SmartStep Series

Transcription

1 SmartStep Series A new concept in Servo The Smart alternative to Stepper motors Easy to setup, easy to operate. SmartStep is as easy to use as a stepper motor Front-panel switches make sttings easy and eliminate the need for time-consuming parameter settings Auto-tuning On-line mode, dynamic brake setting, alarm display, high torque performance Easy to wire with prebuilded cables Oscilloscope available via SigmaWin tool Windows based Configuration and commissioning software Ratings 23VAC Single-phase 3 W to 75W (2.39 Nm) System Configuration SmartStep SERVOMOTOR SmartStep SERVODRIVE Analog Monitor Cable Computer Monitor Software for Windows Servo Relay Unit Position Control Unit Servo Relay Unit Connector Terminal Block General Purpose controller (with pulse output) SmartStep Series

2 Servomotor Specifications General Specifications Item Specification Ambient operating temperature to 4 C Ambient operating humidity 2% to 8% (with no condensation) Ambient storage temperature 2 to 6 C Ambient storage humidity 2% to 8% (with no condensation) Storage/operating atmosphere No corrosive gases. Vibration resistance to 2,5 Hz in X, Y, and Z directions with.2-mm double amplitude or acceleration of 24.5 m/s 2 max., whichever is smaller Impact resistance Acceleration 98 m/s 2 max., in a vertical direction, two times Insulation resistance Between power line terminals and FG: MΩ min. (at 5 V DC) Dielectric strength Between power line terminals and FG:,5 V AC for min at 5/6 Hz Run position Any direction Insulation grade Type B Structure Totally-enclosed self-cooling Protective structure IP55 for both the Cylindrical and Flat Servomotors Vibration grade V-5 Mounting method Flange-mounting International standards Approval obtained for UL, cul, and EN (EMC directive and low-voltage directive) Performance Specifications Flat Servomotors Item R7M-AP3 R7M-AP23 R7M-AP43 R7M-AP753 Rated output W 2 W 4 W 75 W Rated torque.38 N m.637 N m.27 N m 2.39 N m Rated rotation speed 3, r/min 3, r/min 3, r/min 3, r/min Momentary maximum rotation speed 4,5 r/min 4,5 r/min 4,5 r/min 4,5 r/min Momentary maximum torque.96 N m.9 N m 3.82 N m 7. N m Rated current.89 A (rms) 2. A (rms) 2.6 A (rms) 4. A (rms) Momentary maximum current 2.8 A (rms) 6. A (rms) 8. A (rms) 3.9 A (rms) Rotor inertia kg m kg m kg m kg m 2 Power rate 5.7 kw/s 9.4 kw/s 46.8 kw/s 26.9 kw/s Allowable radial load 78 N 245 N 245 N 392 N Allowable thrust load 49 N 68 N 68 N 47 N Weight Without brake.7 kg.4 kg 2. kg 4.2 kg With brake.9 kg.9 kg 2.6 kg 5.7 kg Encoder resolution 2, pulses/revolution for phase-a and phase-b, pulse/revolution for phase-z Radiation shield dimensions t6 25 mm square t2 3 mm square Brake Specifications Brake inertia kg m kg m kg m kg m 2 Excitation voltage 24 V DC ±% Power consumption (at 2 C) 7.5 W 7.6 W 8.2 W 7.5 W Current consumption (at 2 C).3 A.32 A.34 A.3 A Static friction torque.4 N m min..9 N m min..9 N m min. 3.5 N m min. Attraction time 6 ms max. 4 ms max. 6 ms max. 2 ms max. Release time 2 ms max. 2 ms max. 2 ms max. 4 ms max. Backlash Rating Continuous Continuous Continuous Continuous Insulation grade Type F Type F Type F Type F Applicable Servo Driver (R7D-) APH AP2H AP4H AP8H 2

3 Cylindrical Servomotors Item R7M-A33 R7M-A53 R7M-A3 R7M-A23 R7M-A43 R7M-A753 Rated output 3 W 5 W W 2 W 4 W 75 W Rated torque.95 N m.59 N m.38 N m.637 N m.27 N m 2.39 N m Rated rotation speed 3, r/min 3, r/min 3, r/min 3, r/min 3, r/min 3, r/min Momentary maximum rotation speed 4,5 r/min 4,5 r/min 4,5 r/min 4,5 r/min 4,5 r/min 4,5 r/min Momentary maximum torque.29 N m.48 N m.96 N m.9 N m 3.82 N m 7. N m Rated current.42 A (rms).6 A (rms).87 A (rms) 2. A (rms) 2.6 A (rms) 4.4 A (rms) Momentary maximum current.3 A (rms).9 A (rms) 2.8 A (rms) 6. A (rms) 8. A (rms) 3.9 A (rms) Rotor inertia.7-6 kg m kg m kg m kg m kg m kg m 2 Power rate 5.3 kw/s.5 kw/s 28. kw/s 34. kw/s 86.3 kw/s 85.6 kw/s Allowable radial load 68 N 68 N 78 N 245 N 245 N 392 N Allowable thrust load 54 N 54 N 54 N 74 N 74 N 47 N Weight Without brake.3 kg.4 kg.5 kg. kg.7 kg 3.4 kg With brake.6 kg.7 kg.8 kg.6 kg 2.2 kg 4.3 kg Encoder resolution 2, pulses/revolution for phase-a and phase-b, pulse/revolution for phase-z Radiation shield dimensions t6 25 mm square Brake Specifications Brake inertia.85-6 kg m kg m kg m kg m kg m kg m 2 Excitation voltage 24 V DC ±% V Power consumption (at 2 C) 6 W 6 W 6 W 7 W 7 W 7.7 W Current consumption (at.25 A.25 A.25 A.29 A.29 A.32 A 2 C) Static friction torque.2 N m min..2 N m min..34 N m min..47 N m min..47 N m min N m min. Attraction time 3 ms max. 3 ms max. 3 ms max. 6 ms max. 6 ms max. 6 ms max. Release time 6 ms max. 6 ms max. 6 ms max. 2 ms max. 2 ms max. 2 ms max. Backlash Rating Continuous Continuous Continuous Continuous Continuous Continuous Insulation grade Type F Type F Type F Type F Type F Type F Applicable Servo Driver (R7D-) APA3H APA5H APH AP2H AP4H AP8H Torque and Rotation Speed Characteristics Flat Servomotors The following graphs show the characteristics with a 3-m standard cable and R7D-AP@H Servo Driver (2-V AC input) R7M-AP3 ( W) R7M-AP23 (2 W) (3725) (36) r/min 4 5 R7M-AP43 (4 W) R7M-AP753 (75 W) (235) 3.82 (325) (25) 7. (32) Single-phase 2 VAC input 3-phase 2 VAC input SmartStep Series 3

4 Torque and Rotation Speed Characteristics Cylindrical Servomotors The following graphs show the characteristics with a 3-m standard cable and an R7D-AP@H Servo Driver (2-V AC input.) R7M-A33 (3 W) R7M-A53 (5 W) R7M-A3 ( W) R7M-A23 (2 W) (36) (365) R7M-A43 (4 W) R7M-A753 (75 W) (2) 3.82 (29) (2225)

5 Servo Drive Specifications General Specifications Item Specification Ambient operating temperature to 55 C Ambient operating humidity 9% max. (with no condensation) Ambient storage temperature 2 to 85 C Ambient storage humidity 9% max. (with no condensation) Storage/operating atmosphere No corrosive gases. Vibration resistance to 55 Hz in X, Y, and Z directions with.-mm double amplitude or acceleration of 4.9 m/s 2 max., whichever is smaller Impact resistance Acceleration 9.6 m/s 2 max., in X, Y, and Z direkjctions, three times Insulation resistance Between power line terminals and case:.5 MΩ min. (at 5 V DC) Dielectric strength Between power line terminals and case:,5 V AC for min at 5/6 Hz Between each control signal and case: 5 V AC for min Protective structure Built into panel (IP). International standards Approval obtained for UL, cul, and EN (EMC directiveand low-voltage directive) Performance Specifications Item 2 VAC Input Type 3 W 5 W W 2 W 4 W 75 W R7D-APA3H R7D-APA5H R7D-APH R7D-AP2H R7D-AP4H R7D-AP8H Continuous output current (rms) Momentary maximum output current (rms) Control power supply Single-phase 2/23 V AC (7 to 253 V) 5/6 Hz Main-circuit power supply Single-phase 2/23 V AC (7 to 253 V) 5/6 Hz (Three-phase 2/23 V AC can be used with the 75-W model.) Control method All-digital servo Speed feedback 2, pulses/revolution Incremental Encoder Inverter method PWM method based on IGBT PWM frequency.7 khz Weight Compatible motor voltage 2 V Compatible motor capacity 3 W 5 W W 2 W 4 W 75 W Command pulse response 25 khz Applicable Servomotor (R7M-) I/O Specifications Terminal Specifications A33 A53 A3 AP3 Symbol Name Function L and L2 or L, L2, and L3 Main-circuit Power Supply Terminals These are the input terminals for the main-circuit power supply DC Reactor Terminals A23 AP23 A43 AP43 Normally short-circuit between + and +2. If harmonic control measures are required, connect a DC Reactor between + and +2. A753 AP753 LC L2C B and B2 or B, B2, and B3 U V W Main-circuit DC Output Control Circuit Power Supply Terminals External Regeneration Resistance Terminals Servomotor Terminals Frame ground Do not connect anything to this terminal. These are the input terminals for the control power supply. Connect an External Regeneration Resistor to these terminals if the regenerative capacity of the internal capacitor is exceeded. (An External Regeneration Resistor cannot be connected to the 3 to 2-W models.) Red These are the terminals for outputs to the Servomotor. White Blue This is the ground terminal. SmartStep Series 5

6 Control I/O (CN) Specifications Pin Symbol Name Function/ +PULS/CW/A Feed pulses, reverse pulses, or 9 phase difference Line-driver input: 7 ma at 3 V 2 PULS/CW/A pulses (A phase) Open-collector input 3 +SIGN/CCW/B Direction signal, forward pulses, or 9 phase difference pulses (B phase) Input impedance: 2 Ω Maximum response frequency: 25 kpps 4 SIGN/CCW/B Position control is performed based on the pulses that have been input. 5 +ECRST Deviation counter reset Line-driver input: 7 ma at 3 V 6 ECRST Open-collector input: 6 ma at 5 V Input impedance: 2 Ω ON: Resets deviation counter. 7 BKIR Brake interlock output Outputs holding brake timing signals. 8 INP Positioning completed output ON when the position error is within the positioning completed range. OGND Output ground common Ground common for output signals (pins 7 and 8) V +24V DC power input for control Power supply input (+24 V DC) for pins 4 and 8. 4 RUN RUN command input ON: Servo ON (Starts power to Servomotor.) 8 RESET Alarm reset input ON: Servo alarm status is reset. 9 GND RS-422A ground Ground for RS-422A 2 RXD+ RS-422A reception data Interface for RS-422A data transfers 2 RXD 22 TXD+ RS-422A transmission data 23 TXD 24 RT Termination resistance terminal Connect to RXD- (pin 2) in the Unit at the end of the line. 32 Z Encoder phase-z open-collector output Output goes ON when the encoder s phase-z signal ( pulse/revolution) is detected. 33 ZCOM Open-collector output: 2 ma max. at 3 V DC 34 ALM Alarm output Output goes OFF when alarm is detected. 35 ALMCOM Open-collector output: 5 ma max. at 3 V DC Shell FG Cable shield ground Ground for cable's shield wire. Encoder Connector (CN2) Specifications Pin Symbol Name Function, 2, 3 EV Encoder power supply GND Power supply outlet for encoder 4, 5, 6 E5V Encoder power supply +5 V 8 S+ Encoder + phase-s input Line driver input (conforms to EIA-RS422A) 9 S Encoder phase-s input (Input impedance: 22 Ω ± 5%) A+ Encoder + phase-a input Line driver input (conforms to EIA-RS422A) A Encoder phase-a input (Input impedance: 22 Ω ± 5%) 2 B+ Encoder + phase-b input Line driver input (conforms to EIA-RS422A) 3 B Encoder phase-b input (Input impedance: 22 Ω ± 5%) Shell FG Cable shield ground Ground for cable's shield wire. Communications Connector (CN3) Specifications Pin Symbol Name Function/ /TXD Transmission data Transmission data: RS-232C output 2 /RXD Reception data Reception data: RS-232C input 3 PRMU Unit switching Switching terminal for a Parameter Unit 7 +5V +5 V output This is the +5 V power supply output to the Parameter Unit. 8 GND Ground Shell FG Cable shield ground Ground for cable's shield wire. Monitor Output (CN4) Specifications Pin Symbol Name Function/ NM Speed monitor Speed monitor output: V per, r/min 2 AM Current monitor Current monitor: V / rated torque 3 GND Ground Grounds for monitor output 4 GND Ground 6

7 Digital Operator Specifications General Specifications Item Specification Ambient operating temperature to 55 C Ambient operating humidity 9% max. (with no condensation) Ambient storage temperature 2 to 85 C Ambient storage humidity 9% max. (with no condensation) Storage/operating atmosphere No corrosive gases. Vibration resistance to 55 Hz in X, Y, and Z directions with.-mm double amplitude or acceleration of 9.8 m/s 2 max., whichever is smaller Impact resistance Acceleration 9.6 m/s 2 max., in X, Y, and Z directions, three times Function Specifications Item Setting mode Monitor mode Execute Function mode Display Alarms Copy Parameters Function Display or change parameter settings. Display monitor values. Execute each function mode. Display alarms that have occurred. Read or save parameters from the Servo Driver. Write parameters to the Servo Driver. Compare parameters in the Servo Driver with parameters in the Parameter Unit. B.B R7A PR2A PARAMETER UNIT RESET JOG RUN INP VCMP READ DRIVER PR R7A-PR2A TGON SCROLL REF MODE/SET DATA WRITE POWER PR DRIVER Mode Change Specifications Power ON Parameter/Monitor mode MODE/SET BB -PRM/MON- Un = 3r/min Un2 = 4% Un8 = pulse UnD = BB -PRM/MON- Pn = Un2 = 4% Un8 = pulse UnD = MODE/SET Function mode MODE/SET BB Fn Fn Fn2 Fn3 -FUNCTION- BB Fn Fn2 Fn3 Fn5 -FUNCTION- Copy Parameters mode BB PR 2: PR DRIVER 3: Verify 4: LIST -COPY- BB : DRIVER PR 2: PR DRIVER 3: Verify 4: LIST -COPY- Display Alarms mode A. 7 -ALARM- A. 7 : A. 2: A.2 2: A.2 3: A. 3: A. 4: A.7 4: A.7 5: A.72 -ALARM- SmartStep Series 7

8 Operation Components Unit Number Switch Gain Adjustment Switch DIP Switch Resolution Setting Command Pulse Input Setting Dynamic Brake Setting Charge Indicator Main-circuit Power Terminals DC Reactor Terminals Autotuning Switch Alarm Indicator Power Indicator Communications Connector (CN3) Monitor Output Connector (CN4) Control-circuit Power Terminals Control I/O Connector (CN) External Regeneration Resistor Terminals Servomotor Power Terminals Encoder Input Connector (CN2) Ground Terminals for Power Supply and Servomotor Power Switch Operations Gain Adjustment Switch Adjusts the motor s responsiveness. When this switch is set to, the Unit will operate according to the settings in the internal parameters (Pn, Pn, Pn2, and Pn4). When this switch is set to through F, the Unit will operate according to the rotary switch s setting. F 2 Decrease the switch setting to lower the motor s responsiveness (i.e., so that it moves more smoothly). Increase the switch setting to raise the motor s responsiveness (i.e., so that it moves faster). Setting Position Loop Gain Speed Loop Gain Speed Loop Integral Constant Torque Command Filter Time Constant Enables parameter settings (including settings other than gain settings) , , , , 5 6 6, , A B C D E F

9 Enable Switch/Parameter Setting Pin 6 of the DIP switch selects whether the Servo Driver operates according to the DIP switch settings or parameter settings ON OFF Pin 6 OFF ON Function Enables the DIP switch settings. Enables the parameter settings. Command Pulse Input Setting Pin 3 selects the command pulse mode. Select Forward pulse/reverse pulse: positive logic or Feed pulses/direction signal: positive logic ON OFF Pin 3 OFF ON Command Pulse Mode Forward pulse/reverse pulse: positive logic Feed pulses/direction signal: positive logic (Default setting) (Default setting) Online Autotuning Setting The Autotuning Switch selects whether the gain will be adjusted automatically during operation. ON OFF ON OFF Resolution Setting Perform online autotuning. Complete online autotuning. The result is stored in the Inertia Ratio parameter (Pn3) and the Servo Driver runs. Pins 4 and 5 select the positioning resolution. If the resolution is set to, (the default setting), the motor makes one revolution for every, pulses input. Dynamic Brake Setting Pin 2 enables or disables dynamic brake operation. If the dynamic brake is enabled, the motor can be brought to an emergency stop when the RUN command goes OFF or an alarm occurs ON OFF (Default setting) Pin 2 OFF ON Dynamic Brake Mode Dynamic brake disabled. Dynamic brake enabled ON OFF Pins Resolution 5 4 OFF OFF, pulses/revolution (.36 /step) OFF ON, pulses/revolution (.36 /step) ON OFF 5 pulses/revolution (.72 /step) ON ON 5, pulses/revolution (.72 /step) (Default setting) Alarm Table Display ALM output Error detection function Display ALM output Error detection function A.4* OFF Parameter setting error A.7A OFF Overheat A.* OFF Overcurrent A.bF* OFF System error A.3 OFF Regeneration error A.C OFF Runaway detected A.32 OFF Regeneration overload A.C2* OFF Phase not detected A.4 OFF Overvoltage/Undervoltage A.C3* OFF Encoder disconnect detected A.5 OFF Overspeed A.d OFF Deviation counter overflow A.7 OFF Overload CPF --- Parameter Unit transmission error A.73 OFF Dynamic brake overload CPF --- Parameter Unit transmission error 2 A.74 OFF Inrush resistance overload A Overload warning A Regeneration overload warning SmartStep Series 9

10 Parameters Parameter Details Parameter number Pn Pn Parameter name Digit Name Setting Explanation Default setting Unit Setting range Function selection basic Reverse rotation CCW direction is taken for positive command switch (See note.) CW direction is taken for positive command Control mode Position control by pulse train command 2 to 3 Not used Function selection basic switch 2 (See note.) Select stop method if an alarm occurs when Servomotor is OFF Servomotor stopped by dynamic brake Stop by dynamic brake and release brake after Servomotor stops. 2 Servomotor stopped with free run to 3 Not used Pn Speed loop gain Adjusts speed loop s responsiveness. 8 Hz to 2, Pn Speed loop integral constant Speed loop integral time constant 2,. ms 5 to 5,2 Pn2 Position loop gain Adjusts position loop s responsiveness. 4 /s to 2, Pn3 Inertia ratio Set using the ratio between the machine system inertia and the Servomotor rotor inertia. 3 % to, Pn9 Feed-forward amount Position control feed-forward compensation value % to PnA Feed-forward command Sets position control feed-forward command filter.. ms to 6,4 filter Pn Online autotuning setting Selects online autotuning Auto-tunes initial operations only after power (See note.) is turned ON. Always auto-tunes. 2 No auto-tuning Not used Selects adhesive friction Friction compensation: OFF compensation function Friction compensation: rated torque ratio small 2 Friction compensation: rated torque ratio large 3 Not used Pn2 Position control setting (See note.) Pn22 Pn23 Pn24 Electronic gear ratio G (numerator) (See note.) Electronic gear ratio G2 (denominator) (See note.) Position command filter time constant (primary filter) Pn27 Position control setting 2 (See note.) Command pulse mode Deviation counter reset Feed pulses/direction signal: Positive logic Forward pulse/reverse pulse: Positive logic 2 9 phase difference (A/B phase) signal (x): Positive logic 3 9 phase difference (A/B phase) signal (x2): Positive logic 4 9 phase difference (A/B phase) signal (x4): Positive logic 5 Feed pulses/direction signal: Negative logic 6 Forward pulse/reverse pulse: Negative logic 7 9 phase difference (A/B phase) signal (x): Negative logic 8 9 phase difference (A/B phase) signal (x2): Negative logic 9 9 phase difference (A/B phase) signal (x4): Negative logic High level signal Rising signal (low to high) 2 Low level signal 3 Falling signal (high to low) 2 Deviation counter reset Deviation counter reset if an alarm occurs if an alarm occurs when Servomotor is OFF. when the Servomotor Deviation counter not reset if an alarm occurs is OFF when Servomotor is OFF. 2 Deviation counter reset only if alarm occurs. 3 Not used Sets the pulse rate for the command pulses and Servo Servomotor travel distance. Setting range:. G/G to 65, to 65,535 Sets soft start for command pulse. (Soft start characteristics are for the primary filter.). ms to 6,4 Selects position command Primary filter (Pn24) filter. Linear acceleration and deceleration (Pn28) to 3 Not used

11 Parameter number Pn28 Parameter name Digit Name Setting Explanation Default Unit Setting setting range. ms to 6,4 Position command filter time constant 2 (linear acceleration and deceleration) (See note.) Sets soft start for command pulse. (soft start characteristics are for the linear acceleration and deceleration.) Pn34 Jog speed Sets rotation speed during jog operation. 5 r/min to, Pn4 Torque command filter time constant Sets the constant when filtering the internal torque command. 4. ms to 65,535 Pn42 Forward torque limit Forward rotation output torque limit (percentage of rated torque ratio). 35 % to 8 Pn43 Reverse torque limit Reverse rotation output torque limit (percentage of rated torque ratio). 35 % to 8 Pn5 Positioning completion Sets the range of positioning completed output signal 3 Command to 25 range units Pn55 Deviation counter overflow Sets the detection level for the deviation counter over alarm., com- to level mand units Pn6 Regeneration resistor capacity (See note 2). Setting for regeneration resistance load ratio monitoring calculations. W See model specs. Note:. These parameters are read when the power is turned ON. Parameter Pn.2 is valid when online. Function Mode Details Monitor Mode Details 2. When using a Regeneration Resistor, set the resistor s capacity when the temperature has risen to 2 C. Set this parameter to if a Regeneration Resistor is not being used. Number Name Explanation Fn Alarm history display Displays up to alarm entries. Fn Rigidity setting during online auto-tuning Sets the control target during online auto-tuning. Fn2 Jog operation Makes the Servomotor rotate using key operations from the Parameter Unit. Fn3 Servomotor origin search Makes the Servomotor rotate using key operations from the Parameter Unit and fixes the position of phase Z after phase Z is detected. Fn5 User parameter initialization Restores user parameters to their default settings. Fn6 Alarm history data clear Clears the data stored in the alarm history. Fn7 Store online auto-tuning results Writes the load data calculated using online auto-tuning to Pn3 (inertia ratio). FnC Analog monitor output offset manual adjustment Manually adjusts the analog output monitor offset. FnD Analog monitor output scaling Changes the analog monitor output scaling (output voltage adjustment). FnE Servomotor current detection offset automatic Automatically adjusts the offset for Servomotor current detection. adjustment FnF Servomotor current detection offset Manually adjusts the offset for Servomotor current detection. manual adjustment Fn Password setting You can permit or prohibit writing to user parameters. Fn2 Version check Check the Servo Driver s version information. Number Contents Units Explanation Un Speed feedback r/min Displays actual rotation speed of Servomotor. Un2 Torque command % Displays command values to current loop (rated torque = %). Un3 Number of pulses from phase-z edge Pulses Displays rotation position from phase-z edge (4X calculation). Un4 Electrical angle Displays the electrical angle of the Servomotor. Un5 Input signal monitor --- Displays the control input signal (CN) status using ON/OFF bits. Un6 Output signal monitor --- Displays the control output signal (CN) status using ON/OFF bits. Un7 Command pulse speed display r/min Calculates and displays command pulse frequency in r/min. Un8 Position deviation (deviation counter) Command units Displays number of residual pulses in deviation counter (input pulse standard). Un9 Cumulative load ratio % Displays effective torque (rated torque = %, -s cycle) UnA Regeneration load ratio % Displays regeneration absorption power due to regeneration resistance (calculates internal resistance capacity or Pn6 setting as % in -s cycles). UnB Dynamic brake resistance load ratio % Displays power consumption during dynamic brake operation (calculates tolerance power consumption as % in -s cycles). UnC Input pulse counter Command units Counts and displays input pulses (displayed in hexadecimal). UnD Feedback pulse counter Pulses Counts and displays feedback pulses (4X calculation, displayed in hexadecimal). SmartStep Series

12 Dimensions Servo Drivers 2 V AC: 3 W/5 W/ W/2 W (R7D-APA3H/APA5H/APH/AP2H) Mounting dimensions 5.5 Two, M ±.5 55 (75) 3 (5) V AC: 4 W (R7D-AP4H) dia. hole Mounting dimensions 5.5 Two, M ±.5 (5) 5 2 (63) 75 (75) 3 (5) V AC: 75 W (R7D-AP8H) 5 dia. hole Mounting dimensions 5.5 Two, M ± (75) 8 (5)

13 Servomotors Cylindrical Servomotors (3, r/min) 2 V AC: 3 W/5 W/ W/2 W/4 W/75 W Without Brake: R7M-A33-S-D/A53-S-D/A3-S-D/A23-S-D/A43-S-D/A753-S-D With Brake: R7M-A33-BS-D/A53-BS-D/A3-BS-D/A23-BS-D/A43-BS-D/A753-BS-D Model Dimensions (mm) LL LR Flange surface Axis end Without Brake With Brake C D D2 F G Z S QK b h t R7M-A33@ h Two, 4.3 dia. 6h R7M-A53@ R7M-A3@ h R7M-A23@ h7 3 6 Four, 5.5 dia. 4h R7M-A43@ R7M-A753@ h7 3 8 Four, 7 dia. 6h6 3 R7M-A@@@3-S-D (Without Brake) 3 R7M-A@@@3-BS-D (With Brake) 3 Axis end dimensions b t 3 3 h Hole with Z mark QK* QK* S dia. D2 dia. S dia. D2 dia. C D dia. LL G F LR LL G F LR C Flat Servomotors (3, r/min) 2 V AC: W/2 W/4 W/75 W Without Brake: R7M-AP3-S-D/AP23-S-D/AP43-S-D/AP753-S-D With Brake: R7M-AP3-BS-D/AP23-BS-D/AP43-BS-D/AP753-BS-D Model Dimensions (mm) LL LR Flange surface Axis end Without Brake With Brake C D D2 F G Z S QK b h t R7M-AP3@ h h R7M-AP23@ h h R7M-AP43@ R7M-AP753@ h h6 22 R7M-AP@@@3-S-D (Without Brake) R7M-AP@@@3-BS-D (With Brake) Axis end dimensions 3 3 b t 3 3 h Four, Z-dia. mounting holes QK* S dia. D2 dia. QK* S dia. D2 dia. C D dia. LL G F LR LL G F LR C SmartStep Series 3

14 Filters R88A-FIW4-SE Units:mm (in).5(.45) 32(.26) (.4) 28.25(.) 22(7.95) 92(7.56) 49.5(5.89) 56(2.2) M4 φ5 (φ.2) M4(2 ) 5 (.2) 33(.3) 5.5(.22) 4(.55) φ(φ.39) (9.45 ) wires AWG6 GNYE M (.43 ) 6(.24) 7(2.76) 9(.75) 68(6.6) 5(.59) R88A-FIW7-SE, R88A-FIW5-SE Model R88A-FIW7-SE R88A-FIW5-SE Dimensions A 75 9 in mm B C 5 6 D 2 5 E.2 Units:mm M4 A C D E φ5 M4(2 ) 5.5 φ wires AWG6 4 B GNYE M

15 Installation Single-phase 2 to 23 V AC +%/ 5% (5/6 Hz) (The 75-W Servo Drivers can input three-phase 2 to 23 V AC.) MCCB Noise filter Main-circuit power supply OFF ON MC X Main-circuit contactor MC Surge suppressor * MC L B B2 U Servomotor L2 LC SMARTSTEP A-series Servo Driver V W M If necessary, connect a DC Reactor to these terminals to suppress high harmonics in the power supply. L2C CN2 Encoder RE Always ground this terminal. CN Attach the shield wire to the terminal securely. Position Commands Reverse Pulses Forward Pulses Deviation Counter Reset +CW CW +CCW CCW +ECRST ECRST 2 Ω Ω 2 Ω 22 Ω TXD+ TXD RXD+ Reception RXD data RT Transmission data Terminating Resistor RS-422 Interface Compatible Line Texas Inst. SN7574, MC3487 or equivalent Compatible Line Receivers Texas Inst. SN7575, MC3486 or equivalent 24 V DC RUN Command Alarm reset +24VIN 3 RUN 4 3.3k RESET 8 3.3k INP Brake BKIR Interlock Output OGND Z ZCOM ALM ALMCOM Positioning Completed Output Phase Z Alarm Output Max. operating voltage: 3 V DC Max. output current: 5 ma (Phase-Z output is 2 ma max.) Shell FG (Frame Ground) Connect the shield wire to the connector shell. Note: * A Regeneration Resistor can be connected across the B and B2 terminals with 4-W and 75-W Servo Drivers. When using an external Regeneration Resistor with a 4-W Servo Driver, just connect it across the B and B2 terminals. When using an external Regeneration Resistor with a 75-W Servo Driver, remove the jumper bar from the B2 and B3 terminals and then connect the Regeneration Resistor across the B and B2 terminals. SmartStep Series 5

16 Ordering Information System Configuration SMARTSTEP Servo Drive B SMARTSTEP Servomotor A J I Personal Computer D E F C G H H Connector Terminal Block General Purpose controller (with pulse output) Servomotors Symbol A Specifications Cylindrical Without Servomotors (3,-r/ brake min) Straight shaft with key Flat Servomotors brake Without (3,-r/min) Straight shaft with key Model.95 Nm 3 W R7M-A33-S-D.59 Nm 5 W R7M-A53-S-D.38 Nm W R7M-A3-S-D.637 Nm 2 W R7M-A23-S-D.27 Nm 4 W R7M-A43-S-D 2.39 Nm 75 W R7M-A753-S-D R7M-A33-BS-D.59 Nm 5 W R7M-A53-BS-D.38 Nm W R7M-A3-BS-D.637 Nm 2 W R7M-A23-BS-D.27 Nm 4 W R7M-A43-BS-D 2.39 Nm 75 W R7M-A753-BS-D.38 Nm W R7M-AP3-S-D.637 Nm 2 W R7M-AP23-S-D.27 Nm 4 W R7M-AP43-S-D 2.39 Nm 75 W R7M-AP753-S-D R7M-AP3-BS-D.637 Nm 2 W R7M-AP23-BS-D.27 Nm 4 W R7M-AP43-BS-D 2.39 Nm 75 W R7M-AP753-BS-D With brake.95 Nm 3 W With brake.38 Nm W Servo Drives Symbol Specifications Model B 2 V AC 3 W R7D-APA3H 5 W R7D-APA5H W R7D-APH 2 W R7D-AP2H 4 W R7D-AP4H 75 W R7D-AP8H Servomotor Cables (For CN2) Symbol Specifications Power Cable Model Encoder Cable Model Appearance C Standard Cables Flexible cables for applications where cable is frequently in motion For Servomotors without brake R7M-A(P)@@@3-S-D 3 m R7A-CEA3S-DE 5 m R7A-CEA5S-DE m R7A-CEAS-DE 5 m R7A-CEA5S-DE 2 m R7A-CEA2S-DE For Servomotors with 3 m R7A-CEA3B-DE brake 5 m R7A-CEA5B-DE R7M-A(P)@@@3-BS-D m R7A-CEAB-DE 5 m R7A-CEA5B-DE 2 m R7A-CEA2B-DE For Servomotors without brake R7M-A(P)@@@3-S-D For Servomotors with brake R7M-A(P)@@@3-BS-D 3 m R88A-CAWA3S-DE R7A-CRA3-FDE 5 m R88A-CAWA5S-DE R7A-CRA5-FDE m R88A-CAWAS-DE R7A-CRA-FDE 5 m R88A-CAWA5S-DE R7A-CRA5-FDE 2 m R88A-CAWA2S-DE R7A-CRA2-FDE 3 m R88A-CAWA3B-DE R7A-CRA3-FDE 5 m R88A-CAWA5B-DE R7A-CRA5-FDE m R88A-CAWAB-DE R7A-CRA-FDE 5 m R88A-CAWA5B-DE R7A-CRA5-FDE 2 m R88A-CAWA2B-DE R7A-CRA2-FDE Only for Brake models Only for Brake models R7A-CEA -DE R7A-CRA -FDE R88A-CAWA -DE 6

17 Control Cables (For CN) Symbol Name Compatible Units Model Available lengths D Servo Relay Unit Use with Position Control Units XW2B-2J6-B --- (Doesn t support communications functions.) ( axis) Units: CSW-NC3/33, CJW-NC3/33, C2HW-NC3, and C2H-NC2 Use with Position Control Units (Doesn t support communications functions.) Units: CSW-NC23/233/43/433, CJW-NC23/233/43/433, C2HW-NC23/43, C5-NC3/2, and C2H-NC2 Use with Position Control Units (Doesn t support communications functions.) Units: CQMH-PLB2, and CQM-CPU43-V XW2B-4J6-2B (2 axes) XW2B-2J6-3B ( axis) Use with Position Control Units (Supports communications functions.) Units: CSW-NC23/233/43/433, CJW-NC23/233/43/433 XW2B-4J6-4B (2 axes) Use with CJM-CPU22/23 (Doesn t support communications functions.) XW2B-2J6-8A ( axis) XW2B-4J6-9A (2 axes) E Cable to Servo Drive Doesn t support communications functions. (For the XW2B-@@J6-@B) XW2Z-@@@J-B5 m or 2 m Supports communications functions. (For the XW2B-@@J6-4B) XW2Z-@@@J-B7 (The cable length goes in the empty boxes.) Cable to Position Control CQMH-PLB2 and CQM-CPU43-V XW2Z-@@@J-A3.5 m or m F Unit C2H-NC2 XW2Z-@@@J-A4 (The cable length goes C2H-NC2 and C5-NC3/2 XW2Z-@@@J-A5 in the empty boxes.) CSW-NC3 and C2HW-NC3 XW2Z-@@@J-A8 CSW-NC23/43 and C2HW-NC23/43 XW2Z-@@@J-A9 CSW-NC33 XW2Z-@@@J-A2 CSW-NC233/433 XW2Z-@@@J-A3 CJW-NC3 XW2Z-@@@J-A6 CJW-NC23/43 XW2Z-@@@J-A7 CJW-NC33 XW2Z-@@@J-A2 CSW-NC233/433 XW2Z-@@@J-A2 CJM-CPU22/23 XW2Z-@@@J-A26 Control Cable For general-purpose Controllers R88A-CPU@@@S m or 2 m G (The cable length goes H Connector Terminal Block For general-purpose Controllers R88A-CTU@@@N in the empty boxes.) Cable Connector Terminal Block XW2B-4F5-P --- Cable for CN3 Symbol Name Model I Computer Monitor Cable R7A-CCA2P2 Cable for CN4 Symbol Name Model J Analog Monitor Cable R88A-CMWS Connectors Specifications Model Control I/O Connector (For CN) R88A-CNUC SmartStep Connectors Kit. Models Included in kit R7A-CNAK-DE SmartStep Encoder Connector (For CN2) R7A-CNAR Hypertac Power Connector female SPOC-6K-FSDN69 Hypertac Encoder Connector female SPOC-7H-FRON69 Hypertac Power Connector male (Used in the motor) SRUC-6J-MSCN236 Hypertac Encoder Connector male (Used in the motor) SRUC-7G-MRWN87 External Regeneration Resistor Specification Model 22 W, 47 Ω R88A-RR2247S Filters Specifications (applicable Servo Drive) Model Rated Current Rated Voltage R7D-APA3H, R7D-APA5H R7D-APH, R7D-AP2H R7D-AP4H R88A-FIW4-E R88A-FIW7-E 4A 7A 25 VAC Single Phase R7D-AP8H R88A-FIW5-E 5A Parameter Unit & Computer Software Specifications Parameter Copy Unit (with cable) Sigma Win WMON Win Version 2. Model R7A-PR2A MOTION TOOLS SmartStep Series 7