W-Series Servo Motors and Drives

Transcription

1 Servo System Overview W-Series Servo Motors and Drives Servo Motor and Drive Specifications Servo Motor and Drive Dimensions Operation, Monitoring, and Parameters Servo Cabling and Wiring Information Ordering Information

2 Servo Motors and Drives Delivering High Performance and Precision Solving virtually any motion application, Omron s new W-Series of Servo Motors and Drives provides the flexibility and precise positioning required in today s industrial automation environment. The upgraded control algorithms dramatically improve basic operation and reduce vibration and settling times. Using the online auto-tuning function, first-time users can quickly and easily adjust the Servo Drive s parameters to match machine characteristics. These features complement the expanded choice of motor types. The W-Series Motors feature Slim-Profile and Cylinder-Style designs, with a size range of 3 W to 5.5 kw and meet CE and UL/cUL standards. Plug-and-play connectivity to Omron s Motion and Position Control Modules minimizes system set-up time while delivering a complete and powerful solution. Complete Position and Motion Control Solutions Omron s extensive line of PLCs, Sensors, HMIs, Power Supplies, and Digital Displays interface with the W-Series to get a seamlessly integrated, powerful solution to any application. PLC SERVO DRIVE HMI SENSORS SERVO MOTOR ENCODER ii

3 High Performance Servo Drives The W-Series Servo Drives have one of the highest loop processor speeds in the industry, drastically reducing the settling and operation time. Torque, position, and speed control modes are available in one drive, selectable through the parameters. Built-in regenerative processing. Overload capacity is 3 to 4% for time periods up to 3 seconds. 4, MTBF. Superior Motor Flexibility Motor options include brakes, different shaft configurations, absolute encoders, and IP67 ratings. Slim-Profile Motors are about 1 /2 the length of conventional Servo Motors making them ideal for mounting in compact spaces. Low rotor inertia makes the W-Series Motors perfect for high-speed positioning. Choose from several different sizes from 3 watt to 5.5 kw to fit your application requirements. Rated speeds of 1 and 3 RPM available. Easy Setup Plug and play connectivity to Omron s Position and Motion Control Modules simplifies system configuration. The digital operator can configure and modify parameters as well as perform functions like alarm monitoring, jogging, and trouble-shooting. Windows based software simplifies system setup, operation monitoring, and parameter editing. Online auto-tuning measures machine characteristics and sets the required servo gains. Servo Drive automatically determines motor capacity, resulting in faster system setup. iii

4 SYSTEM CONFIGURATION Controllers Analog Commands Dedicated Control Cables R88A-CPW M CS1 Series C2H-Alpha Feedback Signals Motion Control (MC) Module Position Control (NC) Module CS1W-MC221/421 C2H-MC221 Pulse-train Commands Servo Drive Cable XW2Z- J-B4 C2HW-NC113/213/413 Position Control Terminal Blocks XW2B- J6- B Controllers Dedicated Control Cable XW2Z- J-A CMP2A CMP2C CQM1H iv Refer to the Ordering Information section for applicable cable and Terminal Block models.

5 SYSTEM CONFIGURATION W-Series Servo Drives Servo Drives from each size range are shown R88D-WTA3HL R88D-WT8H R88D-WT3H R88D-WT6H Power Cables R88A-CAW S For motors without brake R88A-CAW B For motors with brake For details on available models refer to the Servo Cabling and Wiring Information section Power Signals Feedback Signals Encoder Cables R88A-CRWA C For Cylinder-Style Motors (3, RPM): 3W to 75W For Slim-Profile Motors (3, RPM): l W to 1.5 kw R88A-CRWB N For Cylinder-Style Motors (3, RPM): 1 kw to 5 kw For Cylinder-Style Motors (1, RPM): 3 W to 5.5 kw For details on available models refer to the Servo Cabling and Wiring Information section W-Series Servo Motors R88M-W33L-S1 R88M-WP753H-S1 R88M-W753H-BS1 R88M-W3K3H-S2 v

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7 CONTENTS Introduction ii-iii System Configuration iv-v Warranty vii SERVO SYSTEM OVERVIEW Servo Motor and Drive Selection Servo Drive Model Number Legend Servo and Controller Combinations SERVO MOTOR AND DRIVE SPECIFICATIONS Servo Motor Specifications Servo Drive Specifications SERVO MOTOR AND DRIVE DIMENSIONS Servo Motor Dimensions Servo Drive Dimensions OPERATION, MONITORING, AND PARAMETERS Operation and Display Monitoring Alarm List Parameters SERVO CABLING AND WIRING INFORMATION Cable Specifications Wiring Information ORDERING INFORMATION AC Servo Motors AC Servo Drives Power Cables Encoder Cables Control Cables Parameter Units Backup Battery for Absolute Encoder External Regenerative Resistors DC Reactors Front Panel Mounting Brackets Other Peripheral Cables and Connectors REFERENCE INFORMATION Solve It Center - Omron Products Worldwide Sales Offices Servo System Overview Servo Motor and Drive Specifications Servo Motor and Drive Dimensions Operation, Monitoring, and Parameters Servo Cabling and Wiring Information Ordering Information WARRANTY NOTE: Throughout this catalog, many of the product dimensions are shown in both millimeters and inches. When both are not shown, divide millimeters by 25.4 to calculate inches. NOTE: Specifications subject to change without notice. Warranty: Omron certifies all of its products either meet or exceed stipulated specifications one year from the date of purchase. Omron is not liable for stenographic and/or clerical errors. Omron s obligation under this warranty is limited solely to repair or replacement at Omron s discretion. Omron will not be liable for any design furnished by Buyer and incorporated into equipment. This warranty is voided if the product is altered in any way or suffers consequential damage due to negligence or misuse. Omron is not to suffer risk due to the suitability or unsuitability or the results of the use of its products used in combination with any electrical or electronic components, circuits, systems, assemblies or any other materials or substances or environments. The foregoing warranty is the only warranty which Omron Electronics, Inc., provides with respect to the products listed herein. No other warranties, expressed, implied or statutory shall apply, whether as to merchantability, fitness for a particular purpose, description, or otherwise. Limitation of Liability: Notwithstanding any other statement herein, Omron Electronics, Inc., its contractors and suppliers, shall not be liable for any special, indirect, incidental or consequential damages. The remedies of the purchaser set forth herein are exclusive where so stated, and the total cumulative liability of Omron Electronics, Inc., its contractors and suppliers, with respect to this contract or anything done in connection therewith, shall not exceed replacement price reimbursement as to the product on which such liability is based. Reference Information vii

8 SERVO SYSTEM OVERVIEW Servo Motor and Drive Selection Servo Drive Model Number Legend Servo and Controller Combinations Servo System Overview Servo Motor and Drive Specifications Servo Motor and Drive Dimensions Operation, Monitoring, and Parameters Servo Cabling and Wiring Information Ordering Information Reference Information 1

9 SERVO MOTOR AND DRIVE SELECTION Servo Motor/Servo Drive Combinations R88M Servo Motors R88D Servo Drive Application Style Rated speed Capacity Shaft end Enclosure rating International standards CE, UL/cUL 1 V 2 V Single phase 2 V Three phase Cylinder 3, 3 W Approved Straight IP55 WTA3HL WTA3H --- Low-inertia RPM. 5 W With key (excluding WTA5HL WTA5H --- machines (5, With key and tap shaft 1 W WT1HL WT1H --- Machines RPM.) Straight with tap opening) requiring high- 2 W WT2HL WT2H --- speed 4 W --- WT4H --- positioning 75 W WT8H (Robots, 1 kw With key and tap IP WT1H assembly 1.5 kw Straight (excluding WT15H machines, conveyors) shaft 2 kw opening) WT2H 3 kw WT3H 4 kw WT5H 5 kw WT5H 1, 3 W Approved With key and tap IP WT5H Machines requir- RPM. 6 W Straight (excluding WT8H ing high torque (2, shaft 9 W WT1H (Simple process- RPM.) opening) ing machines, 1.2 kw WT15H assembly 2 kw WT2H machines, 3 kw WT3H transfer machines) 4 kw WT5H 5.5 kw WT6H Slim Profile 3, RPM. (5, 1 W Approved Straight With key With key and tap IP55 (excluding shaft WT1HL WT1H --- Machines allowing little motor depth RPM.) 2 W Straight with tap opening) IP67 WT2HL WT2H --- Machines requiring water- (excluding resistant motors 4 W shaft --- WT4H --- (Semiconductor- opening) manufacturing 75 W WT8H machines, foodprocessing machines, 1.5 kw WT15H AGVs) 2

10 SERVO DRIVE MODEL NUMBER LEGEND Available Models AC Servo Drives R88D-WT H Position Item Code Specification 1 R88D indicates the product is a Servo Drive. 2 Series W Input signal T Accepts both analog and pulse-train inputs 4 Max. output capacity A3 3 W A5 5 W 1 1 W 2 2 W 4 4 W 5 5 W 8 75 W 1 1 kw kw 2 2 kw 3 3 kw 5 5 kw 6 6 kw H Power supply Blank 2 VAC L 1 VAC 3

11 SERVO DRIVE MODEL NUMBER LEGEND Available Models AC Servo Motors R88M-W Position Item Code Specification 1 R88M indicates the product is a Servo Motor. 2 Series W Style Blank Cylinder-Style Model 4 Motor capacity 3 3 W P 5 5 W 1 1 W 2 2 W 3 3 W 4 4 W 6 6 W W 9 9 W 1K 1K2 1K5 2K 3K 4K 5K 5K5 Slim-Profile Model 1 kw 1.2 kw 1.5 kw 2 kw 3 kw 4 kw 5 kw 5.5 kw 5 Speed 1 1 RPM 3 3 RPM 6 Motor power supply specifications H 2 VAC, incremental encoder 7 Brake Blank No brake L T S B 1 VAC, incremental encoder 2 VAC, absolute encoder 1 VAC, absolute encoder 24-VDC brake 8 Water-resistance specification Blank Not water-resistant ( note.) W Water-resistant 9 Shaft end Blank Straight S1 S2 With key With key and tap Note: The water-resistance specification is available with the Slim-Profile Servo Motors only. 4

12 SERVO AND CONTROLLER COMBINATIONS Position Control (NC) Modules Select Servo and Controller Combinations to perform simple positioning easily by writing position data from the CPU. Open Loop Method, Pulse Output C2HW-NC113/213/413 Simple positioning can be performed with the direct operation function. The Position Control Module can respond to commands from the CPU and produce a pulse output at high speed (1 ms when using the C2HW-NC113.) Different Motion profiles can be specified to improve machine performance. For instance, to suppress machine vibration an S-shape curve can be used for the acceleration/deceleration curve instead of a trapezoidal curve. When the C2HW-NC113 is being used, the Module s data and parameters can be created and stored easily using the WS1-NCTF1-E Support Software. When the C2HW-NC113 is being used, position data can be stored in the Position Control Module s flash memory, eliminating the need to periodically replace the backup battery. Input Position Control Module Position Control Terminal Block W-Series Servo Drive W-Series Servo Motor 5

13 SERVO AND CONTROLLER COMBINATIONS Motion Control (MC) Module These high-speed, highly accurate, 2-axis/4-axis Motion Controllers are equipped with the multi-tasking G-code language and are compatible with absolute and incremental encoders. CS1W-MC221/421 C2H-MC221 The multi-tasking G-code language allows 4 axes to be controlled simultaneously, and it is also possible to control each axis independently (CS1W-MC221/421). The G-code language can simplify the PLC s ladder program by reducing position-control-related ladder programming. Winding operations can be simplified and speeded up. (Instructions providing a 2-axis traverse function are available.) The encoder response frequency is 2 Mpps for x4 operation, which is compatible with applications requiring high-speed and high-accuracy. When Positioning is completed or when an important position is passed, the MC Module will output D- Code (interrupt code) to the CPU. Programming is easy with the Windows -based CX-Motion Support Software. A manual pulse generator can be used. CPU Motion Control Module W-Series Servo Drive W-Series Servo Motor CX-Motion Software Teaching Box Conversion Terminal Block 6

14 SERVO AND CONTROLLER COMBINATIONS CQM1H Series Compact Controllers For advanced positioning, select Servo and Controller combinations: The CQM1H is an advanced, compact PLC that can also provide distributed control. The optional Inner Boards used in the CQM1H can support simple positioning and pulse I/O. CQM1H Controller Pulse I/O Board The Pulse I/O Board is equipped with 2 ports which each support a high-speed input at up to 5 KHz and a high-speed output at up to 5 KHz. A Pulse I/O Board can be used for simple 2-axis positioning or speed control with the frequency conversion instructions. Controller CQM1H Pulse I/O Board Pulse input 2 Pulse output 2 Pulse output 1 Pulse input 1 W-Series Servo Drive W-Series Servo Drive Incremental Encoder W-Series Servo Motor W-Series Servo Motor Incremental Encoder Absolute Encoder Interface Board ABS inputs are 12-bit binary gray-code inputs. Position data is retained even when power is interrupted, so it isn t necessary to perform an origin-return procedure when power is restored. In addition, the origin compensation function allows the user to specify any position as the origin. 7

15 SERVO AND CONTROLLER COMBINATIONS CPM2A/CPM2C Series Micro Controllers Select from more Servo and Controller combinations for advanced positioning: The CPM2A/CPM2C PLCs are equipped with synchronized pulse control and position control functions, for higher line speed and multiple-product small-lot production. CPM2A CPM2C Synchronized Pulse Control The output pulse frequency can be set to be a specified multiple of the input pulse frequency and that multiple can be changed from the ladder program. This function can be used to adjust the feed rate of packaging film so that the brand name or other printing remains in the correct location during packaging. SYSDRIVE Inverter Encoder CPM2A PLC Main Motor W-Series Servo Motor/Servo Drive Position Control Function This function supports 1-axis pulse outputs with trapezoidal acceleration/deceleration (1 khz) and 2-axis simple pulse outputs. A Servo Motor can be used for operations such as adjusting the feed rate of workpieces (constant feed) and the volume of fillings (constant amount) in bottling-type applications. 8

16 SERVO MOTOR AND DRIVE SPECIFICATIONS Servo Motor Specifications Servo Drive Specifications Servo System Overview Servo Motor and Drive Specifications Servo Motor and Drive Dimensions Operation, Monitoring, and Parameters Servo Cabling and Wiring Information Ordering Information Reference Information 9

17 SERVO MOTOR SPECIFICATIONS Performance Specifications Cylinder-Style Motors (3, RPM) Item Servo Motor (R88M-) Servo Drive (R88D-) Rated output Rated torque Max. momentary torque Rated speed Max. momentary speed Rated current Rotor inertia (without brake) W3 3H WTA 3H W5 3H WTA 5H W1 3H WT 1H W2 3H WT 2H W4 3H WT 4H 2 VAC W75 3H WT 8H W1K 3H WT 1H W1K5 3H WT 15H W2K 3H WT 2H W3K 3H WT 3H W4K 3H WT 5H W k 1.5 k 2 k 3 k 4 k 5 k N m oz in lb in N m oz in lb in RPM 3, RPM 5, A(rms) kg m oz in s lb in s Power rate kw/s Applicable Multiple load inertia Allowable radial load on shaft Allowable thrust load on shaft Approx. weight (without brake) Approx. weight (with brake) N lb N lb kg lb kg lb Encoder INC A, B phase: 2,48 pulses/rev. A, B phase: 32,768 pulses/rev. resolution ( Note) ABS A, B phase: 16,384 pulses/rev. A, B phase: 32,768 pulses/rev W5K 3H WT 5H Note: The encoder resolution for the Z phase is 1 pulse/rev. 1

18 SERVO MOTOR SPECIFICATIONS Item Servo Motor (R88M-) Servo Drive (R88D-) Brake specifications Inertia kg m oz- in s lb in s Excitation voltage Power consumption Current consumption Static friction torque Absorption time Release time W3 3H WTA 3H W5 3H WTA 5H W1 3H WT 1H W2 3H WT 2H W4 3H WT 4H 2 VAC W75 3H WT 8H W1K 3H WT 1H W1K5 3H WT 15H V 24 VDC ±1% 24 VDC ±1% W2K 3H WT 2H W W3K 3H WT 3H A N m oz in lb in.2min min min min ms 6 max. 1 max. 2 max. ms 3 max. 4 max. 5 max. Backlash (reference value) Rating --- Continuous Insulation --- Type F 7.8 min max. 1 max min W4K3 H WT 5H W5K 3H WT 5H 11

19 SERVO MOTOR SPECIFICATIONS Cylinder-Style Motors (3, RPM) Item 1 VAC Servo Motor (R88M-) W33L W53L W13L W23L Servo Drive (R88D-) WTA3HL WTA5HL WT1HL WT2HL Rated output W Rated torque Max. momentary torque N m oz in N m oz in Rated speed RPM 3, Max. momentary speed RPM 5, Rated current A(rms) Rotor inertia (without brake) kg m oz in s Power rate kw/s Applicable load inertia Multiple 3 Allowable radial load on shaft N lb Allowable thrust load on shaft Approx. weight (without brake) Approx. weight (with brake) N lb kg lb kg lb Encoder resolution INC A, B phase: 2,48 pulses/rev.; Z phase: 1 pulse/rev. ABS A, B phase: 16,384 pulses/rev.; Z phase: 1 pulse/rev. Brake specifications Inertia kg m oz in s Excitation voltage V 24 VDC ±1% Power consumption W Current consumption A Static friction torque N m oz in.2 min min min Absorption time ms 6 max. 1 max. Release time ms 3 max. 4 max. Backlash (reference value) Rating --- Continuous Insulation --- Type F 12

20 SERVO MOTOR SPECIFICATIONS General Motor Specifications Cylinder-Style Motors (3, RPM) Ambient temperature Item 3 to 75 W 1 to 5 kw Operating: to +4 C (32 F to +14 F) Storage: 2 to +6 C ( 4 F to +14 F) Ambient humidity (with no condensation) Operating: 2% to 8% Storage: 2% to 8% Atmosphere No corrosive gases Vibration resistance 49 m/s m/s 2 Shock resistance 49 m/s 2 (twice in vertical direction) Insulation resistance 1 MΩ min. at 5 VDC Dielectric strength Operating position 1,5 VAC for 1 min Any direction Insulation class Type B Type F Construction Totally-enclosed self-cooling Enclosure rating IP55 (see note) IP67 (see note) Vibration class V-15 EC directives EMC directive EN5511 class A group1 UL standards cul standards EN582-2 Low-voltage directive IEC634-1, 5, 8, 9 EN634-1, 9 UL14 cul C22.2 No.1 Note: Enclosure ratings do not include the shaft opening. 13

21 SERVO MOTOR SPECIFICATIONS Torque/Speed Characteristics Cylinder-Style Motors with 2-VAC Power Supply (3, RPM) The following graphs show characteristics with a standard 3-m cable and 2-VAC input. (N m) R88M-W33H (3 W) R88M-W33T (3 W) R88M-W53H (5 W) (N m) R88M-W53T (5 W) R88M-W13H (1 W) (N m) R88M-W13T (1 W) Intermittent Duty.3 Intermittent Duty.6 Intermittent Duty Continuous Duty (RPM) 1, 2, 3, 4, 5,.1 Continuous Duty.9 (RPM) 1, 2, 3, 4, 5,.2.19 Continuous Duty (RPM) 1, 2, 3, 4, 5, R88M-W23H (2 W) (N m) R88M-W23T (2 W) (N m) R88M-W43H (4 W) R88M-W43T (4 W) 3.82 (3,525) (N m) R88M-W753H (75 W) R88M-W753T (75 W) 7.16 (3,65) 1. Intermittent Duty 2. Intermittent Duty 4. Intermittent Duty Continuous Duty (RPM) 1, 2, 3, 4, 5, Continuous Duty (RPM) 1, 2, 3, 4, 5, Continuous Duty (RPM) 1, 2, 3, 4, 5, R88M-W1K3H (1 kw) (N m) R88M-W1K3T (1 kw) (3,) 8 15 (N m) 14.7 R88M-W1K53H (1.5 kw) R88M-W1K53T (1.5 kw) 13.9 (3,) (N m) R88M-W2K3H (2 kw) R88M-W2K3T (2 kw) 18.3 (3,25) Intermittent Duty Continuous Duty (RPM) 1, 2, 3, 4, 5, 1 5 Intermittent Duty Continuous Duty (RPM) 1, 2, 3, 4, 5, 1 5 Intermittent Duty Continuous Duty (RPM) 1, 2, 3, 4, 5, 3 (N m) 29.4 R88M-W3K3H (3 kw) R88M-W3K3T (3 kw) 27.6 (3,) (N m) R88M-W4K3H (4 kw) R88M-W4K3T (4 kw) 37.3 (2,9) 5 4 (N m) 47.8 R88M-W5K3H (5 kw) R88M-W5K3T (5 kw) 46.8 (3,) 2 Intermittent Duty 2 Intermittent Duty 3 Intermittent Duty Continuous Duty (RPM) 1, 2, 3, 4, 5, Continuous Duty 6.3 (RPM) 1, 2, 3, 4, 5, Continuous Duty 7.8 (RPM) 1, 2, 3, 4, 5, 14

22 SERVO MOTOR SPECIFICATIONS Cylinder-Style Motors with 1-VAC Power Supply (3, RPM) The following graphs show characteristics with a standard 3-m cable and 1-VAC input..3.2 (N m) R88M-W33L (3 W) R88M-W33S (3 W) (4,45) Intermittent Duty (N m) R88M-W53L (5 W) R88M-W53S (5 W) (4,5) Intermittent Duty Continuous Duty (RPM) 1, 2, 3, 4, 5, Continuous Duty.9 (RPM) 1, 2, 3, 4, 5, R88M-W13L (1 W) (N m) R88M-W13S (1 W) R88M-W23L (2 W) (N m) R88M-W23S (2 W) (3,) Intermittent Duty Intermittent Duty Continuous Duty (RPM) 1, 2, 3, 4, 5, Continuous Duty (RPM) 1, 2, 3, 4, 5, 15

23 SERVO MOTOR SPECIFICATIONS Performance Specifications Cylinder-Style Motors (1, RPM) Item Servo Motor (R88M-) W3 1H W6 1H W9 1H W1K2 1H 2 VAC W2K 1H W3K 1H W4K 1H W5K5 1H Servo Drive (R88D-) WT5H WT8H WT1H WT15H WT2H WT3H WT5H WT6H Rated output W k 2k 3k 4k 5.5k Rated torque Max. momentary torque N m lb in N m lb in Rated speed RPM 1, Max. momentary RPM 2, speed Rated current A(rms) Rotor inertia (without brake) kg m lb in s Power rate kw/s Applicable load inertia Multiple 1 Allowable radial load on shaft Allowable thrust load on shaft Approx. weight (without brake) Approx. weight (with brake) N lb N lb kg lb kg lb Encoder INC A, B phase: 32,768 pulses/rev.; Z phase: 1 pulse/rev. resolution ABS Brake specifications Inertia kg m lb in s Excitation V voltage Power consumption Current consumption Static friction torque Absorption time VDC±1% W A N m lb in ms ms max. Release time ms 1 ms max. Backlash max. Rating --- Continuous Insulation --- Type F

24 SERVO MOTOR SPECIFICATIONS General Specifications Cylinder-Style Motors (1, RPM) Ambient temperature Ambient humidity (with no condensation) Atmosphere Item 3 to 5.5 kw Operating: to +4 C (32 F to +14 F) Storage: 2 to +6 C ( 4 F to +14 F) Operating: 2% to 8% Storage: 2% to 8% No corrosive gases Vibration resistance 24.5 m/s 2 Shock resistance 49 m/s 2 (twice in vertical direction) Insulation resistance 1 MΩ min. at 5 VDC Dielectric strength Operating position Insulation class Construction Enclosure rating 1,5 VAC for 1 min Any direction Type F Vibration class V-15 Totally-enclosed self-cooling IP67 (see note) EC directives EMC directive EN5511 class A group1 UL standards cul standards EN582-2 Low-voltage directive IEC634-1, 5, 8, 9 EN634-1, 9 UL14 cul C22.2 No.1 Note: Enclosure ratings do not include the shaft opening. 17

25 SERVO MOTOR SPECIFICATIONS Torque/Speed Characteristics Cylinder-Style Motors with 2-VAC Power Supply (1, RPM) The following graphs show characteristics with a standard 3-m cable and 2-VAC input. (N m) R88M-W31H (3 W) R88M-W31T (3 W) 7. (1,875) 6.2 (N m) R88M-W61H (6 W) R88M-W61T (6 W) 13.8 (1,925) 12.7 R88M-W91H (9 W) (N m) R88M-W91T (9 W) (1,8) Intermittent Duty Continuous Duty 5 1, 1,5 1.4 (RPM) 2, Intermittent Duty 5.68 Continuous Duty 5 1, 1,5 2.8 (RPM) 2, Intermittent Duty Continuous Duty 4.3 (RPM) 5 1, 1,5 2, (N m) 11.8 R88M-W1K21H (1.2 kw) R88M-W1K21T (1.2 kw) Intermittent Duty 11.5 Continuous Duty 27.1 (1,8) 5 1, 1, (RPM) 2, (N m) R88M-W2K1H (2 kw) R88M-W2K1T (2 kw) Intermittent Duty 19.1 Continuous Duty 43. (1,825) 5 1, 1, (RPM) 2, (N m) R88M-W3K1H (3 kw) R88M-W3K1T (3 kw) (1,7) Intermittent Duty Continuous Duty 5 1, 1, (RPM) 2, (N m) R88M-W4K1H (4 kw) R88M-W4K1T (4 kw) 17 (1,5) Intermittent Duty 38.2 Continuous Duty (RPM) 5 1, 1,5 2, (N m) 63.1 R88M-W5K51H (5.5 kw) R88M-W5K51T (5.5 kw) (1,6) Intermittent Duty Continuous Duty 5 1, 1, (RPM) 2, 18

26 SERVO MOTOR SPECIFICATIONS Performance Specifications Slim-Profile Motors (3, RPM) Item 2 VAC 1 VAC Servo Motor (R88M-) WP1 3H WP2 3H WP4 3H WP75 3H WP1K5 3H WP1 3L WP2 3L Servo Drive (R88D-) WT1H WT2H WT4H WT8H WT15H WT1HL WT2HL Rated output W k 1 2 Rated torque Max. momentary torque N m oz in N m oz in Rated speed RPM 3, 3, Max. momentary speed RPM 5, 5, Rated current A (rms) Rotor inertia (without brake) kg m oz in s Power rate kw/s Applicable load inertia Multiple Allowable radial load on shaft Allowable thrust load on shaft Approx. weight (without brake) Approx. weight (with brake) N lb N lb kg lb kg lb Encoder resolution INC A, B phase: 2,48 pulses/rev., Z phase: 1 pulse/rev. ABS Brake specifications Inertia kg m oz in s Excitation voltage V 24 VDC±1% 24 VDC±1% Power consumption W Current consumption A Static friction torque N m oz in.4 min min min min min min Absorption time ms 2 ms max. 2 ms max. Release time ms 4 ms max. 4 ms max. Backlash max. 1 max. Rating --- Continuous Continuous Insulation --- Type F Type F min

27 SERVO MOTOR SPECIFICATIONS General Motor Specifications Slim-Profile Motors (3, RPM) Ambient temperature Ambient humidity (with no condensation) Atmosphere Item 1 W to 1.5 kw Operating: to +4 C (32 F to +14 F) Storage: 2 to +6 C ( 4 F to +14 F) Operating: 2% to 8% Storage: 2% to 8% No corrosive gases Vibration resistance 49 m/s 2 Shock resistance 49 m/s 2 (twice in vertical direction) Insulation resistance 1 MΩ min. at 5 VDC Dielectric strength Operating position Insulation class Construction Enclosure rating 1,5 VAC for 1 min Any direction Type B Vibration class V-15 Totally-enclosed self-cooling IP55 (see note) or IP67 EC directives EMC directive EN5511 class A group1 UL standards cul standards Note: EN582-2 Low-voltage directive IEC634-1, 5, 8, 9 EN634-1, 9 UL14 cul C22.2 No.1 Enclosure ratings do not include the shaft opening. Torque/Speed Characteristics Slim-Profile Motors with 2-VAC Power Supply (3, RPM) The following graphs show characteristics with a standard 3-m cable and 2-VAC input. R88M-WP13H (1 W) (N m) R88M-WP13T (1 W) (4,5) Intermittent Duty.318 Continuous Duty (N m).637 R88M-WP23H (2 W) R88M-WP23T (2 W) Intermittent Duty.637 Continuous Duty R88M-WP43H (4 W) (N m) R88M-WP43T (4 W) (3,3) Intermittent Duty 1.27 Continuous Duty (RPM) 1, 2, 3, 4, 5, (RPM) 1, 2, 3, 4, 5, (RPM) 1, 2, 3, 4, 5, (N m) R88M-WP753H (75 W) R88M-WP753T (75 W) (N m) R88M-WP1K53H (1.5 kw) R88M-WP1K53T (1.5 kw) (3,35) (3,4) 4. Intermittent Duty 1 Intermittent Duty (4,89) (4,9) Continuous Duty 1.2 (RPM) 1, 2, 3, 4, 5, Continuous Duty 2.4 (RPM) 1, 2, 3, 4, 5, 2

28 SERVO MOTOR SPECIFICATIONS Slim-Profile Motors with 1-VAC Power Supply (3, RPM) The following graphs show characteristics with a standard 3-m cable and 1-VAC input. R88M-WP13L (1 W) (N m) R88M-WP13S (1 W) (4,5) Intermittent Duty.318 Continuous Duty.19 R88M-WP23L (2 W) (N m) R88M-WP23S (2 W) (3,) Intermittent Duty.637 Continuous Duty (RPM) 1, 2, 3, 4, 5, 1, 2, 3, 4, 5, (RPM) 21

29 SERVO DRIVE SPECIFICATIONS Performance Specifications Servo Drives Item Servo Drive (R88D ) WTA3 H WTA5 H WT1 H Maximum Servo Motor output 3 W 5 W 1 W Continuous output current (O-P).44 A Momentary maximum output current (O-P) Weight Input power supply Control method Pulse train inputs Input signals Output signals Main circuits Control circuits Speed control range Load fluctuation rate Voltage fluctuation rate Temperature fluctuation rate Frequency characteristics Torque control repeatability Speed feedback Ca- Analog pacity inputs Acceleration/deceleration time setting Maximum response pulse frequency Positioning range Feed-forward compensation Bias setting Position command pulse Speed command voltage Torque command voltage Sequence input Position feedback output Speed monitor output Current monitor output.64 A.91 A WT2 H 2 W WT4 H WT5 H 2 VAC WT8 H 4 W 5 W 75 W WT1 H WT15 H WT2 H 2.1 A 2.8 A 3.8 A 5.7 A 7.6 A 11.6 A 18.5 A 1.3 A 2. A 2.8 A 6.5 A 8.5 A 11. A 13.9 A.8 kg (1.76 lb) 1.1 kg (2.43 lb) 1.7 kg (3.75 lb) WT3 H WT5 H WT6 H 1 kw 1.5 kw 2 kw 3 kw 5 kw 5.5 kw 24.8 A 32.9 A 46.9 A 17 A 28 A 42 A 56 A 84 A 11 A 1.7 kg (3.75 lb) 2.8 kg (6.17 lb) 3.8 kg (8.38 lb) Single-phase 2 to 23 VAC, +1% to Three-phase 2 to 23 VAC, +1% to 15%, 5/6 Hz 15%,5/6 Hz Single-phase 2 to 23 VAC, +1% to 15%, 5/6 Hz All-digital servo Serial encoder, 13/16/17 bits (incremental and absolute encoders) 1:5, ±.1% max. at % to 1% (at rated speed) % at rated voltage ±1% (at rated speed) ±.1% max. at 25 ± 25 C (at rated speed) 4 Hz (at the same load inertia as the rotor inertia) ±2% to 1 s (acceleration and deceleration can be set separately) Line driver input: 5 Kpps Open collector input: 2 Kpps to 25 (command unit) % to 1% 5.5 kg (12.13 lb) to 45 RPM Feed pulse, forward/reverse signal, forward pulse, reverse pulse, 9 phase difference (phases A/B) signal ±2 to 1 VDC / rated rotation speed (motor forward rotation by +voltage) Mechanical impedance: Approx. 14 kω; circuit time constant: Approx. 47 µs ±1 to 1 VDC / rated torque (motor forward torque by +voltage) Mechanical impedance: Approx. 14 kω; circuit time constant: Approx. 47 µs 15 kg (33.7 lb) Run command, gain deceleration, position lock command, control mode switch, gain switch, direction command, pulse prohibit, forward/reverse current limit, speed selection command, forward/reverse drive prohibit, alarm reset Phase A, phase B, phase Z, absolute phase (for absolute encoders only): Line driver output 1 V/1, RPM 1 V/rated torque Sequence output Servo alarm, alarm code (3-bit output): CN1 output terminal fixed, speed conformity, positioning completion 1, motor rotation detection, servo ready, current limit detection, brake interlock, warning, positioning completion 2, speed limit detection Dynamic brake stopping Operates when the power supply turns off, a servo alarm is generated, an overrun occurs, or the servo turns off. Other protective functions Parameter destruction, main circuit detector error, parameter setting error, motor mismatch, overcurrent, regenerative error, regenerative overload, overvoltage, undervoltage, overspeeding, overload, dynamic brake overload, inrush resistance overload, heating plate overheating, backup error (absolute), checksum error (absolute), battery error (absolute), absolute error (absolute), overspeed error (absolute), encoder overheating, speed command input read error, torque command input read error, system error, overrun detection, excessive rotation data error (absolute), encoder communications error, encoder parameter error, encoder data error, multiple rotation limit mismatch (absolute), error counter count-up, phase-failure detection, Parameter Unit transmission error Note: Applicable rotor inertia differs according to the motor. Refer to the motor specifications. 22

30 SERVO DRIVE SPECIFICATIONS Servo Drives Item Servo Drive (R88D ) 1 VAC WTA3HL WTA5HL WT1HL WT2HL Maximum Servo Motor output 3 W 5 W 1 W 2 W Continuous output current (O-P).66 A.95 A 2.4 A 3. A Momentary maximum output current (O-P) 2. A 2.9 A 7.2 A 9. A Weight.8 kg (1.76 lb) 1.1 kg (2.43 lb) Input power supply Main circuits Single-phase 1 to 115 VAC, +1% to 15%, 5/6 Hz Control method d feedback Control circuits Single-phase 1 to 115 VAC, +1% to 15%, 5/6 Hz All-digital servo Serial encoder, 13/16/17 bits (incremental and absolute encoders) Capacity Analog Speed control range 1:5 inputs Load fluctuation rate ±.1% max. at % to 1% (at rated speed) Voltage fluctuation rate Temperature fluctuation rate Frequency characteristics % at rated voltage ±1% (at rated speed) ±.1% max. at 25 ± 25 C (at rated speed) 4 Hz (at the same load inertia as the rotor inertia) Torque control repeatability ±2% Acceleration/deceleration time to 1 s (acceleration and deceleration can be set separately) setting Pulse Maximum response pulse Line driver input: 5 Kpps train frequency inputs Open collector input: 2 Kpps Positioning range to 25 (command unit) Feed-forward compensation % to 1% Bias setting to 45 RPM Input signals Position command pulse Feed pulse, forward/reverse signal, forward pulse, reverse pulse, 9 phase difference (phases A/B) signal Speed command voltage ±2 to 1 VDC / rated rotation speed (motor forward rotation by +voltage) Mechanical impedance: Approx. 14 kω; circuit time constant: Approx. 47 µs Torque command voltage ±1 to 1 VDC / rated torque (motor forward torque by +voltage) Mechanical impedance: Approx. 14 kω; circuit time constant: Approx. 47 µs Sequence input Run command, gain deceleration, position lock command, control mode switch, gain switch, direction command, pulse prohibit, forward/reverse current limit, speed selection command, forward/reverse drive prohibit, alarm reset Output signals Position feedback output Phase A, phase B, phase Z, absolute phase (for absolute encoders only): Line driver output Speed monitor output 1 V/1 RPM Current monitor output 1 V/rated torque Sequence output Servo alarm, alarm code (3-bit output): CN1 output terminal fixed, speed conformity, positioning completion 1, motor rotation detection, servo ready, current limit detection, brake interlock, warning, positioning completion 2, speed limit detection Dynamic brake stopping Operates when the power supply turns OFF, a servo alarm is generated, an overrun occurs, or the servo turns OFF. Other protective functions Parameter destruction, main circuit detector error, parameter setting error, motor mismatch, overcurrent, regenerative error, regenerative overload, overvoltage, undervoltage, overspeeding, overload, dynamic brake overload, inrush resistance overload, heating plate overheating, backup error (absolute), checksum error (absolute), battery error (absolute), absolute error (absolute), overspeed error (absolute), encoder overheating, speed command input read error, torque command input read error, system error, overrun detection, excessive rotation data error (absolute), encoder communications error, encoder parameter error, encoder data error, multiple rotation limit mismatch (absolute), error counter count-up, phase-failure detection, Parameter Unit transmission error Note: Applicable rotor inertia differs according to the motor. Refer to the motor specifications. 23

31 SERVO DRIVE SPECIFICATIONS General Specifications Ambient temperature Item Specifications Operating: to +55 C (32 F to +131 F) Storage: 2 to +85 C (32 F to +185 F) Ambient humidity (with no condensation) Operating: 2 to 9% max. Storage: 2 to 9% max. Atmosphere No corrosive gases Vibration resistance 4.9 m/s 2 Shock resistance 19.6 m/s 2 (3 times each in X, Y, and Z directions) Insulation resistance 1 MΩ min. at 5 VDC Dielectric strength Protective structure Vibration class V-15 EC directives EMC directive EN5511 UL standards Low-voltage directive 1,5 VAC for 1 min Built into control panel (IP1) EN582-2 EN5178 UL58C cul standards cul C22.2 No

32 SERVO MOTOR AND DRIVE DIMENSIONS Servo Motor Dimensions Servo Drive Dimensions Servo System Overview Servo Motor and Drive Specifications Servo Motor and Drive Dimensions Operation, Monitoring, and Parameters Servo Cabling and Wiring Information Ordering Information Reference Information 25

33 SERVO MOTOR DIMENSIONS AC Servo Motors Cylinder-Style Motors without Brakes (3, RPM) 2 VAC: 3 W/5 W/1 W/2 W/4 W/75 W R88M-W33H (-S1)/W53H (-S1)/W13H (-S1)/W23H (-S1)/W43H (-S1)/W753H (-S1) R88M-W33T (-S1)/W53T (-S1)/W13T (-S1)/W23T (-S1)/W43T (-S1)/W753T (-S1) 1 VAC: 3 W/5 W/1 W/2 W R88M-W33L (-S1)/W53L (-S1)/W13L (-S1)/W23L (-S1) R88M-W33S (-S1)/W53S (-S1)/W13S (-S1)/W23S (-S1) 3 (11.81) *Shaft end 3 (11.81) Z Mounting hole S dia. D2 dia. D1 dia. Unit: mm (inch) * These dimensions are applicable to R88M-W -S1 with key. Dimensions LL LR Flange surface Shaft end Model C D1 D2 F G Z S OK* b* h* t1* R88M-W (2.74) R88M-W53 77 (3.3) R88M-W (3.72) R88M-W (3.8) R88M-W (4.9) R88M-W (5.71) 25 (.98) 3 (1.18) 4 (1.57) 4 (1.57) 6 (2.36) 8 (3.15) 46 (1.81) 7 (2.76) 9 (3.54) 3 (1.18) Note 1 5 (1.97) Note 1 7 (2.76) Note (.1) 3 (.12) 3 (.12) 5 (.2) 6 (.24) 8 (.31) Two, 4.3 dia. (.17) Four, 5.5 dia. (.22) Four, 7dia. (.28) 6 (.24) Note 3 8 (.31) Note 4 14 (.55) Note 5 16 (.63) Note 5 14 (.55) 2 (.79) 3 (1.18) 2 (.8) 3 (.12) 5 (.2) 2 (.8) 3 (.12) 5 (.2) 1.2 (.5) 1.8 (.7) 3 (.12) Note: 1. Note: 2. Note: 3. Note: 4. Note: Micron tolerance for the item indicated Micron tolerance for the item indicated Micron tolerance for the item indicated Micron tolerance for the item indicated Micron tolerance for the item indicated 26

34 SERVO MOTOR DIMENSIONS Cylinder-Style Motors with Brakes (3, RPM) 2 VAC: 3 W/5 W/1 W/2 W/4 W/75 W R88M-W33H-B (S1)/W53H-B (S1)/W13H-B (S1)/W23H-B (S1)/W43H-B (S1)/W753H-B (S1) R88M-W33T-B (S1)/W53T-B (S1)/W13T-B (S1)/W23T-B (S1)/W43T-B (S1)/W753T-B(S1) 1 VAC: 3 W/5 W/1 W/2 W R88M-W33L-B (S1)/W53L-B (S1)/W13L-B (S1)/W23L-B (S1) R88M-W33S-B (S1)/W53S-B (S1)/W13S-B (S1)/W23S-B (S1) 3 (11.81) *Shaft end 3 (11.81) Z Mounting hole S dia. D2 dia. D1 dia. Unit: mm (inch) * These dimensions are applicable to R88M-W -BS1 with key. Dimensions LL LR Flange surface Shaft end Model C D1 D2 F G Z S OK* b* h* t1* R88M-W33 11 (3.98) R88M-W (4.27) R88M-W (5.31) R88M-W (5.35) R88M-W (6.46) R88M-W (7.46) 25 (.98) 3 (1.18) 4 (1.57) 4 (1.57) 6 (2.36) 8 (3.15) 46 (1.81) 7 (2.76) 9 (3.54) 3 (1.18) Note 1 5 (1.97) Note 1 7 (2.76) Note (.1) 3 (.12) 3 (.12) 5 (.2) 6 (.24) 8 (.31) Two, 4.3 dia. (.17) Four, 5.5 dia. (.22) Four, 7 dia. (.28) 6 (.24) Note 3 8 (.31) Note 4 14 (.55) Note 5 16 (.63) Note 5 14 (.55) 2 (.79) 3 (1.18) 2 (.8) 3 (.12) 5 (.2) 2 (.8) 3 (.12) 5 (.2) 1.2 (.5) 1.8 (.7) 3 (.12) Note: 1. Note: 2. Note: 3. Note: 4. Note: Micron tolerance for the item indicated Micron tolerance for the item indicated Micron tolerance for the item indicated Micron tolerance for the item indicated Micron tolerance for the item indicated 27

35 SERVO MOTOR DIMENSIONS Cylinder-Style Motors without Brakes (3, RPM) 2 VAC: 1 kw/1.5 kw/2 kw/3 kw/4 kw/5 kw R88M-W1K3H-S2/W1K53H-S2/W2K3H-S2/W3K3H-S2/W4K3H-S2/W5K3H-S2 R88M-W1K3T-S2/W1K53T-S2/W2K3T-S2/W3K3T-S2/W4K3T-S2/W5K3T-S2 D3 dia. *Shaft end M8 effective depth 16 S dia. D2 dia. D1 dia. Four, Z dia. Mounting hole Unit: mm (inch) * These dimensions are applicable to R88M-W -S2 with key and tap. Dimensions LL LR KB1 KB2 KL1 KL2 Flange surface Shaft end Model C D1 D2 D3 F G Z S OK* R88M-W1K3 149 (5.87) 45 (1.77) 76 (2.99) 128 (5.4) 96 (3.78) 88 (3.46) 1 (3.94) 115 (4.53) 95 (3.74) Note 1 13 (5.12) 3 (.12) 1 (.39) 7 (.28) 24 (.94) Note 2 32 (1.26) R88M-W1K (6.89) 12 (4.2) 154 (6.6) R88M-W2K3 198 (7.8) 125 (4.92) 177 (6.97) R88M-W3K3 199 (7.83) 63 (2.48) 124 (4.88) 178 (7.1) 114 (4.49) 88 (3.46) 13 (5.12) 145 (5.71) 11 (4.33) Note (6.5) 6 (.24) 12 (.47) 9 (.35) 28 (1.1) Note 2 5 (1.97) R88M-W4K3 236 (9.29) 161 (6.34) 215 (8.46) R88M-W5K3 276 (1.87) 21 (7.91) 255 (1.4) Note: 1. Note: Micron tolerance for the item indicated Micron tolerance for the item indicated 28

36 SERVO MOTOR DIMENSIONS Cylinder-Style Motors with Brakes (3, RPM) 2 VAC: 1 kw/1.5 kw/2 kw/3 kw/4 kw/5 kw R88M-W1K3H-BS2/W1K53H-BS2/W2K3H-BS2/W3K3H-BS2/W4K3H-BS2/W5K3H-BS2 R88M-W1K3T-BS2/W1K53T-BS2/W2K3T-BS2/W3K3T-BS2/W4K3T-BS2/W5K3T-BS2 D3 dia. *Shaft end M8 effective depth 16 S dia. D2 dia. D1 dia. 7 Four, Z dia. Mounting hole Unit: mm (inch) * These dimensions are applicable to R88M-W -BS2 with key and tap. Dimensions LL LR KB1 KB2 KL1 KL2 Flange surface Shaft end Model C D1 D2 D3 F G Z S OK* R88M-W1K3 193 (7.6) R88M-W1K (8.62) R88M-W2K3 242 (9.53) R88M-W3K3 237 (9.33) R88M-W4K3 274 (1.79) R88M-W5K3 314 (12.36) 45 (1.77) 63 (2.48) 67 (2.64) 93 (3.66) 116 (4.57) 114 (4.49) 151 (5.94) 191 (7.52) 171 (6.73) 197 (7.76) 22 (8.66) 216 (8.5) 253 (9.96) 293 (11.54) 12 (4.2) 119 (4.69) 88 (3.46) 88 (3.46) 1 (3.94) 13 (5.12) 115 (4.53) 145 (5.71) 95 (3.74) Note 1 11 (4.33) Note (6.5) 3 (.12) 6 (.24) 1 (.39) 12 (.47) 7 (.28) 9 (.35) 24 (.94) Note 2 28 (1.1) Note 2 32 (1.26) 5 (1.97) Note: 1. Note: Micron tolerance for the item indicated Micron tolerance for the item indicated 29

37 SERVO MOTOR DIMENSIONS Cylinder-Style Motors without Brakes (1, RPM) 2 VAC: 3 W/6 W/9 W/1.2 kw/2 kw/3 kw R88M-W31H-S2/W61H-S2/W91H-S2/W1K21H-S2/W2K1H-S2/W3K1H-S2 R88M-W31T-S2/W61T-S2/W91T-S2/W1K21T-S2/W2K1T-S2/W3K1T-S2 D3 dia. *Shaft end M effective depth S dia. D2 dia. D1 dia. Four, Z dia. Mounting hole Unit: mm (inch) * These dimensions are applicable to R88M-W -S2 with key and tap. Dimensions LL LR KB1 KB2 KL1 KL2 Flange surface Shaft end Model R88M- W31 R88M- W61 R88M- W91 R88M- W1K21 R88M- W2K1 R88M- W3K1 138 (5.43) 161 (6.34) 185 (7.28) 166 (6.54) 192 (7.56) 226 (8.9) 58 (2.28) 79 (3.11) 65 (2.56) 88 (3.46) 112 (4.41) 89 (3.5) 115 (4.53) 149 (5.87) 117 (4.61) 14 (5.51) 164 (6.46) 144 (5.67) 17 (6.69) 24 (8.3) 19 (4.29) 14 (5.51) 88 (3.46) 88 (3.46) C D1 D2 D3 F G Z S QK* b* h* t1* m 13 (5.12) 18 (7.9) 145 (5.71) 2 (7.87) 11 (4.33) Note (4.5) Note (6.5) 23 (9.6) 6 (.24) 3.2 (.13) 12 (.47) 18 (.71) 9 (.35) 13.5 (.53) 19 (.75) Note 3 22 (.87) Note 3 35 Note 4 25 (.98) 6 (2.36) 5 (.2) 6 (.24) 1 (.39) 5 (.2) 6 (.24) 8 (.31) 3 (.12) 3.5 (.14) 5 (.2) M5 (.2) M12 (.47) 12 (.47) 25 (.98) Note: 1. Note: 2. Note: 3. Note: Micron tolerance for the item indicated Micron tolerance for the item indicated Micron tolerance for the item indicated Micron tolerance for the item indicated 3

38 SERVO MOTOR DIMENSIONS Cylinder-Style Motors with Brakes (1, RPM) 2 VAC: 3 W/6 W/9 W/1.2 kw/2 kw/3 kw R88M-W31H-BS2/W61H-BS2/W91H-BS2/W1K21H-BS2/W2K1H-BS2/W3K1H-BS2 R88M-W31T-BS2/W61T-BS2/W91T-BS2/W1K21T-BS2/W2K1T-BS2/W3K1T-BS2 D3 dia. *Shaft end M effective depth S dia.d2 dia. D1 dia. Four, Z dia. Mounting hole Unit: mm (inch) * These dimensions are applicable to R88M-W -S2 with key and tap. Dimensions LL LR KB1 KB2 KL1 KL2 Flange surface Model C D1 D2 D3 F G Z R88M-W (6.93) R88M-W (7.83) R88M-W (8.78) R88M-W1K (8.54) R88M-W2K1 243 (9.57) R88M-W3K1 277 (1.91) 58 (2.28) 79 (3.11) 56 (2.2) 79 (3.11) 13 (4.6) 79 (3.11) 15 (4.13) 139 (5.47) 154 (6.6) 177 (6.97) 21 (7.91) 195 (7.68) 221 (8.7) 255 (1.4) 12 (4.72) 146 (5.75) 88 (3.46) 88 (3.46) 13 (5.12) 18 (7.9) 145 (5.71) 2 (7.87) 11 (4.33) Note (4.5) Note (6.5) 23 (9.6) 6 (.24) 3.2 (.13) 12 (.47) 18 (.71) Dimensions Shaft end Model S QK* b* h* t1* m R88M-W31 19 (.75) 25 (.98) 5 (.2) 5 (.2) 3 (.12) M5 (.2) 12 (.47) R88M-W61 Note 3 R88M-W91 22 (.87) 6 (.24) 6 (.24) 3.5 (.14) Note 3 R88M-W1K21 35 (1.38) 6 (2.36) 1 (.39) 8 (.31) 5 (.2) M12 (.47) 25 (.98) R88M-W2K1 Note 4 R88M-W3K1 9 (.35) 13.5 (.53) Note: 1. Note: 2. Note: 3. Note: Micron tolerance for the item indicated Micron tolerance for the item indicated Micron tolerance for the item indicated Micron tolerance for the item indicated 31

39 SERVO MOTOR DIMENSIONS Cylinder-Style Motors without Brakes (1, RPM) 2 VAC: 4 kw/5.5 kw R88M-W4K1H-S2/W5K51H-S2 R88M-W4K1T-S2/W5K51T-S2 D3 dia. S dia. D2 dia. D1 dia. *Shaft end M16 effective depth 32 Four, Z dia. Mounting hole Unit: mm (inch) * These dimensions are applicable to R88M-W -S2 with key and tap. Dimensions LL LR KB1 KB2 KL1 KL2 Flange surface Shaft end Model C D1 D2 D3 F G Z S QK* R88M-W4K1 26 (1.24) 113 (4.45) 174 (6.85) 238 (9.37) 15 (5.91) 88 (3.46) 18 (7.9) 22 (8.66) (4.5) 23 (9.6) 3.2 (.13) 18 (.71) 13.5 (.53) 42 (1.65) 9 (3.54) Note 1 Note 2 R88M-W5K1 334 (13.15) 248 (9.76) 312 (12.28) Note: 1. Note: Micron tolerance for the item indicated Micron tolerance for the item indicated 32

40 SERVO MOTOR DIMENSIONS Cylinder-Style Motors with Brakes (1, RPM) 2 VAC: 4 kw/5.5 kw R88M-W4K1H-BS2/W5K51H-BS2 R88M-W4K1T-BS2/W5K51T-BS2 D3 dia. S dia. D2 dia. D1 dia. *Shaft end M16 effective depth 32 Four, Z dia. Mounting hole KB3 Unit: mm (inch) * These dimensions are applicable to R88M-W -S2 with key and tap. Dimensions LL LR KB1 KB2 KB3 KL1 KL2 Flange surface Shaft end Model R88M-W4K1 311 (12.24) R88M-W5K (15.16) 113 (4.45) 174 (6.85) 248 (9.76) 289 (11.38) 363 (14.29) 231 (9.9) 35 (12.1) C D1 D2 F G Z S QK* (5.91) (3.46) (7.9) (8.66) (4.5) (.13) (.71) (.53) (1.65) (3.54) Note 1 Note 2 Note: 1. Note: Micron tolerance for the item indicated Micron tolerance for the item indicated 33

41 SERVO MOTOR DIMENSIONS Slim-Profile Motors without Brakes (3, RPM) 2 VAC: 1 W/2 W/4 W/75 W/1.5 kw R88M-WP13H (-S1)/WP23H (-S1)/WP43H (-S1)/WP753H (-S1)/WP1K53H (-S1) R88M-WP13T (-S1)/WP23T (-S1)/WP43T (-S1)/WP753T (-S1)/WP1K53T (-S1) 1 VAC: 1 W/2 W R88M-WP13L (-S1)/WP23L (-S1) R88M-WP13S (-S1)/WP23S (-S1) 3 (11.81) 3 (11.81) *Shaft end Four, Z dia. Mounting hole S dia. D2 dia. D1 dia. * These dimensions are applicable to R88M-W -S1 with key. Dimensions LL LR Flange surface Shaft end Model C D1 D2 F G Z S QK* b* h* t1* R88M-WP13 62 (2.44) R88M-WP23 67 (2.64) R88M-WP43 87 (3.43) R88M-WP (3.41) R88M-WP1K (4.51) 25 (.98) 6 (2.36) 7 (2.76) 5 (1.97) Note (1.18) 8 (3.15) 9 (3.54) (2.76) Note 1 4 (1.57) 12 (4.72) 145 (5.71) 11 (4.33) Note 2 3 (.12) 6 (.24) 5.5 (.22) 8 (.31) Note (.12) 8 (.31) 7 (.28) (.55) Note (.14) 1 (.39) 1 (.39) 16 (.63) Note 4 19 (.75) Note 5 14 (.55) 3 (.12) 3 (.12) 1.8 (.7) (.63) (.2) (.2) (.12) 22 (.87) 6 (.24) 6 (.24) 3.5 (.14) Note: 1. Note: 2. Note: 3. Note: 4. Note: Micron tolerance for the item indicated Micron tolerance for the item indicated Micron tolerance for the item indicated Micron tolerance for the item indicated Micron tolerance for the item indicated 34

42 SERVO MOTOR DIMENSIONS Slim-Profile Motors with Brakes (3, RPM) 2 VAC: 1 W/2 W/4 W/75 W/1.5 kw R88M-WP13H-B (S1)/WP23H-B (S1)/WP43H-B (S1)/WP753H-B (S1)/WP1K53H-B (S1) R88M-WP13T-B (S1)/WP23T-B (S1)/WP43T-B (S1)/WP753T-B (S1)/WP1K53T-B (S1) 1 VAC: 1 W/2 W R88M-WP13L-B (S1)/WP23L-B (S1) R88M-WP13S-B (S1)/WP23S-B (S1) 3 (11.81) 3 (11.81) *Shaft end Four, Z dia. Mounting hole S dia. D2 dia. D1 dia. * These dimensions are applicable to R88M-W -BS1 with key Dimensions LL LR Flange surface Shaft end Model C D1 D2 F G Z S QK* b* h* t1* R88M-WP13 91 (3.58) R88M-WP (3.88) R88M-WP (4.67) R88M-WP (4.72) R88M-WP1K (5.83) 25 (.98) 6 (2.36) 7 (2.76) 5 (1.97) Note 1 7 (2.76) Note (1.18) (3.15) (3.54) (2.76) 4 (1.57) 12 (4.72) 145 (5.71) 11 (4.33) Note 2 3 (.12) 6 (.24) 5.5 (.22) 8 (.31) Note 3 14 (.55) Note (.12) (.31) (.28) (.55) 3.5 (.14) 1 (.39) 1 (.39) 16 (.63) Note 4 19 (.75) Note 5 14 (.55) 3 (.12) 3 (.12) 1.8 (.7) (.63) (.2) (.2) (.12) 22 (.87) 6 (.24) 6 (.24) 3.5 (.14) Note: 1. Note: 2. Note: 3. Note: 4. Note: Micron tolerance for the item indicated Micron tolerance for the item indicated Micron tolerance for the item indicated Micron tolerance for the item indicated Micron tolerance for the item indicated 35

43 SERVO DRIVE DIMENSIONS AC Servo Drives 2 VAC: 3 W/5 W/1 W/2 W R88D-WTA3H/WTA5H/WT1H/WT2H 1 VAC: 3 W/5 W/1 W R88D-WTA3HL/WTA5HL/WT1HL Mounting hole dimensions 5.5 (.22) Two, M4 16 (6.3) 39 (1.54) 16 (4.17) 16 (6.3) (5.89) 55 (2.17) 8 (.31) 75 (2.95) 7 (.28) 13 (5.12) 92 (3.62) 5 (.2) 5 (.2) 55 (2.17) 17 (.67) 2 VAC: 4 W R88D-WT4H 1 VAC: 2 W R88D-WT2HL 5.5 (.22) 5 dia. hole (.2) Mounting hole dimensions 5.5 Two, M4 (.22) (6.3) (5.89) 39 (1.54) 16 (4.17) 16 (6.3) (5.89) 5 5 (.2) 8 (.2) (2.48) (.31) (5.12) (.47) 75 (2.95) (2.95) 7 92 (.28) (3.62) 5 (.2) 12 (.47) 75 (2.95) 17 (.67) 36

44 SERVO DRIVE DIMENSIONS 2 VAC: 5 W/75 W/1 kw R88D-WT5H/WT8H/WT1H 5 dia. hole (.2) 94 (3.7) 16 (6.3) 39 (1.54) 16 (4.17) 96 (3.78) (1.38) (2.17) 9 (3.54) 8 (.31) Mounting hole dimensions 5.5 Two, M4 (.22) 75 (2.95) 7 (.28) 18 (7.9) 142 (5.59) 16 (6.3) (5.89) 17 (.67) 5 (.2) 27 (1.6) 9 (3.54) 2 VAC: 1.5 kw R88D-WT15H Two, 5 dia. holes (.2) Mounting hole dimensions 5.5 (.22) Four, M4 16 (6.3) 39 (1.54) 16 (4.17) 16 (6.3) (5.89) 5 (.2) 11 (4.33) 8 (.31) 75 (2.95) 7 (.28) 18 (7.9) 142 (5.59) 4 (.16) 5 (.2) 5 (.2) 1 (3.94) 11 (4.33) 5 (.2) 37

45 SERVO DRIVE DIMENSIONS 2 VAC: 2 kw/3 kw R88D-WT2H/WT3H 6 (.24) Two, 6 dia. holes (.24) Mounting hole dimensions 6 (.24) Four, M5 39 (1.54) 25 (9.84) (9.39) 196 (7.72) 25 (9.84) (9.39) 5.5 (.22) 5.5 (.22) 5 (.2) 6 (.24) 1 (3.94) 11 (4.33) 8 (.31) 5 (.2) 75 (2.95) 7 (.28) 18 (7.9) 142 (5.59) 4 (.16) 5 (.2) 1 (3.94) 11 (4.33) 5 (.2) 1* (3.94) 4 (1.57) 2 VAC: 5 kw R88D-WT5H 6 (.24) 8 Mounting hole dimensions (.31) Two, 6(.24) dia. holes 6 (.24) Four, M5 39 (1.54) 25 (9.84) (9.39) (7.71) 25 (9.84) (9.39) 5.5 (.22) 5 (.2) 6(.24) 125 (4.92) (2.95) (5.31) 7 (.28) 23 (9.6) 192 (7.56) 1.6 (.6) (.22) 5 (.2) (4.92) 135 (5.31) 5 (.2) 1* (3.94) 83(3.27) 38

46 SERVO DRIVE DIMENSIONS 2 VAC: 6 kw R88D-WT6H 11 (4.33) 7.5 (.3) 1 (.39) 7 (.28) 21 (.83) (7.74) 8 (.31) 3 (1.18) (11.13) 335 (13.19) 35 max (13.78) 1.5 (3.96) 125 (4.92) (8.31) 25 (.98) 9 (.35) 25 (.98) (4.86) 41 (1.61) 18(7.9) 23 max (9.6) 65.6 (2.58) 25 (.98) 7.5 (.3) 27 (1.6) 87.7 (3.45) 235 max (9.25) 16.8 (4.2) 7.5 (.3) Mounting hole dimensions Four, M6 145 (5.71) 35 (13.78) 335 (13.19) 9 (3.54) 7.5 (.3) 25 (.98) 18 (7.9) 23 max(9.6) 25 (.98) 39

47 4

48 OPERATION, MONITORING, AND PARAMETERS Operation and Display Monitoring Alarm List Parameters Servo System Overview Servo Motor and Drive Specifications Servo Motor and Drive Dimensions Operation, Monitoring, and Parameters Servo Cabling and Wiring Information Ordering Information Reference Information 41

49 OPERATION AND DISPLAY Operating Functions Parameter Unit R88A-PR2W Servo Drive R88D-WT Unit Keys R88A-PR2W R88D-WT Function Resets an alarm. Changing Modes Display Panel Displays motor speed, speed commands, torque command motor values, user parameter settings, and Servo Drive status. To change modes, press the MODE/SET Key. Power ON Status display mode (Display example) Baseblock Mode Details Switches between status display mode, system check mode, setting mode, and monitor mode. Used as a data setting key while in setting mode. Turns the Servo ON or OFF while jog operations are being performed. Switches between parameter display, data display, and records data. Increments parameter settings. Used as a forward rotation start key during jog operation. Decrements parameter settings. Used as a reverse rotation start key during jog operation. Selects the digit whose setting is to be changed. When selected, the digit flashes. System check mode Alarm history display mode Power ON Setting mode Monitor mode Status Display Mode Function selection switch Speed feedback Status display mode Bit Display Main-circuit power supply ON, controlcircuit power supply ON, baseblock (motor OFF), speed conformity, positioning complete 1, torque command being input, error counter reset signal being input, speed command being input, command pulses being input, motor rotation detection Symbol Display Baseblock, operating, forward rotation prohibited, reverse rotation prohibited, alarm display Control-circuit power supply ON Baseblock Speed conformity (during speed control) Positioning complete 1 (during position control) Motor rotation detection Speed command being input (during speed control) Command pulses being input (during position control) Torque command being input (during torque control) Error counter reset signal being input (during position control) Main-circuit power supply ON System check mode Alarm history display, robustness setting during online auto-tuning, jog operations, motor origin search, user parameter initialization, alarm history data clear, online auto-tuning results saving, command offset automatic adjustment, command offset manual adjustment, password setting Setting mode User Parameters Pn to Pn6 bb Symbol run p%t n%t Bit display Baseblock (motor OFF) Operating Symbol display Status Forward rotation prohibited (forward overtravel) Reverse rotation prohibited (reverse overtravel) a.2 Alarm display (Refer to Alarm List the subsection following Monitor Mode) Monitor mode Speed feedback, speed commands, torque commands, number of pulses from origin, electrical angle, input signal monitoring, output signal monitoring, command pulse speed display, position error, input pulse counter/feedback pulse counter 42

50 MONITORING Monitor Mode Monitor No. Monitor item Unit Explanation Un Speed Feedback RPM Displays the actual motor speed. Un1 Speed Command RPM Displays the speed command value or internally set speed value during speed control. is displayed during pulse-train input control. Un2 Torque Command % Displays the command value for a current loop that is expressed by treating the rated torque as 1%. Un3 Number of Pulses from Z-Phase Pulses Displays the number of pulses from Z-Phase in encoder resolution units (multiplied by 4). Un4 Electrical Angle Degrees Displays the motor electrical angle. Un5 Input Signal Monitor --- Displays drive I/O signal status by turning ON or OFF each signal Un6 Output Signal Monitor --- bit. Un7 Command Pulse Speed Display RPM Displays command pulse frequency converted in RPM. Un8 Position Deviation (Error Counter) Reference units Displays the number of pulses accumulated in the error counter (Position Deviation) that are converted in reference units (input pulse references). Un9 Motor Load Rate % Displays effective torque at intervals of 1 s that is expressed by treating the rated torque as 1%. UnA Regeneration Load Rate % Displays the amount of regeneration energy absorbed at intervals of 1 s that is expressed by treating the Pn6 setting (Regenerative Resistor Capacity) as 1%. UnB Dynamic Brake Resistance Load Rate % Displays the resistance load factor at intervals of 1 s that is expressed by treating the rated load factor as 1%. UnC Input Pulse Counter Reference units Displays the number of counted input pulses in hexadecimal notation. UnD Feedback Pulse Counter Pulses Displays the number of counted encoder feedback pulses in hexadecimal notation (multiplied by 4). 43

51 ALARM LIST Alarm Displays Display Alarm code Alarm details AL1 AL2 AL3 OFF OFF OFF Parameter destruction, Servo Drive EEP-ROM data error Main circuit detector error Parameter setting error Motor mismatch, Servo motor and Servo Drive capacity mismatch ON OFF OFF Overcurrent or heat sink overheating (1.5 kw min.) ON ON OFF Regeneration error (broken resistor wiring, transistor short-circuit ) Regeneration overload OFF OFF ON Overvoltage Undervoltage ON OFF ON Overspeed ON ON ON Overload (maximum momentary load) Overload (maximum continuous load) Dynamic brake overload Inrush resistance overload Radiation shield overheating (Displayed for 3 W to 1. kw models only) OFF OFF OFF Backup error Checksum error Parity error Absolute error Overspeed error Encoder overheating Speed command input read error Torque command input read error System error ON OFF ON Overrun detection Excessive rotation data error Encoder communications error Encoder parameter error Encoder data error ON OFF ON Multiple rotation limit mismatch ON ON OFF Error counter count-up OFF ON OFF Phase-failure detected Note: Alarm codes are output to pin 37 (AL1), pin 38 (AL2), and pin 39 (AL3) of the CN1 connector on the Servo Drive. 44

52 PARAMETERS List of Parameters Function Selection Parameters PRM. No. Parameter name Digit Function name Setting Explanation Factory setting Pn Function Selection Basic Reverse Rotation Defines forward rotation as counterclockwise (CCW) rotation. Switches Mode 1 Defines forward rotation as clockwise (CW) rotation. 1 Control Mode Speed control (analog command) Selection 1 Position control (pulse-train command) 2 Torque control (analog command) 3 Internally set speed control 4 Internally set speed control Speed control (analog command) 5 Internally set speed control Position control (pulse-train command) 6 Internally set speed control Torque control (analog command) 7 Position control (pulse-train command) Speed control (analog command) 8 Position control (pulse-train command) Torque control (analog command) 9 Torque control (analog command) Speed control (analog command) A Speed control with position lock function (analog command) B Position control with pulse prohibit function (pulse-train command) 2 Unit No. Setting to F Sets the unit No. of the device communicating with Servo Drive. 3 Reserved Pn1 Function Selection Servo OFF or Alarm Uses the dynamic brake to stop the Application Stop Mode Servo Motor. Switches 1 1 Uses the dynamic brake to stop the Servo Motor, and releases the dynamic brake after the Servo Motor stops. 2 Coasts the Servo Motor to a stop. 1 Run Prohibit Input Stop Mode Stops the Servo Motor according to the Pn1. setting. 1 Decelerates the Servo Motor to a stop at the torque specified in Pn46 and then locks the Servo Motor. 2 Decelerates the Servo Motor to a stop at the torque specified in Pn46 and then turns OFF the Servo Motor. 2 Main Circuit Power Supply AC/DC Input Supplies AC power from L1, L2, and (L3) terminals. Selection 1 Supplies DC power from (+) 1 and ( ) terminals. 3 Warning Code Output Selection Outputs only alarm codes from AL1, AL2, and AL3. 1 Outputs both alarm codes and warning codes from AL1, AL2, and AL3. Note: 1. Do not change the factory settings of any Reserved parameters. 2. When changing the Pn, Pn1, or Pn2 parameter, always turn the main and control circuit power supplies OFF and then ON to validate the settings. (This table continues on the next page.) Unit Setting range 45

53 PARAMETERS Function Selection Parameters (continued) PRM. No. Parameter name Digit Function name Setting Explanation Factory setting Pn2 Function Selection Application Switches 2 Torque Command None. Input Switch during Position/Speed Control 1 Uses TREF for analog torque limit input. 2 Uses TREF for torque feed-forward input. 3 Uses TREF for analog torque limit input when PCL and NCL are ON. 1 Speed Command None. Input Switch during Torque Control 1 Uses REF for analog torque limit input. 2 Absolute Encoder Usage Uses the absolute encoder as an absolute encoder. 1 Uses the absolute encoder as an incremental encoder. 3 Reserved Pn3 Function Selection Application Switches 3 Analog Monitor 1 Motor speed: 1 V/1, RPM 1 Speed command: 1 V/1, RPM 2 Torque command:.5 V/rated torque 3 Position error:.5 V/1 command unit 4 Position error:.5 V/1 command units 5 Reference pulse frequency: 1 V/1, RPM 6 Motor speed: 1 V/25 RPM 7 Motor speed: 1 V/125 RPM 8 to F Reserved 1 Analog Monitor 2 to F Same as Analog Monitor 1 2 to 3 Reserved Pn4 and Pn5 Reserved Note: 1. Do not change the factory settings of any Reserved parameters. 2. When changing the Pn, Pn1, or Pn2 parameter, always turn the main and control circuit power supplies OFF and then ON to validate the settings. Gain-Related Parameters PRM. No. Parameter name Digit Function name Setting Explanation Factory setting Pn1B Speed Control Settings Pn1 Speed Loop Gain 8 Hz 1 to 2 Pn11 Speed Loop Integral Time Constant 2.1 ms 15 to 512 Pn12 Position Loop Gain 4 1/s 1 to 2 Pn13 Inertia Ratio 3 % to 1 Pn14 Speed Loop Gain 2 8 Hz 1 to 2 Pn15 Speed Loop Integral Time Constant 2 Unit Unit Setting range Setting range 2.1 ms 15 to 512 Pn16 Position Loop Gain 2 4 1/s 1 to 2 Pn17 Bias Rotational Speed RPM to 45 Pn18 Bias Addition Baud 7 Command to 25 units Pn19 Feed-forward Amount % to 1 46

54 PARAMETERS PRM. No. Pn1A Parameter name Digit Function name Setting Explanation Factory setting Feed-forward Command Filter Pn1B Speed Control Settings P Control Switching Condition Pn1C Pn1D Pn1E Pn1F P Control Switching (Torque Command) P Control Switching (Speed Command) P Control Switching (Acceleration Command) P Control Switching (Deviation Pulse) Uses an internal torque command value as the switching condition (level setting: Pn1C). 1 Uses a speed command value as the switching condition (level setting: Pn1D). 2 Uses an acceleration command value as the switching condition (level setting: Pn1E). 3 Uses the number of error pulses as the switching condition (level setting: Pn1F). 4 Does not use the P control switching function. 1 Speed Control Loop PI control Switch 1 IP control 2 to 3 Reserved Unit Setting range.1 ms to % to 8 RPM to 1 1r/ min/s to 3 1 Command units Pn11 Online Autotuning Setting Pn111 Speed Feedback Compensating Gain Online Autotuning Selection Performs autotuning only when the system runs for the first time after the power is turned ON. 1 Performs autotuning continuously. 2 Does not perform autotuning. 1 Speed Feedback Enabled Compensation Selection 1 Disabled 2 Friction Compensa- tion Selection 3 Reserved Friction compensation: Disabled 1 Friction compensation: Small rated torque ratio 2 Friction compensation: Large rated torque ratio to 1 1 % 1 to 5 Note: Do not change the factory settings of any Reserved parameters. (This table continues on the next page.) 47

55 PARAMETERS Gain-Related Parameters (continued) PRM. No. Parameter name Digit Function name Setting Explanation Factory setting Pn112 Reserved parameters (do not change) 1 % - Pn Pn Pn Pn Pn117 1 % - Pn118 1 % - Pn119 5 S-1 - Pn11A 1.1% - Pn11B 5 Hz - Pn11C 7 Hz - Pn11D 1 % - Pn11E 1 % - Pn11F ms - Pn12.1ms - Pn121 5 Hz - Pn122 Hz - Pn123 % - Unit Setting range Note: Do not change the factory settings of any Reserved parameters. 48

56 PARAMETERS Position Control-Related Parameters PRM. No. Parameter name Digit Function name Setting Explanation Factory setting Pn2 Position Control Setting 1 Command Pulse Mode Feed pulse/forward-reverse signal: Positive logic 1 Forward rotation pulse/reverse rotation pulse: Positive logic 2 Phase-A/B signal with 9 phase differential ( 1): Positive logic 3 Phase-A/B signal with 9 phase differential ( 2): Positive logic 4 Phase-A/B signal with 9 phase differential ( 4): Positive logic 5 Feed pulse/forward-reverse signal: Negative logic 6 Forward rotation pulse/reverse rotation pulse: Negative logic 7 Phase-A/B signal with 9 phase differential ( 1): Negative logic 8 Phase-A/B signal with 9 phase differential ( 2): Negative logic 9 Phase-A/B signal with 9 phase differential ( 4): Negative logic 1 Error Counter Clear Signal Form Clears the error counter when the clear signal goes high. 1 Clears the error counter on the rising edge of the clear signal. 2 Clears the error counter when the clear signal goes low. 3 Clears the error counter on the falling edge of the clear signal. 2 Error Counter Clear during Servo OFF or Alarm Clears the error counter when the Servo is turned OFF or when an alarm is generated. 1 Does not clear the error counter when the Servo is turned OFF or when an alarm is generated. 2 Clears the error counter only when an alarm is generated. 3 Pulse Command Fil- ter Selection Uses command filter for line driver signal input (5 Kpps). 1 Uses command filter for open collector signal input (2 Kpps). Pn21 Encoder Divider Rate 1 Pulses/ revolution Pn22 Pn23 Pn24 Pn25 Electronic Gear Ratio G1 (Numerator) Electronic Gear Ratio G2 (Denominator) Position Command Filter Time Constant 1 Absolute Encoder Multi-turn Limit Setting Pn26 Reserved Unit Setting range 16 to to to ms Number of revolutions to 64 to Note: For 13-bit encoders, dividing will not occur if a value of 248 or greater is specified in Pn21. (This table continues on the next page.) 49

57 PARAMETERS Position Control-Related Parameters (continued) PRM. No. Parameter name Digit Function name Setting Explanation Factory setting Pn27 Position Control Setting 2 Position Command Primary filter Filter Selection 1 Linear acceleration/deceleration 1 Speed Command In- None put Switch (during 1 Uses REF for speed Position Control) feed-forward input. 2 to 3 Reserved Pn28 Position Command Filter Time Constant 2.1 ms to 64 Note: For 13-bit encoders, dividing will not occur if a value of 248 or greater is specified in Pn21. Speed-Related Parameters PRM. No. Parameter name Digit Function name Setting Explanation Factory setting Pn3 Speed Command Scale 1.1 V/ rated speed Unit Unit Setting range Setting range 15 to 3 Pn31 No.1 Internal Speed Setting 1 RPM to 1 Pn32 No. 2 Internal Speed Setting 2 RPM to 1 Pn33 No. 3 Internal Speed Setting 3 RPM to 1 Pn34 Jog Speed 5 RPM to 1 Pn35 Soft Start Acceleration Time ms to 1 Pn36 Soft Start Deceleration Time ms to 1 Pn37 Speed Command Filter Time 4.1 ms to Constant Pn38 Speed Feedback Filter Time Constant.1 ms to Note: 1. Do not change the factory settings of any Reserved parameters. 2. When changing any position control-related parameters (Pn2 to Pn28), always turn the main and control circuit power supplies OFF and then ON to validate the settings. Torque-Related Parameters PRM. No. Parameter name Digit Function name Setting Explanation Factory setting Pn4 Torque Command Scale 3.1 V/ rated torque Pn41 Torque Command Filter Time Constant Unit Setting range 1 to ms to Pn42 Forward Torque Limit 35 % to 8 Pn43 Reverse Torque Limit 35 % to 8 Pn44 Forward Rotation External 1 % to 8 Current Limit Pn45 Reverse Rotation External 1 % to 8 Current Limit Pn46 Emergency Stop Torque 35 % to 8 Pn47 Speed Limit 3 RPM to 1 Pn48 Torque Command Setting Notch Filter Selec- None tion 1 Uses notch filter for torque command. 1 to 3 Reserved Pn49 Notch Filter Frequency 2 Hz 5 to 2 5

58 PARAMETERS Sequence-Related Parameters PRM. No. Pn5 Pn51 Pn52 Pn53 Pn54 Pn55 Parameter name Digit Function name Setting Explanation Factory setting Positioning Completed Width 1 Position Lock Rotation Speed Rotation Speed For Motor Rotation Detection Speed Conformity Signal Output Width Positioning Completion Range 2 Deviation Counter Overflow Level Unit 3 Command units Setting range to 25 1 RPM to 1 2 RPM to 1 1 RPM to 1 3 Command units 124 Command units 256 Pn56 Brake Timing 1 1 ms to 5 Pn57 Brake Command Speed 1 RPM to 1 Pn58 Brake Timing ms 1 to 1 Pn59 Momentary Hold Time 2 ms 2 to 1 1 to 25 1 to Note: Do not change the factory settings of any Reserved parameters. (This table continues on the next page.) 51

59 PARAMETERS Sequence-Related Parameters (continued) PRM. No. Pn5A Pn5A Parameter name Input Signal Selections 1 Input Signal Selections 1 Digit Function name Setting Explanation Factory setting Input Signal Allocation Mode Uses the same sequence input signal allocation setting as the R88D UT. For details, refer to the user s manual (I531-E3 1). 1 RUN Signal Input Terminal Al- location 2 MING (Gain Reduction) Signal Input Terminal Allocation 3 POT (Forward Run Prohibit) Signal Input Terminal Allocation 1 Enables any sequence input signal allocation settings. Allocates the signal to CN1-4 pin: Enabled when low. 1 Allocates the signal to CN1-41 pin: Enabled when low. 2 Allocates the signal to CN1-42 pin: Enabled when low. 3 Allocates the signal to CN1-43 pin: Enabled when low. 4 Allocates the signal to CN1-44 pin: Enabled when low. 5 Allocates the signal to CN1-45 pin: Enabled when low. 6 Allocates the signal to CN1-46 pin: Enabled when low. 7 Always enabled. 8 Always disabled. 9 Allocates the signal to CN1-4 pin: Enabled when high. A Allocates the signal to CN1-41 pin: Enabled when high. B Allocates the signal to CN1-42 pin: Enabled when high. C Allocates the signal to CN1-43 pin: Enabled when high. D Allocates the signal to CN1-44 pin: Enabled when high. E Allocates the signal to CN1-45 pin: Enabled when high. F Allocates the signal to CN1-46 pin: Enabled when high. to F Same as Pn5A.1 to F Same as Pn5A.1 Unit Pn5B Input Signal Selection 2 NOT (Reverse Run Prohibit) to F Same as Pn5A.1 Signal Input Terminal Allocation 1 RESET (Alarm Reset) Signal Input to F Same as Pn5A.1 Terminal Allocation 2 PCL (Forward Torque Limit) Signal to F Same as Pn5A.1 Input Terminal Allocation 3 NCL (Reverse Torque Limit) Signal Input Terminal Allocation to F Same as Pn5A.1 Pn5C Input Signal Selections 3 RDIR (Rotation Direction Command) to F Same as Pn5A.1 Signal Input Terminal Al- location 1 SPD1 (Speed Selection Command to F Same as Pn5A.1 1) Signal Input Terminal Allocation 2 SPD2 (Speed Selection Command to F Same as Pn5A.1 2) Signal Input Terminal Allocation 3 CSEL (Control Mode Selection) Signal Input Terminal Allocation to F Same as Pn5A.1 Note: 1. Do not change the factory settings of any Reserved parameters. 2. When changing any Input Signal Selection parameters (Pn5A to Pn5D), always turn the main and control circuit power supplies OFF and then ON to validate the settings. Setting range 52

60 PARAMETERS PRM. No. Parameter name Digit Function name Setting Explanation Factory setting Pn5D Input Signal Selections 4 PLOCK (Position Lock Command) to F Same as Pn5A.1 Signal Input Terminal Allocation 1 IPG (Pulse Prohibit) Signal Input to F Same as Pn5A.1 Terminal Allocation 2 GSEL (Gain Selection) Signal Input to F Same as Pn5A.1 Terminal Allocation 3 Reserved Pn5E Output Signal Selections 1 INP1 (Positioning Completed 1) Signal Output Terminal Allocation Disabled (Reserved for the output signal) 1 Allocates the signal to CN1-25 and CN1-26 pins. 2 Allocates the signal to CN1-27 and CN1-28 pins. 3 Allocates the signal to CN1-29 and CN1-3 pins. 1 VCMP (Speed Coincidence) Signal to 3 Same as Pn5E.. Output Terminal Allocation 2 TGON (Motor Rotation Detection) to 3 Same as Pn5E.. Signal Output Terminal Allocation 3 READY (Servo Ready) Signal Output Terminal Allocation to 3 Same as Pn5E.. Pn5F Output Signal Selections 2 CLMT (Torque Limit Detection) to 3 Same as Pn5E.. Signal Output Terminal Allocation 1 VLMT (Speed Limit Detection) Signal to 3 Same as Pn5E.. Output Terminal Allocation 2 BKIR (Brake Interlock) Signal Output to 3 Same as Pn5E.. Terminal Allocation 3 WRN (Warning) Signal Output Terminal Allocation to 3 Same as Pn5E.. Pn51 Output Signal Selections 3 INP2 (Positioning Completed 2) to 3 Same as Pn5E.. Signal Output Terminal Allocation 1 to 3 Reserved Pn511 Reserved Pn512 Output Signal Reversal CN1-25/26 Pin Output Signal Re- Does not reverse output signal. versal 1 Reverses output signal. 1 CN1-27/28 Pin Output Signal Reversal, 1 Same as Pn CN1-29/3 Pin Output Signal Reversal, 1 Same as Pn Reserved Other Parameters PRM. No. Pn6 Parameter name Digit Function name Setting Explanation Factory setting Regenerative Resistor Capacity Pn61 Reserved Unit Unit Setting range Setting range 1 W to maximum (depending on each model) Note: 1. Do not change the factory settings of any Reserved parameters. 2. When changing any Input Signal Selection parameters (Pn5A to Pn5D), always turn the main and control circuit power supplies OFF and then ON to validate the settings. 3. When installing an external regenerative resistor, set the resistor capacity (W). 53

61 54

62 SERVO CABLING AND WIRING INFORMATION Cable Specifications Wiring Information Servo System Overview Servo Motor and Drive Specifications Servo Motor and Drive Dimensions Operation, Monitoring, and Parameters Servo Cabling and Wiring Information Ordering Information Reference Information 55

63 CABLE SPECIFICATIONS W-Series Servo Drive 9 1 Battery for Absolute Encoder Analog Monitor 11 Parameter Unit Computer with Windows Monitoring Software 12 W-Series Servo Motor NC Interface Terminal Block 8 8 Universal Terminal Block Motion Control Module Position Control Module Power Cables Symbol Description Connect to Model Remarks 1 Power Cables for Servo Motors without Brakes Cylinder-Style Servo Motors (3, RPM): 3 to 75 W Slim-Profile Servo Motors (3, RPM): 1 to 75 W Slim-Profile Servo Motors (3, RPM): 1.5 kw R88A-CAWA S represents one of the following cable lengths: 3 m, 5 m, 1 m, 15 m, 2 m, 3 m, 4 m, 5 m R88A-CAWB S represents one of the following cable lengths: 3 m, 5 m, 1 m, 15 m, 2 m, 3 m, 4 m, 5 m Connector on motor end (manufactured by AMP Japan, Ltd.) Connector cap: Connector socket: Connector on motor end (manufactured by AMP Japan, Ltd.) Connector cap: Connector socket: Cylinder-Style Servo Motors (3, RPM): 1 to 2 kw Cylinder-Style Servo Motors (1, RPM): 3 to 9 W Cylinder-Style Servo Motors (3, RPM): 3 to 5 kw Cylinder-Style Servo Motors (1, RPM): 1.2 to 3 kw R88A-CAWC S represents one of the following cable lengths: 3 m, 5 m, 1 m, 15 m, 2 m, 3 m, 4 m, 5 m R88A-CAWD S represents one of the following cable lengths: 3 m, 5 m, 1 m, 15 m, 2 m, 3 m, 4 m, 5 m Connector on motor end (manufactured by Daiichi Denshi Kogyo Co., Ltd.) Connector cap: MS316B18-1S Cable clamp: MS357-1A Connector on motor end (manufactured by Daiichi Denshi Kogyo Co., Ltd.) Connector cap: MS316B22-22S Cable clamp: MS357-12A 56

64 CABLE SPECIFICATIONS Symbol Description 1 Power Cables for Servo Motors with Brakes Connect to Cylinder-Style Servo Motors (3, RPM): 3 to 75 W Slim-Profile Servo Motors (3, RPM): 1 to 75 W Slim-Profile Servo Motors (3, RPM): 1.5 kw Model R88A-CAWA B represents one of the following cable lengths: 3 m, 5 m, 1 m, 15 m, 2 m, 3 m, 4 m, 5 m R88A-CAWB B represents one of the following cable lengths: 3 m, 5 m, 1 m, 15 m, 2 m, 3 m, 4 m, 5 m Remarks Connector on motor end (manufactured by AMP Japan, Ltd.) Connector cap: Connector socket: Connector on motor end (manufactured by AMP Japan, Ltd.) Connector cap: Connector socket: Cylinder-Style Servo Motors (3, RPM): 1 to 2 kw Cylinder-Style Servo Motors (1, RPM): 3 to 9 W Cylinder-Style Servo Motors (3, RPM): 3 to 5 kw Cylinder-Style Servo Motors (1, RPM): 1.2 to 3 kw R88A-CAWC B represents one of the following cable lengths: 3 m, 5 m, 1 m, 15 m, 2 m, 3 m, 4 m, 5 m R88A-CAWD B represents one of the following cable lengths: 3 m, 5 m, 1 m, 15 m, 2 m, 3 m, 4 m, 5 m Connector on motor end (manufactured by Daiichi Denshi Kogyo Co., Ltd.) Connector cap: MS316B2-15S Cable clamp: MS357-12A Connector on motor end (manufactured by Daiichi Denshi Kogyo Co., Ltd.) Connector cap: MS316B24-1S Cable clamp: MS357-16A Note: The following power cables are available for Cylinder-Style Servo Motors with a capacity of 4 to 5.5 kw (1, RPM). Motors without Brakes (4 kw): R88A-CAWE S Motors without Brakes (5.5 kw): R88A-CAWF S Motors with Brakes (4 kw/5.5 kw): R88A-CAWE B 57

65 CABLE SPECIFICATIONS Encoder Cables (for CN2) Symbol Description Connect to Model Remarks 2 Encoder Cable Cylinder-Style Servo Motors (3, RPM): 3 to 75 W Slim-Profile Servo Motors (3, RPM): 1 W to 1.5 kw R88A-CRWA C represents one of the following cable lengths: 3 m, 5 m, 1 m, 15 m, 2 m, 3 m, 4 m, 5 m Connector on motor end (manufactured by MOLEX JAPAN CO., Ltd.) Connector socket: Connector on driver end (manufactured by MOLEX JAPAN CO., Ltd.) Crimp terminal: Connector plug: Cylinder-Style Servo Motors (3, RPM): 1 to 5 kw Cylinder-Style Servo Motors (1, RPM): 3 W to 5.5 kw R88A-CRWB N represents one of the following cable lengths: 3 m, 5 m, 1 m, 15 m, 2 m, 3 m, 4 m, 5 m Connector on motor end (manufactured by Daiichi Denshi Kogyo Co., Ltd.) Connector socket: MS316B2-29S Cable clamp: MS357-12A Connector on driver end (manufactured by MOLEX JAPAN CO., Ltd.) Crimp terminal: Connector plug:

66 CABLE SPECIFICATIONS Control Cables (for CN1) Symbol Description Connect to Model Remarks 3 Control Cable Motion Control Modules (for all SYSMAC CS1, C2H, and CV Series Controllers) R88A-CPW M represents one of the following cable lengths: 1 m, 2 m, 3 m, 5 m represents the number of axes: 1: 1 axis 2: 2 axes 4 Position Control Terminal Blocks 5 Servo Drive Connecting Cable 6 Position Control Module Connecting Cable 7 Universal Control Cable 8 Universal Terminal Block Cable Universal Terminal Block --- CN1 Control I/O Connector C2HW-NC113 Position Control Module C2HW-NC213/413 Position Control Module Position Control Module C2HW-NC113 Position Control Module C2HW-NC213/413 Position Control Module General-Purpose Controller General-Purpose Controller XW2B-2J6-1B --- XW2B-4J6-2B XW2Z- J-B4 represents either of the following cable lengths: 1 m, 2 m XW2Z- J-A6 represents either of the following cable lengths: 5 cm, 1 m XW2Z- J-A7 represents either of the following cable lengths: 5 cm, 1 m R88A-CPW S represents either of the following cable lengths: 1 m, 2 m R88A-CTW N represents either of the following cable lengths: 1 m, 2 m XW2B-5G5 --- R88A-CNU11C CN3 Options Symbol Description Connect to Model 11 Handheld Programmer for W-Series --- R88A-PR2W (with 1-m cable) Cable (2 m) for U-Series Handheld R88A-PR2U R88A-CCW2C Programmers (see note) 12 Computer Connecting Cable IBM PC/AT or compatibles R88A-CCW2P2 Note: This cable can be used to connect the R88A-PR2U Handheld Programmer for U-Series to the W-Series Servo Drive. Additional Options Symbol Description Connect to Model 9 Backup Battery Absolute Encoder R88A-BAT1W 1 Analog Monitor Cable --- R88A-CMW1S Note: For details, refer to Ordering Information in Section 6. 59

67 WIRING INFORMATION Single-Phase Single-phase 2 to 23 VAC 1% or single-phase 1 to 115 VAC 1% (5/6 Hz) 15% (5/6 Hz) 15% 1MCCB Noise filter Main circuit power supply Main circuit contactor Surge killer Servo Motor W-Series Servo Drive Connect a DC reactor for suppressing power supply harmonic waves between (+)1 and (+)2 terminals Encoder Speed command (±2 to ±1 V/rated motor speed) Torque command (±1to ±1 V/rated torque) Position command Be sure to ground. Reverse rotation pulse Forward rotation pulse Error counter reset Open-collector command power supply Backup battery (2.8 to 4.5 V) *3 AGND AGND Be sure to prepare the end of the shield wire properly. Phase A Phase B Phase Z GND common Alarm Code Output Maximum operating voltage: 3 VDC Maximum output current: 2 ma DC PG Dividing Ratio Output Applicable Line Receiver SN75175 or MC3486 manufactured by TI or the equivalent Absolute Encoder Signal Output Serial Data Output SN75175 or MC3486 manufactured by TI or the equivalent SEN signal input *3 24 VDC Run Command Gain Reduction 3.3 k Positioning Completed Forward Run Prohibit Reverse Run Prohibit Alarm Reset Forward Current Limit 3.3 k 3.3 k 3.3 k 3.3 k Motor Rotation Detection Servo Ready Maximum operating voltage: 3 VDC Maximum output current: 5 ma DC Reverse Current Limit 3.3 k Alarm Output 3.3 k Connector shell Frame ground (FG) Connect the shield wire to the connector shell. *1. represents a twisted-pair cable. *2. Primary filter *3. Connect when using an absolute encoder. *4. Used only with an absolute encoder. *5. A regenerative resistor can be connected between B1 and B2. 6

68 WIRING INFORMATION Three-Phase Three-phase 2 to 23 VAC 1% 15% (5/6 Hz) Noise filter Main circuit power supply Main circuit contactor Surge killer Servo Motor Connect a DC reactor for suppressing power supply harmonic waves between (+)1 and (+)2 terminals (No connecting terminal is provided for a capacity of 6 kw or more.) Be sure to ground. Speed command (±2 to ±1 V/rated motor speed) AGND W-Series Servo Drive Encoder Be sure to prepare the end of the shield wire properly. Torque command (±1to ±1 V/rated torque) Position command Reverse rotation pulse Forward rotation pulse Error counter reset Open-collector command power supply Backup battery (2.8 to 4.5 V) *3 AGND Phase A Phase B Phase Z GND common Alarm Code Output Maximum operating voltage: 3 VDC Maximum output current: 2 ma DC PG Dividing Ratio Output Applicable Line Receiver SN75175 or MC3486 manufactured by TI or the equivalent Absolute Encoder Signal Output Serial Data Output SN75175 or MC3486 manufactured by TI or the equivalent SEN signal input *3 24 VDC Run Command Gain Reduction 3.3 k Positioning Completed Forward Run Prohibit Reverse Run Prohibit Alarm Reset Forward Current Limit 3.3 k 3.3 k 3.3 k 3.3 k Motor Rotation Detection Servo Ready Maximum operating voltage: 3 VDC Maximum output current: 5 ma DC Reverse Current Limit 3.3 k Alarm Output 3.3 k Connector shell Frame ground (FG) Connect the shield wire to the connector shell. *1. represents a twisted-pair cable. *2. Primary filter *3. Connect when using an absolute encoder. *4. Used only with an absolute encoder. *5. When using an external regenerative resistor, connect it between B1 and B2. (When the capacity is 6 kw, connect a Regenerative Resistor Unit.) 61

69 WIRING INFORMATION Terminal Blocks Symbol Name Function L1, L2 or L1, L2, L3 Main circuit AC input terminal AC power input terminals for the main circuit. R88D-WT H (2 VAC): 2/23 VAC (17 to 253 V), 5/6 Hz R88D-WT HL (1 VAC): 1/115 VAC (85 to 127 V), 5/6 Hz U Servo Motor Red Terminals for outputs to V connection White the Servo Motor. terminal W Blue L1C, L2C Control power input terminal AC power input terminals for the control circuit. R88D-WT H (2 VAC): 2/23 VAC (17 to 253 V), 5/6 Hz R88D-WT HL (1 VAC): 1/115 VAC (85 to 127 V), 5/6 Hz B1, B2 or B1, B2, B3 Frame ground Main circuit DC output terminal 1, 2 DC reactor connection terminal for suppressing power supply harmonic waves Main circuit DC output terminal (positive) Main circuit DC output terminal (negative) Ground terminal. Ground to a maximum of 1Ω. (class 3). 5 kw or less: Connect an external regenerative resistor if regenerative energy is high. 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. Note: These terminals do not exist on the R88D-WT6H. Normally, not connected. This terminal exists on the R88D-WT6H only. Normally, not connected. CN2 Encoder Inputs Pin No. Symbol Signal name 1 E5V Encoder power supply + 5V 2 EV Encoder power supply ground 3 BAT+ Battery + (used only with absolute encoder) 4 BAT Battery (used only with absolute encoder) 5 S+ Encoder serial signal input 6 S Encoder serial signal input Charge lamp Terminal block AC SERVO DRIVE Power lamp CN3 (Parameter Unit) CN1 (Control I/O) CN2 (Encoder input) 62

70 WIRING INFORMATION CN1 Control Inputs For Speed and Torque Control Pin No. Symbol Signal name Function/Interface 5 REF Speed command input ±2 to ±1 V/rated speed 6 AGND Speed command input ground Can be changed using the Pn3 user parameter (Speed Command Scale). 9 TRFF Torque command input ±1 to ±1 V/rated torque 1 AGND Torque command input ground For Position Control Can be changed using the Pn4 user parameter (Torque Command Scale). Pin No. Symbol Signal name Function/Interface 3 PCOM Open collector command power Used to input CW, CCW, and ECRST signals as 13 supply open-collector outputs. Connect + inputs to these terminals and connect inputs to open-collector output 18 terminals. 7 +PULS/CW/A Feed pulse, reverse pulse, 9 phase difference pulse Line-driver input: 1 ma at 3 V; maximum response frequency: 5 kpps 8 PULS/CW/A (phase A) Open-collector input: 25 ma at 5 V; maximum response frequency: 2 kpps 11 +SIGN/CCW/B Forward/reverse signal, forward pulse, 9 phase Switches between feed pulse and forward/reverse signal, between reverse pulse and forward pulse, or between 12 SIGN/CCW/B difference pulse (phase B) phases A and B 9 phase difference pulses ( 1, 2, 4) according to the Pn2 setting (Position Control Switches 1). 14 ECRST Error counter reset Line-driver input: 1 ma at 3 V 15 +ECRST Open-collector input: 25 ma at 5 V ON: Disables the command and resets the error counter. 63

71 WIRING INFORMATION Shared Terminals Pins 41 to 44 can be reassigned using the Pn5A to Pn5D user parameters. Pin No. Symbol Signal name Function/Interface 4 RUN Speed command input ON: Servo ON 41 to 46 MING Gain deceleration input ON: Switches speed loop to P control to decrease speed loop gain. TVSEL Control mode switch input ON: Switches each control mode. PLOCK Position lock command input ON: Enables position lock when the motor speed drops below the position lock rotation speed set in Pn51. IPG Pulse disable input ON: Prohibits input command pulses. RDIR Rotation direction command input Rotation direction command for internal speed settings 1 to 3. (OFF: Forward rotation, ON: Reverse rotation) POT Forward drive prohibit input Forward rotation overtravel input (OFF when prohibited) NOT Reverse drive prohibit input Reverse rotation overtravel input (OFF when prohibited) RESET Alarm reset input ON: Resets Servo alarm status. PCL Forward rotation current limit input ON: Limits current according to the value specified in Pn44 (Forward External Torque Limit) NCL SPD1 SPD2 Reverse rotation current limit input Speed selection command 1 input Speed selection command 2 input ON: Limits current according to the value specified in Pn45 (Reverse External Torque Limit) Switches the internal speed settings (Pn31, Pn32, Pn33). GSEL Gain selection input ON: Switches to the second speed loop gain (Pn14, Pn15, Pn16) VIN +24 VDC control power supply input +24 V input power supply for pins 4, 41, 42, 43, 44, 45, and 46 4 SEN Sensor ON input ( Note) ON: Supplies 5 V power to absolute encoder. 2 SENGND Sensor ON input ground ( Note) 21 BAT Backup battery + input ( Note) 22 BATGND Backup battery input ( Note) Backup battery connection terminals for absolute encoder in case of power interruption Note: These input signals are used with absolute encoder only. 64

72 WIRING INFORMATION CN1 Control Outputs Pins 16 and 17 can be reassigned using the Pn3 user parameter. Pins 25 to 3 can be reassigned using the Pn5E to Pn51 user parameters. Pin No. Symbol Signal name Function/interface 1 GND Ground common Ground for encoder outputs and alarm codes. 19 +Z Encoder Z-phase Encoder Z-phase output (1 pulse/revolution). + output Line-driver output: Conforms to RS-422A 2 Z Encoder Z-phase output 25 INP1, INP2 Positioning completion output 1, 2 ON when the position error is within the positioning completed width specified in Pn5 while in position control mode. Always OFF while in other modes. 26 to 3 VCMP Speed conformity output ON when the speed error is within the speed coincidence signal output width specified in Pn53 while in speed control mode. Always OFF while in other modes. TGON Servo Motor rotation detection output ON when the motor speed exceeds the motor rotation detection level specified in Pn52. READY Servo ready output ON if no errors are detected after the main circuit power supply is turned ON. CLIMT VLIMT Current limit detection output Speed limit detection output If PCL (forward rotation current limit input) or NCL (reverse rotation current limit input) is ON, the CLIMT signal will turn ON when the output torque reaches the external torque limit specified in Pn44/45 or the torque limit specified in Pn42/43, whichever is lower. If PCL (forward rotation current limit input) or NCL (reverse rotation current limit input) is OFF, the CLIMT signal will turn ON when the output torque reaches the torque limit specified in Pn42/43. ON when the motor speed is controlled by Pn47 in torque control mode. Always OFF while in other modes. BKIR Brake interlock output Outputs holding brake timing signals according to the Pn56, Pn57, and Pn58 user parameter settings. WARN Warning output OFF when an overload warning or a regeneration overload warning is detected. 31 ALM Alarm output Turns OFF the output when the Servo Drive generates an alarm. 32 ALMCOM Alarm output ground Open-collector output: 3 VDC, 5 ma max. 33 +A Encoder A-phase + output 34 A Encoder A-phase output 35 B Encoder B-phase output 36 +B Encoder B-phase + output Outputs encoder pulses divided according to the Pn21 setting (PG ratio). Line-driver output: Conforms to RS-422A Outputs encoder pulses divided according to the Pn21 setting (PG ratio). Line-driver output: Conforms to RS-422A 37 AL1 Alarm code output 1 Outputs an alarm code when the Servo Drive generates an alarm. 38 AL2 Alarm code output 2 Open-collector output: 3 VDC, 2 ma max. 39 AL3 Alarm code output ABS Absolute encoder signal Outputs absolute encoder data. + output ( Note) Line-driver output: Conforms to RS-422A 49 ABS Absolute encoder signal output ( Note) Shell FG Frame ground Ground terminal for shield wire of cable and FG line Note: These input signals are used with absolute encoder only. 65

73 66

74 ORDERING INFORMATION AC Servo Motors AC Servo Drives Power Cables Encoder Cables Control Cables Parameter Units Backup Battery for Absolute Encoder External Regenerative Resistors DC Reactors Front Panel Mounting Brackets Other Peripheral Cables and Connectors Servo System Overview Servo Motor and Drive Specifications Servo Motor and Drive Dimensions Operation, Monitoring, and Parameters Servo Cabling and Wiring Information Ordering Information Reference Information 67

75 ORDERING INFORMATION AC Servo Motors Cylinder-Style Motors (3, RPM) with Incremental Encoders Specifications Part Number Straight Without 2 VAC 3 W R88M-W33H shafts brake without 5 W R88M-W53H key 1 W R88M-W13H 2 W R88M-W23H 4 W R88M-W43H 75 W R88M-W753H 1 VAC 3 W R88M-W33L 5 W R88M-W53L 1 W R88M-W13L 2 W R88M-W23L With 2 VAC 3 W R88M-W33H-B brake 5 W R88M-W53H-B 1 W R88M-W13H-B 2 W R88M-W23H-B 4 W R88M-W43H-B 75 W R88M-W753H-B 1 VAC 3 W R88M-W33L-B 5 W R88M-W53L-B 1 W R88M-W13L-B 2 W R88M-W23L-B Specifications Part Number Straight Without 2 VAC 3 W R88M-W33H-S1 shafts brake with key 5 W R88M-W53H-S1 1 W R88M-W13H-S1 2 W R88M-W23H-S1 4 W R88M-W43H-S1 75 W R88M-W753H-S1 1 kw R88M-W1K3H-S2 1.5 kw R88M-W1K53H-S2 2 kw R88M-W2K3H-S2 3 kw R88M-W3K3H-S2 4 kw R88M-W4K3H-S2 5 kw R88M-W5K3H-S2 1 VAC 3 W R88M-W33L-S1 5 W R88M-W53L-S1 1 W R88M-W13L-S1 2 W R88M-W23L-S1 With 2 VAC 3 W R88M-W33H-BS1 brake 5 W R88M-W53H-BS1 1 W R88M-W13H-BS1 2 W R88M-W23H-BS1 4 W R88M-W43H-BS1 75 W R88M-W753H-BS1 1 kw R88M-W1K3H-BS2 1.5 kw R88M-W1K53H-BS2 2 kw R88M-W2K3H-BS2 3 kw R88M-W3K3H-BS2 4 kw R88M-W4K3H-BS2 5 kw R88M-W5K3H-BS2 1 VAC 3 W R88M-W33L-BS1 5 W R88M-W53L-BS1 1 W R88M-W13L-BS1 2 W R88M-W23L-BS1 Note: S1 at the end of a part number represents models with key and without tap. S2 at the end of a part number represents models with key and tap. Motors with a capacity of 1 kw or more do not have the S1 type. 68

76 ORDERING INFORMATION Cylinder-Style Motors (3, RPM) with Absolute Encoders Specifications Part Number Straight Without 2 VAC 3 W R88M-W33T shafts brake without 5 W R88M-W53T key 1 W R88M-W13T 2 W R88M-W23T 4 W R88M-W43T 75 W R88M-W753T 1 VAC 3 W R88M-W33S 5 W R88M-W53S 1 W R88M-W13S 2 W R88M-W23S With 2 VAC 3 W R88M-W33T-B brake 5 W R88M-W53T-B 1 W R88M-W13T-B 2 W R88M-W23T-B 4 W R88M-W43T-B 75 W R88M-W753T-B 1 VAC 3 W R88M-W33S-B 5 W R88M-W53S-B 1 W R88M-W13S-B 2 W R88M-W23S-B Specifications Part Number Straight Without 2 VAC 3 W R88M-W33T-S1 shafts brake with key 5 W R88M-W53T-S1 1 W R88M-W13T-S1 2 W R88M-W23T-S1 4 W R88M-W43T-S1 75 W R88M-W753T-S1 1 kw R88M-W1K3T-S2 1.5 kw R88M-W1K53T-S2 2 kw R88M-W2K3T-S2 3 kw R88M-W3K3T-S2 4 kw R88M-W4K3T-S2 5 kw R88M-W5K3T-S2 1 VAC 3 W R88M-W33S-S1 5 W R88M-W53S-S1 1 W R88M-W13S-S1 2 W R88M-W23S-S1 With 2 VAC 3 W R88M-W33T-BS1 brake 5 W R88M-W53T-BS1 1 W R88M-W13T-BS1 2 W R88M-W23T-BS1 4 W R88M-W43T-BS1 75 W R88M-W753T-BS1 1 kw R88M-W1K3T-BS2 1.5 kw R88M-W1K53T-BS2 2 kw R88M-W2K3T-BS2 3 kw R88M-W3K3T-BS2 4 kw R88M-W4K3T-BS2 5 kw R88M-W5K3T-BS2 1 VAC 3 W R88M-W33S-BS1 5 W R88M-W53S-BS1 1 W R88M-W13S-BS1 2 W R88M-W23S-BS1 Note: S1 at the end of a part number represents models with key and without tap. S2 at the end of a part number represents models with key and tap. Motors with a capacity of 1 kw or more do not have the S1 type. 69

77 ORDERING INFORMATION Cylinder-Style Motors (1, RPM) with Incremental Encoders Specifications Part Number Straight Without 2 VAC 3 W R88M-W31H-S2 shafts brake with key 6 W R88M-W61H-S2 9 W R88M-W91H-S2 Note: 1.2 kw R88M-W1K21H-S2 2 kw R88M-W2K1H-S2 3 kw R88M-W3K1H-S2 4 kw R88M-W4K1H-S2 5.5 kw R88M-W5K51H-S2 With 3 W R88M-W31H-BS2 brake 6 W R88M-W61H-BS2 9 W R88M-W91H-BS2 1.2 kw R88M-W1K21H-BS2 2 kw R88M-W2K1H-BS2 3 kw R88M-W3K1H-BS2 4 kw R88M-W4K1H-BS2 5.5 kw R88M-W5K51H-BS2 S2 at the end of a part number represents models with key and tap. Motors with a speed of 1, RPM do not have the S1 type. Slim-Profile Motors (3, RPM) with Incremental Encoders Specifications Part Number Straight Without 2 VAC 1 W R88M-WP13H shafts brake without 2 W R88M-WP23H key 4 W R88M-WP43H 75 W R88M-WP753H 1.5 kw R88M-WP1K53H 1 VAC 1 W R88M-WP13L 2 W R88M-WP23L With 2 VAC 1 W R88M-WP13H-B brake 2 W R88M-WP23H-B 4 W R88M-WP43H-B 75 W R88M-WP753H-B 1.5 kw R88M-WP1K53H-B 1 VAC 1 W R88M-WP13L-B 2 W R88M-WP23L-B Straight Without 2 VAC 1 W R88M-WP13H-S1 shafts brake with key 2 W R88M-WP23H-S1 4 W R88M-WP43H-S1 75 W R88M-WP753H-S1 1.5 kw R88M-WP1K53H-S1 1 VAC 1 W R88M-WP13L-S1 2 W R88M-WP23L-S1 With 2 VAC 1 W R88M-WP13H-BS1 brake 2 W R88M-WP23H-BS1 4 W R88M-WP43H-BS1 75 W R88M-WP753H-BS1 1.5 kw R88M-WP1K53H-BS1 1 VAC 1 W R88M-WP13L-BS1 2 W R88M-WP23L-BS1 Cylinder-Style Motors (1, RPM) with Absolute Encoders Specifications Part Number Straight Without 2 VAC 3 W R88M-W31T-S2 shafts brake with key 6 W R88M-W61T-S2 9 W R88M-W91T-S2 Note: 1.2 kw R88M-W1K21T-S2 2 kw R88M-W2K1T-S2 3 kw R88M-W3K1T-S2 4 kw R88M-W4K1T-S2 5.5 kw R88M-W5K51T-S2 With 3 W R88M-W31T-BS2 brake 6 W R88M-W61T-BS2 9 W R88M-W91T-BS2 1.2 kw R88M-W1K21T-BS2 2 kw R88M-W2K1T-BS2 3 kw R88M-W3K1T-BS2 4 kw R88M-W4K1T-BS2 5.5 kw R88M-W5K51T-BS2 S2 at the end of a part number represents models with key and tap. Motors with a speed of 1, RPM do not have the S1 type. Slim-Profile Motors (3, RPM) with Absolute Encoders Specifications Part Number Straight Without 2 VAC 1 W R88M-WP13T shafts brake without 2 W R88M-WP23T key 4 W R88M-WP43T 75 W R88M-WP753T 1.5 kw R88M-WP1K53T 1 VAC 1 W R88M-WP13S 2 W R88M-WP23S With 2 VAC 1 W R88M-WP13T-B brake 2 W R88M-WP23T-B 4 W R88M-WP43T-B 75 W R88M-WP753T-B 1.5 kw R88M-WP1K53T-B 1 VAC 1 W R88M-WP13S-B 2 W R88M-WP23S-B Straight Without 2 VAC 1 W R88M-WP13T-S1 shafts brake with key 2 W R88M-WP23T-S1 4 W R88M-WP43T-S1 75 W R88M-WP753T-S1 1.5 kw R88M-WP1K53T-S1 1 VAC 1 W R88M-WP13S-S1 2 W R88M-WP23S-S1 With 2 VAC 1 W R88M-WP13T-BS1 brake 2 W R88M-WP23T-BS1 4 W R88M-WP43T-BS1 75 W R88M-WP753T-BS1 1.5 kw R88M-WP1K53T-BS1 1 VAC 1 W R88M-WP13S-BS1 2 W R88M-WP23S-BS1 7

78 ORDERING INFORMATION Slim-Profile Motors (3, RPM) (Water-resistant Type) with Incremental Encoders Specifications Part Number Straight Without 2 VAC 1 W R88M-WP13H-W shafts brake without 2 W R88M-WP23H-W key 4 W R88M-WP43H-W 75 W R88M-WP753H-W 1.5 kw R88M-WP1K53H-W 1 VAC 1 W R88M-WP13L-W 2 W R88M-WP23L-W With 2 VAC 1 W R88M-WP13H-BW brake 2 W R88M-WP23H-BW 4 W R88M-WP43H-BW 75 W R88M-WP753H-BW 1.5 kw R88M-WP1K53H-BW 1 VAC 1 W R88M-WP13L-BW 2 W R88M-WP23L-BW Straight Without 2 VAC 1 W R88M-WP13H-WS1 shafts brake with key 2 W R88M-WP23H-WS1 4 W R88M-WP43H-WS1 75 W R88M-WP753H-WS1 1.5 kw R88M-WP1K53H-WS1 1 VAC 1 W R88M-WP13L-WS1 2 W R88M-WP23L-WS1 With 2 VAC 1 W R88M-WP13H-BWS1 brake 2 W R88M-WP23H-BWS1 4 W R88M-WP43H-BWS1 75 W R88M-WP753H-BWS1 1.5 kw R88M-WP1K53H-BWS1 1 VAC 1 W R88M-WP13L-BWS1 2 W R88M-WP23L-BWS1 AC Servo Drives Slim-Profile Motors (3, RPM) (Water-resistant Type) with Absolute Encoders Specifications Part Number Straight Without 2 VAC 1 W R88M-WP13T-W shafts brake without 2 W R88M-WP23T-W key 4 W R88M-WP43T-W 75 W R88M-WP753T-W 1.5 kw R88M-WP1K53T-W 1 VAC 1 W R88M-WP13S-W 2 W R88M-WP23S-W With 2 VAC 1 W R88M-WP13T-BW brake 2 W R88M-WP23T-BW 4 W R88M-WP43T-BW 75 W R88M-WP753T-BW 1.5 kw R88M-WP1K53T-BW 1 VAC 1 W R88M-WP13S-BW 2 W R88M-WP23S-BW Straight Without 2 VAC 1 W R88M-WP13T-WS1 shafts brake with 2 W R88M-WP23T-WS1 key 4 W R88M-WP43T-WS1 75 W R88M-WP753T-WS1 1.5 kw R88M-WP1K53T-WS1 1 VAC 1 W R88M-WP13S-WS1 2 W R88M-WP23S-WS1 With 2 VAC 1 W R88M-WP13T-BWS1 brake 2 W R88M-WP23T-BWS1 4 W R88M-WP43T-BWS1 75 W R88M-WP753T-BWS1 1.5 kw R88M-WP1K53T-BWS1 1 VAC 1 W R88M-WP13S-BWS1 2 W R88M-WP23S-BWS1 Specifications Part Number Common to analog 2 VAC 3 W R88D-WTA3H and pulse train inputs 5 W R88D-WTA5H Common to incremental and 1 W R88D-WT1H absolute encoders 2 W R88D-WT2H 4 W R88D-WT4H 5 W R88D-WT5H 75 W R88D-WT8H 1 kw R88D-WT1H 1.5 kw R88D-WT15H 2 kw R88D-WT2H 3 kw R88D-WT3H 5 kw R88D-WT5H 6 kw R88D-WT6H 1 VAC 3 W R88D-WTA3HL 5 W R88D-WTA5HL 1 W R88D-WT1HL 2 W R88D-WT2HL 71

79 ORDERING INFORMATION Power Cables Specification Part Number For motors 3-W to 75-W 3 m R88A-CAWA3S without Cylinder-Style brakes Motors (3, RPM) 5 m R88A-CAWA5S 1 m R88A-CAWA1S 1-W to 75-W 15 m R88A-CAWA15S Slim-Profile Motors (3, RPM) 2 m R88A-CAWA2S 3 m R88A-CAWA3S 4 m R88A-CAWA4S 5 m R88A-CAWA5S 1.5-kW Slim-Profile 3 m R88A-CAWB3S Motors 5 m R88A-CAWB5S 1 m R88A-CAWB1S 15 m R88A-CAWB15S 2 m R88A-CAWB2S 3 m R88A-CAWB3S 4 m R88A-CAWB4S 5 m R88A-CAWB5S 3-W to 9-W 3 m R88A-CAWC3S Cylinder-Style 5 m R88A-CAWC5S Note: Motors (1, RPM) 1 m R88A-CAWC1S 1-kW to 2-kW 15 m R88A-CAWC15S Cylinder-Style Motors (3, RPM) 2 m R88A-CAWC2S 3 m R88A-CAWC3S 4 m R88A-CAWC4S 5 m R88A-CAWC5S 1.2-kW to 3-kW 3 m R88A-CAWD3S Cylinder-Style Motors (1, RPM) 5 m R88A-CAWD5S 1 m R88A-CAWD1S 3-kW to 5-kW 15 m R88A-CAWD15S Cylinder-Style Motors (3, RPM) 2 m R88A-CAWD2S 3 m R88A-CAWD3S 4 m R88A-CAWD4S 5 m R88A-CAWD5S Specification Part Number Motors with 3-W to 75-W 3 m R88A-CAWA3B brakes Cylinder-Style Motors (3, 5 m R88A-CAWA5B RPM) 1 m R88A-CAWA1B 1-W to 75-W 15 m R88A-CAWA15B Slim-Profile Motors 2 m R88A-CAWA2B (3, RPM) 3 m R88A-CAWA3B 4 m R88A-CAWA4B 5 m R88A-CAWA5B 1.5-kW Slim-Profile 3 m R88A-CAWB3B Motors 5 m R88A-CAWB5B 1 m R88A-CAWB1B 15 m R88A-CAWB15B 2 m R88A-CAWB2B 3 m R88A-CAWB3B 4 m R88A-CAWB4B 5 m R88A-CAWB5B 3-W to 9-W 3 m R88A-CAWC3B Cylinder-Style Motors (1, RPM) 5 m R88A-CAWC5B 1 m R88A-CAWC1B 1-kW to 2-kW Cylinder-Style 15 m R88A-CAWC15B Motors (3, RPM) 2 m R88A-CAWC2B 3 m R88A-CAWC3B 4 m R88A-CAWC4B 5 m R88A-CAWC5B 1.2-kW to 3-kW 3 m R88A-CAWD3B Cylinder-Style Motors (1, RPM) 5 m R88A-CAWD5B 1 m R88A-CAWD1B 3-kW to 5-kW Cylinder-Style 15 m R88A-CAWD15B Motors (3, RPM) 2 m R88A-CAWD2B 3 m R88A-CAWD3B 4 m R88A-CAWD4B 5 m R88A-CAWD5B The following power cables are available for 4-kW to 5.5-kW Cylinder-Style Motors (1, RPM). For the list prices, contact your local sales representative. Motors without brakes (4 kw): 88A-CAWE S Motors without brakes (5.5 kw): 88A-CAWF S Motors with brakes (4/5.5 kw): 88A-CAWE B 72

80 ORDERING INFORMATION Encoder Cables Specification Part Number 3-W to 75-W Cylinder-Style 3 m R88A-CRWA3C Motors (3, RPM) 5 m R88A-CRWA5C 1-W to 1.5-kW Slim-Profile Motors (3, RPM) 1 m R88A-CRWA1C 15 m R88A-CRWA15C 2 m R88A-CRWA2C 3 m R88A-CRWA3C 4 m R88A-CRWA4C 5 m R88A-CRWA5C 1-kW to 5-kW Cylinder-Style 3 m R88A-CRWB3N Motors (3, RPM) 5 m R88A-CRWB5N 3-W to 5.5-kW Cylinder-Style Motors (1, RPM) 1 m R88A-CRWB1N 15 m R88A-CRWB15N Note: 2 m R88A-CRWB2N 3 m R88A-CRWB3N 4 m R88A-CRWB4N 5 m R88A-CRWB5N All these cables are common to incremental and absolute encoders. Control Cables Specification Part Number For Control cables for 1 axis 1 m R88A-CPW1M1 Motion (common to CS1, C2H, Control and CV-Series Controllers) 2 m R88A-CPW2M1 Modules 3 m R88A-CPW3M1 5 m R88A-CPW5M1 Control cables for 2 axes 1 m R88A-CPW1M2 (common to SYSMAC CS1, C2H, and CV-Series 2 m R88A-CPW2M2 Controllers) 3 m R88A-CPW3M2 5 m R88A-CPW5M2 For Servo For C2HW-NC113 XW2B-2J6-1B Position Terminal Control Blocks For C2HW-NC213/413 XW2B-4J6-2B Modules For CQM1H-PLB21 XW2B-2J6-3B and SYSMAC Cables on Servo Drive end 1 m XW2Z-1J-B4 CQM1 2 m XW2Z-2J-B4 Cables on For C2HW-.5 m XW2Z-5J-A6 Position NC113 Control 1 m XW2Z-1J-A6 Module For C2HW-.5 m XW2Z-5J-A7 end NC213/413 1 m XW2Z-1J-A7 For CQM1-.5 m XW2Z-5J-A3 CPU43 1 m XW2Z-1J-A3 For C5-.5 m XW2Z-5J-A2 NC113/211 1 m XW2Z-1J-A2 For Control cables with connector 1 m R88A-CPW1S general- at one end purpose 2 m R88A-CPW2S controllers Cables for Universal Terminal 1 m R88A-CTW1N Block 2 m R88A-CTW2N Universal Terminal Block XW2B-5G5 Parameter Units Specification Handheld programmer for W-Series (with 1-m cable) Cable for U-Series handheld programmers (2 m) (see note) Note: Part Number R88A-PR2W R88A-CCW2C This cable can be used to connect the R88A-PR2U handheld programmer for U-series to the W-series Servo drive. Backup Battery for Absolute Encoder Specification Part Number 1, ma 3.6 V (except for WT6H) R88A-BAT1W External Regenerative Resistors Specification Part Number 22 W 47 Ω R88A-RR2247S 88 W 6.25 Ω R88A-RR886 DC Reactors For R88D-WT3H Specification For R88D-WT15H/WT2H For R88D-WT5H/WT8H/WT1H For R88D-WT2HL For R88D-WTA3HL/WTA5HL/WT1HL For R88D-WT5H For R88D-WT4H For R88D-WT2H For R88D-WTA3H/WTA5H/WT1H Part Number R88A-PX559 R88A-PX56 R88A-PX561 R88A-PX562 R88A-PX563 R88A-PX568 R88A-PX569 R88A-PX57 R88A-PX571 Front Panel Mounting Brackets Specification For R88D-WTA3 to WT1H For R88D-WT15H For R88D-WT2H/WT3H/WT5H Other Peripheral Cables and Connectors Specification Analog monitoring cable (1 m) Personal computer monitoring cable (2 m) Control I/O connector CN1 Part Number R88A-TK1W R88A-TK2W R88A-TK3W Part Number R88A-CMW1S R88A-CCW2P2 R88A-CNU11C 73

81 74

82 REFERENCE INFORMATION Solve It Center - Omron Products Worldwide Sales Offices Servo System Overview Servo Motor and Drive Specifications Servo Motor and Drive Dimensions Operation, Monitoring, and Parameters Servo Cabling and Wiring Information Ordering Information Reference Information 75

83 center Advanced Industrial Automation Products and Control Components for all your applications Bar Code Readers Omron s cost-effective bar code readers are the ideal solution for high-volume, basic identification and verification applications. Choose from fixed position laser scanners, raster models, and 2-dimensional code readers. Counters and Timers Clearly display critical values within a wide range of engineering or time units. We offer robust, NEMA4 models and several different display options that fit your application and budgetary requirements. DeviceNet Products As a founding member of the Open Device Vendor Association (ODVA), Omron is committed to promoting DeviceNet as an open platform and we have the industry s broadest offering of DeviceNet products and expertise. Digital Panel Meters and Displays Whether you need an intelligent panel meter with built-in display and control functions, or a simple digital display, choose Omron. Select models with communications options, comparative outputs, and NEMA4X-rated, front panels. Inverters Get advanced speed control and 179 user-configurable parameters in a compact housing with an Omron AC inverter. At only 5" high, the micro inverters save panel space and are ideal for small motor applications. 76 Operator Interfaces Clearly convey information using the powerful graphics of touchscreens. These space-saving interfaces have large image libraries, easy to use programming software, and multi-vendor communication drivers. PCB Inspection Systems Omron s VT-WIN PCB solder inspection system accurately evaluates solder joints and component placements at production speeds and can share inspection results via your existing Ethernet network. Power Supplies Countless applications rely on Omron s switching power supplies. They offer unrivaled wattage and output options while meeting the latest UL58 and Class 2 standards.

84 Process and Temperature Controllers Accurately control temperature in your critical applications with one of Omron s process and temperature controllers. We offer everything from DeviceNet ready units to field-selectable sensor inputs and interchangeable plug-in outputs. Programmable Controllers From large, sophisticated systems to smaller, more specialized controllers, Omron is a recognized leader in technology, performance, and quality. Our models have varying I/O capacities, sizes, and communication options to solve your applications. Radio Frequency Identification (RFID) Make wireless data tracking a bigger part of your operation and minimize recording errors with an RFID system. Omron offers a wide variety of antennas and tags with different sizes, transmitting ranges and memory capacities. Remote I/O and Wiring Solutions Tame tangled webs of I/O wiring in your control panels and achieve high-speed, bit-level communications with our remote I/O and wiring solutions. We have the tools to reduce wiring time, lower installation costs and speed communications. Sensors Omron is # 1 in photoelectric and proximity sensors, leading the world in technology, solutions and quality. Additional sensor offerings include: limit switches, safety products, encoders, pressure and ultrasonic sensors. Servo Motors and Drives For precise control, the W-Series Servo can interface quickly and easily with Omron PLCs using plug-and-play cabling. With output capacities up to 5.5 kw and different motor types, the W-Series ideally suits a wide variety of applications. Software Configuring and programming your Omron hardware is quick and easy with our software tools. Omron s sophisticated software lets you unlock the advanced features of our products to solve your industrial automation applications. Vision Sensors and Systems Whether you need gray scale, binary, or color processing, Omron s vision sensors or systems can meet your needs. We deliver a complete solution, from software to lighting, cameras, and lenses. Card Readers Read and/or write to magnetic stripes and smart cards with our card readers. We offer many different styles of card readers to solve your access control, data tracking and POS applications. Photomicrosensors Choose from several mounting, termination and output models to solve difficult detection and switching problems. Optical circuitry eliminates contact bounce, providing unsurpassed product life. Relays Omron is # 1 in relays, leading the world in new technologies and innovations. Our low signal, general-purpose, solid state, and power PCB relays deliver unmatched selection of sizes, capacities, and performance. Switches Omron offers thousands of high quality, reliable switches, suitable for your applications. Flexible options include actuator styles, sealability, switching configuration, load ratings and termination style. 77

85 WORLDWIDE SALES OFFICES 78 Omron offers local sales and technical support around the corner and around the globe. Our products meet international standards, so you can confidently ship your products with Omron components and systems anywhere in the world. The organizations listed here do not include the local distributors in each region. Please contact the main office for information. AMERICAS USA Omron Electronics, Inc. One East Commerce Drive Schaumburg, Illinois 6173 Phone: (8) 55-OMRON (847) Fax: (847) Atlanta Omron Electronics 62 The Corners Parkway Suite 2 Norcross, Georgia Phone: (77) Fax: (77) Boston Omron Electronics 65 Boston Post Road West, Suite 22 Marlborough, MA 1752 Phone: (58) Fax: (58) Chicago Omron Electronics 13 Basswood, Suite 3 Schaumburg, IL 6173 Phone: (847) Fax: (847) Cincinnati Omron Electronics 816 Corporate Park Drive, Suite 1 Cincinnati, Ohio Phone: (513) Fax: (513) Dallas Omron Electronics 31 Skywalk Circle North, Suite 11 Irving, Texas 7538 Phone: (972) Fax: (972) Los Angeles Omron Electronics 75 The City Drive South, Suite 12 Orange, California Phone: (714) Fax: (714) Philadelphia Omron Electronics 18 Sheree Boulevard, Suite 38 Exton, Pennsylvania Phone: (61) Fax: (61) Argentina Cuba 194 Piso Buenos Aires, Argentina Phone: Fax: BRAZIL Omron Electronica do Brasil, Ltda. Av. Santa Catarina, 935/ São Paulo-SP, Brazil Phone: Fax: CANADA Omron Canada, Inc. 885 Milner Avenue Scarborough, Ontario M1B 5V8 Phone: (416) Fax: (416) Ontario Omron Canada 6 New Dundee Road Kitchener, Ontario N2G 3W5 Phone: (519) Fax: (519) Omron Canada 1382 Richards Road Kingston, Ontario KH 2L Phone: (613) Fax: (613) British Columbia Omron Canada 161 Derwent Way, Unit 27 Annacis Isle., British Columbia V3M 6W1 Phone: (64) Fax: (64) Alberta Omron Canada th Ave. Edmonton, Alberta T6E 6A6 Phone: (888) or (78) Fax: (78) Omron Canada 3 Weat Terrace Drive Calgary, Alberta TL W4 Phone: (43) Fax: (43) Quebec Omron Canada nd Avenue Lachine, Quebec H8T 3J1 Phone: (514) Fax: (514) Omron Canada 317 Des Hotels #1 Ste-Foy, Quebec G1W 4W5 Phone: (418) Fax: (418) EUROPE AUSTRIA Omron Electronics G.m.b.H. Altmannsdorfer Strasse 142 Vienna, Austria, A-1231 Phone: Fax: BELGIUM Omron Electronics N.V./S.A. Stationsstraat 24 Groot-Bijgaarden, Belgium, B-172 Phone: Fax: CZECH REPUBLIC Omron Electronics Spol. S.R.O. Srobarova 6 CZ-11 Prague 1 Phone: Fax: DENMARK Omron Electronics A/S Odinsvej 15 Glostrup, Denmark, DK-26 Phone: Fax: FINLAND Omron Electronics O.Y. Metsanpojankuja 5 Espoo Finland FIN-213 Phone: Fax: FRANCE Omron Electronics S.a.r.l. BP 33, 19 Rue Du Bois Galon Fontenay-Sous-Bois/Cedex Paris, France, F Phone: Fax: GERMANY Omron Electronics G.m.b.H. Elisabeth-Selbert-Strasse Langenfeld, Germany Phone: Fax: GREECE Kalamarakis & Sapounas, S.A. 1 Great Kydonion Street Athens, Greece, GR Phone: /512/513 Fax: HUNGARY Omron Electronics Ltd. Kiss Emo u. 1-3 Budapest, Hungary, H-146 Phone: Fax: IRELAND Omron Electronics Ltd. 1 Apsley Way Staples Corner, London NW2 7HF England Phone: Fax: ITALY Omron Electronics S.r.l. Viale Certosa 49 Milano, Italy, 2149 Phone: Fax: NETHERLANDS Omron Electronics B.V. Wegalaan 61 JD Hoofddorp, Netherlands, NL-2132 Phone: Fax: NORWAY Omron Electronics Norway A/S Ole Deviks vei 4 Oslo, Norway, N-611 Phone: Fax: POLAND Omron Electronics SP. Z.O.O. UI Jana Sengera Cichegol Warsaw, Poland PL 2 79 Phone: Fax:

86 WORLDWIDE SALES OFFICES PORTUGAL Omron Electronicas LDA Edificio Omron Rue de Sao Tome, Lote 131 Prior Velho, Portugal 2685 Phone: Fax: SAUDI ARABIA Tayseer Al-Sheikh Corporation Khalid Bin Waleed Street P.O. Box Jeddah, Saudia Arabia Phone: Fax: KOREA Omron Korea Co. Ltd. 3F New Seoul Bldg.#618-3 Sin Sa-Dong Kang Nam-Gu, Seoul, Korea Phone: Fax: RUSSIA (CIS) Omron Electronics Sredniy Tishinskiy per., 28/1 Moscow, , Russia Phone: Fax: SPAIN Omron Electronics, S.A. Calle Arturo Soria 95 Madrid, Spain, E-2827 Phone: Fax: SWEDEN Omron Electronics A.B. Norgegatan 1 Kista, Sweden S Phone: Fax: SWITZERLAND Omron Electronics A.G. Sennweidstrasse 44 Steinhausen, Switzerland CH-6312 Phone: Fax: TURKEY Omron Electronics Ltd. Acibadem Caddesi Palmiye Sokak 12 Kadikoy-Istanbul, Turkey, TR 812 Phone: /2981/2982 Fax: U.K. Omron Electronics Ltd. 1 Apsley Way Staples Corner, London NW2 7HF England Phone: Fax: MIDDLE EAST & AFRICA EGYPT Union 19 Gezirat Al Arab Str. Al Mohandeseen, Giza, Egypt Phone: /2166 Fax: ISRAEL Ateka Ltd. 23 Hayetzira Street P.O. Box 312 Kyriat Aryeh, Petach-Tikva, Israel Phone: Fax: KUWAIT Ammar & Partners Electrical Co. P.O. Box 1871 Safat, Kuwait 1319 Phone: Fax: MOROCCO Mest Componsants 4, Rue De Provins Casablanca, Morocco 217 Phone: Fax: SOUTH AFRICA Yelland Control P.O. Box Gauteng Prouirce Wadeuille, South Africa Phone: Fax: TUNISIA Axafrica 1 Avenue Habib Bourguiba Tunis, Tunisia 11 Phone: Fax: UNITED ARAB EMIRATES Deira General Marketing P.O. Box 1137, Dubai, U.A.E. Phone: Fax: OCEANIA & ASIA AUSTRALIA Omron Electronics Pty. Ltd. 71 Epping Road North Ryde, Sydney New South Wales 2113, Australia Phone: Fax: CHINA Omron China Co. Ltd. 21F, Beijing East Ocean Centre No. 24A Jian Guo Men Wai Da Jie Chao Yang District, Beijing, China 122 Phone: /5782 Fax: /582 HONG KONG Omron Electronics Asia Ltd. Unit 61-1 The Gateway, Tower 2 25 Canton Road Tsimshatsui, Kowloon, Hong Kong Phone: Fax: INDIA Omron Asia-Pacific Pte. Ltd. No. 59 HemKunt, Opp. Nehru Place New Delhi, India 1148 Phone: Fax: INDONESIA Omron Asia Pacific PTE Ltd. Indonesia Representative Office Danamon Aetna Life Tower, Ste. 162 JL Jend. Sudirman Kav Jakarta 1293, Indonesia Phone: Fax: JAPAN Omron Corporation FA Division H.Q. 14F Nissei Building Osaki Shinagawa-ku Tokyo Phone: Fax: MALAYSIA Omron Electronics Sales & Service (M) SDN BHD 1th Floor Block B Menara PKNS-PJ No. 17 Jalan Yong Shook Lin 465 Petaling Jaya Selangor Darul Ehsan, Malaysia Phone: Fax: NEW ZEALAND Omron Electronics Ltd. 65 Boston Road Private Bag Symonds Street, Auckland, 9262 New Zealand Phone: Fax: PHILIPPINES Omron Asia Pacific PTE Ltd. 2/FL. Kings Court II Bldg Pasong Tamo St. Makati City, Metro Manila, Philippines 1231 Phone: /2839 Fax: SHANGHAI Omron Automation System Co., Ltd. 5 Omron Road, Block No. 77 JinQiao Export Processing District Pudong New Area, Shanghai 2126 Phone: /28/164 Fax: /123 SINGAPORE Omron Asia Pacific PTE Ltd. 83 Clemenceau Ave. #11-1 UE Square Singapore Phone: Fax: TAIWAN Omron Taiwan Electronics Inc. 6F, Home Young Bldg., No. 363 Fu-Shing N. Road Taipei, Taiwan, R.O.C. Phone: Fax: THAILAND Omron Electronics Co. Ltd. Rasa Tower, 2th Floor 555 Phaholyothin Road Chatuchak, Bangkok 19, Thailand Phone: Fax: VIETNAM Omron Asia Pacific PTE Ltd. Hanoi Representative Office 6th Floor, VINACONEX Building 2 Lang Ha, Hanoi, Vietnam Phone: Fax:

87 OMRON ELECTRONICS, INC. 1 Commerce Drive Schaumburg, IL 6173 USA 8.55.OMRON (66766) Visit our web site for more information on these other Advanced Automation products from Omron OMRON CANADA, INC. 885 Milner Avenue Scarborough, Ontario M1B 5V OMRON ON-LINE Global - USA - Canada HOUR FAX ON DEMAND USA Canada Programmable Controllers Whether your application is large and sophisticated, or smaller scaled, Omron has the right controller for you. From the advanced CS1 to the micro-sized CPM1 series, you will enjoy seamless integration with our Servo Motors and Drives OMRON or Power Supplies Power your application and protect your machines with one of Omron s switching power supplies. Our product line has the industry s broadest offerings of UL58 compliant and Class 2 rated power supplies. Sao Paulo Buenos Aires Florida Sensors Get accurate inputs from Omron s sensors. We lead the world in sensing technology and have a sensor for every application, from the harshest environment to the smallest space. GC WSSMD1 2 OMRON ELECTRONICS, INC. 7//15M