Omron XD-P3-M Series, XD-02-M Series, XD-P5-M Series, XD-01-M Series, XD-04-M Series Datasheet

XD-@, XD-@-E

XtraDrive

Intelligent servo drive. Integrated controller
and network connectivity.

• NCT. Patented non-linear algorithm for tight control

• Very low tracking error with no overshoot and zero
settling time

• Supports different servo motor encoder types

• PROFIBUS embedded in the drive available

• XtraDive model available with electronic CAM

• The ideal drive for linear motor control

• Fast hardware registration input

• Intuitive text programming language

• Automatic tuning of servo parameters for optimal
settling time

• Oscilloscope available via XtraWare software tool

• CompoWay/F is supported, it allows remote access
to the drives through the PLC

Ratings

• 230 VAC single-phase 30 W to 1.5 kW (4.77 Nm)

• 400 VAC three-phase 0.5 kW to 5.0 kW (28.4 Nm)

System configuration

PROFIBUS network

(XtraDrive models with

embedded PROFIBUS)

(Refer to chapter
SmartStep servo motors)

Cables

R7M Servo Motor

XtraDrive
Servo Drives

Filter

(Refer to chapter
Sigma-II rotary motors)

SGMAH, SGMPH
Servo Motor

Analog monitor cable

POWER

CN3

CHARGE

CN1

Human machine interface

Personal computer

Option unit

NS115

S
W
1

A
R
S
W
2

C
N
6
A

C
N
6
B

C
N
4

Motion control unit

CN2

Position control
unit

General purpose cable

Terminal block

(Refer to chapter Sigma-II linear motors)

Cables

SGMGH, SGMUH,
SGMSH, SGMBH
Servo Motor

SGLG_ linear
Servo Motor

SGLF_ linear
Servo Motor

Cables

SGLT_ linear
Servo Motor

121XtraDrive

Servo motor / servo drive combination

Servo motor Servo drive

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

Sigma-II series motors (refer to the Sigma-II rotary motors chapter for details)

SGMAH (3000 min

SGMPH (3000 min

SGMGH (1500 min

SGMSH (3000 min

SGMUH (6000 min

SmartStep series motors (refer to the SmartStep servo motors chapter for details)

R7M-A (3000 min

R7M-AP (3000 min

Sigma linear motors (refer to the Sigma linear motors chapter for details)

SGLGW
Linear motors

-1

) 230 V 0.0955 N.m 30 W XD-P3-MN01-@ XD-P3-MSD0-@ --

0.159 N.m 50 W XD-P5-MN01-@ XD-P5-MSD0-@ --

0.318 N.m 100 W XD-01-MN01-@ XD-01-MSD0-@ --

0.637 N.m 200 W XD-02-MN01-@ XD-02-MSD0-@ --

1.27 N.m 400 W XD-04-MN01-@ XD-04-MSD0-@ --

2.39 N.m 750 W XD-08-MN@ XD-08-MSD0-@ --

400 V 0.955 N.m 300 W - - XD-05-TN@ XD-05-TSD0-@

-1

) 230 V 0.318 N.m 100 W XD-01-MN01-@ XD-01-MSD0-@ --

2.07 N.m 650 W - - XD-10-TN@ XD-10-TSD0-@

0.637 N.m 200 W XD-02-MN01-@ XD-02-MSD0-@ --

1.27 N.m 400 W XD-04-MN01-@ XD-04-MSD0-@ --

2.39 N.m 750 W XD-08-MN@-@ XD-08-MSD0-@ --

4.77 N.m 1500 W XD-15-MN@-@ ---

400 V 0.637 N.m 200 W - - XD-05-TN@ XD-05-TSD0-@

1.27 N.m 400 W - - XD-05-TN@ XD-05-TSD0-@

2.39 N.m 750 W - - XD-10-TN@ XD-10-TSD0-@

-1

) 400 V 2.84 N.m 0.45 kW - - XD-05-TN@ XD-05-TSD0-@

4.77 N.m 1500 W - - XD-15-TN@ XD-15-TSD0-@

5.39 N.m 0.85 kW - - XD-10-TN@ XD-10-TSD0-@

8.34 N.m 1.3 kW - - XD-15-TN@ XD-15-TSD0-@

11.5 N.m 1.8 kW - - XD-20-TN@ XD-20-TSD0-@

18.6 N.m 2.9 kW - - XD-30-TN@ XD-30-TSD0-@

-1

) 400 V 3.18 N.m 1.0 kW - - XD-10-TN@ XD-10-TSD0-@

28.4 N.m 4.4 kW - - XD-50-TN@ -

4.90 N.m 1.5 kW - - XD-15-TN@ XD-15-TSD0-@

6.36 N.m 2.0 kW - - XD-20-TN@ XD-20-TSD0-@

9.80 N.m 3.0 kW - - XD-30-TN@ XD-30-TSD0-@

12.6 N.m 4.0 kW - - XD-50-TN@ -

-1

) 400 V 1.59 N.m 1.0 kW - - XD-10-TN@ XD-10-TSD0-@

15.8 N.m 5.0 kW - - XD-50-TN@ -

2.45 N.m 1.5 kW - - XD-15-TN@ XD-15-TSD0-@

4.9 N.m 3.0 kW - - XD-30-TN@ XD-30-TSD0-@

6.3 N.m 4.0 kW - - XD-50-TN@ -

-1

) 230 V 0.0955 N.m 30 W XD-P3-MN01-@ ---

0.159 N.m 50 W XD-P5-MN01-@ ---

0.318 N.m 100 W XD-01-MN01-@ XD-01-MSD0-@ --

0.637 N.m 200 W XD-02-MN01-@ XD-02-MSD0-@ --

1.27 N.m 400 W XD-04-MN01-@ XD-04-MSD0-@ --

-1

) 230 V 0.318 N.m 100 W XD-01-MN01-@ XD-01-MSD0-@ --

2.39 N.m 750 W XD-08-MN@ XD-08-MSD0-@ --

0.637 N.m 200 W XD-02-MN01-@ XD-02-MSD0-@ --

1.27 N.m 400 W XD-04-MN01-@ XD-04-MSD0-@ --

2.39 N.m 750 W XD-08-MN@ XD-08-MSD0-@ --

230 V Refer to the linear motors chapter for details

w PROFIBUS

400 V (3-phase) 400 V (3-phase)

w PROFIBUS

SGLFW
Linear motors

SGLTW
Linear motors

230 V,
400 V

Refer to the linear motors chapter for details

400 V Refer to the linear motors chapter for details

122 AC servo systems

Type designation

Drive

XD - 01 - MN 01-E

Electronic CAM enabled

XtraDrive

Output capacity

P3 30 W
P5

50 W

01

100 W

02

200 W

04

400 W
500 W05

08

750 W

10

1.0 kW

15

1.5 kW

20

2.0 kW

3.0 kW30

5.0 kW50

Servo drive specifications

Single-phase, 230 V

Servo drive type XD-P3-M@ XD-P5-M@ XD-01-M@ XD-02-M@ XD-04-M@ XD-08-M@ XD-15-M@
Applicable

servo motor

Max. applicable motor capacity W 30 50 100 200 400 750 1500
Continuous output current Arms 0.44 0.64 0.91 2.1 2.8 5.7 11.6
Max. output current Arms 1.3 2.0 2.8 6.5 8.5 13.9 28
Input power Main circuit For single-phase, 200 to 230 VAC + 10 to -15%
Supply Control circuit For single-phase, 200 to 230 VAC + 10 to -15%
Control method Single phase full-wave rectification / IGBT / PWM / sine-wave current drive method
Feedback Serial encoder (incremental/absolute value)

Usage/storage temperature 0 to +55 °C / -20 to 85 °C
Usage/storage humidity 90%RH or less (non-condensing)

Basic specifications

Altitude 1000 m or less above sea level
Vibration/shock resistance 4.9 m/s

Conditions
Configuration Base mounted
Approx. weight Kg 0.8 1.1 1.7 3.8

SGMAH-@ A3A@ A5A@ 01A@ 02A@ 04A@ 08A@ 15A@
SGMPH-@ - - 01A@ 02A@ 04A@ 08A@ -
R7M-@ A03030-@ A05030-@ A10030-@ A20030-@ A40030-@ A75030-@ -
R7M-@ - - AP10030-@ AP20030-@ AP40030-@ AP75030-@ -

2

/ 19.6 m/s

2

Design version # (optional)

01: Design version

D0: Embedded PROFIBUS

Extended functionality

N: With CN10 connector for option units

S: No CN10 connector

Input voltage

M: 230 V
T: 400 V

Three-phase, 400 V

Servo drive type XD-05-T@ XD-10-T@ XD-15-T@ XD-20-T@ XD-30-T@ XD-50-T@
Applicable

servo motor

Max. applicable motor capacity kW 0.45 1.0 1.5 2.0 3.0 5.0
Continuous output current Arms 1.9 3.5 5.4 8.4 11.9 16.5
Max. output current Arms 5.5 8.5 14 20 28 40.5
Input power Main circuit For three-phase, 380 to 480 VAC + 10 to -15% (50/60 Hz)
Supply Control circuit 24 VDC+15%
Control method Three phase full-wave rectification / IGBT / PWM / sine-wave current drive method
Feedback Serial encoder (incremental/absolute value)

Usage/storage temperature 0 to +55 °C / -20 to +85 °C
Usage/storage humidity 90%RH or less (non condensing)

Basic specifications

Altitude 1000 m or less above sea level
Vibration/shock resistance 4.9 m/s

Conditions
Configuration Base mounted

Approx. weight Kg 2.8 3.8 5.5

SGMAH-@ 03D@ 07D@ - - - -
SGMPH-@ 02D@, 04D@ 08D@ 15D@ - - -
SGMGH-@ 05D@ 09D@ 13D@ 20D@ 30D@ 44D@
SGMSH-@ - 10D@ 15D@ 20D@ 30D@ 40D@/50D@
SGMUH-@ - 10D@ 15D@ - 30D@ 40D@

2

/ 19.6 m/s

2

XtraDrive 123

General specifications

Speed control range 1:5000
Speed

variance

Frequency characteristics 400Hz (at J
Torque control accuracy (reproducibility) ±2%

Performance

Soft start time setting 0 to 10s (acceleration, deceleration can each be set.)
Speed

reference
input

Torque
reference
input

Speed/torque control mode

Input signal

Contact
speed
reference

Bias Setting 0 to 450 min-1 (setting resolution: 1 min-1)
Feed forward compensation 0 to 100 % (setting resolution: 1%)
Position completed width setting 0 to 250 command units (setting resolution: 1 command unit)

Performance

Command
pulse

Position control mode

Control signal Clear signal (input pulse is same as reference pulse)

Input signal

Position signal output A-phase, B.phase, C-phase, (S-phase): line driver output S-phase is for absolute encoder only.
Sequence input signal Servo ON, P control (or control mode switching, zero clamp, command pulse inhibit), forward/reverse run

Sequence output signal Servo alarm, alarm codes (3-bit output): CN1 output terminal is fixed

I/O signal

Communications Interface Digital operator (hand- held type), RS-422 port for PCs, etc. (RS-232C ports under some conditions)

Auto tuning function Position speed loop gain and integral time constant can be automatically set.
Dynamic brake (DB) Operates during main power OFF, servo alarm, servo OFF or overtravel
Regenerative processing Regenerative resistor externally mounted (option)
Overtravel (OT) prevention function DB stop, deceleration stop or coast to stop during P-OT, N-OT operation
Encoder divider function Optional division possible
Electronic gearing 0,01< A/B<100
Internal speed setting function 3 speeds may be set internally

Integrated functions

Protective functions Overcurrent, overvoltage, insufficient voltage, overload, main circuit sensor error, heatsink overheat, power phase

Analog monitor functions for supervision Integrates analog monitor connectors for supervision of the speed and torque reference signals, etc.
Display functions CHARGE, POWER, 7-segments LEDx5

Others Reverse connection, zero search, automatic motor discrimination function, and DC reactor connection terminal

Load variance During 0 to 100% load ±0.01% max. (at rated speed)
Voltage variance Rated voltage ±10%: 0% (at rated speed)
Temperature variance 25 ±25 °C: ±0.1 % max (at rated speed)

Reference voltage ±6VDC (forward motor rotation if positive reference) at rated speed: Set at delivery

Input empedance Approx. 14 kΩ
Circuit time constant ­Reference voltage ±3 VDC (forward rotation if positive reference) at rated speed: Set at delivery

Imput impedance Approx. 14 KΩ
Circuit time constant Approx. 47 µs
Rotation direction selection With P control signal
Speed selection With forward/reverse current limit signal (speed 1 to 3 selection), servo motor stops or another control method is

Input pulse type Sign + pulse train, 90° phase displacement 2-phase pulse (A-phase+ B-phase) or CCW/CW pulse train
Input pulse form Line driver (+5 V level) , open collector (+5 V or +12 level)
Input pulse frequency 0 to 500 Kpps (200 Kpps max. at open collector)

1:N communications N may equal up to 14 when an RS-422A port is used.

Axis address setting Set by user setting
Functions Status display, user constant setting monitor display, alarm traceback display, JOG run /autotuning operations,

PROFIBUS (Only models with PROFIBUS) PROFIBUS DP slave, node address 0-125 set by rotary switches, baud rate from

Variable setting range: ±2 to ±10 VDC at rated speed/ max. input voltage: ±12 V

Variable setting range ±1 to ±10 VDC at rated torque reference

used when both are OFF.

prohibit, alarm reset, forward/ reverse current limit (or internal speed switching)

It is possible to output three types of signals form among: positioning complete (speed agree), motor rotation,
servo ready, current limit, speed limit, brake release, warning, NEAR, and zero point pulse signal

CompoWay/F protocol is supported on firmware version "3.20C" and higher

and graphing functions for speed/torque command signal, etc

9.6 kbps to 12 Mbps. LED Indicators: Bus failure and system failure

loss, overflow, overspeed, encoder error, runaway, CPU error, parameter error, etc.

(Integrated digital operator function, not available in models with PROFIBUS)

for high frequency power suppression function (except: 6 to 15 kW)

= JM)

L

I/O specifications

Terminal specifications

Symbol Name Function

L1, L2 or
L1, L2, L3

U Servo motor connection terminal Red Terminals for outputs to the servo motor.
V White
WBlue
L1C, L2C Control power input terminal AC power input terminals for the control circuit.

B1, B2 or
B1, B2, B3

⊕1, ⊕2 DC reactor connection terminal for sup-

⊕ Main circuit DC output terminal (+) Normally, not connected.

Main circuit AC input terminal AC power input terminals for the main circuit

Frame ground Ground terminal. Ground to a maximum of 100 Ω. (class 3)
Main circuit DC output terminal 5 kW or less: Connect an external regenerative resistor if regenerative energy is high.

pressing power supply harmonic waves

Main circuit DC output terminal (n-) Normally, not connected.

124 AC servo systems

5.5 kW: There is no internal regenerative resistor. Be sure to connect an external regenerative resistor unit.
Normally, short ⊕1 and ⊕2. If a countermeasure against power supply harmonic waves is needed,

connect a DC reactor between ⊕1 and ⊕2.

This terminal exists on the servo drives with a capacity opf 6.0 kW or higher only.

Encoder connector (CN2)

Pin Symbol Function

1, 2, 3 PPG0V Encoder power supply GND
4, 5, 6 PPG5V Encoder power supply +5 V
7- ­8 PS+ Encoder serial signal input
9PS− Encoder serial signal input
10 SePG5V Serial encoder power supply +5 V (Sigma-II)
11 SePG0V Serial encoder power supply GND (Sigma-II)
12 BAT+ Battery + (used only with absolute encoder)
13 BAT- Battery - (used only with absolute encoder)
14 PC+ Encoder + C-phase input
15 PC− Encoder − C-phase input
16 A+ Encoder + A-phase input
17 A− Encoder − A-phase input
18 B+ Encoder + B-phase input
19 B− Encoder − B-phase input
20 - ­Shell FG Cable shield ground

I/O signals (CN1) - input signals

Pin No. Signal Name Function

40 Common /S-ON Servo ON: Turns ON the servo motor when the gate block in the inverter is released.
41 /P-CON Function selected by parameter.

42
43

45
46

44 /ALM-RST Alarm reset: releases the servo alarm state.
47 +24VIN Control power supply input for sequence signals: users must provide the +24 V power supply.

4 (2) SEN Initial data request signal when using an absolute encoder.
21

22
5 (6) Speed V-REF Speed reference speed input: ±2 to ±10 V/rated motor speed (input gain can be modified using a parameter.)
9 (10) Torque T-REF Torque reference input: ±1 to ±10 V/rated motor torque (input gain can be modified using a parameter.)
7

8
11
12

15
14

3
13
18

Position PULS

P-OT
N-OT

/P-CL
/N-CL

BAT (+)
BAT (-)

/PULS
SIGN
/SIGN

CLR
/CLR

PL1
PL2
PL3

Proportional control reference Switches the speed control loop from PI (proportional/ integral) to P (proportional)

Direction reference With the internal set speed selected: switch the rotation direction.
Control mode

switching

Zero-clamp reference Speed control with zero-clamp function: referencevspeed is zero when ON.
Reference pulse block Position control with reference pulse stop: stops reference pulse input when ON.
Forward run prohibited

Reverse run prohibited
Function selected by parameter.
Forward external torque limit ON

Reverse external torque limit ON
Internal speed switching With the internal set speed selected: switches the internal speed settings.

Allowable voltage fluctuation range: 11 to 25 V

Connecting pin for the absolute encoder backup battery.
Do not connect when a battery is connected to the host controller.

Reference pulse input
for line driver only

Positional error pulse clear input: clears the positional error pulse during position control.

+12 V pull-up power is supplied when PULS, SIGN, and CLR reference signals are open-collector outputs
(+12 V power supply is built into the SERVOPACK).

control when ON.

↔

Position speed

↔

Position

↔

Torque speed

Overtravel prohibited: stops servo motor when movable part travels beyond the
allowable range of motion.

Current limit function enabled when ON.

Input mode is set from the following pulses.
Sign + pulse string
CCW/CW pulse
Two-phase pulse (90° phase differential)

Enables control mode switching.

torque

Note: 1. Pin numbers in parentheses () indicate signal grounds.

2. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input signals can be changed by using the

parameters.

3. The voltage input range for speed and torque references is a maximum of ±12 V.

XtraDrive 125

I/O signals (CN1) - output signals

Pin No. Signal name Function

31
32

27
28

29
30

33 (1)
34

35
36

19
20

48
49

37
38
39 (1)

16 TMON Analog monitor signal
17 VTG Analog monitor signal
Shell FG Connected to frame ground if the shield wire of the I/O signal cable is connected to the connector shell.
25

26
25

26

- Reserved /CLT

23
24
50

Common ALM+

Speed /V-CMP+

Position /COIN+

ALM­/TGON+

/TGON­/S-RDY+

/S-RDY­ PAO

/PAO
PBO

/PBO
PCO

/PCO
PSO

/PSO
ALO1

ALO2
ALO3

/V-CMP-

/COIN-

/VLT
/BK
/WARN
/NEAR

- Terminals not used

Servo alarm: Turns OFF when an error is detected.

Detection during servo motor rotation: detects when the servo motor is rotating at a speed higher than
the motor speed setting. Detection speed can be set by using the parameters.

Servo ready: ON if there is no servo alarm when the control/main circuit power supply is turned ON.

Phase-A signal Converted two-phase pulse (phases A and B) encoder output signal and

Phase-B signal

Phase-C signal

Phase-S signal With an absolute encoder: Outputs serial data corresponding to the number of revolutions

Alarm code output:Outputs 3-bit alarm codes.
Open-collector: 30 V and 20 mA rating maximum

Speed coincidence (output in speed control mode): Detects whether the motor speed is within the setting range and if
it matches the reference speed value.

Positioning completed (output in position control mode): Turns ON when the number of positional error pulses
reaches the value set. The setting is the number of positional error pulses set in reference units
(input pulse units defined by the electronic gear).

Reserved terminals
The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed by using the parameters. /CLT, /VLT,
/BK, /WARN, and /NEAR signals can also be changed.

Do not connect relays to these terminals.

zero-point pulse (phase C) signal: RS-422 or the equivalent
(proper line receiver is SN75175 manufactured by Texas Instruments or the equivalent
corresponding to MC3486.)

(RS-422 or the equivalent)

Note: 1. Pin numbers in parentheses () indicate signal grounds.

2. The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed by using the parameters. /CLT, /VLT, /BK, /WARN, and

/NEAR signals can also be changed.

126 AC servo systems

Dimensions

Servo drives

XD-P3-M@ to XD-02-M@ (230V, 30 to 200W)

Terminal
block

160

6

CN3

CHARGE

CN1

CN2

Mounting hole diagram

2×M4 screw holes

5.5

CN10

POWER

CN3

39

CN1

160

106

CN2

149.5±0.5

(Mounting pitch)

Ground terminal

2×M4 screws

XD-04-M@ (230V, 400W)

Ground terminal

2×M4 screws

XD-08-M@ (230V, 750W)

96.2

5.5

Terminal
block

160

149.5

6

(5)

Cooling fan

12

6

94.4

10

55

2×φ5 holes

CN3

CHARGE

CN1

CN2

10

5
63

75

Terminal
block

160

5

15

8

POWER

39

106

6

8

φ5 hole

CHARGE

Ground terminal

2×M4 screws

10

35

55

90

CN3

CN1

CN2

CN3

CN1

CN2

75

5

130

5

55

Mounting hole diagram

2×M4 screw holes

5.5

CN10

160

149.5±0.5

(Mounting pitch)

75

5

130

12
75

Mounting hole diagram

CN10

POWER

CN3

39

CN1

106

CN2

75

180

5.5

160

149.5±0.5

(Mounting pitch)

5

2×M4 screw
holes

27

90

8

XtraDrive 127

XD-05-T@ to -15-T@ (400V, 0.5 to 1.5kW)

2×φ5 holes

Heat sink

POWER

CN3

CHARGE

160

-

39

CN1

106

CN2

CN3

CN1

CN2

CN10

Mounting hole diagram

5.5

4×M4 screw holes

160

149.5±0.5

(Mounting pitch)

Ground
terminal

5

2×M4 screws

110

XD-15-M@ (230V, 1.5kW)
XD-20-T@, XD-30-T@ (400V, 2/3kW)

2×φ6 holes

6

250

238.5

14-pin terminal

M4 mounting
screw

6

5.5

Ground terminal
2×M4 screws

5

XD-50-T@ (400V, 5kW)

Heat sink 6-pin terminal

6

250

238.5

L1

L2

L3

1

+

2

+

-

M5 screw

L1C

L2C

B1

B2

B3

U

V

W

CHARGE POWER

Terminal
block

8

Heat sink

CHARGE POWER

100

110

Name plate

8

4-pin terminal

M4 screw

CN3

CN1

CN2

5

75

180

4

5

5

100±0.5

(Mounting pitch)

110

Mounting hole diagram

6

4×M5 tap

CN10

CN3

39

CN3

CN1

CN1

CN2

CN2

238.5±0.5

196

250

(Mounting pitch)

100±0.5

5

5.5

5

75

8

180

4

(Mounting pitch)

110

5

Mounting hole diagram

6

4´M5 screw taps

CN10

250

238.5±0.5

(Mounting pitch)

5.7

5

5.5

Ground terminal

M5 screw

125

135

3-pin terminal
M5 screw

128 AC servo systems

5

75

230

1.6

55

5.5

125±0.5

(Mounting pitch)

Filters

R88A-FIW104-SE

Units:mm (in)

1

(0.20)

(0.04)

11.5(0.45)

33(1.30)

15(0.59)

28.25(1.11)

56(2.20)

(φ0.20)

5.5(0.22)
14(0.55)

19(0.75)

32(1.26)

M4

φ5

φ10(φ0.39)

70(2.76)

+0.20

0

+5

0

240 (9.45 )

202(7.95)
192(7.56)

149.5(5.89)

wires AWG16

168(6.61)

GNYE

5

M4(2

×

)

+0.20

0

6(0.24)

+5

0

M4

265 (10.43 )

R88A-FIW107-SE, R88A-FIW115-SE

Model R88A-FIW107-SE R88A-FIW115-SE

Dimensions
in mm

A 75 90

+5

B 240

300+5
C 50 60
D 12 15
E1 1.2

Units:mm

A

32

16

202
192
15028

M4

φ5

φ10

5.5

14

19

B

70

168

M4(2×)

wires AWG16

GNYE

M4

E

D

5

C

+5

0

265

15

R88A-FIW125-SE

Units:mm(in)

R88A-FIW4006-SE, R88A-FIW4010-SE

Model R88A-FIW4006-SE R88A-FIW4010-SE

Dimensions
in mm (in)

A 32 (1.26) 35 (1.38)
B 16 (0.63) 18 (0.71)
C 202 (7.95) 291 (11.46)
D 192 (7.56) 281 (11.06)
E 150 (5.91) 239 (9.41)
F 300 (11.81) 270 (10.63)
G 70 (2.76) 90 (3.54)
H 168 (6.61) 257 (10.12)

Units:mm(in)

A

B

1.2

C
D

28(1.10)

L1 L2 L3

M4

118(4.65)

φ10(φ0.39)

φ5

(φ0.20)

5.5(0.22)

14(0.55)

19(0.75) H 15(0.59)

F

G

E

wires AWG16

GNYE

M4

+0.20

0

+5

0

310 (12.20 )

5(0.20)

M4(4

×

)

(0.05)

19(0.75)80(3.15)

10(0.39)

100(3.94)

R88A-FIW4020-SE

Units:mm(in)

40(1.57)

140(5.51)

114(4.49)

20

(0.79)

7.5(0.30)

φ10

(φ0.39)

M5

(φ0.22)

M5

φ5.5

125(4.92)

302(11.89)
285(11.22)

8.5(0.33)

5.5(0.22)

35(1.38)

18

(0.71)

28(1.10)

M5

118(4.65)

φ10(φ0.39)

φ5

(φ0.20)

5.5(0.22)

14(0.55)

19(0.75) 257(10.12) 15(0.59)

+0.02

0

+0.5

0

245 (9.65 )

90(3.54)

291(11.46)
281(11.06)
239(9.41)

wires AWG16

M4

GNYE

M4

XtraDrive 129

+0.02

0

+5

0

355 (13.98 )

M4(4

5(0.20)

×

)

1.2
(0.05)

10(0.39)

19(0.75)80(3.15)

100(3.94)

AWG 14

+0.20

0

+5

0

350 (13.78 )

gb/gr

M5

+0.20

0

+5

0

580 (22.83 )

238.5(9.39)
253(9.96)24.5(0.96)

AWG 2 0

+0.20

0

+5

0

370 (14.57 )

24.5(0.96)

Installation

Single-phase, 230 VAC

Single-phase 200 to 230 VAC

Noise filter

Powe r
Off

Powe r
ON

Alarm processing

4

Be sure to attach a surge suppressor to the excitation
coil of the magnetic contactor and relay

Servo motor

Speed reference

(±2 to ±10 V/rated motor speed)

Torque reference
(

±

1 to ±10 V/rated torque)

Position reference

Open-collector
reference
Power supply

Backup battery
(2.8 to 4.5 V)

SEN signal input

Servo ON
(Servo ON when ON)

P control
(P control when ON)

Forward run prohibited
(Prohibited when OFF)

Reverse run prohibited
(Prohibited when OFF)

Alarm reset
(Reset when ON)

Forward current limit
(Limit when ON)

Reverse current limit
(Limit when ON)

∗2

∗2

Be sure to
ground

1

1

XtraDrive

Connect shield to
connector shell.

Optical encoder

Be sure to prepare the end of
the shielded wire properly

Alarm code output

Max. operating voltage:
30 VDC
Max. operating current:
20 mA DC

PG dividing ratio output
Applicable line receiver
SN75175 manufactured

by Texas Instruments or
the equivalent corresponding
to MC3486

3

Amount of phase-S rotation
Serial data output

Applicable line receiver
SN75175 manufactured
by Texas Instruments or
the equivalent corresponding
to MC3486

Speed coincidence detection
(ON when speed coincides.)

Running output
(ON when the motor speed
exceeds the settings.)

Servo ready output
(ON when ready)

Servo alarm output
(OFF for an alarm)

Photocoupler output
Max. operating voltage:
30 VDC
Max. operating current:
50 mA DC

*1 The time constant for the primary filter is 47 µs.
*2 Connect when using an absolute encoder.
*3 Used only with an absolute encoder.
*4 Regenerative resistor can be connected between B1 and B2.
*6 TI stands for Texas Instruments Inc.

130 AC servo systems

Three-phase, 400 VAC

Three-Phase 380 to 480 VAC

L1 L2 L3

Noise filter

Powe r
Off

Powe r
ON

Alarm processing

4

Be sure to attach a surge suppressor to the excitation
coil of the magnetic contactor and relay

Servo motor

Power Supply

Speed reference

(±

2 to ±10 V/rated motor speed)

Torque reference
(

±

1 to ±10 V/rated torque)

Position reference

Backup battery
(2.8 to 4.5 V)

SEN signal input

Servo ON
(Servo ON when ON)

P control
(P control when ON)

Forward run prohibited
(Prohibited when OFF)

Reverse run prohibited
(Prohibited when OFF)

Alarm reset
(Reset when ON)

Forward current limit
(Limit when ON)

Reverse current limit
(Limit when ON)

*5

∗

2

∗2

Be sure to
ground

Open-collector
reference
Power supply

1

1

XtraDrive

Connect shield to
connector shell.

Optical encoder

Be sure to prepare the end of
the shielded wire properly

Alarm code output

Max. operating voltage:
30 VDC
Max. operating current:
20 mA DC

PG dividing ratio output
Applicable line receiver
SN75175 manufactured

by Texas Instruments or
the equivalent corresponding
to MC3486

3

Amount of phase-S rotation

Serial data output

Applicable line receiver

SN75175 manufactured

by Texas Instruments or

the equivalent corresponding

to MC3486

Speed coincidence detection
(ON when speed coincides.)

Running output
(ON when the motor speed
exceeds the settings.)

Servo ready output
(ON when ready)

Servo alarm output
(OFF for an alarm)

Photocoupler output
Max. operating voltage:
30 VDC

Max. operating current:
50 mA DC

*1 The time constant for the primary filter is 47 µs.
*2 Connect when using an absolute encoder.
*3 Used only with an absolute encoder.
*4 For using an external regenerative resistor, connect it between B1 and B2.
*5 The 24VDC power is supplyed by the user.
*6 TI stands for Texas Instruments Inc.

XtraDrive 131

Ordering information

B

NS115

S
W
1

A
R
S
W
2

C
N
6
A

C
N
6
B

C
N
4

Cables

A

SGLT_ linear
Servo Motor

PROFIBUS network

(XtraDrive models with

embedded PROFIBUS)

(Refer to chapter
SmartStep servo motors)

B

Cables

R7M Servo Motor

A

C

XtraDrive
Servo Drives

Filter

(Refer to chapter
Sigma-II rotary motors)

SGMAH, SGMPH
Servo Motor

Analog monitor cable

POWER

J

CN3

CHARGE

CN1

K

D

CN2

F

H

General purpose cable

I

L

Personal computer

Motion control unit

E

Human machine interface

G

Terminal block

M

Option unit

Position control
unit

(Refer to chapter Sigma-II linear motors)

B

Cables

A A

SGMGH, SGMUH,
SGMSH, SGMBH
Servo Motor

SGLG_ linear
Servo Motor

A A

SGLF_ linear
Servo Motor

Note: The symbols ABCDE... show the recommended sequence to select the components for a servo system

Servo motors, power & encoder cables

Note: AB Refer to the servo motors chapter for detailed motor specifications and selection

Servo Drives

Symol Specifications XtraDrive XtraDrive-E

C 1 phase

200 VAC

30 W XD-P3-MN01 XD-P3-MN01-E XD-P3-MSD0 XD-P3-MSD0-E SGMAH-A3A@ R7M-A03030-@ -
50 W XD-P5-MN01 XD-P5-MN01-E XD-P5-MSD0 XD-P5-MSD0-E SGMAH-A5D@ R7M-A05030-@ SGLGW-30A050@

with
electronic CAM

100 W XD-01-MN01 XD-01-MN01-E XD-01-MSD0 XD-01-MSD0-E SGMAH-01A@,

200 W XD-02-MN01 XD-02-MN01-E XD-02-MSD0 XD-02-MSD0-E SGMAH-02A@,

400 W XD-04-MN01 XD-04-MN01-E XD-04-MSD0 XD-04-MSD0-E SGMAH-04A@,

750 W XD-08-MN XD-08-MN00-E XD-08-MSD0 XD-08-MSD0-E SGMAH-08A@,

1.5 kW XD-15-MN XD-15-MN00-E - - SGMPH-15A@ - SGLFW-50A380@,

3 Phase
400 VAC

0.5 kW XD-05-TN XD-05-TN00-E XD-05-TSD0 XD-05-TSD0-E SGMGH-05D@,

1.0 kW XD-10-TN XD-10-TN00-E XD-10-TSD0 XD-10-TSD0-E SGMGH-09D@,

1.5 kW XD-15-TN XD-15-TN00-E XD-15-TSD0 XD-15-TSD0-E SGMGH-13D@,

2.0 kW XD-20-TN XD-20-TN00-E XD-20-TSD0 XD-20-TSD0-E SGMGH-20D@,

3.0 kW XD-30-TN XD-30-TN00-E XD-30-TSD0 XD-30-TSD0-E SGMGH-30D@,

5.0 kW XD-50-TN XD-50-TN00-E - - SGMGH-44D@,

Note: SGLGW-@ linear motor combination is made considering the use of standard magnets. Refer to the linear motors chapter for details

XtraDrive-DP
with
PROFIBUS

XtraDrive-DP-E
with PROFIBUS
and electronic
CAM

Compatible servo motors A
Sigma-II rotary SmartStep Sigma linear motors

SGMPH-01A@

SGMPH-02A@

SGMPH-04A@

SGMPH-08A@

SGMAH-03D@,
SGMPH-02D@/04D@

SGMSH/UH-10D@,
SGMAH-07D@,
SGMPH-08D@

SGMSH/UH-15D@,
SGMPH-15D@

SGMSH-20D@

SGMSH/UH-30D@

SGMSH/UH-40D@,
SGMSH-50D@

R7M-A10030-@,
R7M-AP10030-@

R7M-A20030-@,
R7M-AP20030-@

R7M-A40030-@,
R7M-AP40030-@

R7M-A75030-@,
R7M-AP75030-@

SGLGW-30A080@,
SGLGW-40A140@

SGLFW-20A@,
SGLFW-35A120@,
SGLGW-40A253A@,
SGLGW-60A140@

SGLGW-40A365A@,
SGLGW-60A253A@

SGLFW-35A230@,
SGLFW-50A200@,
SGLGW-60A365A@

SGLFW-1ZA200@,
SGLGW-90A200A@

-SGLFW-35D@

- SGLFW-50D200@,
SGLTW-35D170@,
SGLTW-50D170

- SGLFW-50D380@,
SGLFW-1ZD200@

- SGLFW-1ED380@,
SGLTW-35D320@,
SGLTW-50D320@

-SGLFW-1ZD380@,
SGLFW-1ED560@,
SGLTW-40D400@

- SGLTW-40D600@,
SGLTW-80D400@

@

132 AC servo systems

Control cables (for CN1)

Symbol Description Connect to Len Model

Control cable

D

(1 axis)

Control cable
(2 axis)

Terminal block
(4 axes)

Servo drive
connecting
cable (1 axis)

PLC unit control
cables (4 axes)

Servo relay unit CS1W-NC1@3,

E

Cable to servo

F

drive
Position control

G

unit connecting
cable

Control cable For general purpose

H

Relay terminal

I

block cable
Relay terminal

block

Motion control units
CS1W-MC221
CS1W-MC421
C200H-MC221

Motion control units
CS1W-MC221
CS1W-MC421
C200H-MC221

Motion control unit
C200HW-MC402-E

CJ1W-NC1@3, or
C200HW-NC113
Position control unit

CS1W-NC2@3/4@3,
CJ1W-NC2@3/4@3,
or C200HW-NC213/
413
Position control unit

CQM1H-PLB21
CQM1-CPU43

CJ1M-CPU22/23 XW2B-20J6-8A

Servo relay units
XW2B-@0J6-@B

C200H-NC112 0.5 m XW2Z-050J-A1

C200H-NC211 0.5 m XW2Z-050J-A2

CQM1-CPU43-V1 and
CQM1H-PLB21

CS1W-NC113 and
C200HW-NC113

CS1W-NC213/413
and
C200HW-NC213/413

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

CJ1W-NC133 0.5 m XW2Z-050J-A18

CJ1W-NC233/433 0.5 m XW2Z-050J-A19

CJ1M-CPU22/23 0.5 m XW2Z-050J-A27

controllers

General purpose
controller

1 m R88A-CPW001M1
2 m R88A-CPW002M1
3 m R88A-CPW003M1
5 m R88A-CPW005M1
1 m R88A-CPW001M2
2 m R88A-CPW002M2
3 m R88A-CPW003M2
5 m R88A-CPW005M2

- R88A-TC04-E

1 m R88A-CMUK001J3-

E2

1 m R88A-CMX001S-E
1 m R88A-CMX001J1-E

XW2B-20J6-1B
(1 axis)

XW2B-40J6-2B
(2 axes)

XW2B-20J6-3B
(1 axis)

(1 axis)
XW2B-40J6-9A

(2 axes)
1 m XW2Z-100J-B4
2 m XW2Z-200J-B4

1 m XW2Z-100J-A1

1 m XW2Z-100J-A2

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

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-A10

1 m XW2Z-100J-A11

1 m XW2Z-100J-A14

1 m XW2Z-100J-A15

1 m XW2Z-100J-A18

1 m XW2Z-100J-A19

1 m XW2Z-100J-A27
1 m R88A-CPW001S

or JZSP-CKI01-1

2 m R88A-CPW002S

or JZSP-CKI01-2
1 m R88A-CTW001N
2 m R88A-CTW002N

- XW2B-50G5

Cable (for CN5)

Symbol Name Model

J

Analog monitor cable R88A-CMW001S

or DE9404559

Options (for CN3)

Symbol Name Model

K

Computer connecting cable R88A-CCW002P2

or JZSP-CMS02

Human machine interface

Symbol Name Model

L

4.1“ HMI monochrome NT3S-ST126B-E

Option units (for CN10)

Symbol Name Model

M

IO card, 8 inputs / 8 outputs XDIO-08

Filters

Symbol Applicable servo drive Filter model Rated

N XD-P3-M@, XD-P5-M@,

XD-01-M@, XD-02-M@
XD-04-M@ R88A-FIW107-SE 7A
XD-08-M@ R88A-FIW115-SE 15 A
XD-15-M@ R88A-FIW125-SE 25 A
XD-05-T@, XD-10-T@,

XD-15-T@
XD-20-T@, XD-30-T@ R88A-FIW4010-SE 10 A
XD-50-T@ R88A-FIW4020-SE 20 A

R88A-FIW104-SE 4 A 250 VAC

R88A-FIW4006-SE 6 A 400 VAC

current

Rated
voltage

single­phase

three­phase

Battery backup for absolute encoder

Name Model

Battery
(required for servo motors with absolute encoder)

JZSP-BA01
ER6VC3 (3.6V)

Connectors

Specification Model

Control I/O connector (for CN1) R88A-CNU11C

XtraDrive 200 V connector kit
(for 200 V motors
SGMAH/PH-@@A@@@D-OY
and R7M-A@-D)

XtraDrive 400 V connector kit.
(for 400 V motors
SGMAH/PH-@@D@@@D-OY)

Sigma-II drive encoder connector (For CN2) DE9406973

Hypertac encoder connector IP67
(for motors SGMAH/PH-@@@@@@@D-OY and
R7M-A@-D)

Hypertac power connector IP67, 200 V.
(for 200 V motors SGMAH/PH-@@A@@@@D-OY and
R7M-A@-D)

Hypertac power connector IP67, 400 V.
(for 400 V Motors SGMAH/PH-@@D@@@@D-OY)

Military encoder connector IP67
(for Motors SGMGH-@, SGMSH-@, SGMUH-@)

Military power connector IP67
(for 400 V motors SGMGH-(05/10/13)D@,
SGMSH-(10/15/20)D@ , SGMUH-(10/15)D@)

Military power connector IP67
(for 400 V motors SGMGH-(20/30/44)D@,
SGMSH-(30/40/50)D@, SGMUH-(30/40)D@)

Military brake connector IP67 (for 400 V servo motors
SGMGH-@, SGMSH-@, SGMUH-@)

Connectors included XD-CN200K-DE
DE9406973

SPOC-17H-FRON169
SPOC-06K-FSDN169

Connectors included XD-CN400K-DE
DE9406973

SPOC-17H-FRON169
LPRA-06B-FRBN170

or JZSP-CKI9

or R88A-CNU01R
SPOC-17H-FRON169

SPOC-06K-FSDN169

LPRA-06B-FRBN170

MS3108E20-29S

MS3108E18-10S

MS3108E22-22S

MS3108E10SL-3S

Computer software

Specifications Model

XtraWare MOTION TOOLS

XtraDrive 133

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. I18E-EN-02

In the interest of product improvement, specifications are subject to change without notice.

134 AC servo systems