Advanced Functionality in a Super Compact Design

Transcription

1 Authorised Distributors:- ASH & ALAIN INDIA PVT LTD S-100, F.I.E.E., Okhla Industrial Area, Phase-ii, New Delhi (India) Tel : Fax : sales@ashalain.com Advanced Functionality in a Super Compact Design Actual Size ( H D) (Excluding mounting)

2 Easy and Advanced Performance Features 2 Selection Guide 6 System Configuration 8 Interpreting Numbers 10 Ordering Information 12 Servo Drive-Servomotor Combinations 16 Servomotor and Decelerator Combinations 16 Servo Relay Units and Cables 17 Cable Combinations 18 Servo Drive 22 Servomotor 23 Decelerator 28 Encoder, External Regeneration Resistors, Reactor and Parameter Unit 30 Connections 31 Solve Your Equipment Problems from Design to Maintenance. Integrated Development Environment Cut Your TCO from Design to Maintenance. Control from a PLC is made easy by using function blocks. The Servo System can be managed from design to maintenance with the CX-One FA Integrated Package. I/O Circuit Diagrams 33 Nomenclature and Functions 36 Dimensions 39 About Manuals 49 Maintenance with Integrated Support Software Maintain your Server Drives with the CX-Drive in the CX-One FA Integrated Tool Package. Unit Configuration Setting Parameters Programming Setting & Programming Easy programming with the Smart FB Library FB Even Smaller Control Panel Palm-size Design Installation Mount the Drive to the DIN Rail in one step. No Adjustment Simple Realtime Autotuning eliminates the need for complicated adjustments. Improve Tact Time Significantly faster command pulse Easy Parameter Settings Simply download parameter settings by using the copy function. Suitable for systems with low mechanical rigidity Mechanical vibration is controlled with a vibration control function and adaptive filter. PC PT PC System Design Operation & Maintenance Integrated Debugging CP1H/ CP1L Parameter Editing & Monitoring The Servomotor parameters can be edited, monitored, and saved with the CX-Drive. Alarm & Maintenance Easy monitoring of the NC Unit & Drive errors Note: CX-Drive (version 1.61) support for SMARTSTEP2 series Servo Drives can be obtained by using the CX-One V2 auto-update function from May 30, Reduce Design ork Easy control from PLC with the Smart FB Library. SMARTSTEP2 Easy monitoring of Position Control Unit and Servo Drive errors 2 SMARTSTEP2: Features SMARTSTEP2: Features 3

3 Ball Screws, Belt Conveyers,and More: Ideal A Super-compact, High-performance Servo for a ide Range of Applications System That's Easy to Use for Precise Positioning with Ease Compact! Easy! Advanced Functionality! Smaller Servo Drives for Multi-axis Applications Reduce footprint in the control panel. Easy Adjustment Realtime autotuning sets the optimum gain. Reduce Tact Time Achieve high-speed positioning and movement. Reduce Mechanical Vibration Quick suppression of vibration with an adaptive filter. The super-compact SMARTSTEP is now even smaller. The footprint has been reduced by 52%, helping to reduce control panel size SMARTSTEP SMARTSTEP2 Downsized Servo Drives for Compact PLCs Reduce your duct pitch. Footprint Reduced by 52% Note: Excluding mounting bracket. SMARTSTEP2 is only 120 mm in height. By mounting it onto the same duct as the compact CP1L PLC, the duct pitch can be reduced, minimizing control panel space. An autotuning function calculates the device load in realtime and automatically sets the optimum gain, simplifying the adjustment procedure. Load signal Automatic Gain Setting Easier Installation Mount the Servo to a DIN Rail in one step. The Servo Drive can be mounted onto a DIN Rail in a single step by using the DIN Rail Mounting Unit (sold separately) for easier assembly and easier maintenance replacements. One-step Mounting The command pulse frequency at 500 kpps is twice as fast as previous OMRON models, enabling high-speed and high-precision control. Double the Speed SMARTSTEP SMARTSTEP Command pulse frequency (kpps) Check the Present Position Monitor positioning errors with a feedback pulse. The present position can be checked from the host using the feedback pulse sent from the Servo Drive to the Controller, allowing device errors to be monitored. Command pulse Feedback pulse Error occurred The vibration frequency is automatically measured to remove vibration. Even if the resonant frequency changes, realtime evaluation automatically follows the changes to reduce the effect of vibration due to low mechanical rigidity, such as for conveyer belts. Vibration Reduce Tact Time High-speed positioning with vibration control. Mechanical vibration at the stop position caused by low mechanical rigidity can be suppressed by removing the vibration frequency. Previous model Vibration Automatically adjusts filter to vibration frequency. Stop position Control for one vibration frequency No vibration! Quickly suppresses vibration Stop position 160mm Easy Parameter Settings for Mass Production Use the Parameter Unit as a copy tool. Change Pressing Force Torque limiting function. CP1L SMARTSTEP2 Reduced Duct Space Parameter can be easily set for many Servo Drives using the Parameter Unit, enabling easier assembly work in mass production lines. Set two torque limits, and switch between the two limits depending on the application, such as pressing or part insertions. Note: Use the wiring duct and the height max 60mm. The width between the top and bottom side of the board and the drives is max 100 mm. Setting A Setting B Upload Download Download 4 SMARTSTEP2: Features SMARTSTEP2: Features 5

4 Selection Guide The optimum combination can be found from to handle various applications. *! "#$ % * +, % -. / ($0&'!1/"2.//3 $ 4- * 55*.%' 55*.%". 1 Power supply AC100V Single-phase Single/ Three-phase Single/ Three-phase Motor capacity Single-phase AC200V Single/ Three-phase k 1.5 k k 1.5 k 3 k 4 k 4.5 k Pulse train Command type Control modes Position control Control modes 5 k 2 k Vibration control Vibration control Autotuning AUTO Position control 4.5 k *1 Vibration control Adaptive *2 filter Servo Drive functions 5 k 6 k k r/min *1 200 Pulse train Position control Adaptive *2 filter Adaptive *3 filter Torque *1 limit Torque *1 limit *3. One adaptive filter and one notch filter. Analog: ML2: MECHATROLINK-II Analog The speed and torque Torque control: Control is applied to Torque adjust the rotational force. Torque control control is suitable for applications such as parts insertion, pressing, and screw tightening. Fit gain: The rigidity for the realtime FIT GAIN autotuning for position control is set automatically. By repeatedly inputting a specific operation pattern, the optimum rigidity is set automatically. are input to the Servo as analog signals. ML2 high-speed Servo communications motion network. (See note.) Command control mode switching: Mode switching Switching is possible between any two of the three control modes: position control, speed control, and torque control. Absolute output: hen the Controller power supply is turned ON, the Controller reads the Servo absolute position data to restore the absolute position. Position control: Control is Position control applied to move to the target position and then stop at the target position. Vibration control function: Vibration Vibration is suppressed by control automatically setting a filter for the vibration frequency. Incremental output: hen the Controller power supply is turned ON, operation is always started from the origin point. Speed control: Control is applied to change the linear Speed or rotational speed. For example, speed control is used control for applications such as turning grindstones, controlling welding speeds, and controlling feeding speeds. *4 *4. The rated speed is 1,500 r/min for 7.5 k Servomotors only Autotuning: The motor is moved according to a AUTO command pattern automatically generated by the Servo Drive, then estimates the load inertia from the torque required at that time to automatically set the optimum gain. Adaptive filter: The machine Adaptive load inertia is calculated in filter realtime and the result is used to automatically set the optimum gain. Torque limit: Switching is Torque possible between the first torque limit limit and the second torque limit to limit the Servomotor output torque. Incremental/absolute output: The Servomotor can be switched between an incremental output and an absolute output. hen an absolute output is selected and the Controller power supply is turned ON, the Controller reads the Servo absolute position data to restore the absolute position. SMARTSTEP2: Selection Guide Incremental output: hen the Controller power supply is turned ON, operation is always started from the origin point. *MECHATROLINK-II is a registered trademark of the MECHATROLINK Members Association 6 Pulse train: 3000r/min 400 distance are input to the Servo as pulse trains. 3000r/min Flat type 100 AUTO *2. One adaptive filter and two notch filters. Cylinder type Vibration control 2000r/min Flat type 4 speeds *1. Two limits. Pulse The speed and travel train Cylinder type AUTO 55.% Cylinder type 8 speeds Internal set speeds Torque control Speed control Three-phase Mode switching Torque *1 limit Encoder output 4 k Single/ Three-phase Single-phase Servomotor capacity Tuning functions Mode switching Torque limits 3 k Three-phase ML2 Torque control Speed control FIT GAIN 7.5 k Analog Control mode switching Realtime autotuning 6 k Single-phase & ' '() ) - Single-phase AC100V Three-phase! "#$ % +, % -. / ($0&'!1/"2.//3 $ 4-55.% Single-phase Single-phase 2 k & ' '() ) - *.6) AC200V Three-phase Interface a variety of functions and model variations - 7 7,! "#$ % 8 7,! "#$ % $ - 9 :$ " /5 ; SMARTSTEP2: Selection Guide 7

5 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP Advanced Functionality in a Super Compact Design. Compact AC Servo Drives The footprint of the compact AC Servo Drives is only 48% that of the SMARTSTEP A Series, and the volume is only 39%. The AC Servo Drives of the SMARTSTEP 2 Series are also equipped with new functions and higher performance for more accurate positioning. Vibration Suppressed during Acceleration/Deceleration of Low-rigidity Mechanisms Damping control suppresses vibration when using the SMARTSTEP 2 for low-rigidity mechanisms or devices in which the end vibrates. Resonance Control for High-speed Positioning Realtime autotuning estimates the load inertia of the machine in realtime and automatically and constantly sets the optimal gain. The adaptive filter automatically suppresses vibration caused by resonance. Compatible with 90 Phase Difference Input Command Pulses In addition to conventional C/CC inputs (2 pulses) and SIGN/PULS inputs (1 pulse), the SMARTSTEP 2 supports 90 phase difference inputs. This makes it possible to input encoder output signals directly into the Servo Drive for simplified synchronization control. System Configuration Note: CX-Drive (version 1.61) support for SMARTSTEP2 series Servo Drives can be obtained by using the CX-One V2 auto-update function from May 30, Controllers Monitor Software CX-Drive See Note Parameter Unit R88A-PR02G SYSMAC CJ-series PLC FQM1-series PLC Flexible Motion Controller with Pulse I/O SYSMAC CS-series PLC Personal Computer Monitor Cable R88A-CCG002P2 Pulse Train Command FQM1-MMP22 Position Control Unit Cables Servo Relay Units Servo Drive Cables Position Control Unit X2Z-@@@J-A@ X2B-@@J@-@@@ X2Z-@@@J-B@@ CJ1-NC113/213/413 CJ1-NC133/233/433 CS1-NC113/213/413 CS1-NC133/233/433 SYSMAC CJ1M CJ1M-CPU2@ CUSTOMIZABLE COUNTER UNIT CS1-HCP22-V1 Pulse Train Command Connector-Terminal Block Conversion Units and Cable X2@-34G@ X2Z-@@@J-B28 SYSMAC CP1H/CP1L Support Software CX-One FA Integrated Tool Package CX-Programmer CX-Position 8 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

6 A ide Range of Pulse Settings A wide range of pulse settings, such as the command pulse factor, electronic gear, and encoder dividing rate, enable optimal pulse settings for your device or system. Simplified Speed Control with Internal Speed Settings Four internal speed settings allow the speed to be easily switched by using external signals. Encoder Output Dividing The number of motor encoder pulses output by the Servo Drive can be freely set between 1 and 2,500 pulses per rotation. A parameter can also be set to change the phase. AC Servo Drive Motor power signals Power Cables Standard Cables Power Cables ithout a brake R7A-CAB@@@S AC Servomotors POER ALM C N 3 ith a brake R88A-CAGA@@B C N 1 Robot Cables Power Cables ithout a brake R7A-CAB@@@SR CN2 C N B ith a brake R88A-CAGA@@BR SMARTSTEP 2 Servo Drive R7D-BP C N A feedback signals Encoder Cables Standard Cables R88A-CRGB@@@C OMNUC G-series Servomotor R88M-G Power Supply Cables Single-Phase Power R7A-CLB002S2 Three-Phase Power R7A-CLB002S3 External Regenerative Resistor Connection Cable R7A-CLB002RG Peripheral Devices Reactors 3G3AX-DL 3G3AX-AL External Regeneration Resistors R88A-RR Robot Cables R88A-CRGB@@@CR Decelerators Backlash: 3 Arcminutes Max. R88G-HPG Backlash: 15 Arcminutes Max. R88G-VRSF AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 9

7 Interpreting Numbers Servo Drive Numbers The model number provides information such as the Servo Drive type, the applicableservomotor capacity, and the power supply voltage. R7D-BP01H SMARTSTEP 2 Servo Drive Drive Type P: Pulse-string input Applicable Servomotor Capacity A5: 50 01: : : 400 Power Supply Voltage L: 100 VAC H: Single-phase/Three-phase 200 VAC HH: Single-phase 200 VAC Note Single phase: Haploid phase Servomotor Numbers The model number provides information such as the Servomotor type, Servomotor capacity, rated speed, and options. G-series Servomotor R88M-GP10030H-BOS2 Motor Type None: Cylinder type P: Flat type Servomotor Capacity 050: : : : 400 Rated Rotation Speed 30: 3000 r/min Applied Voltage H: 200 VAC L: 100 VAC Options None: Straight shaft B: Brake O: ith Oil seal S2: ith Key tap 10 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

8 Understanding Decelerator Numbers Backlash = 3' Max. R88G-HPG14A05100PBJ Decelerator for G-Series Servomotors Backlash = 3 Max. Flange Size Number 11A :@40 14A :@60 20A :@90 32A :@120 50A :@170 65A :@230 Applicable Servomotor Capacity 050 : : : :400 Gear Ratio 05 :1/5 09 :1/9 (only frame number 11A) 11 :1/11 (except frame number 65A) 12 :1/12 (only frame number 65A) 20 :1/20 (only frame number 65A) 21 :1/21 (except frame number 65A) 25 :1/25 (only frame number 65A) 33 :1/33 45 :1/45 Motor Type Blank :3,000-r/min cylindrical servomotors P :flat servomotors Backlash B :3 max. Option Blank :Straight shaft J :ith key and tap Backlash = 15' Max. Decelerator for G-Series Servomotors Backlash = 15 Max. Gear Ratio 05 :1/5 09 :1/9 15 :1/15 25 :1/25 Flange Size Number B :@52 C :@78 D :@98 Applicable Servomotor Capacity 050 : : : :400 R88G-VRSF09B100PCJ Motor Type Blank :3,000-r/min cylindrical servomotors P :flat servomotors Backlash C :15 max. Option J :ith key and tap AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 11

9 Ordering Information Servo Drives Single-phase 100 VAC 50 R7D-BPA5L 100 R7D-BP01L 200 R7D-BP02L 50 Single-phase/three-phase 200 R7D-BP01H 100 VAC 400 R7D-BP04H Single-phase 200 VAC 200 R7D-BP02HH Three-phase 200 VAC 200 R7D-BP02H Servomotors 3,000-r/min Cylindrical Servomotors Straight shaft Straight shaft with key and tap 50 R88M-G05030H R88M-G05030H-S2 100 V 100 R88M-G10030L R88M-G10030L-S2 ith brake ithout brake 200 R88M-G20030L R88M-G20030L-S2 50 R88M-G05030H R88M-G05030H-S2 100 R88M-G10030H R88M-G10030H-S2 200 V 200 R88M-G20030H R88M-G20030H-S2 400 R88M-G40030H R88M-G40030H-S2 50 R88M-G05030H-B R88M-G05030H-BS2 100 V 100 R88M-G10030L-B R88M-G10030L-BS2 200 R88M-G20030L-B R88M-G20030L-BS2 50 R88M-G05030H-B R88M-G05030H-BS2 100 R88M-G10030H-B R88M-G10030H-BS2 200 V 200 R88M-G20030H-B R88M-G20030H-BS2 400 R88M-G40030H-B R88M-G40030H-BS2 Note: s with oil seals are also available. 3,000-r/min Flat Servomotors ith brake ithout brake Straight shaft Straight shaft with key and tap 100 R88M-GP10030L R88M-GP10030L-S2 100 V 200 R88M-GP20030L R88M-GP20030L-S2 100 R88M-GP10030H R88M-GP10030H-S2 200 V 200 R88M-GP20030H R88M-GP20030H-S2 400 R88M-GP40030H R88M-GP40030H-S2 100 R88M-GP10030L-B R88M-GP10030L-BS2 100 V 200 R88M-GP20030L-B R88M-GP20030L-BS2 100 R88M-GP10030H-B R88M-GP10030H-BS2 200 V 200 R88M-GP20030H-B R88M-GP20030H-BS2 400 R88M-GP40030H-B R88M-GP40030H-BS2 Note: s with oil seals are also available. 12 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

10 Decelerators Backlash: 3 Arcminutes Max. Decelerators for Cylindrical Servomotors Motor capacity Gear ratio 1/5 R88G-HPG11A05100B 1/9 R88G-HPG11A09050B 50 1/21 R88G-HPG14A21100B 1/33 R88G-HPG14A33050B 1/45 R88G-HPG14A45050B 1/5 R88G-HPG11A05100B 1/11 R88G-HPG14A11100B 100 1/21 R88G-HPG14A21100B 1/33 R88G-HPG20A33100B 1/45 R88G-HPG20A45100B 1/5 R88G-HPG14A05200B 1/11 R88G-HPG14A11200B 200 1/21 R88G-HPG20A21200B 1/33 R88G-HPG20A33200B 1/45 R88G-HPG20A45200B 1/5 R88G-HPG14A05400B 1/11 R88G-HPG20A11400B 400 1/21 R88G-HPG20A21400B 1/33 R88G-HPG32A33400B 1/45 R88G-HPG32A45400B Backlash: 15 Arcminutes Max. Decelerators for Cylindrical Servomotors Motor capacity Gear ratio 1/5 R88G-VRSF05B100CJ 1/9 R88G-VRSF09B100CJ 50 1/15 R88G-VRSF15B100CJ 1/25 R88G-VRSF25B100CJ 1/5 R88G-VRSF05B100CJ 1/9 R88G-VRSF09B100CJ 100 1/15 R88G-VRSF15B100CJ 1/25 R88G-VRSF25B100CJ 1/5 R88G-VRSF05B200CJ 1/9 R88G-VRSF09C200CJ 200 1/15 R88G-VRSF15C200CJ 1/25 R88G-VRSF25C200CJ 1/5 R88G-VRSF05C400CJ 1/9 R88G-VRSF09C400CJ 400 1/15 R88G-VRSF15C400CJ 1/25 R88G-VRSF25C400CJ Note: 1. The standard models have a straight shaft with a key. Note: 2. The backlash is the value when a load of ±5% of the allowable output torque is applied to the output shaft. Note: 1. The standard models have a straight shaft. Note: 2. To order a Servomotor with a straight shaft with key, add J to the end of the model number, in the place indicated by the box. Example: R88G-HPG11A05100BJ Backlash: 3 Arcminutes Max. Decelerator for Flat Servomotors Motor capacity Gear ratio 1/5 R88G-HPG11A05100PB 1/11 R88G-HPG14A11100PB 100 1/21 R88G-HPG14A21100PB 1/33 R88G-HPG20A33100PB 1/45 R88G-HPG20A45100PB 1/5 R88G-HPG14A05200PB 1/11 R88G-HPG20A11200PB 200 1/21 R88G-HPG20A21200PB 1/33 R88G-HPG20A33200PB 1/45 R88G-HPG20A45200PB 1/5 R88G-HPG20A05400PB 1/11 R88G-HPG20A11400PB 400 1/21 R88G-HPG20A21400PB 1/33 R88G-HPG32A33400PB 1/45 R88G-HPG32A45400PB Backlash: 15 Arcminutes Max. Decelerators for Flat Servomotors Motor capacity Gear ratio 1/5 R88G-VRSF05B100PCJ 1/9 R88G-VRSF09B100PCJ 100 1/15 R88G-VRSF15B100PCJ 1/25 R88G-VRSF25B100PCJ 1/5 R88G-VRSF05B200PCJ 1/9 R88G-VRSF09C200PCJ 200 1/15 R88G-VRSF15C200PCJ 1/25 R88G-VRSF25C200PCJ 1/5 R88G-VRSF05C400PCJ 1/9 R88G-VRSF09C400PCJ 400 1/15 R88G-VRSF15C400PCJ 1/25 R88G-VRSF25C400PCJ Note: 1. The standard models have a straight shaft with a key. Note: 2. The backlash is the value when a load of ±5% of the allowable output torque is applied to the output shaft. Note: 1. The standard models have a straight shaft. Note: 2. To order a Servomotor with a straight shaft with key, add J to the end of the model number, in the place indicated by the box. Example: R88G-HPG11A05100BJ AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 13

11 Accessories and Cables Control Cables (for CN1) 1 m X2Z-100J-B28 Connector-Terminal Block Cables 2 m X2Z-200J-B28 1 m R7A-CPB001S General-purpose Control Cables 2 m R7A-CPB002S Encoder Cables (for CN2) (Standard Cables) 3 m R88A-CRGB003C 5 m R88A-CRGB005C Standard Cables (connectors attached) 10 m R88A-CRGB010C 15 m R88A-CRGB015C 20 m R88A-CRGB020C Servomotor Power Cables (for CNB) (Standard Cables) 3 m R7A-CAB003S 5 m R7A-CAB005S Standard Cables (connectors attached) 10 m R7A-CAB010S 15 m R7A-CAB015S 20 m R7A-CAB020S Brake Cables (Standard Cables) 3 m R88A-CAGA003B 5 m R88A-CAGA005B Standard Cables 10 m R88A-CAGA010B 15 m R88A-CAGA015B 20 m R88A-CAGA020B Encoder Cables (for CN2) (Robot Cables) 3 m R88A-CRGB003CR 5 m R88A-CRGB005CR Robot Cables (connectors attached) 10 m R88A-CRGB010CR 15 m R88A-CRGB015CR 20 m R88A-CRGB020CR Servomotor Power Cables (for CNB) (Robot Cables) 3 m R7A-CAB003SR 5 m R7A-CAB005SR Robot Cables (connectors attached) 10 m R7A-CAB010SR 15 m R7A-CAB015SR 20 m R7A-CAB020SR Brake Cables (Robot Cables) 3 m R88A-CAGA003BR 5 m R88A-CAGA005BR Robot Cables 10 m R88A-CAGA010BR 15 m R88A-CAGA015BR 20 m R88A-CAGA020BR Personal Computer Monitor Cable Power Supply Cables Connectors Connector-Terminal Block Conversion Units External Regeneration Resistors Reactors DIN Rail Mounting Unit Parameter Unit Personal Computer Monitor Cable 2 m R88A-CCG002P2 Power Supply Input Cable for Single-Phase Power (connectors attached) Power Supply Input Cable for Three-Phase Power (connectors attached) External Regenerative Resistor Connection Cable Main Circuit Connector (CNA) Servomotor Connector (CNB) Control Input Connector (CN1) Encoder Input Connector (CN2) Servomotor Connector for Encoder Cable Servomotor Connector for Servomotor Power Cable Brake Cable Connector ith M3 screws ith M3.5 screws ith M3 screws 2 m R7A-CLB002S2 2 m R7A-CLB002S3 2 m R7A-CLB002RG R7A-CNB01P R7A-CNB01A R88A-CN01C R88A-CN01R R88A-CNG02R R88A-CNG01A R88A-CNG01B X2B-34G4 X2B-34G5 X2D-34G6 220, 47 Ω R88A-RR22047S 80, 100 Ω R88A-RR080100S 80, 50 Ω R88A-RR08050S Applicable Servo Drive R7D-BPA5L 3G3AX-DL2002 Single-phase 100 V R7D-BP01L 3G3AX-DL2004 R7D-BP02L 3G3AX-DL2007 R7D-BP01H 3G3AX-DL2004 Single-phase 200 V R7D-BP02HH 3G3AX-DL2004 R7D-BP04H 3G3AX-DL2007 R7D-BP01H 3G3AX-AL2025 Three-phase 200 V R7D-BP02H 3G3AX-AL2025 R7D-BP04H 3G3AX-AL2025 DIN Rail Mounting Unit R7A-DIN01B Parameter Unit R88A-PR02G 14 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

12 Servo Relay Units (for CN1) For CJ1-NC133/-NC113 For CS1-NC133/-NC113 For C200H-NC113 For CJ1-NC233/-NC433/-NC213/-NC413 For CS1-NC233/-NC433/-NC213/-NC413 For C200H-NC213/-NC413 For CJ1M-CPU21 for 1 axis For CJ1M-CPU22 For CJ1M-CPU23 for 2 axis For FQM1-MMP22 For CQM1H-PLB21 X2B-20J6-1B X2B-40J6-2B X2B-20J6-8A X2B-40J6-9A X2B-80J7-12A X2B-20J6-3B Servo Relay Unit Cables (for Servo Drives) For Position Control Unit/CQM1H-PLB21 (X2B-20J6-1B/X2B-40J6-2B/ X2B-20J6-3B) For CJ1M (X2B-20J6-8A/X2B-40J6-9A) For FQM1-MMP22 (X2B-80J7-12A) 1 m X2Z-100J-B29 2 m X2Z-200J-B29 1 m X2Z-100J-B32 2 m X2Z-200J-B32 1 m X2Z-100J-B30 2 m X2Z-200J-B30 Servo Relay Unit Cables (for Position Control Units) For CJ1-NC133 For CJ1-NC233/-NC433 For CS1-NC133 For CS1-NC233/-NC433 For CJ1-NC113 For CJ1-NC213/-NC413 For CS1-NC113 For C200H-NC113 For CS1-NC213/-NC413 For C200H-NC213/-NC413 For CJ1M-CPU21 For CJ1M-CPU22 For CJ1M-CPU23 For FQM1-MMP22 For CQM1H-PLB21 General-purpose I/O Cables Special I/O Cables 0.5 m X2Z-050J-A18 1 m X2Z-100J-A m X2Z-050J-A19 1 m X2Z-100J-A m X2Z-050J-A10 1 m X2Z-100J-A m X2Z-050J-A11 1 m X2Z-100J-A m X2Z-050J-A14 1 m X2Z-100J-A m X2Z-050J-A15 1 m X2Z-100J-A m X2Z-050J-A6 1 m X2Z-100J-A6 0.5 m X2Z-050J-A7 1 m X2Z-100J-A7 0.5 m X2Z-050J-A33 1 m X2Z-100J-A m X2Z-050J-A28 1 m X2Z-100J-A28 2 m X2Z-200J-A m X2Z-050J-A30 1 m X2Z-100J-A30 2 m X2Z-200J-A m X2Z-050J-A3 1 m X2Z-100J-A3 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 15

13 Servo Drive-Servomotor Combinations Only the Servomotor and Servo Drive combinations listed here can be used. Do not use other combinations. Cylindrical Servomotor Servomotors Combinations Voltage Single-phase 100VAC Single-phase 200 VAC Three-phase 200 VAC Servo Drive Servomotor Pulse-string input Rated output ithout brake ith brake R7D-BPA5L 50 R88M-G05030H R88M-G05030H-B R7D-BP01L 100 R88M-G10030L R88M-G10030L-B R7D-BP02L 200 R88M-G20030L R88M-G20030L-B 50 R88M-G05030H R88M-G05030H-B R7D-BP01H 100 R88M-G10030H R88M-G10030H-B R7D-BP02HH 200 R88M-G20030H R88M-G20030H-B R7D-BP04H 400 R88M-G40030H R88M-G40030H-B 50 R88M-G05030H R88M-G05030H-B R7D-BP01H 100 R88M-G10030H R88M-G10030H-B R7D-BP02H 200 R88M-G20030H R88M-G20030H-B R7D-BP04H 400 R88M-G40030H R88M-G40030H-B Flat Servomotor Servomotors Combinations Voltage Single-phase 100VAC Single-phase 200 VAC Three-phase 200 VAC Servo Drive Servomotor Pulse-string input Rated output ithout brake ith brake R7D-BP01L 100 R88M-GP10030L R88M-GP10030L-B R7D-BP02L 200 R88M-GP20030L R88M-GP20030L-B R7D-BP01H 100 R88M-GP10030H R88M-GP10030H-B R7D-BP02HH 200 R88M-GP20030H R88M-GP20030H-B R7D-BP04H 400 R88M-GP40030H R88M-GP40030H-B R7D-BP01H 100 R88M-GP10030H R88M-GP10030H-B R7D-BP02H 200 R88M-GP20030H R88M-GP20030H-B R7D-BP04H 400 R88M-GP40030H R88M-GP40030H-B Servomotor and Decelerator Combinations 3,000-r/min Servomotors Motor model 1/5 (Also used with 1/11 (1/9 for flange size No.11) (Gear ratio 1/9) 1/21 1/33 1/45 (Also used with ,000-r/min Flat Servomotors Motor model 1/5 1/11 1/21 1/33 1/ AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

14 Servo Relay Units and Cables Select the Servo Relay Unit and Cable according to the model number of the Position Control Unit being used. Position Control Unit Position Control Unit Cable Servo Relay Unit Servo Drive Cable CJ1-NC133 X2B-20J6-1B CJ1-NC233 X2B-40J6-2B CJ1-NC433 CS1-NC133 X2B-20J6-1B CS1-NC233 X2B-40J6-2B CS1-NC433 CJ1-NC113 X2B-20J6-1B CJ1-NC213 X2B-40J6-2B CS1-NC113 CJ1-NC413 X2B-20J6-1B C200H-NC113 CS1-NC213 CS1-NC413 C200H-NC213 C200H-NC413 CJ1M-CPU21 X2B-40J6-2B CJ1M-CPU22 CJ1M-CPU23 X2B-20J6-8A X2B-40J6-9A (for 2 axes) X2Z-@@@J-B32 FQM1-MMP22 General-purpose I/O X2Z-@@@J-A28 Special I/O X2Z-@@@J-A30 X2B-80J7-12A X2Z-@@@J-B30 CQM1H-PLB21 X2Z-@@@J-A3 X2B-20J6-3B X2Z-@@@J-B29 Note: 1. Insert the cable length into the boxes in the model number (@@@). Position Control Unit cables come in two lengths: 0.5 m and 1 m (some are also available in lengths of 2 m). Servo Drive Cables also come in two lengths: 1 m and 2 m. For information on cable lengths, refer to Accessories and Cables on page 15. Note: 2. Two Servo Drive Cables are required if 2-axis control is performed using one Position Control Unit. AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 17

15 HCP22 IN OUT TOOL ON OFF 12 CN1 PERIHERAL IN SYSMAC CP1H BATTERY PERIPHERAL RUN OPN COMM ERC ERH MACH No A1 B1 A2 B2 1 CN X10 1 X10 0 B A A B AC V 0CH 1CH POER RUN BKUP ERR/ALM INH PRPHL COM COM COM COM COM 07 COM CH 101CH OUT DC24V 0.3A OUTPUT EXP Cable Combinations Parameter Unit Monitor Software for indows Servo Relay Units Position Control Unit Connector-Terminal Block Conversion Units PLC ( with Pulse Output) L1 L2/N COM Power Supply Cables (for CNA) Symbol Name Connected to Description Power Supply Input Cable for Single-Phase Power (connectors attached) Single-phase 100 V/Singlephase 200 V R7D-BP R7A-CLB002S dia. [Servo Drive Connector] Connector pins: 5556PBTL (Molex Japan Co., Ltd.) Connector case: R-210 (Molex Japan Co., Ltd.) Power Supply Input Cable for Three-Phase Power (connectors attached) Three-Phase 200 V R7D-BP R7A-CLB002S dia. [Servo Drive Connector] Connector pins: 5556PBTL (Molex Japan Co., Ltd.) Connector case: R-210 (Molex Japan Co., Ltd.) External Regenerative Resistor Connection Cable Using the Servo Drive with External Regeneration Resistor Connected R88A-RR22047S R88A-RR080100S R88A-RR08050S R7A-CLB002RG dia. Servomotor Power Cables (for CNB) Symbol Name Connected to Description Standard Servomotor Power Cables with Connectors Robot Servomotor Power Cables with Connectors R88M-G@@@30@-@ R88M-G@@@30@-@S2 R88M-GP@@@30@-@ R88M-GP@@@30@-@S2 R88M-G@@@30@-@ R88M-G@@@30@-@S2 R88M-GP@@@30@-@ R88M-GP@@@30@-@S2 R7A-CAB@@@S The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, or 20 m long. R7A-CAB@@@SR The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, or 20 m long. [Servo Drive Connector] Connector pins: 5556PBTL (Molex Japan Co., Ltd.) Connector case: R-210 (Molex Japan Co., Ltd.) [Servo Drive Connector] Connector pins: 5556PBTL (Molex Japan Co., Ltd.) Connector case: R-210 (Molex Japan Co., Ltd.) 50 L dia. 50 L dia. [Servomotor Connector] Connector pins: or (Tyco Electronics AMP KK) Connector case: (Tyco Electronics AMP KK) [Servomotor Connector] Connector pins: or (Tyco Electronics AMP KK) Connector case: (Tyco Electronics AMP KK) Brake Cables Symbol Name Connected to Description Standard Brake Cables Robot Brake Cables R88M-G@@@30@-B R88M-G@@@30@-BS2 R88M-GP@@@30@-B R88M-GP@@@30@-BS2 R88M-G@@@30@-B R88M-G@@@30@-BS2 R88M-GP@@@30@-B R88M-GP@@@30@-BS2 R88A-CAGA@@@B The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, or 20 m long. R88A-CAGA@@@BR The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, or 20 m long. 50 L dia. 50 L dia. [Servomotor Connector] Connector pins: or (Tyco Electronics AMP KK) Connector case: (Tyco Electronics AMP KK) [Servomotor Connector] Connector pins: or (Tyco Electronics AMP KK) Connector case: (Tyco Electronics AMP KK) 18 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

16 Encoder Cables (for CN2) Symbol Name Connected to Description Standard Encoder Cables with Connectors The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, or 20 m long. [Servo Drive Connector] Connector pins: (Molex Japan Co., Ltd.) Connector cace: Crimped I/O connector: (Molex Japan Co., Ltd.) 6.5 dia. L [Servomotor Connector] Connector pins: (Tyco Electronics AMP KK) Connector case: (Tyco Electronics AMP KK) Robot Encoder Cables with Connectors R88M-@@@30@-@ R88M-G@@@30@-@S2 R88M-GP@@@30@-@ R88M-GP@@@30@-@S2 R88A-CRGB@@@CR The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, or 20 m long. [Servo Drive Connector] Connector pins: (Molex Japan Co., Ltd.) Connector cace: Crimped I/O connector: (Molex Japan Co., Ltd.) (7.5 dia.) L [Servomotor Connector] Connector pins: (Tyco Electronics AMP KK) Connector case: (Tyco Electronics AMP KK) AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 19

17 Control Cables (for CN1) Symbol Name Connected to Servo Relay Units Servo Drive Cables Position Control Units Cables General-purpose Control Cables Connector Terminal Block Cables Connector-Terminal Block Conversion Units CJ1-NC113/NC133 CS1-NC113/NC133 C200H-NC113 CJ1-NC213/NC233/NC413/NC433 CS1-NC213/NC233/NC413/NC433 C200H-NC213/NC413 CJ1M-CPU21/CPU22/CPU23 (one axis) CJ1M-CPU21/CPU22/CPU23 (two axes) FQM1-MMP22 CQM1H-PLB21 Position Control Unit/CQM1H CJ1M FQM1-MMP22 (X2B-80J7-12A) CJ1-NC133 CJ1-NC233/NC433 CS1-NC133 CS1-NC233/NC433 CJ1-NC113 CJ1-NC213/NC413 CS1-NC113 C200H-NC113 CS1-NC213/NC413 C200H-NC213/NC413 CJ1M-CPU21/CPU22/CPU23 FQM1-MMP22 (General-purpose I/O) FQM1-MMP22 (Special I/O) CQM1H-PLB21 Cables for General-purpose Controllers Cables for General-purpose Controllers Conversion Unit for General-purpose Controllers (M3 screws) Conversion Unit for General-purpose Controllers (M3.5 screws) Conversion Unit for General-purpose Controllers (M3 screws) X2B-20J6-1B X2B-40J6-2B X2B-20J6-8A X2B-40J6-9A X2B-80J7-12A X2B-20J6-3B The empty boxes in the model number are for the cable length. The cable can be 1, or 2 m long. X2Z-@@@J-B32 The empty boxes in the model number are for the cable length. The cable can be 1, or 2 m long. X2Z-@@@J-B30 The empty boxes in the model number are for the cable length. The cable can be 1, or 2 m long. X2Z-@@@J-A18 The empty boxes in the model number are for the cable length. The cable can be 0.5, or 1 m long. X2Z-@@@J-A19 The empty boxes in the model number are for the cable length. The cable can be 0.5, or 1 m long. X2Z-@@@J-A10 The empty boxes in the model number are for the cable length. The cable can be 0.5, or 1 m long. X2Z-@@@J-A11 The empty boxes in the model number are for the cable length. The cable can be 0.5, or 1 m long. X2Z-@@@J-A14 The empty boxes in the model number are for the cable length. The cable can be 0.5, or 1 m long. X2Z-@@@J-A15 The empty boxes in the model number are for the cable length. The cable can be 0.5, or 1 m long. X2Z-@@@J-A6 The empty boxes in the model number are for the cable length. The cable can be 0.5, or 1 m long. X2Z-@@@J-A7 The empty boxes in the model number are for the cable length. The cable can be 0.5, or 1 m long. X2Z-@@@J-A33 The empty boxes in the model number are for the cable length. The cable can be 0.5, or 1 m long. X2Z-@@@J-A28 The empty boxes in the model number are for the cable length. The cable can be 0.5, 1m, or 2 m long. X2Z-@@@J-A30 The empty boxes in the model number are for the cable length. The cable can be 0.5, 1m, or 2 m long. X2Z-@@@J-A3 The empty boxes in the model number are for the cable length. The cable can be 0.5, or 1 m long. R7A-CPB@@@S The empty boxes in the model number are for the cable length. The cable can be 1, or 2 m long. X2Z-@@@J-B28 The empty boxes in the model number are for the cable length. The cable can be 1, or 2 m long. X2B-34G4 X2B-34G5 X2D-34G6 20 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

18 Communications Cables (for CN3) Symbol Name Connected to Length (m) Parameter Unit m R88A-PR02G Personal Computer Monitor Cable indows 2 m R88A-CCG002P2 Connectors Symbol Name Connected to --- Main Circuit Connector (CNA) --- R7A-CNB01P --- Servomotor Connector (CNB) --- R7A-CNB01A --- Control I/O Connector (CN1) --- R88A-CN01C --- Encoder Input Connector (CN2) --- R88A-CN01R --- Servomotor Connector for Encoder Cable --- R88A-CNG02R --- Servomotor Connector for Servomotor Power Cable --- R88A-CNG01A --- Brake Cable Connector indows R88A-CNG01B AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 21

19 Servo Drive (R7D-BP) General Item Ambient operating temperature Ambient operating humidity 0 to 55 C, 90% max. (with no condensation) Ambient storage temperature Ambient storage humidity 20 to 65 C, 90% max. (with no condensation) Storage and operating atmosphere No corrosive gasses, no dust, no iron dust, no exposure to moisture or cutting oil Vibration resistance 10 to 60 Hz; acceleration: 5.9 m/s 2 (0.6 G) max. Impact resistance Acceleration of 19.6 m/s 2 max. 3 times each in X, Y, and Z directions. Insulation resistance Between power supply/power line terminals and frame ground: 0.5 MΩ. min. (at 500 VDC) Dielectric strength Between power supply/power line 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 Altitude 1,000 m above sea level max. (860 hp min.) Degree of protection Built into panel (IP10). EC EMC Directive EN class A group 1 EN International standards Directives Low Voltage Directive EN UL standards UL 508C cul standards cul C22.2 No.14 Note: 1. The above items reflect individual evaluation testing. The results may differ under compound conditions. Note: 2. Depending on the operating conditions, some Servo Drive parts will require maintenance. Note: 3. The service life of the Servo Drive is 50,000 hours at an average ambient temperature of 40 C at 80% of the rated torque (excluding axial-flow fan). Characteristics 100 VAC specification Servo Drive model Item R7D-BPA5L R7D-BP01L R7D-BP02L Continuous output current (rms) 1.0 A 1.6 A 2.5 A Momentary maximum output current (rms) 3.3 A 5.1 A 7.5 A Power supply capacity 0.16 KVA 0.25 KVA 0.42 KVA Input power supply voltage (main circuit) Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz Input power supply current (rms) (main circuit) 1.4 A 2.2 A 3.7 A Heat generated (main circuit) Control method All-digital servo Inverter method IGBT-driven PM method PM frequency 12 khz 6 khz Maximum response frequency (command pulses) Line drive: 500 kpps, Open collector: 200 kpps eight 0.35 kg 0.42 kg Applicable motor capacity VAC specification Servo Drive model Item R7D-BP01H R7D-BP02HH R7D-BP02H R7D-BP04H Continuous output current (rms) 1.0 A 1.6 A 1.6 A 2.5 A Momentary maximum output current (rms) 3.3 A 4.9 A 4.9 A 7.8 A Power supply capacity Input power supply voltage (main circuit) Input power supply current (rms) (main circuit) Note: Values inside parentheses ( ) are for single-phase 200-V use KVA (0.30 KVA) See note 0.7 A (1.5 A) See note 0.35 KVA 0.42 KVA Both single-phase and three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz 1.6 A 1.1 A 0.69 KVA (0.77 KVA) See note 1.8 A (3.5 A) See note Heat generated (main circuit) Control method All-digital servo Inverter method IGBT-driven PM method PM frequency 12 khz 6 khz Maximum response frequency (command pulses) Line drive: 500 kpps, Open collector: 200 kpps eight 0.35 kg 0.42 kg 0.35 kg 0.42 kg Applicable motor capacity AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

20 Servomotor (R88M-G) General Item Ambient operating temperature Ambient operating humidity 0 to 40 C, 85% max. (with no condensation) Ambient storage temperature Ambient storage humidity 20 to 65 C, 85% max. (with no condensation) Storage and operating atmosphere No corrosive gases Vibration resistance 49 m/s 2 max. in the X, Y, and Z directions Impact resistance Acceleration of 98 m/s 2 max. 3 times each in the X, Y, and Z directions Insulation resistance 20 MΩ min. at 500 VDC between the power terminals and FG terminal Dielectric strength 1,500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal Operating position Any direction Insulation class Type B Construction Totally-enclosed, self-cooling Degree of protection IP65 (excluding the through-shaft portion) Vibration class V-15 Mounting method Flange-mounting EMC Directive EN :2004 EC Directives Low Voltage Directive IEC :2001 International standards UL standards UL 1004 File No. E cul standards cul 22.2, No.100 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 23

21 Characteristics 3,000-r/min Cylindrical Servomotors 100 VAC specification Item Unit R88M-G05030H R88M-G10030L R88M-G20030L Rated output * Rated torque *1 N m Rated rotation speed r/min 3000 Max. rotation speed r/min 5000 Max. momentary torque *1 N m Rated current *1 A (rms) Max. momentary current *1 A (rms) Rotor inertia kg m Applicable load inertia times rotor inertia max. Power rate *1 k/s Allowable radial load *2 N Allowable thrust load *2 N ithout brake kg ith brake kg Radiation shield dimensions (material) t10 (Al) t12 (Al) eight Brake specifications Brake inertia kg m Excitation voltage *3 V 24 VDC ±10% Power consumption (at 20 C) Current consumption (at 20 C) A Static friction torque N m 0.29 min min min. Attraction time *4 ms 35 max. 35 max. 50 max. Release time *4 ms 20 max. 20 max. 15 max. Backlash ±1 max. Allowable work per braking operation J Allowable total work J ,000 max. Allowable angular acceleration rad/s 2 (Speed of 2,800 r/min minimum must not be stopped in less than 10 ms) Brake life ,000,000 operations min. Rating --- Continuous *1. These are the values when the Servomotor is combined with a Servo Drive at room temperature. The momentary maximum torque shown above indicates the standard value. *2. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The values are also for the locations shown in the following diagram. *3. The brakes operate when the circuit is open (i.e., they are released when voltage is applied). *4. The operation time is the measured value (reference value) with a varistor installed as a surge suppressor. Torque and Rotation Speed Characteristics Radial load Thrust load Center of shaft (LR/2) 3,000-r/min Cylindrical Servomotors The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input. R88M-G05030H R88M-G10030L R88M-G20030L (N m) (N m) (N m) (3000) (3300) Repetitive usage Repetitive usage Repetitive usage Continuous usage Continuous usage 0.20 Continuous usage (r/min) (r/min) 0 (r/min) AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

22 Servomotor (R88M-G) Characteristics 3,000-r/min Cylindrical Servomotors 200 VAC specification Item Unit R88M-G05030H R88M-G10030H R88M-G20030H R88M-G40030H Rated output * Rated torque *1 N m Rated rotation speed r/min 3000 Max. rotation speed r/min 5000 Max. momentary torque *1 N Em Rated current *1 A (rms) Max. momentary current *1 A (rms) Rotor inertia kg m Applicable load inertia times rotor inertia max. Power rate *1 k/s Allowable radial load *2 N Allowable thrust load *2 N ithout brake kg ith brake kg Radiation shield dimensions (material) t10 (Al) t12 (Al) Brake inertia kg m Excitation voltage *3 V 24 VDC ±10% Power consumption (at 20 C) Current consumption (at 20 C) A Static friction torque N m 0.29 min min min min. Attraction time *4 ms 35 max. 35 max. 50 max. 50 max. Release time *4 ms 20 max. 20 max. 15 max. 15 max. Backlash ±1 max. Allowable work per braking operation J Allowable total work J eight Brake specifications 30,000 max. Allowable angular acceleration rad/s 2 (Speed of 2,800 r/min minimum must not be stopped in less than 10 ms) Brake life ,000,000 operations min. Rating --- Continuous *1. These are the values when the Servomotor is combined with a Servo Drive at room temperature. The momentary maximum torque shown above indicates the standard value. *2. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The values are also for the locations shown in the following diagram. *3. The brakes operate when the circuit is open (i.e., they are released when voltage is applied). *4. The operation time is the measured value (reference value) with a varistor installed as a surge suppressor. Radial load Thrust load Center of shaft (LR/2) Torque and Rotation Speed Characteristics 3,000-r/min Cylindrical Servomotors The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input. R88M-G10030H R88M-G20030H R88M-G40030H (N m) (N m) (4300) 1.65 (N m) (3200) 0.6 Repetitive usage 1.0 Repetitive usage 2.0 Repetitive usage Continuous usage Continuous usage Continuous usage (r/min) (r/min) (r/min) AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 25

23 Servomotor (R88M-G) 3,000-r/min Flat Servomotors 100 VAC specification Item Unit R88M-GP10030L R88M-GP20030L Rated output * Rated torque *1 N m Rated rotation speed r/min 3,000 Max. rotation speed r/min 5,000 Max. momentary torque *1 N m Rated current *1 A(rms) Max. momentary current *1 A(0-p) Rotor inertia kg m Applicable load inertia times rotor inertia max. Power rate *1 k/s Allowable radial load *2 N Allowable thrust load *2 N ithout brake kg ith brake kg Radiation shield dimensions (material) t10 (Al) t12 (Al) Brake inertia kg m Excitation voltage *3 V 24 VDC ±10% Power consumption (at 20 C) 7 10 Current consumption (at 20 C) A Static friction torque N m 0.29 min min. Attraction time *4 ms 50 max. 60 max. Release time *4 ms 15 max. 15 max. Backlash ±1 max. Allowable work per braking operation J Allowable total work J eight Brake specifications 10,000 max. Allowable angular acceleration rad/s 2 (Speed of 950 r/min minimum must not be stopped in less than 10 ms) Brake life ,000,000 operations min. Rating --- Continuous *1. These are the values when the Servomotor is combined with a Servo Drive at room temperature. The momentary maximum torque shown above indicates the standard value. *2. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The values are also for the locations shown in the following diagram. *3. The brakes operate when the circuit is open (i.e., they are released when voltage is applied). *4. The operation time is the measured value (reference value) with a varistor installed as a surge suppressor. Radial load Thrust load Center of shaft (LR/2) Torque and Rotation Speed Characteristics 3,000-r/min Flat Servomotors The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input. R88M-GP10030L R88M-GP20030L (N m) (N m) (3400) (4100) Repetitive usage Repetitive usage Continuous usage Continuous usage (r/min) (r/min) AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

24 Servomotor (R88M-G) 3,000-r/min Flat Servomotors 200 VAC specification Item Unit R88M-GP10030H R88M-GP20030H R88M-GP40030H Rated output * Rated torque *1 N m Rated rotation speed r/min 3000 Max. rotation speed r/min 5000 Max. momentary torque *1 N m Rated current *1 A(rms) Max. momentary current *1 A(0-p) Rotor inertia kg m Applicable load inertia times rotor inertia max. Power rate *1 k/s Allowable radial load *2 N Allowable thrust load *2 N ithout brake kg ith brake kg Radiation shield dimensions (material) t10 (Al) t12 (Al) Brake inertia kg m Excitation voltage *3 V 24 VDC ±10% Power consumption (at 20 C) Current consumption (at 20 C) A Static friction torque N m 0.29 min min min. Attraction time *4 ms 50 max. 60 max. 60 max. Release time *4 ms 15 max. 15 max. 15 max. Backlash ±1 max. Allowable work per braking operation J Allowable total work J eight Brake specifications 10,000 max. Allowable angular acceleration rad/s 2 (Speed of 950 r/min minimum must not be stopped in less than 10 ms) Brake life ,000,000 operations min. Rating --- Continuous *1. These are the values when the Servomotor is combined with a Servo Drive at room temperature. The momentary maximum torque shown above indicates the standard value. *2. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The values are also for the locations shown in the following diagram. *3. The brakes operate when the circuit is open (i.e., they are released when voltage is applied). *4. The operation time is the measured value (reference value) with a varistor installed as a surge suppressor. Radial load Thrust load Center of shaft (LR/2) Torque and Rotation Speed Characteristics 3,000-r/min Flat Servomotors The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input. R88M-GP10030H R88M-GP20030H R88M-GP40030H (N m) (N m) (N m) (4700) (3600) 0.6 Repetitive usage 1.0 Repetitive usage 2.0 Repetitive usage Continuous usage Continuous usage Continuous usage (r/min) (r/min) 0 (r/min) AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 27

25 Decelerator (R88G-HPG/VRSF) Standard s and Backlash: 3 Arcminutes Max. Decelerators for Cylindrical Servomotors (R88G-) Rated speed Rated torque Ratio Maximum momentary speed Maximum momentary torque Decelerator inertia Allowable radial load Allowable thrust load r/min N m % r/min N m kg m 2 N N kg 1/5 HPG11A05100B /9 HPG11A09050B /21 HPG14A21100B /33 HPG14A33050B /45 HPG14A45050B /5 HPG11A05100B /11 HPG14A11100B /21 HPG14A21100B /33 HPG20A33100B /45 HPG20A45100B /5 HPG14A05200B /11 HPG14A11200B /21 HPG20A21200B /33 HPG20A33200B /45 HPG20A45200B /5 HPG14A05400B /11 HPG20A11400B /21 HPG20A21400B /33 HPG32A33400B /45 HPG32A45400B eight Note: 1. The Decelerator inertia is the Servomotor shaft conversion value. Note: 2. The enclosure rating for Servomotors with Decelerators is IP44. Note: 3. The allowable radial load is the value at the LR/2 position. Note: 4. The standard models have a straight shaft. To order a Servomotor with a straight shaft with a key, add a J to the end of the model number, in the place indicated by the box. Decelerator for Flat Servomotors (R88G-) Rated speed Rated torque Ratio Maximum momentary speed Maximum momentary torque Decelerator inertia Allowable radial load Allowable thrust load r/min N m % r/min N m kg m 2 N N kg 1/5 HPG11A05100PB (3.63) /11 HPG14A11100PB (6.98) /21 HPG14A21100PB (14.6) /33 HPG20A33100PB (18.3) /45 HPG20A45100PB (25.0) /5 HPG14A05200PB /11 HPG20A11200PB /21 HPG20A21200PB /33 HPG20A33200PB /45 HPG20A45200PB /5 HPG20A05400PB /11 HPG20A11400PB /21 HPG20A21400PB /33 HPG32A33400PB /45 HPG32A45400PB eight Note: 1. The Decelerator inertia is the Servomotor shaft conversion value. Note: 2. The enclosure rating for Servomotors with Decelerators is IP44. Note: 3. The allowable radial load is the value at the LR/2 position. Note: 4. The standard models have a straight shaft. To order a Servomotor with a straight shaft with a key, add a J to the end of the model number, in the place indicated by the box. Note: 5. The values inside parentheses ( ) are those when using a 100-V motor. 28 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

26 Backlash: 15 Arcminutes Max. Decelerators for Cylindrical Servomotors (R88G-) Rated speed Rated torque Ratio Maximum momentary speed Maximum momentary torque Decelerator inertia Allowable radial load Allowable thrust load r/min N m % r/min N m kg m 2 N N kg 1/5 VRSF05B100CJ /9 VRSF09B100CJ /15 VRSF15B100CJ /25 VRSF25B100CJ /5 VRSF05B100CJ /9 VRSF09B100CJ /15 VRSF15B100CJ /25 VRSF25B100CJ /5 VRSF05B200CJ /9 VRSF09C200CJ /15 VRSF15C200CJ /25 VRSF25C200CJ /5 VRSF05C400CJ /9 VRSF09C400CJ /15 VRSF15C400CJ /25 VRSF25C400CJ eight Note: 1. The Decelerator inertia is the Servomotor shaft conversion value. Note: 2. The enclosure rating for Servomotors with Decelerators is IP44. Note: 3. The allowable radial load is the value at the LR/2 position. Note: 4. The standard models have a straight shaft. Decelerator for Flat Servomotors (R88G-) Rated speed Rated torque Ratio Maximum momentary speed Maximum momentary torque Decelerator inertia Allowable radial load Allowable thrust load r/min N m % r/min N m kg m 2 N N kg 1/5 VRSF05B100PCJ (3.19) /9 VRSF09B100PCJ (6.12) /15 VRSF15B100PCJ (10.2) /25 VRSF25B100PCJ (17.0) /5 VRSF05B200PCJ /9 VRSF09C200PCJ /15 VRSF15C200PCJ /25 VRSF25C200PCJ /5 VRSF05C400PCJ /9 VRSF09C400PCJ /15 VRSF15C400PCJ /25 VRSF25C400PCJ eight Note: 1. The Decelerator inertia is the Servomotor shaft conversion value. Note: 2. The enclosure rating for Servomotors with Decelerators is IP44. Note: 3. The allowable radial load is the value at the LR/2 position. Note: 4. The standard models have a straight shaft. Note: 5. The values inside parentheses ( ) are those when using a 100-V motor. AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 29

27 Encoder, External Regeneration Resistors, Reactor and Parameter Unit Encoder Item Encoder system Optical encoder (incremental encoder) No. of output pulses Phases A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation Power supply voltage 5 V ±5% Power supply current 180 ma (max.) Output signals +S, S EIA RS-485 compliance Output interface Duplex serial communications data External Regeneration Resistors Resistance Nominal capacity Regeneration absorption for 120 C temperature rise R88A-RR08050S 50 Ω R88A-RR080100S 100 Ω R88A-RR22047S 47 Ω Heat radiation condition Aluminum , Thickness: 3.0 Aluminum , Thickness: 3.0 Aluminum , Thickness: 3.0 Thermal switch output specifications Operating temperature: 150 C±5%, NC contact, Rated output: 30 VDC, 50 ma max. Operating temperature: 150 C±5%, NC contact, Rated output: 30 VDC, 50 ma max. Operating temperature: 170 C±5%, NC contact, Rated output: 3 A Reactor Reactor type Rated current (A) Inductance (mh) eight (kg) 3G3AX-DL A 21.4 mh 0.8 kg Single-phase Reactors 3G3AX-DL A 10.7 mh 1.0 kg 3G3AX-DL A 6.75 mh 1.3 kg Three-phase Reactor 3G3AX-AL A 2.8 mh 2.8 kg Parameter Unit General Item Operating ambient temperature Operating ambient humidity Storage ambient temperature Storage ambient humidity Storage and operating atmosphere Vibration resistance 0 to 55 C 90% max. (with no condensation) 20 to 80 C 90% max. (with no condensation) No corrosive gases 5.9 m/s 2 max. Performance Item Type Hand-held Cable length 1.5 m Connectors Mini DIN 8-pin MD connector Display 7-segment LED External dimensions mm ( H D) eight Approx. 0.1 kg (including cable that is provided) Standard RS-232 Communications method Asynchronous (ASYNC) Baud rate 9,600 bps Start bits 1 bit Data 8 bits Parity None Stop bits 1 bit Communications specifications 30 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

28 Connections Peripheral Device Connection Examples R7D-BPA5L/-BP01L/-BP02L/-BP04L/-BP01H/-BP02HH/-BP04H R T Single-phase 100 to 115 VAC, 50/60 Hz: R7D-BP@@L Single-phase 200 to 240 VAC, 50/60 Hz: R7D-BP01H/-BP02HH/-BP04H NFB E 1 2 NF 3 4 Noise filter Main-circuit power supply OFF ON 1MC 2MC Main-circuit contactor 2MC (Ground to 100 Ω or less.) 1MC X 1MC 2MC X Surge killer PL Servo error display 1MC 2MC Reactor External regeneration resistor (*2) SMARTSTEP 2-Series Servo Drive CNA L1 L2 L3 P B1 CNB U V 24 VDC XB Brake Cable Servomotor Power Cable OMNUC G-Series Servomotor B M 24 VDC 1MC 2MC CN VIN 2 RUN CN2 (Ground to 100 Ω or less.) E Encoder cable CN1 X 9 /ALM User control device DC24V X XB (*1) Control cable CN1 11 BKIR 13 0GND CN1 *1. Recommended Relay: OMRON G7T Relay (24-VDC model) *2. 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 will operate while the main circuit power supply or the control circuit power supply is OFF. Note: 2. hen turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN) at the same time. AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 31

29 R7D-BP01H/-BP02H/-BP04H R S T Three-phase 200 to 240 VAC, 50/60 Hz: R7D-BP01H/-BP02H/-BP04H NFB E NF Noise filter Main-circuit power supply OFF ON 1MC Main-circuit contactor 2MC 2MC (Ground to 100 Ω or less.) 1MC X 1MC 2MC X Surge killer PL Servo error display 1MC 2MC Reactor External regeneration resistor (*2) SMARTSTEP 2-Series Servo Drive CNA L1 L2 L3 P B1 CNB U V 24 VDC XB Brake Cable Servomotor Power Cable OMNUC G-Series Servomotor B M 24 VDC 1MC 2MC CN VIN 2 RUN CN2 (Ground to 100 Ω or less.) E Encoder cable CN1 X 9 /ALM User control device XB 24 VDC (*1) X Control cable CN1 11 BKIR 13 0GND CN1 *1. Recommended Relay: OMRON G7T Relay (24-VDC model) *2. 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. Note: 2. hen turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN) signal at the same time. 32 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

30 I/O Circuit Diagrams Control I/O (CN1) Control I/O Signal Connections and External Signal Processing Reverse pulse +C C Ω 9 /ALM Alarm Output Forward pulse 12 to 24 VDC RUN Command Input Alarm Reset Input +CC CC 24VIN RUN RESET Ω 4.7 kω 4.7 kω 4.7 kω INP Positioning Completed Output BKIR Brake Interlock 12 ARN arning Output OGND Z Z-phase Output (open collector output) GND Maximum operating voltage: 30 VDC Maximum Output Current: 50 ma DC Deviation Counter Reset Input ECRST 4 Gain Switch Input GSEL 5 Electronic Gear Switch Input GESEL 6 Reverse Drive Prohibit Input NOT kω 4.7 kω 4.7 kω 4.7 kω 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.) Forward Drive Prohibit Input POT 8 Shell, 26 FG Frame ground AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 33

31 Control Input Circuits Position Command Pulse Inputs Line Drive Input Controller Servo Drive k Input current: 6.8 ma, 3 V Applicable line drive : AM26LS31A or equivalent Open-collector Input Controller Vcc R Servo Drive k Input current: 7 to 15 ma Note: Select a value for resistance R so that the input current will be from 7 to 15 ma. Refer to the following table. Vcc R 24 V 2 kω 12 V 1 kω Sequence Inputs External power supply: 12 VDC±5% to 24 VDC±5% Power supply capacity: 50 ma min. (per Unit) +24 VIN kω 1.2 kω RUN 2 Photocoupler input Signal Levels ON level: 10 V min. OFF level: 3 V max. To other input circuit ground commons To other input circuits 34 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

32 Control Output Circuits Position Feedback Output Servo Drive Controller 15 +A +A R = 120 to V Phase A 16 -A -A R Phase A Output line drive 18 +B +B AM26C31 or equivalent Phase B B +Z -B +Z R Phase B Phase Z 20 -Z -Z R Phase Z 14 GND GND 0 V 0 V FG Shell FG 0 V FG Applicable line receiver AM26C32 or equivalent Sequence and Alarm Outputs Servo Drive To other output circuits X Di External power supply 24 VDC 1 V Maximum operating voltage: 30 VDC Maximum output current: 50 ma X Di Di: Diode for preventing surge voltage (Use high-speed diodes.) Phase-Z Output (Open-collector Output) Servo Drive Controller 21 Z 14 GND FG Maximum operating voltage: 30 VDC Maximum output current: 50 ma AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 35

33 Nomenclature and Functions Servo Drive Nomenclature 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 R7A-CNZ01P Main Circuit Connector (CNA) Terminal label Pin No. Name L1 10 L2 8 Main circuits power supply input L3 6 P 5 External Regeneration Resistance Unit connection B1 3 terminal FG 1 Frame ground R7A-CNB01A Servomotor Connector (CNB) Terminal Pin No. label U 1 V 4 6 Power Supply Indicator (PR) PR Name Servomotor connection Terminals 3 Frame ground Alarm indicator (ALM) Indicator Status Lit green Main power is ON. Lit orange Flashes at a 1-second intervals when there is a warning (i.e., overload, excessive regenerative energy, or fan speed error). Lit red An alarm has occurred. ALM C N 3 C N 1 C N 2 C N B C N A CN1 Control Inputs Pin No. Signal name Function 1 +24VIN DC power supply input for control 2 RUN RUN Command Input 3 RESET Alarm Reset Input *1 4 ECRST/VSEL2 Deviation Counter Reset Input or Internally Set Speed Selection 2 Input 5 GSEL/ VZERO/TLSEL 6 GESEL/VSEL1 *1. Some alarms cannot be cleared using this input. *2. Do not input command pulses for 10 ms before or after switching the electronic gear. CN1 Control Outputs Gain Switch Input, Zero Speed Designation Input, or Torque Limit Switch Input Electronic Gear Switch Input or Internally Set Speed Selection 1 Input *2 7 NOT Reverse Drive Prohibit Input 8 POT Forward Drive Prohibit Input 22 +C/PULS/FA Reverse Pulses Input, Feed Pulses Input, or 23 C/PULS/FA 90 Phase Difference Pulses (Phase A) 24 +CC/SIGN/FB Forward Pulses, Direction Signal, or 90 Phase 25 CC/SIGN/FB Difference Pulses (Phase B) Pin No. Signal name Function 9 /ALM Alarm Output *1 10 INP/TGON Positioning Completed Output or Servomotor Rotation Amount Detection Output 11 BKIR Brake Interlock Output 12 ARN arning Output 13 OGND Output Ground Common 14 GND Ground Common 15 +A Encoder 16 A Phase-A Output 17 B Encoder 18 +B Phase-B Output 19 +Z Encoder 20 Z Phase-Z Output 21 Z Phase-Z Output *1. This is OFF for approximately 2 seconds after turning ON the power. Note: This is OFF for approximately 2 seconds after turning ON the power.an open-collector output interface is used for sequence outputs (maximum operating voltage: 30 VDC; maximum output current: 50 ma). Alarm Indicator (ALM) This indicator lights when an alarm has occurred. 36 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

34 R88A-PR02G Parameter Unit Nomenclature Function Selection Parameters Parameter name Unit No. Setting Default Display Control Mode Selection Drive Prohibit Input Selection Zero Speed Designation/ Speed Command Direction Switch arning Output Selection Display (6 Digits) Displays the parameters and settings. Unit No. Display (2 Digits) Displays the Unit No. set in Unit No. Setting (Pn00). In Parameter Setting Mode, displays the parameter number. Mode Key Switches between the six modes. Increment Key Increases the parameters number or set value. Decrement Key Decreases the parameter number or set value. Shift Key Shifts the digit being changed to the left. Data Key Switches between the parameter and setting displays, saves settings, etc. Explanation Set the unit number. Set the data to display on the Parameter Unit when the power supply is turned ON. Set the control mode to be used. You can stop the Servomotor from rotating beyond the device's travel range by connecting limit inputs. Set the function of the Zero Speed Designation Input (VZERO) and Torque Limit Switch Input (TLSEL). Allocate the function of the arning Output (ARN). Servo Gain Parameters Parameter name Position Loop Gain *1 Speed Loop Gain *1 Speed Loop Integration Constant *1 Speed Feedback Filter Time Constant *1 Torque Command Filter Time Constant *1 Feed-forward Amount *1 Feed-forward Command Filter *1 Position Loop Gain 2 *1 Speed Loop Gain 2 *1 Speed Loop Integration Constant 2 *1 Speed Feedback Filter Time Constant 2 *1 Torque Command Filter Time Constant 2 *1 Notch Filter 1 Frequency Notch Filter 1 idth Inertia Ratio *1 Realtime Autotuning Mode Selection Realtime Autotuning Machine Rigidity Selection Autotuning Operation Setting Overrun Limit Setting Vibration Frequency Vibration Filter Setting Adaptive Filter Table Number *1 Explanation Set to adjust the position loop responsiveness. Set to adjust the speed loop responsiveness. Set the speed loop integral time constant. Set the time constant for the low pass filter through which the signal passes after the speed signal from the encoder signal is converted. Set the primary lag filter constant for the torque command section. Set the position control feed-forward compensation value. Set the position control feed-forward command filter. Set to adjust the position loop responsiveness. Set to adjust the speed loop responsiveness. Set the speed loop integral time constant. Set the time constant for the low pass filter through which the signal passes after the speed signal from the encoder signal is converted. Set the primary lag filter constant for the torque command section. Set the notch frequency of the resonance suppression notch filter. Set the width to one of five levels for the resonance suppression notch filter. Normally, use the default setting. Set the ratio between the mechanical system inertia and the Servomotor rotor inertia. Set the operating mode for realtime autotuning. Set the machine rigidity for executing realtime autotuning to one of 16 levels. The higher the machine rigidity, the greater the setting needs to be. The higher the setting, the higher the responsiveness. Set the operating pattern for autotuning. Set the possible operating range for the Servomotor. The overwrite limit function is disabled if this parameter is set to 0. Set the vibration frequency for dampening to suppress vibration at the end of the load. Set vibration filter for dampening to suppress vibration at the end of the load. Gives the table entry number corresponding to the frequency of the adaptive filter. This parameter is set automatically and cannot be changed if the adaptive filter is enabled (i.e., if the Realtime Autotuning Mode Selection (Pn21) is set to 1 to 3 or 7). Enable or disable gain switching. Gain Switching Input If switching is enabled, the setting of the Gain Operating Mode Selection Switch Setting (Pn31) is used as the condition for switching between gain 1 and gain 2. Select the condition for switching between gain 1 and gain 2. Gain Switch Setting The Gain Switching Input Operating Mode (Pn30) must be set to 1 (enabled). This parameter is enabled when the Gain Switch Setting (Pn31) is set to 3, or 5 to 10. Set the Gain Switch Time *1 delay time from the point at which status no longer meets the switching condition selected in Pn31 until returning to gain 1. Gain Switch Level Setting *1 Gain Switch Hysteresis Setting *1 Position Loop Gain Switching Time *1 This parameter is enabled when the Gain Switch Setting (Pn31) is set to 3, 5, 6, 9, or 10. Set the judgment level for switching between gain 1 and gain 2. The unit for the setting depends on the condition set for the Gain Switch Setting (Pn31). Set the hysteresis width above and below the judgment level set in the Gain Switch 1 Level Setting (Pn33). hen switching between gain 1 and gain 2 is enabled, set the switching time to use for the position loop gain to switch the gain stepwise. *1. These parameters are automatically changed by executing realtime autotuning. To set them manually, set the Realtime Autotuning Mode Selection (Pn21) to 0. AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 37

35 Position Control Parameters Parameter name Command Pulse Input Setting Command Pulse Rotation Direction Switch Command Pulse Mode Encoder Divider Rate Setting Encoder Output Direction Switch Electronic Gear Ratio Numerator 1 Electronic Gear Ratio Numerator 2 Electronic Gear Ratio Numerator Exponent Electronic Gear Ratio Denominator Position Command Filter Time Constant Setting Smoothing Filter Setting Explanation The command pulses can be multiplied by a factor of 2 or 4 when 90 phase differential signal inputs is selected as the input format for the command pulses in the Command Pulse Mode (Pn42). Set the Servomotor rotation direction for the command pulse input. Set the form of the pulse inputs sent as the command to the Servo Drive from a position controller. Set the number of encoder pulses to be output from the Servo Drive for each rotation. The setting can be made from 1 to 16,384 pulses/ rotation, but the setting will not be valid if it exceeds 2,500 pulses/rotation. Set to reverse the logic of encoder pulses output from the Servo Drive. Set the pulse rate for command pulses and Servomotor travel distance. Electronic Gear Ratio Numerator 1 (Pn46) Electronic Gear Ratio Numerator Exponent (Pn4A) or x 2 Electronic Gear Ratio Numerator 2 (Pn47) Electronic Gear Ratio Denominator (Pn4B) Set the pulse rate for command pulses and Servomotor travel distance. Electronic Gear Ratio Numerator 1 (Pn46) Electronic Gear Ratio Numerator Exponent (Pn4A) or x 2 Electronic Gear Ratio Numerator 2 (Pn47) Electronic Gear Ratio Denominator (Pn4B) Set the time constant for the primary lag filter for the command pulse input. If the parameter is set to 0, the filter will not function. The larger the setting, the larger the time constant. Select the FIR filter time constant used for the command pulse input. The higher the setting, the smoother the command pulses. Internally Set Speed Control Parameters Parameter name No. 1 Internal Speed Setting No. 2 Internal Speed Setting No. 3 Internal Speed Setting No. 4 Internal Speed Setting Jog Speed Soft Start Acceleration Time Soft Start Deceleration Time Torque Limit Explanation Set the No. 1 internal speed. Set the No. 2 internal speed. Set the No. 3 internal speed. Set the No. 4 internal speed. Set the speed for jogging. Set the acceleration time for internal speed control. Set the time (setting 2 ms) until 1,000 r/min is reached. Set the deceleration time for internal speed control. Set the time (setting 2 ms) until operation stops from 1000 r/min. Set the limit to the Servomotor s maximum torque. Sequence Parameters Parameter name Positioning Completion Range Zero Speed Detection Rotation Speed for Motor Rotation Detection Deviation Counter Overflow Level Deviation Counter Overflow Alarm Disabled Stop Selection for Drive Prohibition Input Stop Selection for Alarm Generation Stop Selection with Servo OFF Brake Timing when Stopped Brake Timing during Operation Regeneration Resistor Selection Overspeed Detection Level Setting No. 2 Torque Limit No. 2 Deviation Counter Overflow Level No. 2 Overspeed Detection Level Setting Explanation Set the range for the Positioning Completed Output (INP). Set the speed for the arning Output for zero speed detection. Set the speed for the Servomotor Rotation Amount Detection Output (TGON) for Internally Set Speed Control. Set the detection level for the Deviation Counter Overflow Alarm. The alarm level will be the setting times 256 pulses. Enable or disable the Deviation Counter Overflow Alarm. Set the operation used to decelerate to a stop after the Forward Drive Prohibit Input (POT) or Reverse Drive Prohibit Input (NOT) has been received. Set the operation to use during deceleration and after stopping when an error occurs for any protective function of the Servo Drive. The deviation counter will be cleared when an alarm occurs. Set the operation to use during deceleration and after stopping and set the deviation counter status when the RUN Command Input (RUN) is turned OFF. Set the brake timing when stopped. hen the Servomotor is stopped and the RUN Command Input (RUN) is turned OFF, the Brake Interlock Output (BKIR) will turn OFF, and the Servomotor will turn OFF after waiting for the time period set for this parameter (i.e., setting 2 ms). Set the brake timing during operation. hen the Servomotor is operating and the RUN Command Input (RUN) is turned OFF, the Servomotor will decelerate to reduce speed, and the Brake Interlock Output (BKIR) will turn OFF after a set time (i.e., setting 2 ms) has elapsed. BKIR will also turn OFF if the speed drops to 30 r/min or lower before the set time. Set this parameter to 1 or 2 if an external generation resistor is mounted. Set the No. 1 overspeed detection level if torque limit switching is enabled by setting the Zerospeed Designation/Torque Limit Switch (Pn06). Set the No. 2 torque limit if torque limit switching is enabled by setting the Zero-speed Designation/Torque Limit Switch (Pn06). Set the No. 2 deviation counter overflow level if torque limit switching is enabled by setting the Zero-speed Designation/Torque Limit Switch (Pn06). Set the No. 2 overspeed detection level if torque limit switching is enabled by setting the Zerospeed Designation/Torque Limit Switch (Pn06). 38 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

36 Dimensions (Unit: mm) Servo Drives 50 /100 /200 R7D-BPA5L R7D-BP01L R7D-BP01H R7D-BP02H dia. Mounting Hole Dimensions Two, M PR ALM C N 3 C N 1 C N 2 C N B ±0.5 5 C N A /400 R7D-BP02L R7D-BP02HH R7D-BP04H dia. Mounting Hole Dimensions Two, M4 5 PR ALM C N 3 C N C N 2 C N B ±0.5 C N A AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 39

37 Servomotors 3,000-r/min Cylindrical Servomotors 50 /100 ithout brake R88M-G05030H (-S2) R88M-G10030L (-S2) R88M-G10030H (-S2) ith brake R88M-G05030H (-S2) R88M-G10030L (-S2) R88M-G10030H (-S2) LL LN R88M-G05030H R88M-G05030H-B * * *1, * *1. This is the model number for the Servomotor with a brake. *2. Put L or H in the place indicated by the box. Note: The standard models have a straight shaft. To order a Servomotor with a straight shaft with a key, add S2 to the end of the model number. Encoder Connector Brake Connector Motor Connector LL LN 8 dia., height: 6 30 dia., height: (Dimensions of shaft end with key and tap) , height: Two, 4.3 dia. 46 dia. M3 (depth: 6) 200 /400 ithout brake R88M-G20030L (-S2) R88M-G20030H (-S2) R88M-G40030H (-S2) ith brake R88M-G20030L-B (S2) R88M-G20030H-B (S2) R88M-G40030H-B (S2) Dimensions for models with key and tap *3 LL S QK b h t1 M L R88M-G20030@ * h M4 8 R88M-G20030@-B *1,* h M4 8 R88M-G40030H h9 5 3 M5 10 R88M-G40030H-B * h9 5 3 M5 10 *1. Put L or H in the place indicated by the box. *2. This is the model number for the Servomotor with a brake. *3. To order a Servomotor with a straight shaft with a key, add S2 to the end of the model number. Note: The standard models have a straight shaft. (Straight shaft with key) Brake connector Encoder connector Servomotor connector QK b LL h t1 M (depth: L) S dia., height: 6 50 dia., height: 7 Four, 4.5 dia dia. 40 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

38 3,000-r/min Flat Servomotors 100 /200 /400 ithout brake R88M-GP10030L (-S2) R88M-GP10030H (-S2) R88M-GP20030L (-S2) R88M-GP20030H (-S2) R88M-GP40030H (-S2) ith brake R88M-GP10030L-B (S2) R88M-GP10030H-B (S2) R88M-GP20030L-B (S2) R88M-GP20030H-B (S2) R88M-GP40030H-B (S2) Dimensions for models with key and tap *3 LL LR S D1 D2 C F G KL1 Z QK b h t1 M L R88M-GP10030@ * h M3 6 R88M-GP10030@-B *1, * h M3 6 R88M-GP20030@ * h M4 8 R88M-GP20030@-B *1, * h M4 8 R88M-GP40030H h9 5 3 M5 10 R88M-GP40030H-B * h9 5 3 M5 10 *1. Put "L" or "H" in the place indicated by the box. *2. This is the model number for the Servomotor with a brake. *3. To order a Servomotor with a straight shaft with a key, add "S2" to the end of the model number. Note: The standard models have a straight shaft. Encoder connector Servomotor connector LL LR Break connector 220 (7) (7) 200 G F S dia., height: 6 D dia., height: 7 Four, Z-dia. KL1 C x C D1 dia. (Straight shaft with key) QK b h t1 M (depth: 6) AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 41

39 Decelerators Decelerators for Cylindrical Servomotors Backlash: 3 Arcminutes Max. Dimensions (mm) LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 G 1/5 R88G-HPG11A05100B /9 R88G-HPG11A09050B /21 R88G-HPG14A21100B /33 R88G-HPG14A33050B /45 R88G-HPG14A45050B /5 R88G-HPG11A05100B /11 R88G-HPG14A11100B /21 R88G-HPG14A21100B /33 R88G-HPG20A33100B dia /45 R88G-HPG20A45100B dia /5 R88G-HPG14A05200B /11 R88G-HPG14A11200B /21 R88G-HPG20A21200B dia /33 R88G-HPG20A33200B dia /45 R88G-HPG20A45200B dia /5 R88G-HPG14A05400B /11 R88G-HPG20A11400B dia /21 R88G-HPG20A21400B dia /33 R88G-HPG32A33400B dia /45 R88G-HPG32A45400B dia Note: The standard models have a straight shaft. To order a Decelerator with a straight shaft with a key, add J to the end of the model number, in the place indicated by the box. *1. This is the set bolt. Outline Drawings C1 E Set bolt (AT) Four, Z2 dia. Key Dimensions D1 dia. D3 dia. D4 dia. D5 dia. S dia., height: 7 D2 dia. QK h t1 b Four, Z1 dia. T LR F1 F2 G LM C2 M (depth: L) 42 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

40 Dimensions (mm) Key dimensions (mm) eight S T Z1 Z2 AT *1 QK b h t1 M L (kg) M4 M M R88G-HPG11A05100B 1/ M4 M M R88G-HPG11A09050B 1/ M4 M M R88G-HPG14A21100B 1/ M4 M M R88G-HPG14A33050B 1/ M4 M M R88G-HPG14A45050B 1/ M4 M M R88G-HPG11A05100B 1/ M4 M M R88G-HPG14A11100B 1/ M4 M M R88G-HPG14A21100B 1/ M4 M M R88G-HPG20A33100B 1/ M4 M M R88G-HPG20A45100B 1/ M4 M M R88G-HPG14A05200B 1/ M4 M M R88G-HPG14A11200B 1/ M4 M M R88G-HPG20A21200B 1/ M4 M M R88G-HPG20A33200B 1/ M4 M M R88G-HPG20A45200B 1/ M4 M M R88G-HPG14A05400B 1/ M4 M M R88G-HPG20A11400B 1/ M4 M M R88G-HPG20A21400B 1/ M4 M M R88G-HPG32A33400B 1/ M4 M M R88G-HPG32A45400B 1/ AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 43

41 Decelerators for Flat Servomotors Backlash: 3 Arcminutes Max. Dimensions (mm) LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 G 1/5 R88G-HPG11A05100PB /11 R88G-HPG14A11100PB /21 R88G-HPG14A21100PB /33 R88G-HPG20A33100PB dia /45 R88G-HPG20A45100PB dia /5 R88G-HPG14A05200PB /11 R88G-HPG20A11200PB /21 R88G-HPG20A21200PB /33 R88G-HPG20A33200PB /45 R88G-HPG20A45200PB /5 R88G-HPG20A05400PB /11 R88G-HPG20A11400PB /21 R88G-HPG20A21400PB /33 R88G-HPG32A33400PB dia /45 R88G-HPG32A45400PB dia Note: The standard models have a straight shaft. To order a Decelerator with a straight shaft with a key, add "J" to the end of the model number, in the place indicated by the box. *1. This is the set bolt. Outline Drawings C1 E Set bolt (AT) Four, Z2 dia. Key Dimensions D1 dia. D3 dia. D4 dia. D5 dia. S dia., height: 7 D2 dia. QK h t1 b Four, Z1 dia. T LR F1 F2 G LM C2 M (depth: L) 44 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

42 Dimensions (mm) Key dimensions (mm) eight S T Z1 Z2 AT *1 QK b h t1 M L (kg) M4 M M R88G-HPG11A05100PB 1/ M4 M M R88G-HPG14A11100PB 1/ M4 M M R88G-HPG14A21100PB 1/ M4 M M R88G-HPG20A33100PB 1/ M4 M M R88G-HPG20A45100PB 1/ M4 M M R88G-HPG14A05200PB 1/ M5 M M R88G-HPG20A11200PB 1/ M5 M M R88G-HPG20A21200PB 1/ M5 M M R88G-HPG20A33200PB 1/ M5 M M R88G-HPG20A45200PB 1/ M5 M M R88G-HPG20A05400PB 1/ M5 M M R88G-HPG20A11400PB 1/ M5 M M R88G-HPG20A21400PB 1/ M5 M M R88G-HPG32A33400PB 1/ M5 M M R88G-HPG32A45400PB 1/ AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 45

43 Decelerators for Cylindrical Servomotors Backlash: 15 Arcminutes Max (R88G-) Key dimensions Dimensions (mm) (mm) LM LR C1 C2 D1 D2 D3 D4 E3 F G S T Z1 Z2 AT *1 L QK b h t1 1/5 VRSF05B100CJ M4 M5 M /9 VRSF09B100CJ M4 M5 M /15 VRSF15B100CJ M4 M5 M /25 VRSF25B100CJ M4 M5 M /5 VRSF05B100CJ M4 M5 M /9 VRSF09B100CJ M4 M5 M /15 VRSF15B100CJ M4 M5 M /25 VRSF25B100CJ M4 M5 M /5 VRSF05B200CJ M4 M5 M /9 VRSF09C200CJ M4 M6 M /15 VRSF15C200CJ M4 M6 M /25 VRSF25C200CJ M4 M6 M /5 VRSF05C400CJ M4 M6 M /9 VRSF09C400CJ M4 M6 M /15 VRSF15C400CJ M4 M6 M /25 VRSF25C400CJ M4 M6 M eight (kg) *1. This is the set bolt. Note: The standard models have a straight shaft with a key. Outline Drawings E3 Four, Z1 F 4-Z2 (effective depth: L) D1 dia. S dia., height: 6 D4 dia. D3 dia., height: 7 D2 G T C1 C1 LM LR Set bolt (AT) Key Dimensions b QK t1 h 46 AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

44 Decelerators for Flat Servomotors Backlash: 15 Arcminutes Max (R88G-) Key dimensions Dimensions (mm) Dimensions (mm) (mm) LM LR C1 C2 D1 D2 D3 D4 E3 F G S T Z1 Z2 AT *1 L QK b h t1 1/5 VRSF05B100PCJ M4 M5 M /9 VRSF09B100PCJ M4 M5 M /15 VRSF15B100PCJ M4 M5 M /25 VRSF25B100PCJ M4 M5 M /5 VRSF05B200PCJ M5 M5 M /9 VRSF09C200PCJ M5 M6 M /15 VRSF15C200PCJ M5 M6 M /25 VRSF25C200PCJ M5 M6 M /5 VRSF05C400PCJ M5 M6 M /9 VRSF09C400PCJ M5 M6 M /15 VRSF15C400PCJ M5 M6 M /25 VRSF25C400PCJ M5 M6 M eight (kg) *1. This is the set bolt. Note: The standard models have a straight shaft with a key. Outline Drawings E3 Four, Z1 F 4-Z2 (effective depth: L) D1 dia. S dia., height: 6 D4 dia. D3 dia., height: 7 D2 G T C1 C1 LM LR Set bolt (AT) Key Dimensions b QK t1 h AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 47

45 Parameter Unit R88A-PR02G (62) (24) M3, depth: 5 (114) (15) (15) (1500) Mini DIN 8-pin MD connector DIN Rail Mounting Unit R7A-DIN01B Two, M4 mounting holes *1 (6) 5 Mounting panel (7) *2 Rail stopper (6) *1. Two mounting screws (M4, length: 8) are included. *2. hen the rail stopper is extended, this dimension becomes 10 mm. External Regeneration Resistor R88A-RR22047S 1.5 dia. (0.3 mm 2 ) 3 dia. (0.75 mm 2 ) Thermal switch output t R88A-RR08050S R88A-RR080100S 1.5 dia. (0.3 mm 2 ) 3 dia. (0.75 mm 2 ) Thermal switch output t AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP

46 Reactor 3G3AX-DL2002 3G3AX-DL2004 L 3G3AX-DL G3AX-DL G3AX-DL2007 Ground terminal (M4) Two, M4 screws Four, holes L Ground terminal (M4) Two, M4 screws Four, holes G3AX-AL2025 Ground terminal (M5) Six, M4 terminal screws Connections Ro R So S To T Ro R So S To T 50±1 130 Four, 6 dia. 67± ±1 About Manuals English Cat. No. Japanese Cat. No. Type Name I561 SBCE-348 R88M-G/R7D-BP --- SBCE-053 R7D-BP/R88M-G AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs User s Manual Moter Selection Program OMNUC G/ series SMARTSTEP2/Junior/A series CD-ROM AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs R88M-G/R7D-BP 49

47 MEMO 50

48 Read and Understand this Catalog Please read and understand this catalog before purchasing the product. Please consult your OMRON representative if you have any questions or comments. arranty and Limitations of Liability ARRANTY 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 ARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON-INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER ACKNOLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS ILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER ARRANTIES, 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 AY CONNECTED ITH THE PRODUCTS, HETHER SUCH CLAIM IS BASED ON CONTRACT, ARRANTY, 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 ARRANTY, REPAIR, OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS ERE 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 the product in the customer's application or use of the product. Take all necessary steps to determine the suitability of the product for the systems, machines, and equipment with which it will be used. Know and observe all prohibitions of use applicable to this product. NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY ITHOUT ENSURING THAT THE SYSTEM AS A HOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE ITHIN 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. Consult with your OMRON representative at any time to confirm actual specifications of purchased product. DIMENSIONS AND EIGHTS 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 catalog 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 arranty and Limitations of Liability.

49 Shiokoji Horikawa, Shimogyo-ku, Kyoto, Japan Tel: (81) /Fax: (81) Nishikusatsu, Kusatsu-shi, Shiga, Japan Tel: (81) /Fax: (81) Regional Headquarters egalaan JD Hoofddorp The Netherlands Tel: (31) /Fax: (31) OMRON Industrial Automation Global: One Commerce Drive Schaumburg, IL U.S.A. Tel: (1) /Fax: (1) No. 438A Alexandra Road # 05-05/08 (Lobby 2), Alexandra Technopark, Singapore Tel: (65) /Fax: (65) Room 2211, Bank of China Tower, 200 Yin Cheng Zhong Road, PuDong New Area, Shanghai, , China Tel: (86) /Fax: (86) OMRON Corporation 2008 All Rights Reserved. In the interest of product improvement, specifications are subject to change without notice. Printed in Japan 0708 (0208) (w) Authorised Distributors:- ASH & ALAIN INDIA PVT LTD S-100, F.I.E.E., Okhla Industrial Area, Phase-ii, New Delhi (India) Tel : Fax : sales@ashalain.com