AC Servomotors/ Servo Drives
SMARTSTEP2
Advanced Functionality in a Super Compact Design
Actual Size
35 120 105 (W H D)
(Excluding mounting)
» Co m pa ct
» Easy
» High Specification
Easy and Advanced Performance
Solve Your Equipment Problems
from Design to Maintenance.
Maintenance with Integrated
Support Software
Maintain your Server Drives with the
CX-Drive in the CX-One FA
Integrated Tool Package.
Improve Tact Time
Significantly faster command
pulse frequency.
No Adjustment
Simple Realtime Autotuning
eliminates the need for
complicated adjustments.
Suitable for systems with low
mechanical rigidity
Installation
Mechanical vibration is controlled with a
vibration control function and adaptive filter.
Mount the Drive to the
DIN Rail in one step.
Easy Parameter Settings
Even Smaller
Control Panel
Simply download parameter settings
by using the copy function.
Palm-size Design
Reduce Design Work
Easy control from PLC with the
Smart FB Library.
2
SMARTSTEP2: Features
Features
2
Selection Guide
6
System Configuration
Integrated Development Environment
Cut Your TCO from Design to Maintenance.
Control from a PLC is made easy by using function blocks.
The Servo System can be managed from design to maintenance with the CX-One FA
Integrated Package.
Setting & Programming
Setting Parameters
Programming
Unit Configuration
Integrated Debugging
System Design
PC
Operation & Maintenance
8
Interpreting Model Numbers
10
Ordering Information
12
Servo Drive-Servomotor Combinations
16
Servomotor and Decelerator Combinations
16
Servo Relay Units and Cables
17
Cable Combinations
18
Servo Drive Specifications
22
Servomotor Specifications
23
Decelerator Specifications
28
Encoder, External Regeneration
Resistors, Reactor and Parameter Unit
Specifications
30
Connections
31
I/O Circuit Diagrams
33
Nomenclature and Functions
36
Dimensions
39
About Manuals
49
FB
Easy programming with the
Smart FB Library
Parameter Editing & Monitoring
The Servomotor
parameters can be
edited, monitored, and
saved with the CX-Drive.
Alarm & Maintenance
Easy monitoring of the NC
Unit & Drive errors
PT
CP1/CP2
Note: CX-Drive (version 1.61) support for
SMARTSTEP2 series Servo Drives can be
obtained by using the CX-One V2 auto-update
function from May 30, 2008.
PC
SMARTSTEP2
Windows is either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.
Other company names and product names in this document are the trademarks or registered trademarks of their respective
companies.
The product photographs and figures that are used in this catalog may vary somewhat from the actual products.
Microsoft product screen shot(s) reprinted with permission from Microsoft Corporation.
Easy monitoring of Position Control Unit and Servo Drive errors
SMARTSTEP2: Features
3
Ball Screws, Belt Conveyers,and More: Ideal
A Super-compact, High-performance Servo
Compact!
Easy!
Smaller Servo Drives for Multi-axis Applications
Easy Adjustment
Reduce footprint in the control panel.
Realtime autotuning sets the optimum gain.
The super-compact SMARTSTEP is now even smaller.
The footprint has been reduced by 52%, helping to
reduce control panel size.
An autotuning function calculates the device load in
realtime and automatically sets the optimum gain,
simplifying the adjustment procedure.
130
55
Automatic
Gain
Setting
Load signal
35
105
160
120
Footprint
Reduced
by 52%
Note: Excluding mounting
bracket.
SMARTSTEP
SMARTSTEP2
Downsized Servo Drives for Compact PLCs
Easier Installation
Mount the Servo to a DIN Rail in one step.
The Servo Drive can be mounted onto a DIN Rail in a
single step by using the DIN Rail Mounting Unit (sold
separately) for easier assembly and easier maintenance
replacements.
Reduce your duct pitch.
One-step
Mounting
SMARTSTEP2 is only 120 mm in height. By mounting it
onto the same duct as the compact CP1/CP2 PLC, the
duct pitch can be reduced, minimizing control panel
space.
160mm
Easy Parameter Settings for Mass Production
Use the Parameter Unit as a copy tool.
Reduced
Duct Space
CP1/CP2
SMARTSTEP2
Parameter can be easily set for many Servo Drives
using the Parameter Unit, enabling easier assembly
work in mass production lines.
Note: Use the wiring duct and the height max 60mm.
The width between the top and bottom side of the board and the drives is max 100 mm.
Upload
4
SMARTSTEP2: Features
Download
Download
for a Wide Range of Applications
System That's Easy to Use
for Precise Positioning with Ease
Advanced Functionality!
Reduce Tact Time
Reduce Mechanical Vibration
Achieve high-speed positioning and movement.
Quick suppression of vibration with an adaptive filter.
The command pulse frequency at 500 kpps is twice as
fast as previous OMRON models, enabling high-speed
and high-precision control.
Double
the
Speed
The vibration frequency is automatically measured to
remove vibration. Even if the resonant frequency
changes, realtime evaluation automatically follows the
changes to reduce the effect of vibration due to low
mechanical rigidity, such as for conveyer belts.
SMARTSTEP
SMARTSTEP2
100
200
Automatically adjusts
filter to vibration
frequency.
300
400
500
Command pulse frequency (kpps)
Check the Present Position
Vibration
Monitor positioning errors with a feedback pulse.
The present position can be checked from the host
using the feedback pulse sent from the Servo Drive to
the Controller, allowing device errors to be monitored.
Command pulse
Error
occurred
Quickly suppresses
vibration
Reduce Tact Time
High-speed positioning with vibration control.
Mechanical vibration at the stop position caused by
low mechanical rigidity can be suppressed by
removing the vibration frequency.
Previous model
Feedback pulse
Control for one vibration frequency
Stop position
Vibration
Stop position
No vibration!
Change Pressing Force
Torque limiting function.
Set two torque limits, and switch between the two limits
depending on the application, such as pressing or part
insertions.
Setting A
Setting B
SMARTSTEP2: Features
5
Selection Guide
Servo variation which contributes
to reduction of machine size.
Servo Drive Variations
Servomotor Variations
SMARTSTEP2 Series
SMARTSTEP2 Series
Pulse train input
Pulse train input
R7D-BP
Power supply
AC100V
Motor type
Single-phase
Singlephase
AC200V
50
W
AC100V
Three-phase
Interface Command type
Control modes
Control modes
100
W
Threephase
50
W
200
W
100
W
400
W
200
W
Flat type
3000r/min
50W
INC
100W
INC
INC
200W
INC
INC
400W
INC
INC
Pulse
train
Position
control
Control mode switching
Tuning functions
Servo Drive functions
Vibration control
Vibration
control
Autotuning
AUTO
Realtime autotuning
Adaptive 1
filter
Torque limits
*
Torque 2
limit
Functions
Pulse Pulse train:
train The speed and travel
distance are input to the
Servo as pulse trains.
Encoder output
Vibration control function:
Vibration
control Vibration is suppressed by
automatically setting a filter for
the vibration frequency.
Adaptive filter: The machine
INC
realtime and the result is used to
automatically set the optimum gain.
Incremental output: When
Internal set speeds
4
speeds
1. One adaptive filter and one notch filter. *2. Two limits.
SMARTSTEP2: Selection Guide
Position Position control: Control is
control applied to move to the target
position and then stop at the
target position.
*
Adaptive load inertia is calculated in
filter
*
6
Cylinder type
Rated speed
Servomotor capacity
Motor capacity
Single/
Three-phase
Single/
Three-phase
200
W
Single-phase
AC200V
R88M-G
INC the Controller power supply is
turned ON, operation is always
started from the origin point.
Autotuning: The motor is moved according to a
AUTO command pattern automatically generated by the Servo
Drive, then estimates the load inertia from the torque
required at that time to automatically set the optimum gain.
Torque Torque limit: Switching is
limit possible between the first torque
limit and the second torque limit to
limit the Servomotor output torque.
Selection Guide
Servo variation which contributes
to reduction of machine size.
Servo Drive Variations
Servomotor Variations
SMARTSTEP2 Series
SMARTSTEP2 Series
Pulse train input
Pulse train input
R7D-BP
Power supply
Motor type
Single-phase
AC100V
Singlephase
AC200V
50
W
AC100V
Three-phase
Interface Command type
Control modes
Control modes
100
W
Threephase
50
W
100
W
200
W
400
W
Cylinder type
Rated speed
Servomotor capacity
Motor capacity
Single/
Three-phase
Single/
Three-phase
200
W
Single-phase
AC200V
R88M-G
200
W
Flat type
3000r/min
50W
INC
100W
INC
INC
200W
INC
INC
400W
INC
INC
Pulse
train
Position
control
Control mode switching
Tuning functions
Vibration control
Vibration
control
Autotuning
AUTO
Functions
Pulse train:
Pulse The speed and travel
train
distance are input to the
Servo as pulse trains.
Servo Drive functions
Realtime autotuning
Adaptive *1
filter
Torque limits
Torque *2
limit
Encoder output
INC
Vibration control function:
Vibration Vibration is suppressed by
control automatically setting a filter for
the vibration frequency.
Adaptive filter: The machine
Adaptive load inertia is calculated in
filter
realtime and the result is used to
automatically set the optimum gain.
Position control: Control is
Position
control applied to move to the target
position and then stop at the
target position.
Autotuning: The motor is moved according to a
AUTO command pattern automatically generated by the Servo
Drive, then estimates the load inertia from the torque
required at that time to automatically set the optimum
Torque limit: Switching is
Torque possible between the first torque
limit
limit and the second torque limit to
limit the Servomotor output torque.
Incremental output: When
Internal set speeds
4
speeds
INC the Controller power supply is
turned ON, operation is always
started from the origin point.
*1. One adaptive filter and one notch filter. *2. Two limits.
6
SMARTSTEP2: Selection Guide
SMARTSTEP2: Selection Guide
7
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
Advanced Functionality in a Super Compact Design.
• Resonance Control for High-speed Positioning
• Compact AC Servo Drives
The footprint of the compact AC Servo Drives is only 48%
Realtime autotuning estimates the load inertia of the ma-
that of the SMARTSTEP A Series, and the volume is only
chine in realtime and automatically and constantly sets the
39%. The AC Servo Drives of the SMARTSTEP 2 Series
optimal gain. The adaptive filter automatically suppresses
are also equipped with new functions and higher perfor-
vibration caused by resonance.
mance for more accurate positioning.
• Compatible with 90° Phase Difference Input Command
• Vibration Suppressed during Acceleration/Deceleration of
Pulses
Low-rigidity Mechanisms
In addition to conventional CW/CCW inputs (2 pulses) and
Damping control suppresses vibration when using the
SIGN/PULS inputs (1 pulse), the SMARTSTEP 2 supports
SMARTSTEP 2 for low-rigidity mechanisms or devices in
90° phase difference inputs. This makes it possible to input
which the end vibrates.
encoder output signals directly into the Servo Drive for simplified synchronization control.
Note: CX-Drive (version 1.61) support for SMARTSTEP2 series Servo Drives can be obtained
by using the CX-One V2 auto-update function from May 30, 2008.
System Configuration
Controllers
Support Software
Monitor Software Parameter Unit
• CX-One FA Integrated
• CX-One FA Integrated
Tool Package
CX-One
CX-Programmer
CX-Position
(
CJ-series PLC
FQM1-series PLC
• Position Control Unit (High-speed type)
R88A-PR02G
Tool Package
CX-One (CX-Drive)
• CX-Drive
WS02-DRVC1
)
CS-series PLC
NC214
CN1
RUN SYNC
2
A2
B2
ERC ERH
AS
BS
Personal Computer Monitor Cable
MACH
No.
x10 1
AXIS1
1
A1
B1
x10 0
CN2
MPG
AXIS2
AXIS1
AXIS2
R88A-CCG002P2
CJ1W-NC214/-NC414
CJ1W-NC234/-NC434
• Position Control Unit
CJ1W-NC113/213/413
CJ1W-NC133/233/433
• Flexible Motion Controller
with Pulse I/O
CS1W-NC113/213/413
CS1W-NC133/233/433
• CPU Unit
Pulse Train Command
Direct Connection cable for CJ1W-NC@@4
XW2Z-@@@J-G@
Pulse Train Command
FQM1-MMP22
• CUSTOMIZABLE COUNTER UNIT
Position Control
Unit Cables
XW2Z-@@@J-A@
CJ1M
CJ1M-CPU21/22/23
Servo Relay
Units
XW2B-@@J@-@@@
Servo Drive
Cables
XW2Z-@@@J-B@@
CS1
CS1W-HCP22-V1
Pulse Train Command
• CPU Unit
Connector-Terminal Block Conversion Units and Cable
XW2@-34G@
XW2Z-@@@J-B28
CP1/CP2
8
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
• A Wide Range of Pulse Settings
A wide range of pulse settings, such as the command pulse
factor, electronic gear, and encoder dividing rate, enable
optimal pulse settings for your device or system.
• Simplified Speed Control with Internal Speed Settings
Four internal speed settings allow the speed to be easily
switched by using external signals.
• Encoder Output Dividing
The number of motor encoder pulses output by the Servo
Drive can be freely set between 1 and 2,500 pulses per rotation. A parameter can also be set to change the phase.
AC Servo Drive
AC Servomotors
Motor power signals
Power Cables
• Standard Cables
Power Cables
Without a brake
R7A-CAB@@@S
POWER
ALM
C
N
3
C
N
1
With a brake
R88A-CAGA@@B
• Robot Cables
Power Cables
Without a brake
R7A-CAB@@@SR
CN2
C
N
B
With a brake
R88A-CAGA@@BR
C
N
A
• G-series Servomotor
R88M-G
• SMARTSTEP 2 Servo Drive
R7D-BP
feedback signals
Encoder Cables
• Standard Cables
R88A-CRGB@@@C
Power Supply Cables
• Robot Cables
R88A-CRGB@@@CR
• Single-Phase Power
R7A-CLB002S2
• Three-Phase Power
Decelerators
R7A-CLB002S3
• External Regenerative Resistor
Connection Cable
R7A-CLB002RG
Peripheral Devices
• Backlash: 3 Arcminutes Max.
R88G-HPG
Backlash: 15 Arcminutes Max.
R88G-VRXF
• Reactors
3G3AX-DL
3G3AX-AL
• External Regeneration Resistors
R88A-RR
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
9
Interpreting Model Numbers
● Servo Drive Model Numbers
The model number provides information such as the Servo Drive type, the applicableServomotor capacity, and the power supply voltage.
R7D-B P 01 H
SMARTSTEP 2
Servo Drive
Drive Type
P: Pulse-string input
Applicable Servomotor
Capacity
A5 : 50 W
01 : 100 W
02 : 200 W
04 : 400 W
Power Supply Voltage
L : 100 VAC
H : Single-phase/Three-phase 200 VAC
HH : Single-phase 200 VAC
Note Single phase: Haploid phase
● Servomotor Model Numbers
The model number provides information such as the Servomotor type, Servomotor capacity, rated speed, and options.
R88M-G P100 30 H-B O S2
G-series Servomotor
Motor Type
None: Cylinder type
P: Flat type
Servomotor Capacity
050: 50 W
100: 100 W
200: 200 W
400: 400 W
Rated Rotation Speed
30: 3000 r/min
Applied Voltage
H: 200 VAC
L: 100 VAC
Options
None: Straight shaft
B: Brake
O: With Oil seal
S2: With Key tap
10
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
● Understanding Decelerator Model Numbers
Backlash = 3' Max.
R88G-HPG14A05100PBJ
Decelerator for
Servomotors
Backlash = 3’ Max.
Flange Size Number
11A
14A
20A
32A
50A
65A
:@40
:@60
:@90
:@120
:@170
:@230
Gear Ratio
05
09
11
12
20
21
25
33
45
:1/5
:1/9 (only frame number 11A)
:1/11 (except frame number 65A)
:1/12 (only frame number 65A)
:1/20 (only frame number 65A)
:1/21 (except frame number 65A)
:1/25 (only frame number 65A)
:1/33
:1/45
Applicable Servomotor Capacity
050
100
200
400
: 50 W
: 100 W
: 200 W
: 400 W
Motor Type
Blank :3,000-r/min cylindrical servomotors
P
:flat servomotors
Backlash
B
:3’ max.
Option
Blank :Straight shaft
J
:With key and tap
Backlash = 15' Max.
R88G-VRXF09B100PCJ
Decelerator for
Servomotors
Backlash = 15’ Max.
Gear Ratio
05
09
15
25
:1/5
:1/9
:1/15
:1/25
Flange Size Number
B
C
D
:@52
:@78
:@98
Applicable Servomotor Capacity
100 :50 W, 100 W
200 :200 W
400 :400 W
Motor Type
Blank :3,000-r/min cylindrical servomotors
P
:flat servomotors
Backlash
C
:15’ max.
Option
J
:With key and tap
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
11
Ordering Information
● Servo Drives
Specifications
Single-phase 100 VAC
Model
50 W
R7D-BPA5L
100 W
R7D-BP01L
200 W
R7D-BP02L
50 W
Single-phase/three-phase 200
VAC
100 W
R7D-BP01H
400 W
R7D-BP04H
Single-phase 200 VAC
200 W
R7D-BP02HH
Three-phase 200 VAC
200 W
R7D-BP02H
● Servomotors
INC 3,000-r/min Cylindrical Servomotors
Model
Specifications
Without brake
100 V
200 V
With brake
100 V
200 V
Straight shaft
Straight shaft with key and tap
50 W
R88M-G05030H
R88M-G05030H-S2
100 W
R88M-G10030L
R88M-G10030L-S2
200 W
R88M-G20030L
R88M-G20030L-S2
50 W
R88M-G05030H
R88M-G05030H-S2
100 W
R88M-G10030H
R88M-G10030H-S2
200 W
R88M-G20030H
R88M-G20030H-S2
400 W
R88M-G40030H
R88M-G40030H-S2
50 W
R88M-G05030H-B
R88M-G05030H-BS2
100 W
R88M-G10030L-B
R88M-G10030L-BS2
200 W
R88M-G20030L-B
R88M-G20030L-BS2
50 W
R88M-G05030H-B
R88M-G05030H-BS2
100 W
R88M-G10030H-B
R88M-G10030H-BS2
200 W
R88M-G20030H-B
R88M-G20030H-BS2
400 W
R88M-G40030H-B
R88M-G40030H-BS2
Note: Models with oil seals are also available.
INC 3,000-r/min Flat Servomotors
Model
With brake
Without brake
Specifications
100 V
200 V
100 V
200 V
Straight shaft
Straight shaft with key and tap
100W
R88M-GP10030L
200W
R88M-GP20030L
R88M-GP10030L-S2
R88M-GP20030L-S2
100W
R88M-GP10030H
R88M-GP10030H-S2
200W
R88M-GP20030H
R88M-GP20030H-S2
400W
R88M-GP40030H
R88M-GP40030H-S2
100W
R88M-GP10030L-B
R88M-GP10030L-BS2
200W
R88M-GP20030L-B
R88M-GP20030L-BS2
100W
R88M-GP10030H-B
R88M-GP10030H-BS2
200W
R88M-GP20030H-B
R88M-GP20030H-BS2
400W
R88M-GP40030H-B
R88M-GP40030H-BS2
Note: Models with oil seals are also available.
12
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
● Decelerators
Backlash: 3 Arcminutes Max.
Decelerators for Cylindrical Servomotors
Specifications
Motor capacity
50 W
100 W
200 W
400 W
Model
Gear ratio
1/5
R88G-HPG11A05100B
1/9
R88G-HPG11A09050B
1/21
R88G-HPG14A21100B
1/33
Backlash: 15 Arcminutes Max.
Decelerators for Cylindrical Servomotors
Specifications
Motor capacity
Model
Gear ratio
1/5
R88G-VRXF05B100CJ
1/9
R88G-VRXF09B100CJ
1/15
R88G-VRXF15B100CJ
R88G-HPG14A33050B
1/25
R88G-VRXF25B100CJ
1/45
R88G-HPG14A45050B
1/5
R88G-VRXF05B100CJ
1/5
R88G-HPG11A05100B
1/9
R88G-VRXF09B100CJ
1/11
R88G-HPG14A11100B
1/15
R88G-VRXF15B100CJ
1/21
R88G-HPG14A21100B
1/25
R88G-VRXF25B100CJ
1/33
R88G-HPG20A33100B
1/5
R88G-VRXF05B200CJ
1/45
R88G-HPG20A45100B
1/5
R88G-HPG14A05200B
1/11
50 W
100 W
1/9
R88G-VRXF09C200CJ
1/15
R88G-VRXF15C200CJ
R88G-HPG14A11200B
1/25
R88G-VRXF25C200CJ
1/21
R88G-HPG20A21200B
1/5
R88G-VRXF05C400CJ
1/33
R88G-HPG20A33200B
1/9
R88G-VRXF09C400CJ
1/45
R88G-HPG20A45200B
1/15
R88G-VRXF15C400CJ
1/5
R88G-HPG14A05400B
1/25
R88G-VRXF25C400CJ
1/11
R88G-HPG20A11400B
1/21
R88G-HPG20A21400B
1/33
R88G-HPG32A33400B
1/45
R88G-HPG32A45400B
200 W
400 W
Note: 1. The standard models have a straight shaft with a key.
Note: 2. The backlash is the value when a load of ±4% of the allowable output
torque is applied to the output shaft.
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Servomotor with a straight shaft with key, add “J” to the end
of the model number, in the place indicated by the box.
Example: R88G-HPG11B05100BJ
Backlash: 3 Arcminutes Max.
Decelerator for Flat Servomotors
Specifications
Motor capacity
100 W
200 W
400 W
Gear ratio
Backlash: 15 Arcminutes Max.
Decelerators for Flat Servomotors
Model
Specifications
Motor capacity
Gear ratio
Model
1/5
R88G-HPG11A05100PB
1/5
R88G-VRXF05B100PCJ
1/11
R88G-HPG14A11100PB
1/9
R88G-VRXF09B100PCJ
1/21
R88G-HPG14A21100PB
1/15
R88G-VRXF15B100PCJ
1/33
R88G-HPG20A33100PB
1/25
R88G-VRXF25B100PCJ
1/45
R88G-HPG20A45100PB
1/5
R88G-VRXF05B200PCJ
1/5
R88G-HPG14A05200PB
1/9
R88G-VRXF09C200PCJ
1/11
R88G-HPG20A11200PB
1/15
R88G-VRXF15C200PCJ
1/21
R88G-HPG20A21200PB
1/25
R88G-VRXF25C200PCJ
1/33
R88G-HPG20A33200PB
1/5
R88G-VRXF05C400PCJ
1/45
R88G-HPG20A45200PB
1/9
R88G-VRXF09C400PCJ
1/5
R88G-HPG20A05400PB
1/15
R88G-VRXF15C400PCJ
1/11
R88G-HPG20A11400PB
1/25
R88G-VRXF25C400PCJ
1/21
R88G-HPG20A21400PB
1/33
R88G-HPG32A33400PB
1/45
R88G-HPG32A45400PB
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Servomotor with a straight shaft with key, add “J” to the end
of the model number, in the place indicated by the box.
Example: R88G-HPG11B05100BJ
100 W
200 W
400 W
Note: 1. The standard models have a straight shaft with a key.
Note: 2. The backlash is the value when a load of ±4% of the allowable output
torque is applied to the output shaft.
Note: Decelerators (Backlash = 15' Max.)
The new R88G-VRXF Series of the Decelerators (Backlash = 15' Max.)
was released in October 2017.
The old R88G-VRSF Series will be discontinued at the end of March
2019.
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
13
● Accessories and Cables
Control Cables (for CN1)
Personal Computer Monitor Cable
Specifications
Connector-Terminal Block Cables
General-purpose Control Cables
Model
1m
XW2Z-100J-B28
2m
XW2Z-200J-B28
1m
R7A-CPB001S
2m
R7A-CPB002S
Encoder Cables (for CN2) (Standard Cables)
Specifications
Standard Cables (connectors attached)
Model
3m
R88A-CRGB003C
5m
R88A-CRGB005C
10 m
R88A-CRGB010C
15 m
R88A-CRGB015C
20 m
R88A-CRGB020C
Servomotor Power Cables (for CNB) (Standard Cables)
Power Supply Cables
Specifications
Model
Power Supply Input Cable for Single-Phase
Power (connectors attached)
2m
R7A-CLB002S2
Power Supply Input Cable for Three-Phase
Power (connectors attached)
2m
R7A-CLB002S3
External Regenerative Resistor Connection
Cable
2m
R7A-CLB002RG
Connectors
Specifications
R7A-CNB01P
Control Input Connector (CN1)
R88A-CNW01C
3m
R7A-CAB003S
Encoder Input Connector (CN2)
R88A-CNW01R
5m
R7A-CAB005S
Servomotor Connector for Encoder Cable
R88A-CNG02R
10 m
R7A-CAB010S
R88A-CNG01A
15 m
R7A-CAB015S
Servomotor Connector for Servomotor Power
Cable
20 m
R7A-CAB020S
Brake Cable Connector
R88A-CNG01B
Connector-Terminal Block Conversion Units
Specifications
Model
3m
R88A-CAGA003B
5m
R88A-CAGA005B
10 m
R88A-CAGA010B
15 m
R88A-CAGA015B
20 m
R88A-CAGA020B
XW2B-34G4
With M3.5 screws
XW2B-34G5
With M3 screws
XW2D-34G6
External Regeneration Resistors
R88A-RR22047S1
Model
80 W, 100 Ω
R88A-RR080100S
3m
R88A-CRGB003CR
80 W, 50 Ω
R88A-RR08050S
5m
R88A-CRGB005CR
10 m
R88A-CRGB010CR
15 m
R88A-CRGB015CR
Specifications
20 m
Reactors
Specifications
R88A-CRGB020CR
Single-phase 100 V
Servomotor Power Cables (for CNB) (Robot Cables)
Specifications
Model
3m
5m
10 m
15 m
20 m
R7A-CAB003SR
Single-phase 200 V
R7A-CAB005SR
R7A-CAB010SR
R7A-CAB015SR
Three-phase 200 V
R7A-CAB020SR
Applicable Servo Drive
Model
R7D-BPA5L
3G3AX-DL2002
R7D-BP01L
3G3AX-DL2004
R7D-BP02L
3G3AX-DL2007
R7D-BP01H
3G3AX-DL2004
R7D-BP02HH
3G3AX-DL2004
R7D-BP04H
3G3AX-DL2007
R7D-BP01H
3G3AX-AL2025
R7D-BP02H
3G3AX-AL2025
R7D-BP04H
3G3AX-AL2025
DIN Rail Mounting Unit
Brake Cables (Robot Cables)
Specifications
Specifications
Model
3m
R88A-CAGA003BR
5m
R88A-CAGA005BR
10 m
R88A-CAGA010BR
15 m
R88A-CAGA015BR
20 m
14
Model
220 W, 47 Ω
Encoder Cables (for CN2) (Robot Cables)
Robot Cables
Model
With M3 screws
Specifications
Robot Cables (connectors attached)
Model
Main Circuit Connector (CNA)
R7A-CNB01A
Specifications
Robot Cables (connectors attached)
R88A-CCG002P2
Servomotor Connector (CNB)
Brake Cables (Standard Cables)
Standard Cables
Model
2m
Model
Specifications
Standard Cables (connectors attached)
Specifications
Personal Computer Monitor Cable
R88A-CAGA020BR
DIN Rail Mounting Unit
Model
R7A-DIN01B
Parameter Unit
Specifications
Parameter Unit
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
Model
R88A-PR02G
Direct Connection Cable
Specification (Unit)
Servo Relay Unit Cables (for Position Control Units)
The number
of axes
for 1 axis
CJ1W-NC234/-NC434
(Line-driver output type)
for 2 axis
Length
1m
XW2Z-100J-G12
5m
XW2Z-500J-G12
10 m
XW2Z-10MJ-G12
1m
XW2Z-100J-G4
5m
XW2Z-500J-G4
10 m
XW2Z-10MJ-G4
1m
XW2Z-100J-G16
3m
XW2Z-300J-G16
1m
XW2Z-100J-G8
Model
Specifications
Model
0.5 m
For CJ1W-NC133
For CJ1W-NC233/-NC433
For CS1W-NC133
For CS1W-NC233/-NC433
for 1 axis
CJ1W-NC214/-NC414
(Open collector output type)
for 2 axis
3m
XW2Z-300J-G8
Servo Relay Units (for CN1)
Model
Specifications
For CJ1W-NC113
XW2Z-100J-A10
0.5 m
XW2Z-050J-A11
1m
XW2Z-100J-A11
0.5 m
XW2Z-050J-A14
For CS1W-NC113
For C200HW-NC113 *
0.5 m
XW2Z-050J-A6
1m
XW2Z-100J-A6
0.5 m
XW2Z-050J-A7
1m
XW2Z-100J-A7
0.5 m
XW2Z-050J-A33
General-purpose
I/O Cables
For FQM1-MMP22
XW2B-80J7-12A
* C200HW-NC was discontinued.
Special I/O Cables
Servo Relay Unit Cables (for Servo Drives)
XW2Z-050J-A10
1m
XW2Z-100J-A15
XW2B-40J6-2B
For FQM1-MMP22
0.5 m
1m
For CJ1W-NC213/-NC413
For CJ1W-NC233/-NC433/-NC213/-NC413
For CS1W-NC233/-NC433/-NC213/-NC413
For C200HW-NC213/-NC413 *
XW2B-40J6-9A
XW2Z-100J-A19
XW2Z-100J-A14
For CJ1M-CPU21
For CJ1M-CPU22
For CJ1M-CPU23
for 2 axis
1m
XW2Z-050J-A15
XW2B-20J6-1B
XW2B-20J6-8A
XW2Z-100J-A18
XW2Z-050J-A19
1m
For CJ1W-NC133/-NC113
For CS1W-NC133/-NC113
For C200HW-NC113 *
for 1 axis
1m
0.5 m
0.5 m
For CS1W-NC213/-NC413
For C200HW-NC213/-NC413 *
For CJ1M-CPU21
For CJ1M-CPU22
For CJ1M-CPU23
XW2Z-050J-A18
1m
XW2Z-100J-A33
0.5 m
XW2Z-050J-A28
1m
XW2Z-100J-A28
2m
XW2Z-200J-A28
0.5 m
XW2Z-050J-A30
1m
XW2Z-100J-A30
2m
XW2Z-200J-A30
* C200HW-NC was discontinued.
Model
Specifications
For CJ1M
(XW2B-20J6-8A/XW2B-40J6-9A)
1m
XW2Z-100J-B32
2m
XW2Z-200J-B32
For FQM1-MMP22
(XW2B-80J7-12A)
1m
XW2Z-100J-B30
2m
XW2Z-200J-B30
FA Integrated Tool Package CX-One
Product name
Specifications
Number of
licenses
Media
1 license *
DVD
Model
Standards
CXONE-AL01D-V4
−
The CX-One is a comprehensive software package
that integrates Support Software for OMRON PLCs
and components.
FA Integrated Tool
Package CX-One Ver. 4.@
CX-One runs on following OS.
OS: Windows 7 (32-bit/64-bit version) / Windows 8 (32bit/64-bit version) / Windows 8.1 (32-bit/64-bit
version) / Windows 10 (32-bit/64-bit version)
CX-One Version.4.@ includes CX-Drive Ver.2.@.
* Multi licenses (3, 10, 30, or 50 licenses) and DVD media without licenses are also available for the CX-One.
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
15
Servo Drive-Servomotor Combinations
Only the Servomotor and Servo Drive combinations listed here can be used. Do not use other combinations.
● Cylindrical Servomotor
Servomotors Combinations
Servo Drive
Voltage
Single-phase
100VAC
Servomotor
Pulse-string input
Rated output
R7D-BPA5L
50 W
R88M-G05030H
R88M-G05030H-B
R7D-BP01L
100 W
R88M-G10030L
R88M-G10030L-B
R7D-BP02L
200 W
R88M-G20030L
R88M-G20030L-B
50 W
R88M-G05030H
R88M-G05030H-B
R7D-BP01H
Single-phase
200 VAC
With brake
100 W
R88M-G10030H
R88M-G10030H-B
R7D-BP02HH
200 W
R88M-G20030H
R88M-G20030H-B
R7D-BP04H
400 W
R88M-G40030H
R88M-G40030H-B
50 W
R88M-G05030H
R88M-G05030H-B
100 W
R88M-G10030H
R88M-G10030H-B
R7D-BP02H
200 W
R88M-G20030H
R88M-G20030H-B
R7D-BP04H
400 W
R88M-G40030H
R88M-G40030H-B
R7D-BP01H
Three-phase
200 VAC
Without brake
● Flat Servomotor
Servomotors Combinations
Servo Drive
Voltage
Single-phase
100VAC
Single-phase
200 VAC
Three-phase
200 VAC
Servomotor
Pulse-string input
Rated output
Without brake
R7D-BP01L
100 W
R88M-GP10030L
With brake
R7D-BP02L
200 W
R88M-GP20030L
R88M-GP20030L-B
R7D-BP01H
100 W
R88M-GP10030H
R88M-GP10030H-B
R7D-BP02HH
200 W
R88M-GP20030H
R88M-GP20030H-B
R7D-BP04H
400 W
R88M-GP40030H
R88M-GP40030H-B
R7D-BP01H
100 W
R88M-GP10030H
R88M-GP10030H-B
R7D-BP02H
200 W
R88M-GP20030H
R88M-GP20030H-B
R7D-BP04H
400 W
R88M-GP40030H
R88M-GP40030H-B
R88M-GP10030L-B
Servomotor and Decelerator Combinations
● 3,000-r/min Servomotors
Motor model
1/5
1/11
(1/9 for flange size No.11)
1/21
1/33
1/45
R88M-G05030@
R88G-HPG11A05100B@
(Also used with
R88M-G10030@)
R88G-HPG11A09050B@
(Gear ratio 1/9)
R88G-HPG14A21100B@
(Also used with
R88M-G10030@)
R88G-HPG14A33050B@
R88G-HPG14A45050B@
R88M-G10030@
R88G-HPG11A05100B@
R88G-HPG14A11100B@
R88G-HPG14A21100B@
R88G-HPG20A33100B@
R88G-HPG20A45100B@
R88M-G20030@
R88G-HPG14A05200B@
R88G-HPG14A11200B@
R88G-HPG20A21200B@
R88G-HPG20A33200B@
R88G-HPG20A45200B@
R88M-G40030@
R88G-HPG14A05400B@
R88G-HPG20A11400B@
R88G-HPG20A21400B@
R88G-HPG32A33400B@
R88G-HPG32A45400B@
1/11
1/21
1/33
1/45
● 3,000-r/min Flat Servomotors
Motor model
1/5
R88M-GP10030@
R88G-HPG11A05100PB@ R88G-HPG14A11100PB@ R88G-HPG14A21100PB@ R88G-HPG20A33100PB@ R88G-HPG20A45100PB@
R88M-GP20030@
R88G-HPG14A05200PB@ R88G-HPG20A11200PB@ R88G-HPG20A21200PB@ R88G-HPG20A33200PB@ R88G-HPG20A45200PB@
R88M-GP40030@
R88G-HPG20A05400PB@ R88G-HPG20A11400PB@ R88G-HPG20A21400PB@ R88G-HPG32A33400PB@ R88G-HPG32A45400PB@
16
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
Servo Relay Units and Cables
Select the Servo Relay Unit and Cable according to the model number of the Position Control Unit being used.
Position Control Unit
Position Control Unit Cable
Servo Relay Unit
Servo Drive Cable
CJ1W-NC133
XW2Z-@@@J-A18
XW2B-20J6-1B
CJ1W-NC233
XW2Z-@@@J-A19
XW2B-40J6-2B
CS1W-NC133
XW2Z-@@@J-A10
XW2B-20J6-1B
CS1W-NC233
XW2Z-@@@J-A11
XW2B-40J6-2B
CJ1W-NC113
XW2Z-@@@J-A14
XW2B-20J6-1B
CJ1W-NC213
XW2Z-@@@J-A15
XW2B-40J6-2B
XW2Z-@@@J-A6
XW2B-20J6-1B
XW2Z-@@@J-A7
XW2B-40J6-2B
XW2Z-@@@J-A33
XW2B-20J6-8A
XW2B-40J6-9A (for 2 axes)
XW2Z-@@@J-B32
XW2B-80J7-12A
XW2Z-@@@J-B30
CJ1W-NC433
CS1W-NC433
CJ1W-NC413
CS1W-NC113
C200HW-NC113 *
XW2Z-@@@J-B29
CS1W-NC213
CS1W-NC413
C200HW-NC213 *
C200HW-NC413 *
CJ1M-CPU21
CJ1M-CPU22
CJ1M-CPU23
FQM1-MMP22
General-purpose I/O
XW2Z-@@@J-A28
Special I/O
XW2Z-@@@J-A30
* C200HW-NC was discontinued.
Note: 1. Insert the cable length into the boxes in the model number (@@@). Position Control Unit cables come in two lengths: 0.5 m and 1 m (some are also available
in lengths of 2 m). Servo Drive Cables also come in two lengths: 1 m and 2 m. For information on cable lengths, refer to Accessories and Cables on page 15.
Note: 2. Two Servo Drive Cables are required if 2-axis control is performed using one Position Control Unit.
Note: 3. Direct cable is available for CJ1W-NC@@4 Position Control Unit (High-Speed type).
The number of axes
Model
For CJ1W-NC214/-NC414 (open collector output type)
Specifications
1 axis
XW2Z-@@@J-G13
For CJ1W-NC214/-NC414 (open collector output type)
2 axis
XW2Z-@@@J-G5
For CJ1W-NC234/-NC434 (line-driver output type)
1 axis
XW2Z-@@@J-G9
For CJ1W-NC234/-NC434 (line-driver output type)
2 axis
XW2Z-@@@J-G1
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
17
Cable Combinations
Parameter Unit
Monitor Software for Windows
Position Control Unit
(High-speed type)
NC214
CN1
RUN SYNC
1
A1
B1
2
A2
B2
ERC ERH
AS
BS
AXIS1
MACH
No.
x10 1
x10 0
MPG
AXIS2
AXIS1
AXIS2
CN2
Servo Relay Units
HCP22
RUN
ERC
54
54
20
21
22
0
23
1
24
2
26
4
COMM
Position Control
Unit
39
X100
A1
B1
A2
B2
38
PERIHERAL
39
10
11
12
18
17
16
15
14
36
1
37
13
35
34
33
32
9
31
8
30
7
29
6
28
5
6
27
X101
OFF
87
25
39
TOOL ON
87
3
OPN
ERH
0 1 2 3
4 5 6 7
8 9 10 11
0 1 2 3
4 5 6 7
MACH
No.
6
IN
OUT
19
12
CN2
CN1
1
B
00906
20
A A
B
PLC
(Model with Pulse Output)
Connector-Terminal
Block Conversion Units
SYSMAC
CP1H
IN
AC100-240V 0CH
BATTERY
PERIPHERAL
PERIPHERAL
L1
POWER
ERR/ALM
BKUP
1CH
L2/N COM
01
03
05
07
09
00
11
02
01
04
03
06
05
08
07
10
RUN
09
00
11
02
04
06
08
INH
10
PRPHL
EXP
00
01
02
COM COM
DC24V 0.3A
OUTPUT
OUT
100CH
03
04
06
COM COM
00
01
03
05
07
04
COM
06
07
COM
05
07
101CH
● Power Supply Cables (for CNA)
Model
Power Supply Input
Cable for Single-Phase
Power (connectors
attached)
Single-phase 100 V/Singlephase 200 V
R7D-BP
R7A-CLB002S2
Power Supply Input
Cable for Three-Phase
Power (connectors
attached)
Three-Phase 200 V
R7D-BP
R7A-CLB002S3
External Regenerative
Resistor Connection
Cable
Using the Servo Drive with
External Regeneration
Resistor Connected
R88A-RR22047S1
R88A-RR080100S
R88A-RR08050S
R7A-CLB002RG
Description
50
2000
[Servo Drive Connector]
50
Connector pins:
5556PBTL (Molex Japan Co., Ltd.)
Connector case:
5557-10R-210
(Molex Japan Co., Ltd.)
6.1 dia.
Connected to
50
2000
50
2000
50
[Servo Drive Connector]
Connector pins:
5556PBTL (Molex Japan Co., Ltd.)
Connector case:
5557-10R-210
(Molex Japan Co., Ltd.)
6.4 dia.
Name
50
6.1 dia.
Symbol
● Servomotor Power Cables (for CNB)
Connected to
Model
Standard Servomotor
Power Cables with
Connectors
R88M-G@@@30@-@
R88M-G@@@30@-@S2
R88M-GP@@@30@-@
R88M-GP@@@30@-@S2
R7A-CAB@@@S
The empty boxes in the
model number are for the
cable length.
The cable can be 3, 5,
10, 15, or 20 m long.
Robot Servomotor
Power Cables with
Connectors
R88M-G@@@30@-@
R88M-G@@@30@-@S2
R88M-GP@@@30@-@
R88M-GP@@@30@-@S2
R7A-CAB@@@SR
The empty boxes in the
model number are for the
cable length.
The cable can be 3, 5,
10, 15, or 20 m long.
Description
[Servo Drive Connector]
Connector pins:
5556PBTL (Molex Japan Co., Ltd.)
Connector case:
5557-06R-210
(Molex Japan Co., Ltd.)
50
L
50
L
50
6.2 dia.
Name
Connector pins:
5556PBTL (Molex Japan Co., Ltd.)
Connector case:
5557-06R-210
(Molex Japan Co., Ltd.)
50
● Brake Cables
18
Model
Standard Brake Cables
R88M-G@@@30@-B
R88M-G@@@30@-BS2
R88M-GP@@@30@-B
R88M-GP@@@30@-BS2
R88A-CAGA@@@B
The empty boxes in the
model number are for the
cable length.
The cable can be 3, 5,
10, 15, or 20 m long.
Robot Brake Cables
R88M-G@@@30@-B
R88M-G@@@30@-BS2
R88M-GP@@@30@-B
R88M-GP@@@30@-BS2
R88A-CAGA@@@BR
The empty boxes in the
model number are for the
cable length.
The cable can be 3, 5,
10, 15, or 20 m long.
Description
[Servomotor Connector]
50
L
50
L
50
5.4 dia.
Connected to
Name
Connector pins:
170366-1 or 170362-1
(Tyco Electronics AMP KK)
Connector case:
172157-1
(Tyco Electronics AMP KK)
[Servomotor Connector]
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
6.1 dia.
Symbol
[Servomotor Connector]
Connector pins:
170366-1 or 170362-1
(Tyco Electronics AMP KK)
Connector case:
172159-1
(Tyco Electronics AMP KK)
[Servomotor Connector]
[Servo Drive Connector]
6.9 dia.
Symbol
50
Connector pins:
170366-1 or 170362-1
(Tyco Electronics AMP KK)
Connector case:
172157-1
(Tyco Electronics AMP KK)
R88M-G/R7D-BP
Connector pins:
170366-1 or 170362-1
(Tyco Electronics AMP KK)
Connector case:
172159-1
(Tyco Electronics AMP KK)
● Encoder Cables (for CN2)
Connected to
Model
R88M-G@@@30@-@
Standard Encoder
R88M-G@@@30@-@S2
Cables with Connectors R88M-GP@@@30@-@
R88M-GP@@@30@-@S2
R88A-CRGB@@@C
The empty boxes in the
model number are for the
cable length.
The cable can be 3, 5,
10, 15, or 20 m long.
R88M-@@@30@-@
R88M-G@@@30@-@S2
R88M-GP@@@30@-@
R88M-GP@@@30@-@S2
R88A-CRGB@@@CR
The empty boxes in the
model number are for the
cable length.
The cable can be 3, 5,
10, 15, or 20 m long.
Robot Encoder Cables
with Connectors
Description
[Servomotor Connector]
[Servo Drive Connector]
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
Connector cace:
Crimped I/O connector:
(Molex Japan Co., Ltd.)
L
6.5 dia.
Name
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
Connector cace:
Crimped I/O connector:
(Molex Japan Co., Ltd.)
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
Connector pins:
170365-1
(Tyco Electronics AMP KK)
Connector case:
172160-1
(Tyco Electronics AMP KK)
[Servomotor Connector]
[Servo Drive Connector]
L
(7.5 dia.)
Symbol
Connector pins:
170365-1
(Tyco Electronics AMP KK)
Connector case:
172160-1
(Tyco Electronics AMP KK)
R88M-G/R7D-BP
19
● Control Cables (for CN1)
Symbol
Name
Connected to
Open collector output type (High-speed type)
for CJ1W-NC214/NC414
Direct connection cable
for Position Control Unit
(High-speed type)
Line-driver output type (High-speed type)
for CJ1W-NC234/NC434
Servo Relay Units
Servo Drive Cables
Position Control Units Cables
Model
XW2Z-@@@J-G16
The empty boxes in the model number are for the cable length.
The cable can be 1 or 3 m long.
XW2Z-@@@J-G8
The empty boxes in the model number are for the cable length.
The cable can be 1 or 3 m long.
XW2Z-@@@J-G12
The empty boxes in the model number are for the cable length.
The cable can be 1, 5, or 10 m long.
XW2Z-@@@J-G4
The empty boxes in the model number are for the cable length.
The cable can be 1, 5, or 10 m long.
CJ1W-NC113/NC133
CS1W-NC113/NC133
C200HW-NC113 *
XW2B-20J6-1B
CJ1W-NC213/NC233/NC413/NC433
CS1W-NC213/NC233/NC413/NC433
C200HW-NC213/NC413 *
XW2B-40J6-2B
CJ1M-CPU21/CPU22/CPU23 (one axis)
XW2B-20J6-8A
CJ1M-CPU21/CPU22/CPU23 (two axes)
XW2B-40J6-9A
FQM1-MMP22
XW2B-80J7-12A
Position Control Unit/CQM1H
(XW2B-@J6-@B)
XW2Z-@@@J-B29
The empty boxes in the model number are for the cable length.
The cable can be 1, or 2 m long.
CJ1M
(XW2B-@J6-@A)
XW2Z-@@@J-B32
The empty boxes in the model number are for the cable length.
The cable can be 1, or 2 m long.
FQM1-MMP22
(XW2B-80J7-12A)
XW2Z-@@@J-B30
The empty boxes in the model number are for the cable length.
The cable can be 1, or 2 m long.
CJ1W-NC133
XW2Z-@@@J-A18
The empty boxes in the model number are for the cable length.
The cable can be 0.5, or 1 m long.
CJ1W-NC233/NC433
XW2Z-@@@J-A19
The empty boxes in the model number are for the cable length.
The cable can be 0.5, or 1 m long.
CS1W-NC133
XW2Z-@@@J-A10
The empty boxes in the model number are for the cable length.
The cable can be 0.5, or 1 m long.
CS1W-NC233/NC433
XW2Z-@@@J-A11
The empty boxes in the model number are for the cable length.
The cable can be 0.5, or 1 m long.
CJ1W-NC113
XW2Z-@@@J-A14
The empty boxes in the model number are for the cable length.
The cable can be 0.5, or 1 m long.
CJ1W-NC213/NC413
XW2Z-@@@J-A15
The empty boxes in the model number are for the cable length.
The cable can be 0.5, or 1 m long.
CS1W-NC113
C200HW-NC113 *
XW2Z-@@@J-A6
The empty boxes in the model number are for the cable length.
The cable can be 0.5, or 1 m long.
CS1W-NC213/NC413
C200HW-NC213/NC413 *
XW2Z-@@@J-A7
The empty boxes in the model number are for the cable length.
The cable can be 0.5, or 1 m long.
CJ1M-CPU21/CPU22/CPU23
XW2Z-@@@J-A33
The empty boxes in the model number are for the cable length.
The cable can be 0.5, or 1 m long.
FQM1-MMP22 (General-purpose I/O)
XW2Z-@@@J-A28
The empty boxes in the model number are for the cable length.
The cable can be 0.5, 1m, or 2 m long.
FQM1-MMP22 (Special I/O)
XW2Z-@@@J-A30
The empty boxes in the model number are for the cable length.
The cable can be 0.5, 1m, or 2 m long.
* C200HW-NC was discontinued.
20
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
● Control Cables (for CN1)
Symbol
Name
Connected to
Model
General-purpose Control Cables
Cables for General-purpose Controllers
R7A-CPB@@@S
The empty boxes in the model number are for the cable length.
The cable can be 1, or 2 m long.
Connector Terminal Block Cables
Cables for General-purpose Controllers
XW2Z-@@@J-B28
The empty boxes in the model number are for the cable length.
The cable can be 1, or 2 m long.
Conversion Unit for General-purpose
Controllers (M3 screws)
XW2B-34G4
Conversion Unit for General-purpose
Controllers (M3.5 screws)
XW2B-34G5
Conversion Unit for General-purpose
Controllers (M3 screws)
XW2D-34G6
Connector-Terminal Block
Conversion Units
● Communications Cables (for CN3)
Symbol
Name
Connected to
Length (m)
---
1.5 m
Windows
2m
Parameter Unit
Personal Computer Monitor Cable
Model
R88A-PR02G
R88A-CCG002P2
● Connectors
Symbol
---
Name
Main Circuit Connector (CNA)
Connected to
Model
---
R7A-CNB01P
---
Servomotor Connector (CNB)
---
R7A-CNB01A
---
Control I/O Connector (CN1)
---
R88A-CNW01C
---
Encoder Input Connector (CN2)
---
R88A-CNW01R
---
Servomotor Connector for Encoder Cable
---
R88A-CNG02R
---
Servomotor Connector for Servomotor Power Cable
---
R88A-CNG01A
---
Brake Cable Connector
Windows
R88A-CNG01B
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
21
Servo Drive Specifications (R7D-BP)
● General Specifications
Item
Specifications
Ambient operating temperature
Ambient operating humidity
0 to 55°C, 90% max. (with no condensation)
Ambient storage temperature
Ambient storage humidity
−20 to 65°C, 90% max. (with no condensation)
Storage and operating atmosphere
No corrosive gasses, no dust, no iron dust, no exposure to moisture or cutting oil
Vibration resistance
10 to 60 Hz; acceleration: 5.9 m/s2 (0.6 G) max.
Impact resistance
Acceleration of 19.6 m/s2 max. 3 times each in X, Y, and Z directions.
Insulation resistance
Between power supply/power line terminals and frame ground: 0.5 MΩ. min. (at 500 VDC)
Dielectric strength
Between power supply/power line terminals and frame ground: 1,500 VAC for 1 min at 50/60 Hz
Between each control signal and frame ground: 500 VAC for 1 min
Altitude
1,000 m above sea level max. (860 hp min.)
Degree of protection
Built into panel (IP10).
EC
Directives
International
standards
EMC Directive
EN 55011 class A group 1
EN 61000-6-2
Low Voltage Directive
EN61800-5-1
UL standards
UL 508C
cUL standards
cUL C22.2 No.14
Korean Radio Regulations (KC)
Certified
Note: 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.
Note: 2. Always disconnect all connections to the Servo Drive before you perform insulation resistance tests on it. If you perform an insulation resistance test while the
Servo Drive is connected, the Servo Drive may be damaged.
Never perform dielectric strength tests on the Servo Drive. Failure to follow this precaution may result in damaging internal elements.
Note: 3. Depending on the operating conditions, some Servo Drive parts will require maintenance.
Note: 4. The service life of the Servo Drive is 50,000 hours at an average ambient temperature of 40°C at 80% of the rated torque (excluding axial-flow fan).
● Characteristics
100 VAC specification
Servo Drive model
Item
R7D-BPA5L
R7D-BP01L
R7D-BP02L
Continuous output current (rms)
1.0 A
1.6 A
2.5 A
Momentary maximum output current (rms)
3.3 A
5.1 A
7.5 A
0.16 KVA
0.25 KVA
0.42 KVA
Power supply capacity
Input power supply voltage (main circuit)
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
Input power supply current (rms) (main circuit)
1.4 A
2.2 A
3.7 A
Heat generated (main circuit)
12 W
16 W
22 W
Control method
All-digital servo
Inverter method
IGBT-driven PWM method
PWM frequency
12 kHz
Maximum response frequency (command pulses)
6 kHz
Line drive: 500 kpps, Open collector: 200 kpps
Weight
0.35 kg
Applicable motor capacity
0.42 kg
50 W
100 W
200 W
200 VAC specification
Item
Servo Drive model
R7D-BP01H
R7D-BP02HH
R7D-BP02H
R7D-BP04H
Continuous output current (rms)
1.0 A
1.6 A
1.6 A
2.5 A
Momentary maximum output current (rms)
3.3 A
4.9 A
4.9 A
7.8 A
0.42 KVA
0.69 KVA
(0.77 KVA) See note
Power supply capacity
0.27 KVA
(0.30 KVA) See note
Both single-phase and three-phase
200 to 240 VAC (170 to 264 V), 50/60 Hz
Input power supply voltage (main circuit)
Input power supply current (rms) (main circuit)
Heat generated (main circuit)
0.35 KVA
0.7 A
(1.5 A) See note
1.6 A
14 W
16 W
1.1 A
1.8 A
(3.5 A) See note
20 W
26W
Control method
All-digital servo
Inverter method
IGBT-driven PWM method
PWM frequency
12 kHz
Maximum response frequency (command pulses)
6 kHz
Line drive: 500 kpps, Open collector: 200 kpps
Weight
0.35 kg
0.42 kg
0.35 kg
0.42 kg
Applicable motor capacity
100 W
200 W
200 W
400 W
Note: Values inside parentheses ( ) are for single-phase 200-V use.
22
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
Servomotor Specifications (R88M-G)
● General Specifications
Item
Specifications
Ambient operating temperature
Ambient operating humidity
0 to 40°C, 85% max. (with no condensation)
Ambient storage temperature
Ambient storage humidity
−20 to 65°C, 85% max. (with no condensation)
Storage and operating atmosphere
No corrosive gases
Vibration resistance
49 m/s2 max. in the X, Y, and Z directions
Impact resistance
Acceleration of 98 m/s2 max. 3 times each in the X, Y, and Z directions
Insulation resistance
20 MΩ min. at 500 VDC between the power terminals and FG terminal
Dielectric strength
1,500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal
Operating position
Any direction
Insulation class
Type B
Construction
Totally-enclosed, self-cooling
Degree of protection
IP65 (excluding the through-shaft portion)
Vibration class
V-15
Mounting method
Flange-mounting
EC Directives Low Voltage Directive IEC 60034-5:2001
International standards
UL standards
UL 1004 File No. E179189
cUL standards
cUL 22.2, No.100
Note: Always disconnect all connections to the Servo Drive before you perform insulation resistance tests on it. If you perform an insulation resistance test while the
Servo Drive is connected, the Servo Drive may be damaged.
Never perform dielectric strength tests on the Servo Drive. Failure to follow this precaution may result in damaging internal elements.
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
23
● Characteristics
3,000-r/min Cylindrical Servomotors
100 VAC specification
Unit
R88M-G05030H
R88M-G10030L
Rated output *1
Item
W
50
100
200
Rated torque *1
N·m
0.16
0.32
0.64
Rated rotation speed
r/min
Max. rotation speed
r/min
Max. momentary torque *1
N·m
0.48
0.95
1.78
Rated current *1
A (rms)
1.1
1.7
2.5
Max. momentary current *1
A (rms)
3.4
5.1
7.6
kg·m2
2.5 × 10-6
5.1 × 10-6
1.4 × 10-5
Rotor inertia
3000
5000
---
Applicable load inertia
R88M-G20030L
30 times rotor inertia max.
kW/s
10.4
20.1
30.3
Allowable radial load *2
N
68
68
245
Allowable thrust load *2
N
58
58
98
Without brake
kg
0.3
0.5
0.8
With brake
kg
0.5
0.7
1.3
Weight
Power rate *1
Radiation shield dimensions (material)
2.0 × 10-7
130 × 120 × t12 (Al)
2.0 × 10-7
1.8 × 10-6
24 VDC ±10%
voltage *3
V
Power consumption (at 20°C)
W
7
7
9
Current consumption (at 20°C)
A
0.30
0.30
0.36
N·m
0.29 min.
0.29 min.
1.27 min.
ms
35 max.
35 max.
50 max.
ms
20 max.
20 max.
15 max.
Excitation
Static friction torque
Brake specifications
100 × 80 × t10 (Al)
--kg·m2
Brake inertia
Attraction
time *4
Release time *4
±1°
Backlash
Allowable work per braking operation
J
39.2
39.2
137
Allowable total work
J
4.9 × 103
4.9 × 103
44.1 × 103
rad/s2
30,000 max.
(Speed of 2,800 r/min minimum must not be stopped in less than 10 ms)
Brake life
---
10,000,000 operations min.
Rating
---
Continuous
Insulation class
---
Type F
Allowable angular acceleration
* 1. These are the values when the Servomotor is combined with a Servo Drive at room temperature.
The momentary maximum torque shown above indicates the standard value.
* 2. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours
at normal operating temperatures. The values are also for the locations shown in the following
diagram.
* 3. The brakes operate when the circuit is open (i.e., they are released when voltage is applied).
* 4. The operation time is the measured value (reference value) with a varistor installed as a surge
suppressor.
Radial load
Thrust load
Center of shaft (LR/2)
Torque and Rotation Speed Characteristics
● 3,000-r/min Cylindrical Servomotors
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
R88M-G05030H
R88M-G10030L
(N·m)
(N·m)
0.5
0.48
0.4
0.95
1.0
R88M-G20030L
0.95
(3000)
0.8
0.2
0.16
0.77
Repetitive usage
0.6
1.0
0.4
0.16
1.78
(3300)
1.5
Repetitive usage
Repetitive usage
0.3
(N·m)
2.0
1.78
0.32
0.90
0.64
0.32
0.64
0.5
0.1
Continuous usage
0
24
0.09
1000 2000 3000 4000 5000 (r/min)
0.2
Continuous usage
0
0.20
1000 2000 3000 4000 5000 (r/min)
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
Continuous usage
0
0.36
1000 2000 3000 4000 5000
R88M-G/R7D-BP
(r/min)
Servomotor Specifications (R88M-G)
● Characteristics
3,000-r/min Cylindrical Servomotors
200 VAC specification
Unit
R88M-G05030H
R88M-G10030H
R88M-G20030H
R88M-G40030H
Rated output *1
Item
W
50
100
200
400
Rated torque *1
N·m
0.16
0.32
0.64
1.3
Rated rotation speed
r/min
Max. rotation speed
r/min
Max. momentary torque *1
N·Em
0.48
0.95
1.78
3.60
Rated current *1
A (rms)
1.1
1.1
1.6
2.6
Max. momentary current *1
A (rms)
3.4
3.4
4.9
7.9
kg·m2
2.5 × 10-6
5.1 × 10-6
1.4 × 10-5
2.6× 10-5
10.4
20.1
30.3
62.5
245
Rotor inertia
Applicable load inertia
3000
5000
---
Power rate *1
30 times rotor inertia max.
kW/s
load *2
N
68
68
245
Allowable thrust load *2
N
58
58
98
98
Without brake
kg
0.3
0.5
0.8
1.2
With brake
kg
0.5
0.7
1.3
Weight
Allowable radial
Radiation shield dimensions (material)
2.0 × 10-7
kg·m2
Brake inertia
1.7
130 × 120 × t12 (Al)
2.0 × 10-7
1.8 × 10-6
7.5 × 10-6
24 VDC ±10%
Excitation voltage *3
V
Power consumption (at 20°C)
W
Current consumption (at 20°C)
Brake specifications
100 × 80 × t10 (Al)
---
7
7
9
9
A
0.30
0.30
0.36
0.36
Static friction torque
N·m
0.29 min.
0.29 min.
1.27 min.
1.27 min.
Attraction time *4
ms
35 max.
35 max.
50 max.
50 max.
Release time *4
ms
20 max.
20 max.
15 max.
15 max.
±1°
Backlash
Allowable work per braking operation
J
39.2
39.2
137
196
Allowable total work
J
4.9 × 103
4.9 × 103
44.1 × 103
147 × 103
rad/s2
30,000 max.
(Speed of 2,800 r/min minimum must not be stopped in less than 10 ms)
Brake life
---
10,000,000 operations min.
Rating
---
Continuous
Insulation class
---
Type F
Allowable angular acceleration
* 1. These are the values when the Servomotor is combined with a Servo Drive at room temperature.
The momentary maximum torque shown above indicates the standard value.
* 2. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours
at normal operating temperatures. The values are also for the locations shown in the following
diagram.
* 3. The brakes operate when the circuit is open (i.e., they are released when voltage is applied).
* 4. The operation time is the measured value (reference value) with a varistor installed as a surge
suppressor.
Radial load
Thrust load
Center of shaft (LR/2)
Torque and Rotation Speed Characteristics
● 3,000-r/min Cylindrical Servomotors
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-G10030H
R88M-G20030H
(N·m)
1.0
0.95
R88M-G40030H
(N·m)
2.0
1.82
1.82 (4300)
(N·m)
4.0
3.60
3.60
(3200)
1.65
0.8
1.5
3.0
Repetitive usage
Repetitive usage
0.6
Repetitive usage
1.0
0.4
0.32
0.64
0.32
0.64
1.3
0.5
0.2
Continuous usage
0
1.3
1.0
0.19
1000 2000 3000 4000 5000 (r/min)
2.1
2.0
Continuous usage
0
0.36
1000 2000 3000 4000 5000 (r/min)
Continuous usage
0
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
0.88
1000 2000 3000 4000 5000 (r/min)
R88M-G/R7D-BP
25
Servomotor Specifications (R88M-G)
● 3,000-r/min Flat Servomotors
100 VAC specification
Unit
R88M-GP10030L
Rated output *1
Item
W
100
200
Rated torque *1
N·m
0.32
0.64
Rated rotation speed
r/min
Max. rotation speed
r/min
Max. momentary torque *1
N·m
Rated current
*1
R88M-GP20030L
3,000
5,000
0.85
1.86
A(rms)
1.6
2.5
Max. momentary current *1
A(0-p)
6.9
10.5
Rotor inertia
kg·m2
9.0 × 10-6
3.4 × 10-5
Applicable load inertia
---
Power rate *1
20 times rotor inertia max.
11.4
12.0
Allowable radial load *2
N
68
245
Allowable thrust load *2
N
58
98
Without brake
kg
0.65
1.3
With brake
kg
0.90
2.0
---
130 × 120 × t10 (Al)
170 × 160 × t12 (Al)
kg·m2
3.0 × 10-6
9.0 × 10-6
Weight
kW/s
Radiation shield dimensions (material)
Brake specifications
Brake inertia
24 VDC ±10%
Excitation voltage *3
V
Power consumption (at 20°C)
W
7
10
Current consumption (at 20°C)
A
0.29
0.41
Static friction torque
N·m
0.29 min.
1.27 min.
Attraction time *4
ms
50 max.
60 max.
ms
15 max.
Release time
*4
15 max.
±1°
Backlash
Allowable work per braking operation
J
137
196
Allowable total work
J
44.1 × 103
147 × 103
rad/s2
10,000 max.
(Speed of 950 r/min minimum must not be stopped in less than 10 ms)
Brake life
---
10,000,000 operations min.
Rating
---
Continuous
Insulation class
---
Type F
Allowable angular acceleration
* 1. These are the values when the Servomotor is combined with a Servo Drive at room temperature.
The momentary maximum torque shown above indicates the standard value.
* 2. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours
at normal operating temperatures. The values are also for the locations shown in the following
diagram.
* 3. The brakes operate when the circuit is open (i.e., they are released when voltage is applied).
* 4. The operation time is the measured value (reference value) with a varistor installed as a surge
suppressor.
Radial load
Thrust load
Center of shaft (LR/2)
Torque and Rotation Speed Characteristics
● 3,000-r/min Flat Servomotors
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
R88M-GP10030L
R88M-GP20030L
(N·m)
(N·m)
2.0
1.86
1.0
0.85
0.85 (4100)
0.8
0.75
1.5
Repetitive usage
Repetitive usage
0.6
1.86
(3400)
1.0
0.4
0.32
0.22
0.2
1000 2000 3000 4000 5000 (r/min)
0.64
0.7
0.5
Continuous usage
Continuous usage
0
26
0.64
0.32
0
0.32
1000 2000 3000 4000 5000 (r/min)
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
Servomotor Specifications (R88M-G)
● 3,000-r/min Flat Servomotors
200 VAC specification
Unit
R88M-GP10030H
R88M-GP20030H
R88M-GP40030H
Rated output *1
Item
W
100
200
400
Rated torque *1
N·m
0.32
0.64
1.3
Rated rotation speed
r/min
Max. rotation speed
r/min
Max. momentary torque *1
N·m
Rated current
*1
3000
5000
0.90
1.82
3.60
A(rms)
1.0
1.6
4.4
Max. momentary current *1
A(0-p)
4.3
6.8
18.6
Rotor inertia
kg·m2
9.0 × 10-6
3.4 × 10-5
6.4 × 10-5
Applicable load inertia
---
Power rate *1
20 times rotor inertia max.
11.4
11.8
25.5
Allowable radial load *2
N
68
245
245
Allowable thrust load *2
N
58
98
98
Without brake
kg
0.7
1.3
1.8
With brake
kg
0.9
2.0
---
130 × 120 × t10 (Al)
kg·m2
3.0 × 10-6
Weight
kW/s
Radiation shield dimensions (material)
Brake specifications
Brake inertia
2.5
170 × 160 × t12 (Al)
9.0 × 10-6
9.0 × 10-6
24 VDC ±10%
Excitation voltage *3
V
Power consumption (at 20°C)
W
7
10
10
Current consumption (at 20°C)
A
0.29
0.41
0.41
Static friction torque
N·m
0.29 min.
1.27 min.
1.27 min.
Attraction time *4
ms
50 max.
60 max.
60 max.
ms
15 max.
15 max.
15 max.
Release
time*4
±1°
Backlash
Allowable work per braking operation
J
137
196
196
Allowable total work
J
44.1 × 103
147 × 103
147 × 103
rad/s2
10,000 max.
(Speed of 950 r/min minimum must not be stopped in less than 10 ms)
Brake life
---
10,000,000 operations min.
Rating
---
Continuous
Insulation class
---
Type F
Allowable angular acceleration
* 1. These are the values when the Servomotor is combined with a Servo Drive at room temperature.
The momentary maximum torque shown above indicates the standard value.
* 2. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours
at normal operating temperatures. The values are also for the locations shown in the following
diagram.
* 3. The brakes operate when the circuit is open (i.e., they are released when voltage is applied).
* 4. The operation time is the measured value (reference value) with a varistor installed as a surge
suppressor.
Radial load
Thrust load
Center of shaft (LR/2)
Torque and Rotation Speed Characteristics
● 3,000-r/min Flat Servomotors
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-GP10030H
R88M-GP40030H
R88M-GP20030H
(N·m)
(N·m)
2.0
1.82
1.0
0.90
1.82 (4700)
0.90
0.8
3.0
Repetitive usage
Repetitive usage
Repetitive usage
2.0
1.0
0.4
0.32
0.64
0.32
Continuous usage
0
1.3
1.3
1.0
Continuous usage
0.16
1000 2000 3000 4000 5000 (r/min)
2.0
0.64
0.5
0.2
3.60
(3600)
1.75
1.5
0.6
(N·m)
4.0
3.60
0
Continuous usage
0.28
1000 2000 3000 4000 5000 (r/min)
0
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
0.64
1000 2000 3000 4000 5000
R88M-G/R7D-BP
(r/min)
27
Decelerator Specifications (R88G-HPG/VRXF)
■Standard Models and Specifications
● Backlash: 3 Arcminutes Max.
Decelerators for Cylindrical Servomotors
Model
(R88G-)
50 W
100 W
200 W
400 W
Note: 1.
Note: 2.
Note: 3.
Note: 4.
Rated
speed
Rated
torque
Ratio
Maximum
momentary
speed
Maximum
momentary
torque
Decelerator
inertia
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
0.60
75
1000
1.80
5.00×10-7
135
538
0.29
1/5
HPG11A05100B
600
Allowable Allowable
radial load thrust load
Weight
1/9
HPG11A09050B
333
1.17
81
555
3.51
3.00×10-7
161
642
0.29
1/21
HPG14A21100B
143
2.18
65
238
6.54
5.00×10-6
340
1358
1.04
1/33
HPG14A33050B
91
3.73
71
151
11.2
4.40×10-6
389
1555
1.04
1/45
HPG14A45050B
67
5.09
71
111
15.2
4.40×10-6
427
1707
1.04
1/5
HPG11A05100B
600
1.37
86
1000
4.07
5.00×10-7
135
538
0.29
1/11
HPG14A11100B
273
2.63
75
454
7.80
6.00×10-6
280
1119
1.04
1/21
HPG14A21100B
143
5.40
80
238
16.0
5.00×10-6
340
1358
1.04
1/33
HPG20A33100B
91
6.91
65
151
20.5
6.50×10-5
916
3226
2.4
1/45
HPG20A45100B
67
9.42
65
111
27.9
6.50×10-5
1006
3541
2.4
1/5
HPG14A05200B
600
2.49
78
1000
7.44
2.07×10-5
221
883
1.02
1/11
HPG14A11200B
273
6.01
85
454
17.9
1.93×10-5
280
1119
1.09
1/21
HPG20A21200B
143
10.2
76
238
30.6
4.90×10-5
800
2817
2.9
1/33
HPG20A33200B
91
17.0
81
151
50.8
4.50×10-5
916
3226
2.9
1/45
HPG20A45200B
67
23.2
81
111
69.3
4.50×10-5
1006
3541
2.9
1/5
HPG14A05400B
600
5.66
87
1000
16.5
2.07×10-5
221
883
1.09
1/11
HPG20A11400B
273
11.7
82
454
34.2
5.70×10-5
659
2320
2.9
1/21
HPG20A21400B
143
23.5
86
238
68.8
4.90×10-5
800
2547
2.9
1/33
HPG32A33400B
91
34.7
81
151
101.7
6.20×10-5
1565
6240
7.5
1/45
HPG32A45400B
67
47.4
81
111
138.6
6.10×10-5
1718
6848
7.5
The Decelerator inertia is the Servomotor shaft conversion value.
The enclosure rating for Servomotors with Decelerators is IP44.
The allowable radial load is the value at the LR/2 position.
The standard models have a straight shaft. To order a Servomotor with a straight shaft with a key, add a “J” to the end of the model number, in the place
indicated by the box.
Decelerator for Flat Servomotors
Model
(R88G-)
100 W
200 W
400 W
Rated
speed
Rated
torque
Ratio
Maximum
momentary
speed
Maximum
momentary
torque
Decelerator
inertia
r/min
N·m
%
r/min
N·m
kg·m2
N
Allowable Allowable
radial load thrust load
N
Weight
kg
1/5
HPG11A05100PB
600
1.37
85
1000
3.84 (3.63)
5.00×10-7
135
538
0.34
1/11
HPG14A11100PB
273
2.63
75
454
7.39 (6.98)
6.00×10-6
280
1119
1.04
1/21
HPG14A21100PB
143
5.40
80
238
15.2 (14.6)
5.00×10-6
340
1358
1.04
1/33
HPG20A33100PB
91
6.91
65
151
19.4 (18.3)
4.50×10-5
916
3226
2.9
1/45
HPG20A45100PB
67
9.42
65
111
26.5 (25.0)
4.50×10-5
1006
3541
2.9
1/5
HPG14A05200PB
600
2.49
78
1000
7.09
2.07×10-5
221
883
0.99
1/11
HPG20A11200PB
273
4.75
68
454
13.5
5.80×10-5
659
2320
3.1
1/21
HPG20A21200PB
143
10.2
76
238
29.2
4.90×10-5
800
2817
3.1
3.1
1/33
HPG20A33200PB
91
17.0
81
151
48.5
4.50×10-5
916
3226
1/45
HPG20A45200PB
67
23.2
81
111
66.1
4.50×10-5
1006
3541
3.1
1/5
HPG20A05400PB
600
4.67
72
1000
12.9
7.10×10-5
520
1832
3.1
1/11
HPG20A11400PB
273
11.7
82
454
32.4
5.80×10-5
659
2320
3.1
1/21
HPG20A21400PB
143
23.5
86
238
65.2
4.90×10-5
800
2817
3.1
1/33
HPG32A33400PB
91
34.7
81
151
96.2
2.80×10-4
1565
6240
7.8
1/45
HPG32A45400PB
67
47.4
81
111
131.2
2.80×10-4
1718
6848
7.8
Note: 1.
Note: 2.
Note: 3.
Note: 4.
The Decelerator inertia is the Servomotor shaft conversion value.
The enclosure rating for Servomotors with Decelerators is IP44.
The allowable radial load is the value at the LR/2 position.
The standard models have a straight shaft. To order a Servomotor with a straight shaft with a key, add a “J” to the end of the model number, in the place
indicated by the box.
Note: 5. The values inside parentheses ( ) are those when using a 100-V motor.
28
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
● Backlash: 15 Arcminutes Max.
Decelerators for Cylindrical Servomotors
Rated
speed
Model
(R88G-)
50
W
100
W
200
W
400
W
Note: 1.
Note: 2.
Note: 3.
Note: 4.
Note: 5.
Rated
torque
Ratio
Maximum
momentary
speed
Maximum
momentary
torque
Decelerator
inertia
Allowable Allowable
radial load thrust load
Weight
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
1/5
VRXF05B100CJ
600
0.66
82
1000
1.97
6.04×10-6
392
196
0.55
1/9
VRXF09B100CJ
333
1.18
82
556
3.54
4.97×10-6
441
220
0.55
1/15
VRXF15B100CJ
200
1.85
77
333
5.54
5.26×10-6
588
294
0.70
1/25
VRXF25B100CJ
120
3.08
77
200
9.24
5.14×10-6
686
343
0.70
1/5
VRXF05B100CJ
600
1.44
90
1000
4.28
6.04×10-6
392
196
0.55
1/9
VRXF09B100CJ
333
2.59
90
556
7.70
4.97×10-6
441
220
0.55
1/15
VRXF15B100CJ
200
4.13
86
333
12.26
5.26×10-6
588
294
0.70
1/25
VRXF25B100CJ
120
6.88
86
200
20.43
5.14×10-6
686
343
0.70
1/5
VRXF05B200CJ
600
2.94
92
1000
8.19
1.47×10-5
392
196
0.72
1/9
VRXF09C200CJ
333
4.78
83
556
13.30
2.37×10-5
931
465
1.70
1/15
VRXF15C200CJ
200
8.26
86
333
22.96
3.02×10-5
1176
588
2.10
1/25
VRXF25C200CJ
120
13.76
86
200
38.27
2.93×10-5
1323
661
2.10
1/5
VRXF05C400CJ
600
5.72
88
1000
15.84
3.7×10-5
784
392
1.70
1/9
VRXF09C400CJ
333
10.30
88
556
28.51
2.37×10-5
931
465
1.70
1/15
VRXF15C400CJ
200
17.36
89
333
48.06
3.02×10-5
1176
588
2.10
1/25
VRXF25C400CJ
120
28.93
89
200
80.10
2.93×10-5
1323
661
2.10
The value given for the Decelerator inertia is the Servomotor shaft conversion value.
The protective structure rating of the Servomotor combined with the Decelerator is IP44. (Excluding Decelerator and Servomotor connecting parts.)
The value given for the allowable radial load is the value at the center of the shaft (T/2).
The standard shaft type is a shaft with key and tap. (The key is temporarily assembled to the shaft.)
Take care so that the surface temperature of the Decelerator does not exceed 90°C.
Decelerator for Flat Servomotors
Model
(R88G-)
100 W
200 W
400 W
Note: 1.
Note: 2.
Note: 3.
Note: 4.
Note: 5.
Note: 6.
Rated
speed
Rated
torque
Ratio
Maximum
momentary
speed
Maximum
momentary
torque
Decelerator
inertia
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
Allowable Allowable
radial load thrust load
Weight
1/5
VRXF05B100PCJ
600
1.44
90
1000
4.05 (3.83)
6.00×10-6
392
196
0.70
1/9
VRXF09B100PCJ
333
2.59
90
556
7.29 (6.89)
5.00×10-6
441
220
0.70
1/15
VRXF15B100PCJ
200
4.13
86
333
11.61 (10.97)
5.70×10-6
588
294
0.90
1/25
VRXF25B100PCJ
120
6.88
86
200
19.35 (18.28)
5.50×10-6
686
343
0.90
1/5
VRXF05B200PCJ
600
2.94
92
1000
8.37 (8.56)
1.50×10-5
392
196
0.90
1/9
VRXF09C200PCJ
333
4.78
83
556
13.60 (13.89)
2.70×10-5
931
465
2.00
1/15
VRXF15C200PCJ
200
8.26
86
333
23.48 (23.99)
3.02×10-5
1176
588
2.40
1/25
VRXF25C200PCJ
120
13.76
86
200
39.13 (39.99)
2.90×10-5
1323
661
2.40
2.00
1/5
VRXF05C400PCJ
600
5.72
88
1000
15.84
3.70×10-5
784
392
1/9
VRXF09C400PCJ
333
10.30
88
556
28.51
2.70×10-5
931
465
2.00
1/15
VRXF15C400PCJ
200
17.36
89
333
48.06
3.02×10-5
1176
588
2.40
1/25
VRXF25C400PCJ
120
28.93
89
200
80.10
2.90×10-5
1323
661
2.40
The values inside parentheses ( ) are those when using a 100-V motor.
The value given for the Decelerator inertia is the Servomotor shaft conversion value.
The protective structure rating of the Servomotor combined with the Decelerator is IP44. (Excluding Decelerator and Servomotor connecting parts.)
The value given for the allowable radial load is the value at the center of the shaft (T/2).
The standard shaft type is a shaft with key and tap. (The key is temporarily assembled to the shaft.)
Take care so that the surface temperature of the Decelerator does not exceed 90°C.
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
29
Encoder, External Regeneration Resistors, Reactor and Parameter Unit Specifications
● Encoder Specifications
Item
Specifications
Encoder system
Optical encoder (incremental encoder)
No. of output pulses
Phases A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation
Power supply voltage
5 V ±5%
Power supply current
180 mA (max.)
Output signals
+S, −S
Output interface
EIA RS-485 compliance
Duplex serial communications data
● External Regeneration Resistors Specifications
Resistance
Nominal
capacity
Regeneration
absorption for 120°C
temperature rise
Heat radiation
condition
R88A-RR08050S
50 Ω
80 W
20 W
Aluminum 250 × 250,
Thickness: 3.0
Operating temperature: 150°C±5%, NC contact,
Rated output: 30 VDC, 50 mA max.
R88A-RR080100S
100 Ω
80 W
20 W
Aluminum 250 × 250,
Thickness: 3.0
Operating temperature: 150°C±5%, NC contact,
Rated output: 30 VDC, 50 mA max.
R88A-RR22047S1
47 Ω
220 W
70 W
Aluminum 350 × 350,
Thickness: 3.0
Operating temperature: 150°C±5%, NC contact,
Rated output (resistive load): 250 VAC, 0.2 A max.
42 VDC, 0.2 A max. (minimum current: 1 mA)
Model
Thermal switch output specifications
● Reactor Specifications
Specifications
Reactor type
Single-phase Reactors
Three-phase Reactor
Model
Rated current (A)
Inductance (mH)
Weight (kg)
3G3AX-DL2002
1.6 A
21.4 mH
0.8 kg
3G3AX-DL2004
3.2 A
10.7 mH
1.0 kg
3G3AX-DL2007
6.1 A
6.75 mH
1.3 kg
3G3AX-AL2025
10 A
2.8 mH
2.8 kg
● Parameter Unit Specifications
General Specifications
Item
Specifications
Operating ambient temperature
Operating ambient humidity
0 to 55°C
90% max. (with no condensation)
Storage ambient temperature
Storage ambient humidity
−20 to 80°C
90% max. (with no condensation)
Storage and operating atmosphere
No corrosive gases
Vibration resistance
5.9 m/s2 max.
Performance Specifications
Item
Specifications
Type
Hand-held
Cable length
1.5 m
Connectors
Mini DIN 8-pin MD connector
Display
7-segment LED
External dimensions
62 × 114 × 15 mm (W × H × D)
Communications
specifications
Weight
30
Approx. 0.1 kg (including cable that is provided)
Standard
RS-232
Communications method
Asynchronous (ASYNC)
Baud rate
9,600 bps
Start bits
1 bit
Data
8 bits
Parity
None
Stop bits
1 bit
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
Connections
● Peripheral Device Connection Examples
R7D-BPA5L/-BP01L/-BP02L/-BP04L/-BP01H/-BP02HH/-BP04H
R
T
Single-phase 100 to 115 VAC, 50/60 Hz: R7D-BP@@L
Single-phase 200 to 240 VAC, 50/60 Hz: R7D-BP01H/-BP02HH/-BP04H
NFB
Noise filter
1
E
2
Main-circuit
power supply
NF
3
4
OFF
Main-circuit contactor
ON
1MC
(Ground to
100 Ω or less.)
X
1MC
Surge killer
X
Servo error display
PL
1MC
SMARTSTEP 2-Series
Servo Drive
Reactor
G-Series
Servomotor
CNA
Brake Cable
XB
L1
B
L2
L3
External regeneration
resistor
CNB
24 VDC Servomotor Power Cable
U
V
P
(*2)
B1
CN1
1 +24VIN
24 VDC
M
W
(Ground to
100 Ω or less.)
CN2
2 RUN
E
1MC
Encoder cable
CN1
9 /ALM
X
CN1
XB
DC24V
11 BKIR
(*1)
13 0GND
X
User
control
device
CN1
Control cable
* 1. Recommended Relay: OMRON G7T Relay (24-VDC model)
* 2. An External Regeneration Resistor can be connected.
Connect this resistor if the regenerative energy exceeds regeneration absorption capacity in the Servo Drive.
Note: 1. The dynamic brake will operate while the main circuit power supply or the control circuit power supply is OFF.
Note: 2. When turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN) at the same time.
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
31
R7D-BP01H/-BP02H/-BP04H
R S T
Three-phase 200 to 240 VAC, 50/60 Hz: R7D-BP01H/-BP02H/-BP04H
NFB
1
E
2 3
Noise filter
Main-circuit
power supply
NF
4
OFF
5 6
Main-circuit contactor
ON
1MC
(Ground to
100 Ω or less.)
X
1MC
Surge killer
X
Servo error display
PL
1MC
SMARTSTEP 2-Series
Servo Drive
Reactor
G-Series
Servomotor
CNA
Brake Cable
XB
L1
B
L2
L3
External regeneration resistor
CNB
24 VDC Servomotor Power Cable
U
V
P
(*2)
B1
CN1
1 +24VIN
24 VDC
M
W
(Ground to
100 Ω or less.)
CN2
2 RUN
E
1MC
Encoder cable
CN1
9 /ALM
X
CN1
XB
11 BKIR
(*1)
24 VDC
13 0GND
X
User
control
device
CN1
Control cable
*1. Recommended Relay: OMRON G7T Relay (24-VDC model)
*2. An External Regeneration Resistor can be connected.
Connect this resistor if the regenerative energy exceeds regeneration absorption capacity in the Servo Drive.
Note: 1. The dynamic brake operates when the main circuit power supply or the control circuit power supply is turned OFF.
Note: 2. When turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN) signal at the same time.
32
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
I/O Circuit Diagrams
● Control I/O Specifications (CN1)
Control I/O Signal Connections and External Signal Processing
Reverse
pulse
+CW 22
Forward
pulse
+CCW 24
9 /ALM
Alarm Output
−CW 23 220 Ω
−CCW 25 220 Ω
12 to 24 VDC
24VIN 1
RUN Command
Input
10 INP
Positioning
Completed
Output
11 BKIR
Brake Interlock
4.7 kΩ
Maximum operating
voltage: 30 VDC
Maximum Output
Current: 50 mA DC
12 WARN
Warning Output
13
RUN 2
OGND
4.7 kΩ
21
Alarm Reset
Input
14
RESET 3
Z
Z-phase Output
(open collector output)
GND
4.7 kΩ
Deviation Counter
Reset Input
ECRST 4
4.7 kΩ
Gain Switch
Input
15 +A
Encoder A-phase
16 −A Output
GSEL 5
4.7 kΩ
18 +B
Electronic Gear
Switch Input
GESEL 6
Encoder B-phase
17 −B Output
4.7 kΩ
Reverse Drive
Prohibit Input
19 +Z
Line driver output
Conforms to
EIA RS-422A
(Load resistance:
220 Ω min.)
Encoder Z-phase
20 −Z Output
NOT 7
4.7 kΩ
Forward Drive
Prohibit Input
POT 8
Shell, 26 FG
Frame ground
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
33
● Control Input Circuits
• Position Command Pulse Inputs
Line Drive Input
Controller
Servo Drive
2.2 kΩ
Input current: 6.8 mA, 3 V
220 Ω
Applicable line drive:
AM26LS31A or equivalent
Open-collector Input
Controller
Servo Drive
Vcc
R
2.2 kΩ
Input current: 7 to 15 mA
220 Ω
Note: Select a value for resistance R so that the input current will be from 7 to 15 mA. Refer to the following table.
Vcc - 1.5
≒ 10mA
R + 220 （7-15mA）
Vcc
R
24 V
2 kΩ
12 V
1 kΩ
5V
0Ω (Shorted)
• Sequence Inputs
+24 VIN 1
External power supply:
12 VDC±5% to
24 VDC±5%
Power supply capacity:
50 mA min. (per Unit)
RUN 2
To other input circuit
ground commons
4.7 kΩ
1.2 kΩ
Photocoupler input
To other input circuits
Signal Levels
ON level: 10 V min.
OFF level: 3 V max.
34
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
● Control Output Circuits
• Position Feedback Output
Servo Drive
Phase A
Output line drive
AM26C31 or
Phase B
Controller
R = 120 to 220 Ω
15 +A
+A
16 −A
−A
18 +B
+B
17 −B
−B
19 +Z
+Z
20 −Z
−Z
+5 V
R
Phase A
R
Phase B
R
Phase Z
equivalent
Phase Z
0V
Shell
0V
GND
14 GND
0V
FG
Applicable line receiver
AM26C32 or equivalent
FG
FG
• Sequence and Alarm Outputs
Servo Drive
To other output
circuits
X
External power supply
24 VDC ± 1 V
Di
Maximum operating voltage: 30 VDC
Maximum output current: 50 mA
X
Di
Di: Diode for preventing surge voltage
(Use high-speed diodes.)
• Phase-Z Output (Open-collector Output)
Servo Drive
Controller
21 Z
Maximum operating voltage: 30 VDC
14 GND
FG
Maximum output current: 50 mA
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
35
Nomenclature and Functions
■Servo Drive Nomenclature
● CN1 Control Inputs
Alarm indicator (ALM)
Power supply indicator
PWR
ALM
C
N
3
Communications connector
(CN3)
C
N
1
Control I/O connector
(CN1)
C
N
2
Encoder input connector
(CN2)
C
N
B
Motor connector (CNB)
Main circuit connector
(CNA)
C
N
A
FG terminals for
power supply and
Servomotor power
Pin No.
Signal name
1
+24VIN
2
RUN
3
RESET
4
ECRST/VSEL2
Deviation Counter Reset Input or Internally Set
Speed Selection 2 Input
5
GSEL/
VZERO/TLSEL
Gain Switch Input, Zero Speed Designation
Input, or Torque Limit Switch Input
6
GESEL/VSEL1
Electronic Gear Switch Input or Internally Set
Speed Selection 1 Input *2
7
NOT
Reverse Drive Prohibit Input
8
POT
Forward Drive Prohibit Input
22
+CW/PULS/FA
23
−CW/PULS/FA
24
+CCW/SIGN/FB Forward Pulses, Direction Signal, or 90° Phase
−CCW/SIGN/FB Difference Pulses (Phase B)
25
Function
DC power supply input for control
RUN Command Input
Alarm Reset Input *1
Reverse Pulses Input, Feed Pulses Input, or
90° Phase Difference Pulses (Phase A)
* 1. Some alarms cannot be cleared using this input.
* 2. Do not input command pulses for 10 ms before or after switching the electronic gear.
● CN1 Control Outputs
● Main Circuit Connector (CNA)
Terminal
label
Pin No.
L1
10
L2
8
L3
6
Name
Main circuits power supply input
P
5
B1
3
External Regeneration Resistance Unit connection
terminal
FG
1
Frame ground
● Servomotor Connector (CNB) Specifications
Terminal
label
Pin No.
U
1
V
4
W
6
3
Name
Servomotor connection Terminals
Signal name
9
/ALM
Function
10
INP/TGON
11
BKIR
12
WARN
Warning Output
13
OGND
Output Ground Common
14
GND
Ground Common
15
+A
16
−A
Encoder
Phase-A Output
Alarm Output *1
Positioning Completed Output or Servomotor
Rotation Amount Detection Output
Brake Interlock Output
17
−B
18
+B
19
+Z
20
−Z
Encoder
Phase-Z Output
21
Z
Phase-Z Output
Encoder
Phase-B Output
* 1. This is OFF for approximately 2 seconds after turning ON the power.
Frame ground
● Power Supply Indicator (PWR)
Indicator
Note: This is OFF for approximately 2 seconds after turning ON the power.An
open-collector output interface is used for sequence outputs (maximum
operating voltage: 30 VDC; maximum output current: 50 mA).
Status
Lit green
Main power is ON.
Lit orange
Flashes at a 1-second intervals when there is a warning (i.e.,
overload, excessive regenerative energy, or fan speed error).
Lit red
Pin No.
An alarm has occurred.
● Alarm Indicator (ALM)
This indicator lights when an alarm has occurred.
36
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
■R88A-PR02G Parameter Unit Nomenclature
Display (6 Digits)
Displays the parameters and settings.
Unit No. Display (2 Digits)
8.8.8.8.8.8.
8.8
Displays the Unit No. set in Unit No. Setting (Pn00).
In Parameter Setting Mode, displays the parameter
number.
Mode Key
Switches between the six modes.
Increment Key
Increases the parameters number or set value.
Decrement Key
Decreases the parameter number or set value.
Shift Key
Shifts the digit being changed to the left.
Data Key
Switches between the parameter and setting
displays, saves settings, etc.
Parameter name
Position Loop Gain *1
Speed Loop Gain *1
Speed Loop Integration
Constant *1
Speed Feedback Filter
Time Constant *1
Torque Command Filter
Time Constant *1
Feed-forward Amount *1
Feed-forward Command
Filter *1
Position Loop Gain 2 *1
Speed Loop Gain 2 *1
Speed Loop Integration
Constant 2 *1
Speed Feedback Filter
Time Constant 2 *1
Torque Command Filter
Time Constant 2 *1
● Function Selection Parameters
Parameter name
● Servo Gain Parameters
Explanation
Unit No. Setting
Set the unit number.
Default Display
Set the data to display on the Parameter Unit
when the power supply is turned ON.
Control Mode Selection
Set the control mode to be used.
Drive Prohibit Input
Selection
You can stop the Servomotor from rotating
beyond the device's travel range by connecting
limit inputs.
Zero Speed Designation/
Speed Command
Direction Switch
Set the function of the Zero Speed Designation
Input (VZERO) and Torque Limit Switch Input
(TLSEL).
Warning Output
Selection
Allocate the function of the Warning Output
(WARN).
Notch Filter 1 Frequency
Notch Filter 1 Width
Inertia Ratio *1
Explanation
Set to adjust the position loop responsiveness.
Set to adjust the speed loop responsiveness.
Set the speed loop integral time constant.
Set the time constant for the low pass filter
through which the signal passes after the speed
signal from the encoder signal is converted.
Set the primary lag filter constant for the torque
command section.
Set the position control feed-forward
compensation value.
Set the position control feed-forward command
filter.
Set to adjust the position loop responsiveness.
Set to adjust the speed loop responsiveness.
Set the speed loop integral time constant.
Set the time constant for the low pass filter
through which the signal passes after the speed
signal from the encoder signal is converted.
Set the primary lag filter constant for the torque
command section.
Set the notch frequency of the resonance
suppression notch filter.
Set the width to one of five levels for the
resonance suppression notch filter. Normally,
use the default setting.
Set the ratio between the mechanical system
inertia and the Servomotor rotor inertia.
Realtime Autotuning
Mode Selection
Set the operating mode for realtime autotuning.
Realtime Autotuning
Machine Rigidity
Selection
Set the machine rigidity for executing realtime
autotuning to one of 16 levels.
The higher the machine rigidity, the greater the
setting needs to be. The higher the setting, the
higher the responsiveness.
Autotuning Operation
Setting
Set the operating pattern for autotuning.
Set the possible operating range for the
Servomotor. The overwrite limit function is
disabled if this parameter is set to 0.
Set the vibration frequency for dampening to
Vibration Frequency
suppress vibration at the end of the load.
Set vibration filter for dampening to suppress
Vibration Filter Setting
vibration at the end of the load.
Gives the table entry number corresponding to
the frequency of the adaptive filter. This
Adaptive Filter Table
parameter is set automatically and cannot be
Number *1
changed if the adaptive filter is enabled (i.e., if
the Realtime Autotuning Mode Selection (Pn21)
is set to 1 to 3 or 7).
Enable or disable gain switching.
If switching is enabled, the setting of the Gain
Gain Switching Input
Operating Mode Selection Switch Setting (Pn31) is used as the condition for
switching between gain 1 and gain 2.
Select the condition for switching between gain 1
and gain 2.
Gain Switch Setting
The Gain Switching Input Operating Mode (Pn30)
must be set to 1 (enabled).
This parameter is enabled when the Gain Switch
Setting (Pn31) is set to 3, or 5 to 10. Set the
Gain Switch Time *1
delay time from the point at which status no
longer meets the switching condition selected in
Pn31 until returning to gain 1.
This parameter is enabled when the Gain Switch
Setting (Pn31) is set to 3, 5, 6, 9, or 10. Set the
Gain Switch Level Setting
judgment level for switching between gain 1 and
*1
gain 2. The unit for the setting depends on the
condition set for the Gain Switch Setting (Pn31).
Set the hysteresis width above and below the
Gain Switch Hysteresis
judgment level set in the Gain Switch 1 Level
Setting *1
Setting (Pn33).
When switching between gain 1 and gain 2 is
Position Loop Gain
enabled, set the switching time to use for the
Switching Time *1
position loop gain to switch the gain stepwise.
Overrun Limit Setting
* 1. These parameters are automatically changed by executing realtime autotuning. To set them manually, set the Realtime Autotuning Mode Selection
(Pn21) to 0.
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
37
● Position Control Parameters
Parameter name
Command Pulse Input
Setting
● Sequence Parameters
Explanation
The command pulses can be multiplied by a factor
of 2 or 4 when 90° phase differential signal inputs
is selected as the input format for the command
pulses in the Command Pulse Mode (Pn42).
Command Pulse
Rotation Direction
Switch
Set the Servomotor rotation direction for the
command pulse input.
Command Pulse Mode
Set the form of the pulse inputs sent as the
command to the Servo Drive from a position
controller.
Encoder Divider Rate
Setting
Set the number of encoder pulses to be output
from the Servo Drive for each rotation.
The setting can be made from 1 to 16,384 pulses/
rotation, but the setting will not be valid if it
exceeds 2,500 pulses/rotation.
Encoder Output
Direction Switch
Set to reverse the logic of encoder pulses output
from the Servo Drive.
Electronic Gear Ratio
Numerator 1
Set the pulse rate for command pulses and
Servomotor travel distance.
Electronic Gear Ratio Numerator 1 (Pn46)
Electronic Gear Ratio
Numerator 2
or
x2
Electronic Gear Ratio Numerator 2 (Pn47)
Electronic Gear Ratio Numerator Exponent (Pn4A)
Parameter name
Positioning Completion
Range
Set the range for the Positioning Completed
Output (INP).
Zero Speed Detection
Set the speed for the Warning Output for zero
speed detection.
Rotation Speed for Motor
Rotation Detection
Set the speed for the Servomotor Rotation
Amount Detection Output (TGON) for Internally
Set Speed Control.
Deviation Counter
Overflow Level
Set the detection level for the Deviation Counter
Overflow Alarm. The alarm level will be the
setting times 256 pulses.
Deviation Counter
Overflow Alarm
Disabled
Enable or disable the Deviation Counter
Overflow Alarm.
Stop Selection for Drive
Prohibition Input
Set the operation used to decelerate to a stop
after the Forward Drive Prohibit Input (POT) or
Reverse Drive Prohibit Input (NOT) has been
received.
Stop Selection for Alarm
Generation
Set the operation to use during deceleration and
after stopping when an error occurs for any
protective function of the Servo Drive. The
deviation counter will be cleared when an alarm
occurs.
Stop Selection with
Servo OFF
Set the operation to use during deceleration and
after stopping and set the deviation counter
status when the RUN Command Input (RUN) is
turned OFF.
Brake Timing when
Stopped
Set the brake timing when stopped.
When the Servomotor is stopped and the RUN
Command Input (RUN) is turned OFF, the Brake
Interlock Output (BKIR) will turn OFF, and the
Servomotor will turn OFF after waiting for the
time period set for this parameter (i.e., setting ×
2 ms).
Brake Timing during
Operation
Set the brake timing during operation.
When the Servomotor is operating and the RUN
Command Input (RUN) is turned OFF, the
Servomotor will decelerate to reduce speed, and
the Brake Interlock Output (BKIR) will turn OFF
after a set time (i.e., setting × 2 ms) has elapsed.
BKIR will also turn OFF if the speed drops to
30 r/min or lower before the set time.
Regeneration Resistor
Selection
Set this parameter to 1 or 2 if an external
generation resistor is mounted.
Overspeed Detection
Level Setting
Set the No. 1 overspeed detection level if torque
limit switching is enabled by setting the Zerospeed Designation/Torque Limit Switch (Pn06).
No. 2 Torque Limit
Set the No. 2 torque limit if torque limit switching
is enabled by setting the Zero-speed
Designation/Torque Limit Switch (Pn06).
Set the No. 2 deviation counter overflow level if
torque limit switching is enabled by setting the
Zero-speed Designation/Torque Limit Switch
(Pn06).
Set the No. 2 overspeed detection level if torque
limit switching is enabled by setting the Zerospeed Designation/Torque Limit Switch (Pn06).
Electronic Gear Ratio Denominator (Pn4B)
Electronic Gear Ratio
Numerator Exponent
Set the pulse rate for command pulses and
Servomotor travel distance.
Electronic Gear Ratio Numerator 1 (Pn46)
Electronic Gear Ratio
Denominator
or
x2
Electronic Gear Ratio Numerator 2 (Pn47)
Electronic Gear Ratio Numerator Exponent (Pn4A)
Electronic Gear Ratio Denominator (Pn4B)
Position Command
Filter Time Constant
Setting
Set the time constant for the primary lag filter for
the command pulse input.
If the parameter is set to 0, the filter will not
function. The larger the setting, the larger the time
constant.
Smoothing Filter
Setting
Select the FIR filter time constant used for the
command pulse input.
The higher the setting, the smoother the command
pulses.
● Internally Set Speed Control Parameters
Parameter name
Explanation
No. 1 Internal Speed
Setting
Set the No. 1 internal speed.
No. 2 Internal Speed
Setting
Set the No. 2 internal speed.
No. 3 Internal Speed
Setting
Set the No. 3 internal speed.
No. 4 Internal Speed
Setting
Set the No. 4 internal speed.
Jog Speed
Set the speed for jogging.
No. 2 Deviation Counter
Overflow Level
Soft Start Acceleration
Time
Set the acceleration time for internal speed
control. Set the time (setting × 2 ms) until
1,000 r/min is reached.
No. 2 Overspeed
Detection Level Setting
Soft Start Deceleration
Time
Set the deceleration time for internal speed
control. Set the time (setting × 2 ms) until
operation stops from 1000 r/min.
Torque Limit
Set the limit to the Servomotor’s maximum torque.
38
Explanation
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
Dimensions
(Unit: mm)
● Servo Drives
• 50 W/100 W/200 W
35
Mounting Hole
Dimensions
15
20
dia
.
5
Two, M4
5
5.2
5
R7D-BPA5L
R7D-BP01L
R7D-BP01H
R7D-BP02H
PWR
ALM
C
N
3
C
N
2
130±0.5
140
140
130
120
C
N
1
C
N
B
C
N
A
5
5.1
5.2
105
70
15
20
• 200 W/400 W
40
R7D-BP02L
R7D-BP02HH
R7D-BP04H
15
5 20
Two, M4
5
5.2
5
dia
.
Mounting Hole
Dimensions
PWR
ALM
C
N
3
C
N
2
130±0.5
140
140
130
120
C
N
1
C
N
B
C
N
A
70
5
5.1
5.2
105
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
15
25
R88M-G/R7D-BP
39
● Servomotors
3,000-r/min Cylindrical Servomotors
• 50 W/100 W
R88M-G05030H (-S2)
R88M-G10030L (-S2)
R88M-G10030H (-S2)
Without brake
Model
LL
LN
R88M-G05030H
72
26.5
R88M-G05030H-B *1
102
26.5
R88M-G10030@ *2
92
46.5
R88M-G10030@-B *1, *2
122
46.5
With brake
R88M-G05030H (-S2)
R88M-G10030L (-S2)
R88M-G10030H (-S2)
* 1. This is the model number for the Servomotor with a brake.
* 2. Put “L” or “H” in the place indicated by the box.
Note: The standard models have a straight shaft. To order a Servomotor with a straight shaft with a key, add “S2” to the end of the model number.
Brake Connector
Motor Connector
25
3
3
40 × 40
1.8
(Dimensions of shaft end
with key and tap)
12.5
3, height: 9
32
200
230
6
30 dia., height: 7
LL
8 dia., height: 6
Encoder
Connector
LN
46
dia
M3
(depth: 6)
.
Two, 4.3 dia.
• 200 W/400 W
R88M-G20030L (-S2)
R88M-G20030H (-S2)
R88M-G40030H (-S2)
Without brake
Model
With brake
Dimensions for models with key and tap *3
LL
S
QK
b
h
t1
M
79
11
18
4h9
4
2.5
M4
8
R88M-G20030@-B *1,*2
115.5
11
18
4h9
4
2.5
M4
8
R88M-G40030H
98.5
14
22.5
5h9
5
3
M5
10
R88M-G40030H-B *2
135
14
22.5
5h9
5
3
M5
10
R88M-G20030@ *1
R88M-G20030L-B (S2)
R88M-G20030H-B (S2)
R88M-G40030H-B (S2)
L
* 1. Put “L” or “H” in the place indicated by the box.
* 2. This is the model number for the Servomotor with a brake.
* 3. To order a Servomotor with a straight shaft with a key, add “S2” to the end of the model number.
Note: The standard models have a straight shaft.
(Straight shaft with key)
QK
b
LL
6.5
t1
h
Encoder connector
Brake connector
Servomotor connector
30
3
40
43
S dia., height: 6
50 dia., height: 7
200
220
M (depth: L)
Four,
4.5 dia.
60 × 60
ia.
70 d
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
3,000-r/min Flat Servomotors
• 100 W/200 W/400 W
Without brake
R88M-GP10030L (-S2)
R88M-GP10030H (-S2)
R88M-GP20030L (-S2)
R88M-GP20030H (-S2)
R88M-GP40030H (-S2)
Model
R88M-GP10030L-B (S2)
R88M-GP10030H-B (S2)
R88M-GP20030L-B (S2)
R88M-GP20030H-B (S2)
R88M-GP40030H-B (S2)
With brake
Dimensions for models with key and tap*3
LL
LR
S
D1
D2
C
F
G
KL1
Z
R88M-GP10030@ *1
60
25
8
70
50
60
3
7
43
R88M-GP10030@-B *1, *2
84
25
8
70
50
60
3
7
R88M-GP20030@ *1
67
30
11
90
70
80
5
8
99.5
30
11
90
70
80
5
8
53
5.5
18
82
30
14
90
70
80
5
8
53
5.5
22.5
114.5
30
14
90
70
80
5
8
53
5.5
22.5
5h9
R88M-GP20030@-B *1, *2
R88M-GP40030H
R88M-GP40030H-B *2
QK
b
h
t1
M
L
4.5
12.5
3h9
3
1.8
M3
6
43
4.5
12.5
3h9
3
1.8
M3
6
53
5.5
18
4h9
4
2.5
M4
8
4h9
4
2.5
M4
8
5h9
5
3
M5
10
5
3
M5
10
* 1. Put "L" or "H" in the place indicated by the box.
* 2. This is the model number for the Servomotor with a brake.
* 3. To order a Servomotor with a straight shaft with a key, add "S2" to the end of the model number.
Note: The standard models have a straight shaft.
Encoder
connector
Servomotor connector
CxC
(Straight shaft with key)
QK
b
h
KL1
Four,
Z-dia.
D1
ia.
t1
F
S dia., height: 6
G
(7)
Break connector
D dia., height: 7
(7)
LR
200
220
LL
d
M (depth: 6)
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
41
● Decelerators
Backlash: 3 Arcminutes Max.
3,000-r/min servomotors (50 to 400 W)
Model
50W
100W
200W
400W
1/5
1/9
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
Dimensions (mm)
Outline
Drawings
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1 *4
1 *4
1
1
1
1 *4
1
1
2
2
1
1
2
2
2
1
2
2
2
2
39.5
39.5
64.0
64.0
64.0
39.5
64.0
64.0
66.5
66.5
64.0
64.0
71.0
71.0
71.0
64
71
71
104
104
42
42
58
58
58
42
58
58
80
80
58
58
80
80
80
58
80
80
133
133
40
40
60
60
60
40
60
60
90
90
60
60
90
90
90
60
90
90
120
120
40 × 40
40 × 40
60 × 60
60 × 60
60 × 60
40 × 40
60 × 60
60 × 60
55 dia.
55 dia.
60 × 60
60 × 60
89 dia.
89 dia.
89 dia.
60 × 60
89 dia.
89 dia.
122 dia.
122 dia.
46
46
70
70
70
46
70
70
105
105
70
70
105
105
105
70
105
105
135
135
46
46
46
46
46
46
46
46
46
46
70
70
70
70
70
70
70
70
70
70
40
40
56
56
56
40
56
56
85
85
56
56
85
85
85
56
85
85
115
115
39.5
39.5
55.5
55.5
55.5
39.5
55.5
55.5
84
84
55.5
55.5
84
84
84
55.5
84
84
114
114
29
29
40
40
40
29
40
40
59
59
40
40
59
59
59
40
59
59
84
84
27
27
37
37
37
27
37
37
53
53
37
37
53
53
53
37
53
53
98
98
2.2
2.2
2.5
2.5
2.5
2.2
2.5
2.5
7.5
7.5
2.5
2.5
7.5
7.5
7.5
2.5
7.5
7.5
12.5
12.5
15
15
21
21
21
15
21
21
27
27
21
21
27
27
27
21
27
27
35
35
R88G-HPG11B05100B@
R88G-HPG11B09050B@
R88G-HPG14A21100B@
R88G-HPG14A33050B@
R88G-HPG14A45050B@
R88G-HPG11B05100B@
R88G-HPG14A11100B@
R88G-HPG14A21100B@
R88G-HPG20A33100B@
R88G-HPG20A45100B@
R88G-HPG14A05200B@
R88G-HPG14A11200B@
R88G-HPG20A21200B@
R88G-HPG20A33200B@
R88G-HPG20A45200B@
R88G-HPG14A05400B@
R88G-HPG20A11400B@
R88G-HPG20A21400B@
R88G-HPG32A33400B@
R88G-HPG32A45400B@
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Decelerator with a straight shaft with key and tap, add “J” to the end of the model number, in the place indicated by the box.
(e.g., R88G-HPG11B05100BJ)
Note: 3. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 4. Applicable for the servomotors with key, if the key is removed.
Note: 5. The dimensional drawings in this document are designed to indicate only the main dimensions. They do not necessarily represent the detailed shapes of the products.
Outline Drawings 1
There is one set bolt.
Key and tap Dimensions
QK
D2 dia.
S dia., height: 7
b
h
D3 dia., height: 7 *2
D4 dia.
D5 dia.
D1 dia.
Four,
Z2 dia.
Set bolt (AT)
E
t1
C1
M (depth: L)
T
F1
C2
Four, Z1 dia.
LR
F2
G
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
LM
*4. For the R88G-HPG11B series, two set bolts are positioned at an angle of
90° from each other.
Four,
Z2 dia.
Set bolt (AT)
D2 dia.
C2
42
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
G
S
T
Z1
Z2
5
5
8
8
8
5
8
8
10
10
8
8
10
10
10
8
10
10
13
13
8
8
16
16
16
8
16
16
25
25
16
16
25
25
25
16
25
25
40
40
20
20
28
28
28
20
28
28
42
42
28
28
42
42
42
28
42
42
82
82
3.4
3.4
5.5
5.5
5.5
3.4
5.5
5.5
9
9
5.5
5.5
9
9
9
5.5
9
9
11
11
M4 × 9
M4 × 9
M4 × 10
M4 × 10
M4 × 10
M4 × 9
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
Dimensions (mm)
Key Dimensions
AT*1
QK
b
h
t1
M3
15
3
3
1.8
M3
15
3
3
1.8
M3
25
5
5
3
M3
25
5
5
3
M3
25
5
5
3
M3
15
3
3
1.8
M3
25
5
5
3
M3
25
5
5
3
M4
36
8
7
4
M4
36
8
7
4
M4
25
5
5
3
M4
25
5
5
3
M4
36
8
7
4
M4
36
8
7
4
M4
36
8
7
4
M4
25
5
5
3
M4
36
8
7
4
M4
36
8
7
4
M4
70
12
8
5
M4
70
12
8
5
Tap Dimensions
M
L
M3
6
M3
6
M4
8
M4
8
M4
8
M3
6
M4
8
M4
8
M6
12
M6
12
M4
8
M4
8
M6
12
M6
12
M6
12
M4
8
M6
12
M6
12
M10
20
M10
20
Model
R88G-HPG11B05100B@
R88G-HPG11B09050B@
R88G-HPG14A21100B@
R88G-HPG14A33050B@
R88G-HPG14A45050B@
R88G-HPG11B05100B@
R88G-HPG14A11100B@
R88G-HPG14A21100B@
R88G-HPG20A33100B@
R88G-HPG20A45100B@
R88G-HPG14A05200B@
R88G-HPG14A11200B@
R88G-HPG20A21200B@
R88G-HPG20A33200B@
R88G-HPG20A45200B@
R88G-HPG14A05400B@
R88G-HPG20A11400B@
R88G-HPG20A21400B@
R88G-HPG32A33400B@
R88G-HPG32A45400B@
1/5
1/9
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
50W
100W
200W
400W
* 1. This is the set bolt.
Outline Drawings 2
Key and tap Dimensions
QK
S dia., height: 7
D2 dia.
b
h
D3 dia., height: 7 *3
D4
D5
D1 dia.
Four,
Z2 dia.
Set bolt (AT)
E
t1
C1
M (depth: L)
T
F1
C2
Four, Z1 dia.
LR
F2
G
LM
*3. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
43
Backlash: 3 Arcminutes Max.
3,000-r/min servomotors (100 to 400 W)
Dimensions (mm)
Model
100 W
200 W
400 W
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
G
1/5
R88G-HPG11A05100PB
39.5
42
40
60 × 60
46
70
40.0
39.5
29
27
2.2
15
5
1/11
R88G-HPG14A11100PB
64.0
58
60
60 × 60
70
70
56.0
55.5
40
37
2.5
21
8
1/21
R88G-HPG14A21100PB
64.0
58
60
60 × 60
70
70
56.0
55.5
40
37
2.5
21
8
1/33
R88G-HPG20A33100PB
71.0
80
90
89 dia.
105
70
85.0
84.0
59
53
7.5
27
10
10
1/45
R88G-HPG20A45100PB
71.0
80
90
89 dia.
105
70
85.0
84.0
59
53
7.5
27
1/5
R88G-HPG14A05200PB
65.0
58
60
80 × 80
70
90
56.0
55.5
40
37
2.5
21
8
1/11
R88G-HPG20A11200PB
78.0
80
90
80 × 80
105
90
85.0
84.0
59
53
7.5
27
10
1/21
R88G-HPG20A21200PB
78.0
80
90
80 × 80
105
90
85.0
84.0
59
53
7.5
27
10
1/33
R88G-HPG20A33200PB
78.0
80
90
80 × 80
105
90
85.0
84.0
59
53
7.5
27
10
1/45
R88G-HPG20A45200PB
78.0
80
90
80 × 80
105
90
85.0
84.0
59
53
7.5
27
10
1/5
R88G-HPG20A05400PB
78.0
80
90
80 × 80
105
90
85.0
84.0
59
53
7.5
27
10
1/11
R88G-HPG20A11400PB
78.0
80
90
80 × 80
105
90
85.0
84.0
59
53
7.5
27
10
1/21
R88G-HPG20A21400PB
78.0
80
90
80 × 80
105
90
85.0
84.0
59
53
7.5
27
10
1/33
R88G-HPG32A33400PB
104.0
133
120
122 dia.
135
90
115.0
114.0
84
98
12.5
35
13
1/45
R88G-HPG32A45400PB
104.0
133
120
122 dia.
135
90
115.0
114.0
84
98
12.5
35
13
Note: 1. The standard models have a straight shaft. To order a Decelerator with a straight shaft with a key, add "J" to the end of the model number, in the place indicated
by the box.
Note: 2. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 3. Applicable for the servomotors with key, if the key is removed.
Outline Drawings
E
C1
Four,
Z2 dia.
Set bolt (AT)
T
F1
C2
Four, Z1 dia.
F2
LR
44
QK
b
G
LM
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
t1
D2 dia.
h
D1 dia.
D3 dia.
D4 dia.
D5 dia.
S dia., height: 7
Key Dimensions
M (depth: L)
Dimensions (mm)
S
T
Z1
Z2
Key dimensions (mm)
AT*1
QK
b
h
t1
M
L
Weight
(kg)
Model
8
20
3.4
M4
M3
15
3
3
1.8
M3
6
0.34
R88G-HPG11A05100PB
1/5
16
28
5.5
M4
M3
25
5
5
3.0
M4
8
1.04
R88G-HPG14A11100PB
1/11
16
28
5.5
M4
M3
25
5
5
3.0
M4
8
1.04
R88G-HPG14A21100PB
1/21
25
42
9.0
M4
M3
36
8
7
4.0
M6
12
2.9
R88G-HPG20A33100PB
1/33
25
42
9.0
M4
M3
36
8
7
4.0
M6
12
2.9
R88G-HPG20A45100PB
1/45
16
28
5.5
M4
M4
25
5
5
3.0
M4
8
0.99
R88G-HPG14A05200PB
1/5
25
42
9.0
M5
M4
36
8
7
4.0
M6
12
3.1
R88G-HPG20A11200PB
1/11
25
42
9.0
M5
M4
36
8
7
4.0
M6
12
3.1
R88G-HPG20A21200PB
1/21
25
42
9.0
M5
M4
36
8
7
4.0
M6
12
3.1
R88G-HPG20A33200PB
1/33
25
42
9.0
M5
M4
36
8
7
4.0
M6
12
3.1
R88G-HPG20A45200PB
1/45
25
42
9.0
M5
M4
36
8
7
4.0
M6
12
3.1
R88G-HPG20A05400PB
1/5
25
42
9.0
M5
M4
36
8
7
4.0
M6
12
3.1
R88G-HPG20A11400PB
1/11
25
42
9.0
M5
M4
36
8
7
4.0
M6
12
3.1
R88G-HPG20A21400PB
1/21
40
82
11.0
M5
M6
70
12
8
5.0
M10
20
7.8
R88G-HPG32A33400PB
1/33
40
82
11.0
M5
M6
70
12
8
5.0
M10
20
7.8
R88G-HPG32A45400PB
1/45
100 W
200 W
400 W
* 1. This is the set bolt.
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
45
Backlash: 15 Arcminutes Max.
3,000-r/min servomotors (50 to 400 W)
Dimensions (mm)
Model
50 W
100 W
200 W
400 W
Note: 1.
Note: 2.
Note: 3.
Note: 4.
LM
LR
C1
C2
D1
D2
D3
F
G
S
T
1/5
R88G-VRXF05B100CJ
67.5
32
40
52
46
60
50
3
6
12
20
1/9
R88G-VRXF09B100CJ
67.5
32
40
52
46
60
50
3
6
12
20
1/15
R88G-VRXF15B100CJ
78.0
32
40
52
46
60
50
3
6
12
20
1/25
R88G-VRXF25B100CJ
78.0
32
40
52
46
60
50
3
6
12
20
1/5
R88G-VRXF05B100CJ
67.5
32
40
52
46
60
50
3
6
12
20
1/9
R88G-VRXF09B100CJ
67.5
32
40
52
46
60
50
3
6
12
20
1/15
R88G-VRXF15B100CJ
78.0
32
40
52
46
60
50
3
6
12
20
1/25
R88G-VRXF25B100CJ
78.0
32
40
52
46
60
50
3
6
12
20
1/5
R88G-VRXF05B200CJ
72.5
32
60
52
70
60
50
3
10
12
20
1/9
R88G-VRXF09C200CJ
89.5
50
60
78
70
90
70
3
8
19
30
1/15
R88G-VRXF15C200CJ
100.0
50
60
78
70
90
70
3
8
19
30
1/25
R88G-VRXF25C200CJ
100.0
50
60
78
70
90
70
3
8
19
30
1/5
R88G-VRXF05C400CJ
89.5
50
60
78
70
90
70
3
8
19
30
1/9
R88G-VRXF09C400CJ
89.5
50
60
78
70
90
70
3
8
19
30
1/15
R88G-VRXF15C400CJ
100.0
50
60
78
70
90
70
3
8
19
30
1/25
R88G-VRXF25C400CJ
100.0
50
60
78
70
90
70
3
8
19
30
The standard shaft type is a shaft with key and tap.
The diameter of the motor shaft insertion is same as of the corresponding Servomotor shaft.
If the key on a Servomotor with key is uninstalled, it is possible to use the Decelerator by installing the Servomotor without above mentioned key.
The external dimensions diagrams in this manual provide only the main dimensions. They are not intended to show the detail shapes of the products.
Outline Drawings
F
4-Z2 (effective depth: L)
4-Z1
D2 dia.
□C1
G
T
LM
46
D3h7 dia.
Sh6 dia.
D1 dia.
□C2
LR
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
Dimensions (mm)
Z1
Z2
AT
L
M4
M5
M4
M4
M5
M4
M4
M5
M4
M4
Key
Tap
Model
QK
b
h
t1
m
l
12
16
4
4
2.5
M5
10
R88G-VRXF05B100CJ
12
16
4
4
2.5
M5
10
R88G-VRXF09B100CJ
1/9
M4
12
16
4
4
2.5
M5
10
R88G-VRXF15B100CJ
1/15
M5
M4
12
16
4
4
2.5
M5
10
R88G-VRXF25B100CJ
1/25
M5
M4
12
16
4
4
2.5
M5
10
R88G-VRXF05B100CJ
1/5
M4
M5
M4
12
16
4
4
2.5
M5
10
R88G-VRXF09B100CJ
1/9
M4
M5
M4
12
16
4
4
2.5
M5
10
R88G-VRXF15B100CJ
1/15
M4
M5
M4
12
16
4
4
2.5
M5
10
R88G-VRXF25B100CJ
1/25
M4
M5
M4
12
16
4
4
2.5
M5
10
R88G-VRXF05B200CJ
1/5
M4
M6
M5
20
22
6
6
3.5
M6
12
R88G-VRXF09C200CJ
1/9
M4
M6
M5
20
22
6
6
3.5
M6
12
R88G-VRXF15C200CJ
1/15
M4
M6
M5
20
22
6
6
3.5
M6
12
R88G-VRXF25C200CJ
1/25
M4
M6
M5
20
22
6
6
3.5
M6
12
R88G-VRXF05C400CJ
1/5
M4
M6
M5
20
22
6
6
3.5
M6
12
R88G-VRXF09C400CJ
1/9
M4
M6
M5
20
22
6
6
3.5
M6
12
R88G-VRXF15C400CJ
1/15
M4
M6
M5
20
22
6
6
3.5
M6
12
R88G-VRXF25C400CJ
1/25
1/5
50 W
100 W
200 W
400 W
Outline Drawings
Set bolt (AT)
b
Key and tap dimensions
m (Depth l)
QK
t1
h
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
47
Backlash: 15 Arcminutes Max.
3,000-r/min servomotors (100 to 400 W)
Dimensions (mm)
Model
LM
100 W
200 W
400 W
Note: 1.
Note: 2.
Note: 3.
Note: 4.
LR
C1
C2
D1
D2
D3
F
S
T
1/5
R88G-VRXF05B100PCJ
67.5
32
60
52
70
60
50
3
15.5
12
20
1/9
R88G-VRXF09B100PCJ
67.5
32
60
52
70
60
50
3
15.5
12
20
1/15
R88G-VRXF15B100PCJ
83.5
32
60
52
70
60
50
3
15.5
12
20
1/25
R88G-VRXF25B100PCJ
83.5
32
60
52
70
60
50
3
15.5
12
20
1/5
R88G-VRXF05B200PCJ
77.5
32
80
52
90
60
50
3
21.5
12
20
1/9
R88G-VRXF09C200PCJ
94.5
50
80
78
90
90
70
3
21.5
19
30
1/15
R88G-VRXF15C200PCJ
105.0
50
80
78
90
90
70
3
21.5
19
30
1/25
R88G-VRXF25C200PCJ
105.0
50
80
78
90
90
70
3
21.5
19
30
1/5
R88G-VRXF05C400PCJ
94.5
50
80
78
90
90
70
3
21.5
19
30
1/9
R88G-VRXF09C400PCJ
94.5
50
80
78
90
90
70
3
21.5
19
30
1/15
R88G-VRXF15C400PCJ
105.0
50
80
78
90
90
70
3
21.5
19
30
1/25
R88G-VRXF25C400PCJ
105.0
50
80
78
90
90
70
3
21.5
19
30
The standard shaft type is a shaft with key and tap.
The diameter of the motor shaft insertion is same as of the corresponding Servomotor shaft.
If the key on a Servomotor with key is uninstalled, it is possible to use the Decelerator by installing the Servomotor without above mentioned key.
The external dimensions diagrams in this manual provide only the main dimensions. They are not intended to show the detail shapes of the products.
Outline Drawings
4-Z1 (effective depth: M)
4-Z2 (effective depth: L)
F
D2 dia.
□ C1
G
T
LM
D3h7 dia.
Sh6 dia.
D1 dia.
48
G
□C2
LR
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
Dimensions (mm)
Z1
Z2
AT
M
L
M4
M5
M4
9
M4
M5
M4
9
M4
M5
M4
M4
M5
M5
M5
M5
Key
Tap
Model
QK
b
h
t1
m
l
12
16
4
4
2.5
M5
10
R88G-VRXF05B100PCJ
12
16
4
4
2.5
M5
10
R88G-VRXF09B100PCJ
1/9
9
12
16
4
4
2.5
M5
10
R88G-VRXF15B100PCJ
1/15
M4
9
12
16
4
4
2.5
M5
10
R88G-VRXF25B100PCJ
1/25
M4
11
12
16
4
4
2.5
M5
10
R88G-VRXF05B200PCJ
1/5
M6
M5
11
20
22
6
6
3.5
M6
12
R88G-VRXF09C200PCJ
1/9
M5
M6
M5
11
20
22
6
6
3.5
M6
12
R88G-VRXF15C200PCJ
1/15
M5
M6
M5
11
20
22
6
6
3.5
M6
12
R88G-VRXF25C200PCJ
1/25
M5
M6
M5
11
20
22
6
6
3.5
M6
12
R88G-VRXF05C400PCJ
1/5
M5
M6
M5
11
20
22
6
6
3.5
M6
12
R88G-VRXF09C400PCJ
1/9
M5
M6
M5
11
20
22
6
6
3.5
M6
12
R88G-VRXF15C400PCJ
1/15
M5
M6
M5
11
20
22
6
6
3.5
M6
12
R88G-VRXF25C400PCJ
1/25
1/5
100 W
200 W
400 W
Outline Drawings
Set bolt (AT)
b
Key and tap dimensions
m (Depth l)
t1
QK
h
(62)
M3, depth: 5
(15)
(24)
(114)
● Parameter Unit
R88A-PR02G
(15)
(1500)
Mini DIN 8-pin
MD connector
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
49
● DIN Rail Mounting Unit
R7A-DIN01B
Two, M4
mounting holes *1
35
20
5
(6)
130.5
(7)
140
Mounting panel
* 1. Two mounting screws (M4, length: 8) are included.
* 2. When the rail stopper is extended, this dimension becomes 10 mm.
Rail stopper
*2
(6)
4.2
Thermal switch output
48
62
1.5 dia.
(0.3 mm2)
R88A-RR22047S1
3 dia.
(0.75 mm2)
● External Regeneration Resistor
6
500
t1.2
200
20
220
4.2
Thermal switch output
28
43.5
1.5 dia.
(0.3 mm2)
R88A-RR08050S
R88A-RR080100S
3 dia.
(0.75 mm2)
230
6
t1.2
20
500
104
122
130
50
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
● Reactor
3G3AX-DL2002
3G3AX-DL2004
Model
3G3AX-DL2007
L
85
3G3AX-DL2004
95
72
90
3G3AX-DL2002
72
90
Ground terminal
(M4)
Two, M4 screws
Two, M4 screws
56
66
Ground terminal
(M4)
Four,
5.2 × 8 holes
105
L
98
98
56
66
Four, 5.2 × 8 holes
3G3AX-AL2025
Ground terminal (M5)
Six, M4
terminal screws
60
Connections
40
94
150
Ro R So S To T
Four,
6 dia.
R So
S To
T
67±1
82
67±1
50±1
120
Ro
About Manuals
English Cat. No.
Japanese Cat. No.
Type
Name
I561
SBCE-348
R88M-G/R7D-BP
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
User’s Manual
W453
SBCE-375
CXONE-@@@@C-V@/
@@@@D-V@
CX-Drive OPERATION MANUAL
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
51
MEMO
52
Terms and Conditions Agreement
Read and understand this catalog.
Please read and understand this catalog before purchasing the products. Please consult your OMRON representative if you have
any questions or comments.
Warranties.
(a) Exclusive Warranty. Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship
for a period of twelve months from the date of sale by Omron (or such other period expressed in writing
by Omron). Omron disclaims all other warranties, express or implied.
(b) Limitations. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE
PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL
SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products
or otherwise of any intellectual property right. (c) Buyer Remedy. Omron’s sole obligation hereunder shall be, at Omron’s election,
to (i) replace (in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the
non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price
of the non-complying Product; provided that in no event shall Omron be responsible for warranty, repair, indemnity or any other
claims or expenses regarding the Products unless Omron’s analysis confirms that the Products were properly handled, stored,
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unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system
assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in
writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
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OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES,
LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS,
WHETHER SUCH CLAIM IS BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted.
Suitability of Use.
Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the
combination of the Product in the Buyer’s application or use of the Product. At Buyer’s request, Omron will provide applicable
third party certification documents identifying ratings and limitations of use which apply to the Product. This information by itself is
not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system,
or other application or use. Buyer shall be solely responsible for determining appropriateness of the particular Product with
respect to Buyer’s application, product or system. Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE
QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS,
AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE
OVERALL EQUIPMENT OR SYSTEM.
Programmable Products.
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof.
Performance Data.
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining
suitability and does not constitute a warranty. It may represent the result of Omron’s test conditions, and the user must correlate it
to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.
Change in Specifications.
Product specifications and accessories may be changed at any time based on improvements and other reasons. It is our practice
to change part numbers when published ratings or features are changed, or when significant construction changes are made.
However, some specifications of the Product may be changed without any notice. When in doubt, special part numbers may be
assigned to fix or establish key specifications for your application. Please consult with your Omron’s representative at any time to
confirm actual specifications of purchased Product.
Errors and Omissions.
Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is
assumed for clerical, typographical or proofreading errors or omissions.
Note: Do not use this document to operate the Unit.
OMRON Corporation
Industrial Automation Company
Authorized Distributor:
Kyoto, JAPAN
Contact: www.ia.omron.com
Regional Headquarters
OMRON EUROPE B.V.
Wegalaan 67-69, 2132 JD Hoofddorp
The Netherlands
Tel: (31)2356-81-300/Fax: (31)2356-81-388
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438B Alexandra Road, #08-01/02 Alexandra
Technopark, Singapore 119968
Tel: (65) 6835-3011/Fax: (65) 6835-2711
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Hoffman Estates, IL 60169 U.S.A.
Tel: (1) 847-843-7900/Fax: (1) 847-843-7787
OMRON (CHINA) CO., LTD.
Room 2211, Bank of China Tower,
200 Yin Cheng Zhong Road,
PuDong New Area, Shanghai, 200120, China
Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200
© OMRON Corporation 2008-2022 All Rights Reserved.
In the interest of product improvement,
specifications are subject to change without notice.
CSM_9_11
Cat. No. I813-E1-07
0422(0208)
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湘ICP备2023018690号
