions, three times

2

max.,

Performance specifications

Item 200 VAC input type

Continuous output current (rms) 0.42 0.6 0.89 2.0 2.6 4.4
Momentary maximum output current (rms) 1.3 1.9 2.8 6.0 8.0 13.9
Control power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz
Main-circuit power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz

Control method All-digital servo
Speed feedback 2,000 pulses/revolution incremental encoder
Inverter method PWM method based on IGBT
PWM frequency 11.7 kHz
Weight 0.8 0.8 0.8 0.8 1.1 1.7
Compatible motor voltage 200 V
Compatible motor capacity 30 W 50 W 100 W 200 W 400 W 750 W
Command pulse response 250 kHz
Applicable servo motor

(R7M-)

30 W 50 W 100 W 200 W 400 W 750 W
R7D-APA3H R7D-APA5H R7D-AP01H R7D-AP02H R7D-AP04H R7D-AP08H

(three-phase 200/230 VAC can be used with the 750 W model.)

A03030 A05030 A10030

AP10030

A20030
AP20030

A40030
AP40030

A75030
AP75030

I/O specifications

Terminal specifications

Symbol Name Function

L1 and L2

or

L1, L2, and L3

+

+

2

−

L1C Control circuit power
L2C

B1 and B2 or

B1, B2, and B3

U Servo motor

V White

WBlue

Main-circuit power supply
terminals

DC reactor terminals Normally short-circuit between +1 and +2.

Main-circuit DC output Do not connect anything to this terminal.

supply terminals
External regeneration

resistance terminals

terminals

Frame ground This is the ground terminal.

These are the input terminals for the main-circuit power supply.

If harmonic control measures are required, connect a DC reactor between +1 and +2.

These are the input terminals for the control power supply.

Connect an external regeneration resistor to these terminals if the regenerative capacity of the internal capacitor is
exceeded. (An external regeneration resistor cannot be connected to the 30 to 200 W models.)

Red These are the terminals for outputs to the servo motor.

154 AC servo systems

Control I/O (CN1) specifications

Pin Symbol Name Function

1 +PULS/CW/A Feed pulses, reverse pulses,
2 −PULS/CW/A
3 +SIGN/CCW/B Direction signal, forward pulses,
4 −SIGN/CCW/B

5 +ECRST Deviation counter reset Line-driver input: 7 mA at 3 V
6 −ECRST

7 BKIR Brake interlock output Outputs holding brake timing signals.
8 INP Positioning completed output ON when the position error is within the positioning completed range.
10 OGND Output ground common Ground common for output signals (pins 7 and 8).
13 +24V +24 VDC power input for control Power supply input (+24 VDC) for pins 14 and 18.
14 RUN RUN command input ON: servo ON (starts power to servo motor)
18 RESET Alarm reset input ON: servo alarm status is reset.
19 GND RS-422A ground Ground for RS-422A
20 RXD+ RS-422A reception data Interface for RS-422A data transfers
21 RXD−
22 TXD+ RS-422A transmission data
23 TXD−
24 RT Termination resistance terminal Connect to RXD- (pin 21) in the unit at the end of the line.
32 Z Encoder phase-Z open-collector output Output goes ON when the encoder’s phase-Z signal (1 pulse/revolution)
33 ZCOM

34 ALM Alarm output Output goes OFF when alarm is detected.
35 ALMCOM
Shell FG Cable shield ground Ground for cable's shield wire.

or 90° phase difference pulses (A phase)

or 90° phase difference pulses (B phase)

Line-driver input: 7 mA at 3 V
Open-collector input
Input impedance: 200 Ω
Maximum response frequency: 250 kpps
Position control is performed based on the pulses that have been input.

Open-collector input: 16 mA at 5 V
Input impedance: 200 Ω
ON: resets deviation counter.

is detected.
Open-collector output: 20 mA max. at 30 VDC

Open-collector output: 50 mA max. at 30 VDC

Encoder connector (CN2) specifications

Pin Symbol Name Function

1, 2, 3 E0V Encoder power supply GND Power supply output for encoder
4, 5, 6 E5V Encoder power supply +5 V
8 S+ Encoder + phase-S input Line driver input (conforms to EIA-RS422A)
9S− Encoder − phase-S input
10 A+ Encoder + phase-A input Line driver input (conforms to EIA-RS422A)
11 A− Encoder − phase-A input
12 B+ Encoder + phase-B input Line driver input (conforms to EIA-RS422A)
13 B− Encoder − phase-B input
Shell FG Cable shield ground Ground for cable's shield wire.

(Input impedance: 220 Ω ± 5%)

(Input impedance: 220 Ω ± 5%)

(Input impedance: 220 Ω ± 5%)

Communications connector (CN3) specifications

Pin Symbol Name Function

1 /TXD Transmission data Transmission data: RS-232C output
2 /RXD Reception data
3 PRMU Unit switching Switching terminal for a parameter unit
7 +5V +5 V output This is the +5 V power supply output to the parameter unit.
8 GND Ground
Shell FG Cable shield ground Ground for cable's shield wire.

Reception data: RS-232C input

Monitor output (CN4) specifications

Pin Symbol Name Function

1 NM Speed monitor Speed monitor output: 1 V per 1,000 r/min
2 AM Current monitor Current monitor: 1 V / rated torque
3 GND Ground Grounds for monitor output
4 GND Ground

SmartStep servo drive 155