Omron SMARTSTEP SERVO MOTORS DATASHEET

R7M-A@, R7M-AP@

SmartStep servo motors

The smart alternative to stepper motors

• SmartStep motors can be controlled by SmartStep
drive and XtraDrive

• Cylindrical and flat servo motor types are available

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

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

• Extended features and embedded in drive control
can be provided using intelligent XtraDrive

• Models with brake available

• Easy to connect to the drive using prebuilt cables

Ratings

• 230 VAC from 30 W to 750 W
(0.095 Nm to 2.39 Nm)

System configuration

(Refer to servo drive chapter)

Servo Drive controlled
by pulses

SmartStep
Servo Drive

R7M-A (cylindrical type)
Servo Motor
3,000 rpm
(30-750 W)

Drive options

Power and encoder cables

R7M-AP (flat type)

Servo Motor

3,000 rpm

(100-750 W)

Intelligent

POWER

Servo Drive

CN3

CHARGE

CN1

CN2

XtraDrive

181SmartStep servo motors

Servo motor / servo drive combination

SmarStep servo motor SmartStep servo drive XtraDrive servo drive

R7M-A (3000 min

-1

) 230 V 0.095 Nm 30 W R7M-A03030-@ R7D-APA3H XD-P3-MN01

Voltage Rated torque Capacity Model 230 V (1-phase) 230 V (1-phase)

0.159 Nm 50 W R7M-A05030-@ R7D-APA5H XD-P5-MN01

0.318 Nm 100 W R7M-A10030-@ R7D-AP01H XD-01-MN01

0.637 Nm 200 W R7M-A20030-@ R7D-AP02H XD-02-MN01

1.27 Nm 400 W R7M-A40030-@ R7D-AP04H XD-04-MN01

R7M-AP(3000 min

-1

) 230 V 0.318 Nm 100 W R7M-AP10030-@ R7D-AP01H XD-01-MN01

2.39 Nm 750 W R7M-A75030-@ R7D-AP08H XD-08-MN

0.637 Nm 200 W R7M-AP20030-@ R7D-AP02H XD-02-MN01

1.27 Nm 400 W R7M-AP40030-@ R7D-AP04H XD-04-MN01

2.39 Nm 750 W R7M-AP75030-@ R7D-AP08H XD-08-MN

Note: 1. For servo motor and cable part numbers, refer to ordering information at the end of this chapter.

2. Refer to the servo drive chapter for drive options selection and detailed specifications.

Servo motor specifications

General specifications

Item Specification

Ambient operating temperature 0 to 40 °C
Ambient operating humidity 20% to 80% (with no condensation)
Ambient storage temperature -20 to 60 °C
Ambient storage humidity 20% to 80% (with no condensation)
Storage/operating atmosphere No corrosive gases.
Vibration resistance 10 to 2,500 Hz in X, Y, and Z directions with 0.2 mm double amplitude or acceleration of 24.5 m/s

Impact resistance Acceleration 98 m/s
Insulation resistance Between power line terminals and FG: 10 MΩ min. (at 500 VDC)
Dielectric strength Between power line terminals and FG: 1,500 VAC for 1 min at 50/60 Hz
Run position Any direction
Insulation grade Type B
Structure Totally-enclosed self-cooling
Protective structure IP55 for both the cylindrical and flat servo motors
Vibration grade V-15
Mounting method Flange-mounting
International standards Approval obtained for UL, cUL, and EN (EMC directive and low-voltage directive)

whichever is smaller

2

max., in a vertical direction, two times

2

max.,

Performance specifications

Flat servo motors

Item R7M-AP10030-@ R7M-AP20030-@ R7M-AP40030-@ R7M-AP75030-@

Rated output 100 W 200 W 400 W 750 W
Rated torque 0.318 N⋅m 0.637 N⋅m1.27 N⋅m 2.39 N⋅m
Rated rotation speed 3,000 r/min 3,000 r/min 3,000 r/min 3,000 r/min
Momentary maximum rotation speed 4,500 r/min 4,500 r/min 4,500 r/min 4,500 r/min
Momentary maximum torque 0.96 N⋅m 1.91 N⋅m3.82 N⋅m7.1 N⋅m
Rated current 0.89 A (rms) 2.0 A (rms) 2.6 A (rms) 4.1 A (rms)
Momentary maximum current 2.8 A (rms) 6.0 A (rms) 8.0 A (rms) 13.9 A (rms)
Rotor inertia 6.5 × 10
Power rate 15.7 kW/s 19.4 kW/s 46.8 kW/s 26.9 kW/s
Allowable radial load 78 N 245 N 245 N 392 N
Allowable thrust load 49 N 68 N 68 N 147 N
Weight Without brake 0.7 kg 1.4 kg 2.1 kg 4.2 kg

With brake 0.9 kg 1.9 kg 2.6 kg 5.7 kg

Encoder resolution 2,000 pulses/revolution for phase-A and phase-B, 1 pulse/revolution for phase-Z
Radiation shield dimensions t6 × 250 mm square t12 × 300 mm square
Brake

specifications

Brake inertia 3.1 × 10
Excitation voltage 24 VDC ±10%
Power consumption (at 20 °C) 7.5 W 7.6 W 8.2 W 7.5 W
Current consumption (at 20 °C) 0.31 A 0.32 A 0.34 A 0.31 A
Static friction torque 0.4 N⋅m min. 0.9 N⋅m min. 1.9 N⋅m min. 3.5 N⋅m min.
Attraction time 60 ms max. 40 ms max. 60 ms max. 20 ms max.
Release time 20 ms max. 20 ms max. 20 ms max. 40 ms max.
Backlash 1° 1° 1° 1°
Rating Continuous Continuous Continuous Continuous
Insulation grade Type F Type F Type F Type F

Applicable servo driver (R7D-) AP01H AP02H AP04H AP08H

-6

-6

kg⋅m

kg⋅m

2

2

2.09 × 10-5 kg⋅m

1.52 × 10-5 kg⋅m

2

2

3.47 × 10-5 kg⋅m

1.52 × 10-5 kg⋅m

2

2

2.11 × 10-4 kg⋅m

8.75 × 10-5 kg⋅m

2

2

182 AC servo systems

Cylindrical servo motors

Item R7M-A03030-@ R7M-A05030-@ R7M-A10030-@ R7M-A20030-@ R7M-A40030-@ R7M-A75030-@

Rated output 30 W 50 W 100 W 200 W 400 W 750 W
Rated torque 0.095 N⋅m0.159 N⋅m0.318 N⋅m 0.637 N⋅m 1.27 N⋅m 2.39 N⋅m
Rated rotation speed 3,000 r/min 3,000 r/min 3,000 r/min 3,000 r/min 3,000 r/min 3,000 r/min
Momentary maximum rotation speed 4,500 r/min 4,500 r/min 4,500 r/min 4,500 r/min 4,500 r/min 4,500 r/min
Momentary maximum torque 0.29 N⋅m0.48 N⋅m0.96 N⋅m 1.91 N⋅m 3.82 N⋅m7.1 N⋅m
Rated current 0.42 A (rms) 0.6 A (rms) 0.87 A (rms) 2.0 A (rms) 2.6 A (rms) 4.4 A (rms)
Momentary maximum current 1.3 A (rms) 1.9 A (rms) 2.8 A (rms) 6.0 A (rms) 8.0 A (rms) 13.9 A (rms)
Rotor inertia 1.7 × 10

-6

kg⋅m22.2 × 10-6 kg⋅m23.6 × 10-6 kg⋅m21.19 × 10-5 kg⋅m21.87 × 10-5 kg⋅m26.67 × 10-5 kg⋅m

Power rate 5.31 kW/s 11.5 kW/s 28.1 kW/s 34.1 kW/s 86.3 kW/s 85.6 kW/s
Allowable radial load 68 N 68 N 78 N 245 N 245 N 392 N
Allowable thrust load 54 N 54 N 54 N 74 N 74 N 147 N
Weight Without brake 0.3 kg 0.4 kg 0.5 kg 1.1 kg 1.7 kg 3.4 kg

With brake 0.6 kg 0.7 kg 0.8 kg 1.6 kg 2.2 kg 4.3 kg
Encoder resolution 2,000 pulses/revolution for phase-A and phase-B, 1 pulse/revolution for phase-Z
Radiation shield dimensions t6
Brake

specifications

Brake inertia 0.85 × 10

Excitation voltage 24 VDC ±10% V

× 250 mm square

-6

kg⋅m20.85 × 10-6 kg⋅m20.85 × 10-6 kg⋅m26.4 × 10-6 kg⋅m26.4 × 10-6 kg⋅m21.7 × 10-5 kg⋅m

Power consumption (at 20 °C)6 W6 W6 W7 W7 W7.7 W

Current consumption (at 20 °C) 0.25 A 0.25 A 0.25 A 0.29 A 0.29 A 0.32 A

Static friction torque 0.2 N⋅m min. 0.2 N⋅m min. 0.34 N⋅m min. 1.47 N⋅m min. 1.47 N⋅m min. 2.45 N⋅m min.

Attraction time 30 ms max. 30 ms max. 30 ms max. 60 ms max. 60 ms max. 60 ms max.

Release time 60 ms max. 60 ms max. 60 ms max. 20 ms max. 20 ms max. 20 ms max.

Backlash 1° 1° 1° 1° 1° 1°

Rating Continuous Continuous Continuous Continuous Continuous Continuous

Insulation grade Type F Type F Type F Type F Type F Type F
Applicable servo driver (R7D-) APA3H APA5H AP01H AP02H AP04H AP08H

Torque and rotation speed characteristics

Flat servo motors

The following graphs show the characteristics with a 3 m standard cable and R7D-AP@H servo driver (200 VAC input)

R7M-AP10030 (100 W)

(N·m)

1.0

0.96

0.8

Repeated usage

0.6

0.4

0.2

Continuous usage

0.96

(3725)

0.8

0.3180.318

0.222

R7M-AP20030 (200 W)

(N·m)

2.0

1.91

1.5

1.0

0.5

Repeated usage

Continuous usage

1.91

(3600)

1.4

0.6370.637

0.452

2

2

2.45

1.64

1.54

5000

5000

(r/min)

(r/min)

0

1000

2000

R7M-AP40030 (400 W)

(N·m)

4.0

3.0

2.0

1.0

3.82

0

1000

(2350)

Repeated usage

Continuous usage

2000

3000

3.82
(3250)

1.271.27

3000

4000

4000

1.77

1.22

0.89

5000

5000

(r/min)

(r/min)

0

1000

2000

R7M-AP75030 (750 W)

(N·m)

8.0

7.1

6.0

4.0

2.0

0

Single-phase
200 VAC input

Repeated usage

Continuous usage

2000

1000

3000

(2500) 7.1

(3200)

2.392.39

3000

4000

3-phase
200 VAC input

4000

SmartStep servo motors 183