SMARTSTEP 2 SERVO SYSTEM

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1 SMARTSTEP 2 SERVO SYSTEM A new step in servodrive simplicity»» Precise and cost-effective»»ultra-compact design»»simple to use and set up

motion applications where simplicity is essential.

space saving compared with the previous model.

your machines more efficient and cost-effective.

Auto-tuning Vibration suppression Adaptive resonance suppression

range from 50 W to 400 W ylindrical and flat servo motors

with great drive simplicity Getting started quickly X-Drive is a

and maintaining both inverters and servos.

2 SmartStep 2 the right step forward... Omron knows that simplicity and precision are vital in your positioning application. The new SmartStep offers an ideal solution for point-to-point motion applications where simplicity is essential. SmartStep 2 keeps things simple whilst combining high performance in a cost-effective solution. SmartStep 2 has a completely new compact design that gives a 50% space saving compared with the previous model. It also has new features and functionality to help you to make your machines more efficient and cost-effective. Features at a glance: Pulse control servo drive Ultra-compact size Auto-tuning Vibration suppression Adaptive resonance suppression filter Two programmable torque limits Feedback pulse output Power range from 50 W to 400 W ylindrical and flat servo motors Electronic gear 10,000 steps per revolution to faster development with great drive simplicity Getting started quickly X-Drive is a single, easy-to-use software tool for configuring, commissioning and maintaining both inverters and servos. SmartStep 2 is fully supported with a wide range of features making the servo drive set-up easier and faster than ever: Auto-tuning Parameter editing and monitoring Speed and position diagrams I/O status and alarms Real-time data trace Real-time data trace Frequency analysis

A compact design that s easy to connect Although it has more functionality than

as the P1L compact machine controller and S operator terminals, helping to make an

Additional features: Position control via pulse input 500 kpps Rated speed 4,000 rpm;

switched by external signal for easy control Servomotors compatible with SmartStep

Vibration Quickly suppression vibration ompact space-saving design Feedback pulse

48% smaller than that of previous models and the volume is 39% smaller, saving

Enables servo position feedback to the controller for close control position loop and

Depending on load variations, the real-time auto-tuning function automatically

3 A compact design that s easy to connect Although it has more functionality than previous models, SmartStep 2 has a compact design with an ultra-small footprint that saves considerable space. In addition, SmartStep 2 can be easily integrated with other automation devices such as the P1L compact machine controller and S operator terminals, helping to make an efficient and cost-effective machine design. Additional features: Position control via pulse input 500 kpps Rated speed 4,000 rpm; peak 5,000 rpm Wide range of pulse configurations Four internal speed settings switched by external signal for easy control Servomotors compatible with SmartStep 130 mm 105 mm ommand pulse 160 mm 120 mm AUTO 35 mm Feedback pulse P1H-Yxx 55 mm Vibration Quickly suppression vibration ompact space-saving design Feedback pulse output Adjustment-free operation Vibration suppression SmartStep 2 has a footprint 48% smaller than that of previous models and the volume is 39% smaller, saving cabinet space and costs. Enables servo position feedback to the controller for close control position loop and monitor real positioning; it can be also used to synchronise with another axis. Depending on load variations, the real-time auto-tuning function automatically calculates and adjusts the optimum gain values for the machine. An adaptive filter ensures that resonant frequency changes are automatically followed to reduce the effect of vibration due to low mechanical rigidity. A further filter minimises vibration for better positioning when stopping the load.

R7D, R88M SmartStep 2 servo system Another step forward in drive simplicity Easy set up and on-line auto tuning The footprint is only 48% that of the SmartStep series Two torque limits Electronic

4 R7D, R88M SmartStep 2 servo system Another step forward in drive simplicity Easy set up and on-line auto tuning The footprint is only 48% that of the SmartStep series Two torque limits Electronic gear, four internal speed settings and wide range of pulse settings Adaptive filters for suppresion of vibration and resonance onfiguration and commissioning with X Drivesoftware Ratings 230 VA single-phase 50 W to 400 W (0.16 to 1.3 m) System configuration (Refer to chapter SmartStep servo motors) SmartStep 2 Servo Motor SmartStep 2 Servo Drive Personal computer Encoder cable Power cable Brake cable Position control unit onnector terminal block General purpose controller (with pulse output) Position control unit Servo drive type designation SmartStep 2 Servo Drive Drive Type P: Pulse input control apacity W 200 W 400 W R7D-BP01H Source voltage H: Single-phase 200 VA for 100/400 W HH: Single-phase 200 VA for 200 W 6 A servo systems

5 Servo drive specifications General specifications Item Specification Ambient operating temperature 0 to 55 Ambient operating humidity 90% max. (with no condensation) Ambient storage temperature -20 to 65 Ambient storage humidity 90% max. (with no condensation) Storage/operating atmosphere o corrosive gases. Vibration resistance 10 to 60 Hz; acceleration : 5.9 m/s² (0.6G) max. Impact resistance Acceleration 19.6 m/s 2 max., 3 times each in X, Y, and Z directions, Insulation resistance Between power supply/power line terminals and frame ground: 0.5 MΩ min. (at 500 VD) Dielectric strength Between power supply/power terminals and frame ground: 1,500 VA for 1 min at 50/60 Hz Between each control signal and frame ground: 500 VA for 1 min Protective structure Built into panel (IP10). International standards Approval obtained for UL: UL 508; cul: cul 22.2 o 14 Approval E : EM E55011 class A Group 1, E , low voltage E50178 Performance specifications Item 200 VA input type 100 W 200 W 400 W R7D-BP01H R7D-BP02HH R7D-BP04H ontinuous output current (rms) 1.0 A 1.6 A 2.5 A Momentary maximum output current (rms) 3.3 A 4.9 A 7.8 A Main-circuit power supply Single-phase 200 to 240 VA (170 to 264 V), 50/60 Hz ontrol method All-digital servo Speed feedback 10,000 pulses/revolution incremental encoder Inverter method PWM method based on IGBT PWM frequency 12 khz 6 khz Weight 0.35 kg 0.42 kg 0.42 kg ompatible motor voltage 200 V ommand pulse response Line drive: 500 kpps ompatible motor capacity 50 W 100 W 200 W 400 W Applicable servo motor (R88M-) Servodrive part names G05030H G10030H GP10030H G020030H GP20030H G40030H GP40030H Power supply indicator PWR ALM Alarm indicator (ALM) ommunications connector (3) 3 ontrol I/O connector (1) 1 Encoder input connector (2) Motor connector (B) 2 B Main circuit connector (A) A FG terminals for power supply and Servomotor power SmartStep 2 servo system 7

6 R88M-GP10030H-BOS2 SmartStep2 Servomotor Motor Type Blank: ylinder type P: Flat type apacity W W W W Rated Speed (r/min) Shaft end specifications Blank Straigth shaft, no key S2 Straigth, key, tapped Oil seal specifications Blank o oil seal O Oil seal Brake specifications Blank o brake B Brake Voltage and encoder specifications H: 230 V with incremental encoder Servo motor / servo drive combination Servo motor Family Voltage Speed Rated torque apacity Model ylindric W 230 V 3000 min m 50 W R88M-G05030H-@S m 100 W R88M-G10030H-@S m 200 W R88M-G20030H-@S2 1.3 m 400 W R88M-G40030H-@S2 Flat W 0.32 m 100 W R88M-GP10030H-@S m 200 W R88M-GP20030H-@S2 1.3 m 400 W R88M-GP40030H-@S2 ote: 1. For servo motor and cable part numbers, refer to ordering information at the end of this chapter. 2. Refer to the servo drive chapter for drive options selection and detailed specifications. Servo motor specifications General specifications Item Specification Ambient operating temperature 0 to 40 Ambient operating humidity 85% max. (with no condensation) Ambient storage temperature 20 to 65 Ambient storage humidity 85% max. (with no condensation) Storage/operating atmosphere o corrosive gases Vibration resistance 49 m/s 2 max. in the X, Y, and Z directions Impact resistance Acceleration of 98 m/s 2 max. 3 times each in the X, Y, and Z directions Insulation resistance 20 MΩ min. at 500 VD between the power terminals and FG terminal Dielectric strength 1,500 VA (50 or 60 Hz) for 1 minute between the power terminals and FG terminal Run position Any direction Insulation grade Type B Structure Totally-enclosed, self-cooling Protective structure IP65 (excluding the through-shaft portion) Vibration grade V-15 Mounting method Flange-mounting International standards Approval obtained for UL, cul, and E (EM directive and low-voltage directive) 8 A servo systems

7 Performance specifications ylindric servo motors Item Unit R88M-G05030H R88M-G10030H R88M-G20030H R88M-G40030H Rated output W Rated torque m Rated rotation speed r/min 3000 Momentary maximum rotation speed r/min 5000 Momentary maximum torque Em Rated current A (rms) Momentary maximum current A (rms) Rotor inertia kg m Power rate kw/s Allowable radial load Allowable thrust load Weight Without brake kg With brake kg Encoder resolution --- Phase A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation Radiation shield dimensions t10 (Al) t12 (Al) Brake Brake inertia kg m specifications Excitation voltage V 24 VD ±10% Power consumption (at 20 ) W 7 9 urrent consumption (at 20 ) A Static friction torque m 0.29 min min. Attraction time ms 35 max. 50 max. Release time ms 20 max. 15 max. Backlash - ±1 max. Rating - ontinuous Brake life - 10,000,000 operations min. Applicable servo driver (R7D-) BP01H BP02H BP04H Torque-speed characteristics R88M-G05030H ( m) R88M-G10030H ( m) R88M-G20030H ( m) (4300) 1.65 R88M-G40030H ( m) (3200) 0.3 Repetitive usage 0.6 Repetitive usage 1.0 Repetitive usage 2.0 Repetitive usage ontinuous usage ontinuous usage ontinuous usage ontinuous usage (r/min) Flat servo motors (r/min) (r/min) (r/min) Item Unit R88M-GP10030H R88M-G20030H R88M-G40030H Rated output W Rated torque m Rated rotation speed r/min 3000 Momentary maximum rotation speed r/min 5000 Momentary maximum torque Em Rated current A (rms) Momentary maximum current A (rms) Rotor inertia kg m Power rate kw/s Allowable radial load Allowable thrust load Weight Without brake kg With brake kg Encoder resolution --- Phase A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation Radiation shield dimensions t10 (Al) t12 (Al) Brake Brake inertia kg m specifications Excitation voltage V 24 VD ±10% Power consumption (at 20 ) W 7 10 urrent consumption (at 20 ) A Static friction torque m 0.29 min min. Attraction time ms 50 max. 60 max. Release time ms 15 max. Backlash - ±1 max. Rating - ontinuous Brake life - 10,000,000 operations min. Applicable servo driver (R7D-) BP01H BP02H BP SmartStep 2 servo system 9

8 Torque-speed characteristics R88M-GP10030H R88M-GP20030H R88M-GP40030H ( m) ( m) (4700) 1.75 ( m) (3600) 0.6 Repetitive usage 1.0 Repetitive usage 2.0 Repetitive usage ontinuous usage ontinuous usage ontinuous usage (r/min) (r/min) 0 (r/min) Dimensions Servo drives R7D-BP01H R7D-BP02HH/ 04H PWR dia. ALM B 140 Mounting Hole Dimensions 130±0.5 5 Two, M PWR 5.2 dia. ALM B 140 Mounting Hole Dimensions 5 130±0.5 Two, M4 A A Filters Mounting 3 x Ø ±1 165±1 40±1 7.5 drive mounts 2 x M output flexes 2 x 170 mm 1 x 130 mm + M4 44±1 Filter model Rated current Leakage current Rated voltage R7A-FIB104-RE 4A 3.5 ma 250 VA single-phase 10 A servo systems

9 Servo motors ylindrical type 3000 r/min (230 V, W) Dimensions (mm) Without brake With brake L Aprox. Mass (Kg) Model LL LL Without brake With brake R88M-G05030H-@S R88M-G10030H-@S Encoder onnector Brake onnector Motor onnector LL L 8 dia., height: 6 30 dia., height: (Dimensions of shaft end with key and tap) , height: Two, 4.3 dia. 46 dia. M3 (depth: 6) ylindrical type 3000 r/min (230 V, W) Dimensions (mm) Without brake With brake LR KL1 Flange surface Shaft end Aprox. Mass (Kg) Model LL LL D1 D2 G Z S QK b h M t1 L Without brake With brake R88M-G20030H-@S h9 4 M R88M-G40030H-@S h9 5 M Brake connector Encoder connector Servomotor connector LL (Straight shaft with key) QK b h t S dia., height: 6 50 dia., height: 7 Four, 4.5 dia dia. M (depth: L) Flat type 3000 r/min (230 V, 100 W W) Dimensions (mm) Without brake With brake LR KL1 Flange surface Shaft end Aprox. Mass (Kg) Model LL LL D1 D2 F G Z S QK b h t1 Tap x Without brake With brake depth R88M-GP10030H-@S h M3x R88M-GP20030H-@S h M4x R88M-GP40030H-@S h M5x connector LL Servomotor connector LR Break connector 220 (7) (7) 200 G F S dia., height: 6 D dia., height: 7 Four, Z-dia. KL1 x D1 dia. (Straight shaft with key) QK b h t1 M (depth: 6) SmartStep 2 servo system 11

10 Installation Single-phase, 230 VA L1 L2 L3 Thermal switch ontactor oise filter L1 L3 B U V W Servo motor Regeneration resistor *1 P B1 A SMARTSTEP2 Servo drive 2 Optical encoder 1 Reverse pulse +W W Ω 9 /ALM Alarm Output Forward pulse +W W 12 to 24 VD 24VI RU ommand Input RU Alarm Reset Input RESET Ω IP Positioning ompleted Output BKIR Brake Interlock 12 WAR Warning Output 13 OGD Z Z-phase Output (open collector output) GD Maximum operating voltage: 30 VD Maximum Output urrent: 50 ma D Deviation ounter Reset Input ERST 4 Gain Switch Input GSEL 5 Electronic Gear Switch Input GESEL 6 Reverse Drive Prohibit Input OT A A +B B +Z Z Encoder A-phase Output Encoder B-phase Output Encoder Z-phase Output Line driver output onforms to EIA RS-422A (Load resistance: 220 Ω min.) Forward Drive Prohibit Input POT 8 Shell, 26 FG Frame ground *1. An External Regeneration Resistor can be connected. onnect this resistor if the regenerative energy exceeds regeneration absorption capacity in the Servo Drive. ote: 1.The dynamic brake operates when the main circuit power supply or the control circuit power supply is turned OFF. ote: 2.When turning OFF the main circuit power supply, turn OFF the RU ommand Input (RU) signal at the same time. 12 A servo systems

11 Ordering information (Refer to chapter SmartStep servo motors) E SmartStep 2 Servo Drive Personal computer SmartStep 2 Servo Motor K A D Encoder cable G F H B Power cable Brake cable Position control unit L K I J onnector terminal block General purpose controller (with pulse output) J Position control unit ompact ontroller ote: The symbols ABDE... show the recommended sequence to select the components in a SmartStep 2 servo system Servo motor ylindrical servo motors (3,000-r/min) Symbol Specifications Servo motor model ompatible servo drives E Design Rated torque apacity SmartStep 2 A ylindrical servo motors (3,000-r/min) Flat servo motors (3,000-r/min) Servo drives Straight shaft with key Power Supply cables (for A) Without brake 0.16 m 50 W R88M-G05030H-S2 R7D-BP01H 0.32 m 100 W R88M-G10030H-S m 200 W R88M-G20030H-S2 R7D-BP02HH 1.3 m 400 W R88M-G40030H-S2 R7D-BP04H With brake 0.16 m 50 W R88M-G05030H-BS2 R7D-BP01H 0.32 m 100 W R88M-G10030H-BS m 200 W R88M-G20030H-BS2 R7D-BP02HH 1.3 m 400 W R88M-G40030H-BS2 R7D-BP04H Symbol Specifications Servo motor model ompatible servo drives E Design Rated torque apacity SmartStep 2 A Flat servo motors (3,000-r/min) Straight shaft with key Without brake 0.32 m 100 W R88M-GP10030H-S2 R7D-BP01H 0.64 m 200 W R88M-GP20030H-S2 R7D-BP02HH 1.3 m 400 W R88M-GP40030H-S2 R7D-BP04H With brake 0.32 m 100 W R88M-GP10030H-BS2 R7D-BP01H 0.64 m 200 W R88M-GP20030H-BS2 R7D-BP02HH 1.3 m 400 W R88M-GP40030H-BS2 R7D-BP04H Symbol Specifications SmartStep 2 drive model ompatible servo motors A ylindrical type Flat type E 200 VA 100 W R7D-BP01H R88M-G05030-@ - R88M-G10030-@ R88M-GP10030-@ 200 W R7D-BP02HH R88M-G20030-@ R88M-GP20030-@ 400 W R7D-BP04H R88M-G40030-@ R88M-GP40030-@ Symbol Specifications Model Appearance Power Supply Input able for Single-Phase Power (connectors attached) R7A-LB002S2 E SmartStep 2 servo system 13

12 Servo motor cables Power cables (for B) Symbol Specifications Model Appearance B Power cables for SmartStep 2 Flexible cables shielded 1.5 m R7A-AB001-5SR-E Servo motors 3 m R7A-AB003SR-E 5 m R7A-AB005SR-E 10 m R7A-AB010SR-E 15 m R7A-AB015SR-E 20 m R7A-AB020SR-E Brake cables Symbol Specifications Model Appearance Brake cables for SmartStep 2 Flexible cables 1.5 m R88A-AGA001-5BR-E Servo motors 3 m R88A-AGA003BR-E 5 m R88A-AGA005BR-E 10 m R88A-AGA010BR-E 15 m R88A-AGA015BR-E 20 m R88A-AGA020BR-E Encoder cables (for 2) Symbol Specifications Model Appearance D Encoder cables for Flexible cables shielded 1.5 R88A-RGB001-5R-E SmartStep 2 Servo motors 3 m R88A-RGB003R-E 5 m R88A-RGB005R-E 10 m R88A-RGB010R-E 15 m R88A-RGB015R-E 20 m R88A-RGB020R-E ontrol cables (for 1) Symbol ame ompatible units Model Available lengths F Servo relay unit Use with position control units XW2B-20J6-1B --- (doesn t support communications functions.) (1 axis) Units: S1W-113/133, J1W-113/133 and 200HW-113/ 112 Use with position control units (doesn t support communications functions.) XW2B-40J6-2B (2 axes) Units: S1W-213/233/413/433, J1W-213/233/413/433 and 200HW-213/413 Use with position control units (doesn t support communications functions.) Units: QM1H-PLB21 XW2B-20J6-3B (1 axis) Use with position control units (supports communications functions.) XW2B-40J6-4A Units: S1W-213/233/413/433, J1W-213/233/413/433 (2 axes) Use with J1M-PU21/22/23 (doesn t support communications functions.) XW2B-20J6-8A (1 axis) XW2B-40J6-9A (2 axes) G able to servo drive Position ontrol Unit/ QM1H XW2Z-@@@J-B29 1 m or 2 m J1M XW2Z-@@@J-B32 (the cable length goes in the empty boxes.) H able to position QM1H-PLB21 XW2Z-@@@J-A3 0.5 m or 1 m control unit 200H-112 XW2Z-@@@J-A4 (the cable length goes in 200H-211 and /211 XW2Z-@@@J-A5 the empty boxes.) S1W-113 and 200HW-113 XW2Z-@@@J-A6 S1W-213/413 and 200HW-213/413 XW2Z-@@@J-A7 S1W-133 XW2Z-@@@J-A10 S1W-233/433 XW2Z-@@@J-A11 J1W-113 XW2Z-@@@J-A14 J1W-213/413 XW2Z-@@@J-A15 J1W-133 XW2Z-@@@J-A18 J1W-233/433 XW2Z-@@@J-A19 J1M-PU21/22/23 XW2Z-@@@J-A33 ontrol cable For general-purpose controllers R7A-PB-@@@S 1 m or 2 m I (the cable length goes in onnector terminal block cable For general-purpose controllers XW2Z-@@@J-B28 J the empty boxes.) --- onnector-terminal Block onversion Units For general-purpose controllers XW2B-34G4 Terminal block with M3 screws XW2B-34G5 Terminal block with M3.5 screws XW2D-34G6 Terminal block with M3 screws 14 A servo systems

13 able for 3 Symbol ame onnected to Lengh Model K Personal omputer Monitor able Windows 2 m R88A-G002P2 Filters Symbol Applicable servo drive Filter model Rated current Rated voltage L R7D-BP01H/ 02HH/ 04H R7A-FIB104-RE 4 A 1 ph, 230 V onnectors Specifications Main ircuit onnector (A) Servomotor onnector (B) ontrol I/O onnector (1) Encoder Input onnector (2) Servomotor onnector for Encoder able Servomotor onnector for Servomotor Power able Brake able onnector Model R7A-B01P R7A-B01A R88A-W01 R88A-W01R R88A-G02R R88A-G01A R88A-G01B External regeneration resistor Specification Model 80 W, 50 Ω R88A-RR08050S 80 W, 100 Ω R88A-RR080100S 220 W, 47 Ω R88A-RR22047S External regeneration resistor cable Specifications External Regenerative Resistor onnection able, 2 meters Parameter unit & computer software Specifications Parameter copy unit (with cable) onfiguration and monitoring software tool for servo drives and inverters. (X-drive version 1.8 or higher) Model R7A-LB002RG Model R88A-PR02G X-drive SmartStep 2 servo system 15

Omron Europe B.V. Wegalaan 67-69, L-2132 JD, Hoofddorp, The etherlands. Tel: +31 (0) 23 568 13 00 Fax: +31 (0) 23 568 13 88 www.industrial.omron.eu Austria Tel: +43 (0) 2236 377 800 www.industrial.omron.at Germany Tel: +49 (0) 2173 680 00 www.

14 Omron Europe B.V. Wegalaan 67-69, L-2132 JD, Hoofddorp, The etherlands. Tel: +31 (0) Fax: +31 (0) Austria Tel: +43 (0) Germany Tel: +49 (0) Portugal Tel: Turkey Tel: Belgium Tel: +32 (0) Hungary Tel: Russia Tel: United Kingdom Tel: +44 (0) zech Republic Tel: Italy Tel: South-Africa Tel: +27 (0) Denmark Tel: etherlands Tel: +31 (0) Spain Tel: Finland Tel: +358 (0) orway Tel: +47 (0) Sweden Tel: +46 (0) France Tel: +33 (0) Poland Tel: +48 (0) Switzerland Tel: +41 (0) More Omron representatives Authorised Distributor: ontrol Systems Programmable logic controllers Human-machine interfaces Remote I/O Motion & Drives Motion controllers Servo systems Inverters ontrol omponents Temperature controllers Power supplies Timers ounters Programmable relays Digital panel indicators Electromechanical relays Monitoring products Solid-state relays Limit switches Pushbutton switches Low voltage switch gear Sensing & Safety Photoelectric sensors Inductive sensors apacitive & pressure sensors able connectors Displacement & width-measuring sensors Vision systems Safety networks Safety sensors Safety units/relay units Safety door/guard lock switches KPP_SmartStep2_E_IT01 Although we strive for perfection, Omron Europe BV and/or its subsidiary and affiliated companies do not warrant or make any representations regarding the correctness or completeness of the information described in this document. We reserve the right to make any changes at any time without prior notice.

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