C200HWNC213

Omron’s Solutions in Motion Complete Solutions Omron’s new line of servomotors and drives completes your Omron industrial automation solution. The ’U’ series servo system combines an ultra-small brushless servomotor matched with a flexible, rugged servo drive. Whether you require 100VAC or 200VAC, incremental or absolute encoder feedback, pulse or analog input, Omron has a servo system to meet your requirements. The ‘U’ series is fully complemented by Omron’s broad product line which includes PLCs, power supplies, operator interfaces, sensors, automatic identification solutions, and temperature and process controllers. Our ‘plug and play’ connections to Omron PLC motion control units give system designers and machine builders a high performance, flexible servo system that can be set up quickly for a variety of applications. Satisfying a Variety of Applications Material Handling Precision Grinding Indexing Part Transfer Lathes Packaging Winding Cut to Length Point to Point Positioning Servo Selection Options Quick Adjustments The ‘U’ series gives you the choice of digital or analog drives so you can choose the best product for your application. The auto-tuning function automatically adjusts the control system gain according to machine characteristics, reducing system start up time. Small Sized and Lightweight The use of small power modules and integration of electronic circuits, make a lightweight, small sized servo drive a reality. The small package size provides the designer an economical use of panel space. Quiet Operation Easy Operation The drive parameters are divided into groups so that they can be easily set and monitored. Make changes to the parameters using either hand held or mounted parameter units or PC-based software. Our servos are packed with several standard features, making them ideal for several different applications. Standard features include: soft start, torque control, reverse mode, internal speed control settings, encoder resolution, electrical gears, position lock, brake interlock and overtravel. Easy Wiring PC Compatible Communications We offer several special cables and plug-and-play capability, facilitating quick connections to Omron PLC Position and Motion Control Units. Use the dedicated software package for saving, reading and writing parameters from a personal computer. Easily perform system checks, make adjustments and evaluate operating status using the electric current, speed and I/O signal information graphically displayed on a PC. Using Insulated Gate Bi-Polar Transistors (IGBT) reduces audible noises. Multi-Functional APPROVED Durable and Ultra Small Customize Your System The ‘U’ series motors are the AC brushless type that are built for a long, trouble-free life. Using rare-earth magnets and innovative magnetic circuits minimizes the motor’s size and weight. Available options include incremental or absolute encoders, straight or keyed shafts and a brake for holding when power is off. Users can choose the motor that best suits their application. Smooth Rotation Low Inertia and High Power Rate Cogging torque has been reduced, so the motor rotates smoothly at low speeds.The motor’s speed control range is 5,000:1. The low rotor inertia design yields a very high power rate and makes the ‘U’ series well suited for high speed positioning applications. High-Speed Positioning The maximum rotational speed of 4,500 r/min. shortens positioning time and improves productivity. TABLE OF CONTENTS Functions 4 System Configuration 6 Using Parameter Units 8 Servomotor Specifications 11 Torque and Rotation Speed Characteristics 14 Servo Driver Specifications 15 Options Specifications 18 External Dimensions 19 Terminal and Connector Functions (30 to 750 W) 23 Special Cables 27 Model Number Legend 28 Standard Models 29 Important Information 31 NOTE: Specifications to change without notice. Warranty: Omron certifies all of its products either meet or exceed stipulated specifications. Omron is not liable for stenographic and/or clerical errors. Omron's obligation under this warranty is limited solely to repair or replacement at Omron's discretion. Omron will not be liable for any design furnished by Buyer and incorporated into equipment. This warranty is voided if the product is altered in any way or suffers consequential damage due to negligence or misuse. Omron is not to suffer risk due to the suitability or unsuitability or the results of the use of its products used in combination with any electrical or electronic components, circuits, systems assemblies or any other materials or substances or environments. The foregoing warning is the only warranty which Omron Electronics, Inc., provides with respect to the products listed herein. No other warranties, expressed, implied, or statutory shall apply, whether as to merchantability, fitness for a particular purpose, description, or otherwise. Limitation of Liability: Notwithstanding any other statement herein, Omron Electronics, Inc., its contractors and suppliers, shall not be liable for any special, indirect, incidental or consequential damages. The remedies of the purchaser set forth herein are exclusive where so stated and the total cumulative liability of Omron Electronics, Inc., its contractors and suppliers, with respect to this contract or anything done in connection therewith, shall not exceed replacement price reimbursement as to the product on which such liability is based. Functions All your Servomotor functional needs combined -- to make optimal operation a reality. Soft Start Internal Speed Control Speed Control Position Control This function stops and starts the Servomotor within the set acceleration and deceleration times. A positioning system can be easily established, without the need for a positioner or host controller. External speed command With this function, the motor can be rotated at the first through third speeds set in the user parameters, making it easy to achieve positioning and speed switching operations. Speed Speed 1 Servo Driver internal speed command Speed Control Speed 2 Rotation direction command Internal speed setting Forward rotation t ti First speed Speed 3 Speed 4 Speed 5 When the Servomotor stops, this function sets off the position loop and activates the position lock. It prevents drifts peculiar to analog input. Motor U-series Second speed Third speed Reverse rotation t ti Speed 6 Stop Position Lock Speed Control First speed Second speed Third speed Servolock engaged Electrical Gears Position Control The degree of movement per pulse can be set for each command. 1,000 pulses Controller Torque Control Electrical gears Servo Driver Torque Control Controls the Servomotor using a torque proportional to the analog input voltage. It can be used for tension control and controlled stopping. 8,192 pulses Encoder Resolution Position Control Torque Control Reverse Rotation Mode Position Control Torque Control Speed Control Command Default setting Forward rotation command CCW Reverse rotation command CW Forward rotation Reverse rotation The number of encoder pulses per motor rotation can be set to match the response frequency of the host controller. Controller A 1,000 pulses/rotation The forward and reverse rotation commands can be switched at the parameter level, without changing the Servomotor or encoder wiring. Controller B Reverse rotation mode 720 pulses/rotation CW Controller C CCW Forward rotation Reverse rotation Speed Control 500 pulses/rotation One rotation Servomotor Functions Rich Command Pulse Mode Position Control Available for all types of command pulse. Logic setting Command pulse mode Positive logic setting Motor forward command Motor reverse command Feed pulse and direction signal “H” 90
phase difference signals A-, B-phase feed pulse (Multiplication by 1, 2, & 4 possible) 90° “L” 90° “L” Reverse pulse and forward pulse “L” Negative logic setting Feed pulse and direction signal “L” 90
phase difference signals A-, B-phase feed pulse (Multiplication by 1, 2, & 4 possible) 90° Reverse pulse and forward pulse “H” 90° “H” “H” Speed Control Stores the past ten errors, even if the power supply is cut off, making accurate troubleshooting possible. Bias Function Feed-forward Function Position Control Position Control This function can be used to reduce the position control time, according to the load conditions. Speed command Speed Display (Alarm history) : Description Servomotor speed with bias -- A40 Overvoltage detected A51 Overspeed detected A71 Overload detected : Torque Command Filter Position Control Torque Control Speed Control If the appropriate time constant is set, resonance with the load can be prevented. Without feed-forward function Servomotor speed without bias Positioning completion -- The stabilization period is reduced by using the feed-forward function. Speed Alarm History Display Position Control Torque Control Reduced time Brake Interlock Position Control Torque Control Time Time Speed command Speed Control Outputs a special signal, making the holding magnetic brake operating sequence easy. With feed forward function Reduced time Emergency Stop Torque Position Control Torque Control Speed Control The control torque for overtravel time can be set, preventing damage to machinery. Servomotor U-Series System Configuration Our product synergy meets a variety of needs. When an OMRON Position Control Unit is used, the system configuration remains the same. Position Control in a Mid-size System SYSMAC α C200HX/HG/HE Programmable Controller C200HW-NC113 C200HW-NC213 C200HW-NC413 Position Control Unit Position Control in a Large-rack System C500-NC113 C500-NC211 Position Control Unit SYSMAC CVM1/CV/C1000H/C2000H Programmable Controller Pulse train input Pulse Train Input Models AC Servo Driver AC Servomotor with Incremental Encoder   R88M-U HA (30 to 750 W: 200 V) R88M-U LA (30 to 300 W: 100 V)   R88D-UP HA (Single-phase 200 VAC) R88D-UP LA (Single-phase 100 VAC) System Configuration Multi-axis Control Using the G Language CV500-MC421 CV500-MC221 Motion Control Unit C200H-MC221 Motion Control Unit SYSMAC α C200HX/HG/HE Programmable Controller Analog input command Analog Input Models AC Servo Driver AC Servomotor with Incremental Encoder   R88M-U HA (30 to 750 W: 200 V) R88M-U LA (30 to 300 W: 100 V)   R88D-UA HA (Single-phase 200 VAC) R88D-UA LA (Single-phase 100 VAC) Using Parameter Units Parameter Unit Keys and Functions Keys PR02U PR03U RESET + Display Function Alarm reset Mode switching Data memory Displays motor rotation speed, speed commands, torque command monitoring values, user parameter set values and the Servo Driver status. SERVO DATA Servo ON/OFF during jog operations DATA DATA Switching between parameter display and data display; data memory Increments parameter numbers and data values. Decrements parameter numbers and data values. Left shift for operation digits Hand-held type R88A-PR02U Right shift for operation digits Mounted-type R88A-PR03U Changing Modes To change modes, press the MODE/SET Key. Status display mode Power ON    
(Display example) Baseblock Settings mode Monitor mode Alarm history display mode  
   
  
 Speed feedback No alarm System check mode Status Display Mode Symbol display

Baseblock Speed conformity (for speed control) In position (for position control) Rotation detected/Current limit detected Inputting speed command (for speed control) Inputting command pulse (for position control)   Main circuit power ON Power ON/Control circuit power ON Bit data display Inputting torque command (for torque control) Inputting deviation counter reset signal (for position control) Symbol display Contents Baseblock (no power to motor)
  In operation (running)   Reverse rotation prohibited Forward rotation prohibited Alarm display (Refer to alarm table.) Using Parameter Units Mode Changes and Display Contents Power ON Bit Displays Power ON / Control circuit power ON Baseblock (motor not receiving power) Speed conformity / In position Inputting torque command Inputting deviation counter reset signal Inputting speed command / Inputting command pulse Motor rotation detected / Current limit detected Symbol Displays Baseblock / In operation (running) Forward rotation prohibited / Reverse rotation prohibited Alarm display Status display mode Settings mode System check mode (Cn-00) Setup parameter no. 1 (Cn-01) Setup parameter no. 2 (Cn-02) Jog operation Command offset automatic adjustment Clear alarm history data Command offset manual adjustment Motor parameters check Auto-tuning Sequence input signal switch Process selection following momentary stop reset Abnormal stop selection / Control mode selection Deviation counter processing / P control selection P control switch conditions / Encoder selection Torque feed-forward function selection Pulse prohibit switch Reverse mode / Origin error mask Input command mode / Command pulse mode Deviation counter clear Command pulse logic return Parameter Unit monitoring level switch Torque command filter time constant (HA/LA Models) Monitoring switch 1/2 Torque feed forward selection TREF switch (HA/LA Models) User parameters (Cn-03 onwards) Monitor mode Alarm history display mode Speed feedback / Speed command / Torque command Number of pulses from U-phase edge / Electrical angle Internal status bit display 1 / Internal status bit display 2 Command pulse speed display / position deviation / input pulse counter Error number 0: Error one time before Error number 9: Error ten times before Note: Items which can be set and monitored differ according to the type of Servo Driver or Servomotor used. Refer to the User’s Manual for details. Using Parameter Units Monitor Mode Monitor no. Monitor contents Unit Explanation Un-00 Speed feedback r/min Displays actual rotational speed of motor. Un-01 Speed command r/min Displays commands to speed loop when controlling via internally set speeds. Un-02 Torque command % The command to the current loop is displayed as 100% of the rated torque. Un-03 Number of pulses from U-phase edge Pulses The number of pulses from the U-phase edge is displayed in units of encoder resolution. Un-04 Electrical angle Degrees Displays the electrical angle of the motor. Un-05 Internal status bit display 1 --- Displays y Servo Driver internal information as either lit or not lit. Un-06 Internal status bit display 2 --- Un-07 Command pulse speed display r/min Displays the command pulse counter converted to a frequency (r/min). Un-08 Position deviation (deviation counter) Command units Displays the pulse count (position deviation) remaining on the deviation counter in command units (based on input pulses). Un-09 Input pulse counter Command units Counts and displays the input pulses. “0” will be displayed when controlling with pulse trains. Alarm Table Alarm code Display p y Alarm ALM Error detection f function ti Detection contents -cause off error ALO1 ALO2 ALO3  OFF OFF OFF OFF Parameter corruption     OFF OFF OFF OFF Parameter setting error Incorrect parameter setting. ON OFF OFF OFF Overcurrent Overcurrent or overheating detected. ON ON OFF OFF Deviation counter overflow The pulses remaining on the deviation counter exceed the deviation counter overflow level set in Cn-1E.   OFF OFF ON OFF Overvoltage Main circuit DC voltage exceeded the allowable value.    ON OFF ON OFF Over speed Detected at 4,950 r/min. ON ON ON OFF Overload Detected at reverse limit characteristics when the output torque exceeds120% of the rated torque. 
OFF OFF OFF OFF Command input reading error The final signal from the AC Convertor was not output within the fixed time.   ON OFF ON OFF Runaway detected Faulty power or encoder wiring. ON OFF ON OFF Phase error detected Connector not properly connected. Encoder not properly wired.  ON OFF ON OFF Encoder A or B phase wire disconnection Either Phase A or Phase B signal was disconnected or short circuited.  ON OFF ON OFF Encoder S phase wire disconnection Encoder S phase was disconnected or short circuited.  OFF ON OFF OFF Momentary power failure alarm The power supply was re-started within the power retention period.  OFF OFF OFF ON Alarm reset power supply turned on This is history data only, and is not an alarm.  OFF OFF OFF OFF Parameter Unit transmission error 1 Data could not be transmitted after the power supply was turned on. (It no longer exists in the alarm history.)  --- --- --- --- Parameter Unit transmission error 2 Transmission timeout error (It no longer exists in the alarm history.) Note: “---” means indefinite. Remarks The checksum for the parameters read from the EEPROM does not match. For position control only. For speed and torque control only. Servomotor Specifications Performance Specifications 200-VAC Servomotors Item Symbol IEC With Incremental Encoder (R88M-) Unit U03030HA U05030HA U10030HA U20030HA U40030HA U75030HA Rated output (see note 1) Pr W 30 50 100 200 400 750 Rated torque (see note 1) Tr kgf
cm 0.974 1.62 3.25 6.49 13.0 24.3 N
m 0.095 0.159 0.318 0.637 1.27 2.39 Rated rotational speed ωr r/min 3000 Momentary maximum rotational speed ωm r/min 4500 Momentary maximum torque (see note 1) Tm kgf
cm 2.92 4.87 9.75 19.5 39.0 72.9 N
m 0.29 0.48 0.96 1.91 3.82 7.10 Momentary maximum/rated current ratio I m/r % 310 317 322 300 308 316 Rated current (see note 1) Ir A (rms) 0.42 0.60 0.87 2.0 2.6 4.4 Momentary maximum current (see note 1) Im A (rms) 1.3 1.9 2.8 6.0 8.0 13.9 Rotor inertia INC ((see note t 4) Jr kgf
cm
s2 0.21 × 10--4 0.27 × 10--4 0.41 × 10--4 1.26 × 10--4 1.95 × 10--4 6.85 × 10--4 kg
m2 (GD2/4) 0.21 × 10--5 0.26 × 10--5 0.40 × 10--5 1.23 × 10--5 1.91 × 10--5 6.71 × 10--5 Torque constant (see note 1) Kt kgf
cm/A 2.60 2.92 4.16 3.62 5.44 6.01 N
m/A 0.255 0.286 0.408 0.355 0.533 0.590 Induced voltage constant (see note 1) Ki mV/ (r/min) 8.89 9.98 14.0 12.4 18.6 20.6 Power rate (see note 1) Qp kW/s 4.36 9.63 25.4 32.8 84.6 85.1 Mechanical time constant
m ms 1.5 0.9 0.5 0.4 0.3 0.3 Winding resistance Rw Ω 15.8 9.64 6.99 1.34 1.23 0.45 Winding inductance Lw mH 23.1 16.9 13.2 7.2 7.9 5.7 Electrical time constant
e ms 1.5 1.8 1.9 5.4 6.4 13 Momentary allowable radial load INC ((see note t 4) F mr kgf 19 19 19 50 50 75 N 186 186 186 490 490 735 Momentary allowable thrust load INC ((see note t 4) F mt kgf 13 13 13 18 18 40 N 127 127 127 176 176 392 Allowable radial load INC ((see note t 4) Fr kgf 7 7 8 25 25 40 N 68 68 78 245 245 392 Allowable thrust load INC ((see note t 4) Ft kgf 5.5 5.5 5.5 7.5 7.5 15 N 54 54 54 74 74 147 kg Approx. 0.3 Approx. 0.4 Approx. 0.5 Approx. 1.1 Approx. 1.7 Approx. 3.4 kg Approx. 0.6 Approx. 0.7 Approx. 0.8 Approx. 1.6 Approx. 2.2 Approx. 4.3 Weight INC ((see note t 4) Without brakes m Corresponding Servo Driver (R88D-) Analog output UA02HA UA03HA UA04HA UA08HA UA12HA UA20HA Pulse train output UP02HA UP03HA UP04HA UP08HA UP12HA UP20HA Brake specifications ifi ti (see note 2) Brake inertia With brakes Jb kgf
cm
s2 0.09 × 10--4 0.59 × 10--4 1.43 × 10--4 kg
m2 (GD2/4) 0.09 × 10--5 0.58 × 10--5 1.40 × 10--5
10% (no polarity) Magnetized voltage Ub V 24 VDC Power consumption (at 20°C) Pb W 6 6.5 6 Current consumption (at 20°C) Ib A 0.25 0.27 0.25 Static friction torque Tb kgf
cm 2.0 min. 3.5 min. 15.0 min. 25.0 min. N
m 0.2 min. 0.34 min. 1.5 min. 2.5 min. Absorption time (see note 3) t ba ms 40 max. 60 max. 100 max. 200 max. Release time (see note 3) t br ms 20 max. 30 max. 40 max. 50 max. Backlash --- ± 1 (reference value) Rating --- Continuous Insulation grade --- Type F Servomotor Specifications 100-VAC Servomotors Item Symbol IEC With Incremental Encoder (R88M-) Unit U03030LA U05030LA U10030LA U20030LA U30030LA Rated output (see note 1) Pr W 30 50 100 200 300 Rated torque (see note 1) Tr kgf
cm 0.974 1.62 3.25 6.49 9.74 N
m 0.095 0.159 0.318 0.637 0.954 Rated rotational speed ωr r/min 3000 Momentary maximum rotational speed ωm r/min 4500 Momentary maximum torque (see note 1) Tm kgf
cm 2.92 4.87 9.75 19.5 38.0 N
m 0.29 0.48 0.96 1.91 3.72 Momentary maximum/rated current ratio I m/r % 317 322 323 311 400 Rated current (see note 1) Ir A (rms) 0.63 0.9 2.2 2.7 3.7 Momentary maximum current (see note 1) Im A (rms) 2.0 2.9 7.1 8.4 14.8 Rotor inertia INC ((see note t 4) Jr kgf
cm
s2 0.21 × 10--4 0.27 × 10--4 0.41 × 10--4 1.26 × 10--4 1.95 × 10--4 kg
m2 (GD2/4) 0.21 × 10--5 0.26 × 10--5 0.40 × 10--5 1.23 × 10--5 1.91 × 10--5 Torque constant (see note 1) Kt kgf
cm/A 1.72 1.98 1.59 2.60 2.85 N
m/A 0.168 0.194 0.156 0.255 0.279 Induced voltage constant (see note 1) Ki mV/ (r/min) 5.87 6.79 5.43 8.9 9.74 Power rate (see note 1) Qp kW/s 4.36 9.63 25.4 32.8 47.3 Mechanical time constant
m ms 1.6 0.9 0.6 0.4 0.3 Winding resistance Rw Ω 7.22 4.34 1.22 0.706 0.435 Winding inductance Lw mH 9.7 6.9 2.0 4.0 2.3 Electrical time constant
e ms 1.3 1.6 1.6 5.7 5.3 Momentary allowable radial load INC ((see note t 4) F mr kgf 19 19 19 50 50 N 186 186 186 490 490 Momentary allowable thrust load INC ((see note t 4) F mt kgf 13 13 13 18 18 N 127 127 127 176 176 Allowable radial load INC ((see note t 4) Fr kgf 7 7 8 25 25 N 68 68 78 245 245 Allowable thrust load INC (see ( note t 4) Ft kgf 5.5 5.5 5.5 7.5 7.5 N 54 54 54 74 74 kg Approx. 0.3 Approx. 0.4 Approx. 0.5 Approx. 1.1 Approx. 1.7 kg Approx. 0.6 Approx. 0.7 Approx. 0.8 Approx. 1.6 Approx. 2.2 Weight INC ((see note t 4) Without brakes Corres onding Corresponding S Servo Driver Di (R88D-) (R88D ) Analog output UA03LA UA04LA UA10LA UA12LA UA15LA Pulse train output UP03LA UP04LA UP10LA UP12LA UP15LA Brake sspecifications ecifications ( (see note t 2) Brake inertia Jb Magnetized voltage Ub Power consumption (at 20°C) Note: m With brakes kgf
cm
s2 0.09 × 10--4 0.59 × 10--4 kg
m2 (GD2/4) 0.09 × 10--5 0.58 × 10--5 V 24 VDC Pb W 6 6.5 Current consumption (at 20°C) Ib A 0.25 0.27 Static friction torque Tb kgf
cm 2.0 min. 3.5 min. 15.0 min. N
m 0.2 min. 0.34 min. 1.5 min.
10% (no polarity) Absorption time (see note 3) t ba ms 40 max. 60 max. 100 max. Release time (see note 3) t br ms 20 max. 30 max. 40 max. Backlash --- ± 1 (reference value) Rating --- Continuous Insulation grade --- Type F 1. Values for these items, as well as those for torque, the rotational speed characteristics, are the values at an armature winding temperature of 100°C, combined with the Servo Driver. Other values are at normal conditions (20°C, 65%).The momentary maximum torque value is the reference value. 2. The brakes installed in the Servomotors have non-magnetized operation. (The magnetic brake is released when a magnetic current is applied.) 3. The operation time measurement is the measured value with a surge killer (CR50500, by Okaya Electric Industrial Co.) installed. 4. INC: Servomotor with Incremental Encoder attached. 5. The magnetic brakes installed in Servomotors with brakes are status-holding brakes. The magnetic brake is not meant to be used for braking. Using it for braking will damage it. During Servomotor operation, be sure to release the magnetic brake by applying a magnetic voltage. 6. Absolutely do not impact the Servomotor or the output shaft by striking with an implement such as a hammer. Doing so will damage the Servomotor and encoder bearings. Servomotor Specifications General Specifications Item Specifications Operating ambient temperature 0°C to 40°C Operating ambient humidity 20% to 80% RH (with no condensation) Storage ambient temperature --10°C to 75°C Storage ambient humidity 20% to 80% RH (with no condensation) Storage and operating atmosphere No corrosive gasses. Vibration resistance 10 to 150 Hz in X, Y, and Z directions with 0.2-mm double amplitude; acceleration: 2.5G {24.5 m/s2} max.; time coefficient: 8 min; 4 sweeps (see note 1) Impact resistance Acceleration 10G {98 m/s2} max., in X, Y, and Z directions, three times Insulation resistance Between power line terminals and case: 10 MΩ min. (500 VDC megger) Dielectric strength Between power line terminals and case: 1,500 VAC for 1 min (10 mA max.) at 50/60 Hz (JEC2121) Run position All directions Insulation grade Type B (JIS C4004) Structure Totally-enclosed self-cooling Protective structure IP-42 (JEM1030) (Cannot be used in environment with water-soluble cutting fluids.) (See note 2) Vibration grade V-15 (JEC2121) Mounting method Flange-mounting Note: 1. Vibration may be amplified due to sympathetic resonance of machinery, so use the Servomotor Driver under conditions which will not exceed 2G {19.6 m/s2} over a long period of time. 2. The drip-proofing specifications are special specifications covered by IP-44. (Models with drip-proof specifications provide dripproofing on Servomotors with oil seals.) 3. The above items reflect individual evaluation testing. The results may differ under compounded conditions. 4. The Servomotor cannot be used in a misty atmosphere. Servomotor Shaft Tolerance Load Radial load Thrust load 5 mm • The allowable radial load is the value at a point 5 mm from the end of the shaft. • The allowable radial and thrust loads are values determined with a service life of 20,000 hours taken as a criteria. Radiant Heat Conditions When the AC Servomotor is operated continuously at a rated current, a radiant heat board, as noted here, must be fitted to the Servomotor flange. 30 to 750 W: t6 250 mm angle aluminium board or the above equivalent.
Torque and Rotation Speed Characteristics R88M-U03030HA R88M-U05030HA R88M-U10030HA Intermittent duty Intermittent duty Intermittent duty Continuous duty Continuous duty Continuous duty R88M-U20030HA R88M-U40030HA R88M-U75030HA Intermittent duty Intermittent duty Intermittent duty Continuous duty Continuous duty Continuous duty 100 VAC Specifications (With 3-m Standard Cable and 100-VAC Input) R88M-U03030LA R88M-U05030LA Intermittent duty Intermittent duty Continuous duty Continuous duty R88M-U20030LA R88M-U30030LA Intermittent duty Intermittent duty Continuous duty Continuous duty R88M-U10030LA Intermittent duty Continuous duty Servo Driver Specifications General Specifications (For 30- to 750-W Models) Item Specifications Operating ambient temperature 0°C to 55°C Operating ambient humidity 35% to 85% RH (with no condensation) Storage ambient temperature --10°C to 75°C Storage ambient humidity 35% to 85% RH (with no condensation) Storage and operating atmosphere No corrosive gasses. Vibration resistance 10 to 55 Hz in X, Y, and Z directions with 0.10-mm double amplitude; acceleration: 0.5 G {4.9 m/s2} max.; time coefficient: 8 min; 4 sweeps (See note 1.) Impact resistance Acceleration 2 G {19.6 m/s2} max., in X, Y, and Z directions, three times Insulation resistance Between power line terminals and case: 5 MΩ min. (at 1,000 VDC) Dielectric strength Between power line terminals and case: 1,000 VAC for 1 min (20 mA max.) at 50/60 Hz Protective structure Built into panel. Note: 1. Vibration may be amplified due to sympathetic resonance of machinery, so use the Servomotor under conditions which will not exceed 0.5 G {4.9 m/s2} over a long period of time. 2. The above items reflect individual evaluation testing. The results may differ under compounded conditions. 3. Absolutely do not conduct a withstand voltage test or other Megger tester tests on the Servo driver. If such tests are conducted, internal elements may be damaged. 4. Depending on the operating conditions, some Servo Driver parts will require maintenance. Refer to the relevant operation manual for details. Performance Specifications (30- to 750-W Analog Input Models) 200 V Model R88D -UA02HA R88D -UA03HA R88D -UA04HA R88D -UA08HA 100 V R88D -UA12HA R88D -UA20HA R88D -UA03LA R88D -UA04LA R88D -UA10LA R88D -UA12LA R88D -UA15LA Continuous output current (0-P) 0.6 A 0.85 A 1.2 A 2.8 A 3.7 A 6.2 A 0.9 A 1.3 A 3.1 A 3.8 A 4.8 A Momentary maximum output current (0-P) 1.8 A 2.7 A 4.0 A 8.5 A 11.3 A 19.7 A 2.8 A 4.1 A 10 A 12 A 15 A Input power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz Control method All-digital servo Speed feedback Incremental encoder (magnetic), 2,048 pulses/revolution Applicable load inertia INC (see note) Maximum of 30 times motor’s rotor inertia Inverter method PWM method based on IGBT PWM frequency 11 kHz Applicable Servomotor INC (see note) R88MU03030H A R88MU05030HA R88MU10030HA R88MU20030HA R88MU40030HA Applicable Servomotor wattage 30 W 50 W 100 W 200 W Weight Approx. 0.9 kg Capacity Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz Maximum of 20 times motor’s rotor inertia Maximum of 30 times motor’s rotor inertia Maximum of 20 times motor’s rotor inertia 7.8 kHz 11 kHz 7.8 kHz R88MU75030HA R88MU03030LA R88MU05030LA R88MU10030LA R88MU20030LA R88MU30030LA 400 W 750 W 30 W 50 W 100 W 200 W 300 W Approx. 1.2 kg Approx. 1.5 kg Approx. 0.9 kg Approx. 1.2 kg Approx. 1.5 kg Speed control range 1:5000 Speed fluctuation rate (load character-istic) 0.01% at 0 to 100% (at rated rotation speed) Speed fluctuation rate (voltage character-istic) 0% at input voltage of 170 to 253 VAC Speed fluctuation rate (tempera-ture character-istic) ±0.2% max. at 0 to 50°C Frequency character-istics 250 Hz (at the same load as the rotor inertia) Torque control reproducibility ±2.0% Accelera-tion time setting 0 to 10 s (Acceleration and deceleration times are set separately) 0% at input voltage of 85 to 127 VAC (This table continues on the next page.) Servo Driver Specifications Specifications Table -- continued from previous page Input signal Output signal Speed command voltage ±2 to 10 VDC (motor rotation by +command) / rated rotation speed Input impedance: Approx. 30 kΩ; circuit time constant: Approx. 47 µs Torque command voltage ±1 to 10 VDC / rated torque Input impedance: Approx. 30 kΩ; circuit time constant: Approx. 47 µs Sequence input Run command, gain deceleration, forward/reverse current limit, forward/reverse drive prohibit, alarm reset, 24-VDC, 5-mA photocoupler input, external power supply: 24±1 VDC, 50 mA min. Position feedback output A-, B-, Z-phase line driver output (EIA RS-422A) A-phase and B-phase (dividing rate setting): 16 to N pulses/revolution, N=2,048 (incremental) Z-phase: 1 pulse/revolution Speed monitor output 0.5 V/1000 r/min Current monitor output 0.5 V/100% Sequence output Alarm output, alarm code output, motor rotation detection, brake interlock, speed conformity, open collector output, 30 VDC, 50 mA (except for alarm code output, which is 30 VDC, 20 mA) Dynamic brake stopping Operates when the power supply turns off, a servo alarm is generated or an overrun occurs. Protective functions Overcurrent, grounding, overload, overvoltage, overspeeding, A/D errors, transmission errors, encoder errors, overrun prevention Note: INC: Servomotor with Incremental Encoder attached. Performance Specifications (30- to 750-W Pulse Train Input Models) 200 V Model R88D -UP02HA R88D -UP03HA R88D -UP04HA R88D -UP08HA 100 V R88D -UP12HA R88D -UP20HA R88D -UP03LA R88D -UP04LA R88D -UP10LA R88D -UP12LA R88D -UP15LA Continuous output current (0-P) 0.6 A 0.85 A 1.2 A 2.8 A 3.7 A 6.2 A 0.9 A 1.3 A 3.1 A 3.8 A 4.8 A Momentary maximum output current (0-P) 1.8 A 2.7 A 4.0 A 8.5 A 11.3 A 19.7 A 2.8 A 4.1 A 10 A 12 A 15 A Input power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz Control method All-digital servo Speed feedback Incremental encoder (magnetic), 2,048 pulses/revolution Applicable load inertia Maximum of 30 times motor’s rotor inertia Inverter method PWM method based on IGBT PWM frequency 11 kHz 7.8 kHz 11 kHz Applicable Servomotor R88MU03030HA R88MU05030HA R88MU10030HA R88MU20030HA R88MU40030HA R88MU75030HA R88MU03030LA R88MU05030LA R88MU10030LA R88MU20030LA R88MU30030LA Applicable Servomotor wattage 30 W 50 W 100 W 200 W 400 W 750 W 30 W 50 W 100 W 200 W 300 W Weight Approx. 0.9 kg Approx. 1.2 kg Approx. 1.5 kg Approx. 0.9 kg Approx. 1.2 kg Approx. 1.5 kg Capacity Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz Maximum of 20 times motor’s rotor inertia Maximum response pulse frequency 200 kpps Position loop gain 1 to 500 (1/s) Electrical gear function Electrical gear ratio range: 0.01 Positioning completed width 0 to 250 (command units) Feed forward compensation 0 to 100% of the speed command (pulse frequency) Bias setting 0 to 450 r/min Position accel/ decel time constant setting 0 to 64 ms (acceleration and deceleration are set the same)
(G1/G2)
100 (G1, G2 = 1 to 65, 535) (This table continues on the next page.) Maximum of 30 times motor’s rotor inertia Maximum of 20 times motor’s rotor inertia 7.8 kHz Servo Driver Specifications Specifications Table -- continued from previous page Input signal Output signal Position command pulse input (See note.) TTL line driver input photo isolation input power supply 6 mA to 3 V. Feed pulse/forward, reverse signal, forward pulse/reverse pulse, 90 disparity (A-, B-phase) signal. Deviation counter reset TTL line driver input photo isolation input power supply 6 mA to 3 V. Sequence input Run command, gain deceleration, forward/reverse current limit, forward/reverse drive prohibit, alarm reset, 24-VDC, 5-mA photocoupler input, external power supply: 24±1 VDC, 50 mA min. Position feedback output A-, B-, Z-phase line driver output (EIA RS-422A) A-phase and B-phase (dividing rate setting): 16 to 2,048 pulses/revolution Z-phase: 1 pulse/revolution Speed monitor output 0.5 V/1000 r/min Current monitor output 0.5 V/100% Sequence output Alarm output, alarm code output, motor rotation detection, brake interlock, positioning complete, open collector output, 30 VDC, 50 mA (except for alarm code output, which is 30 VDC, 20 mA) Dynamic brake stopping Operates when the power supply turns off, a servo alarm is generated or an overrun occurs. Protective functions Overcurrent, grounding, overload, overvoltage, overspeeding, overrun prevention, transmission errors, encoder errors, deviation counter overrun Note: Ensure that the input pulse width meets the following conditions. TIL, TIH ≥ 2.5 µs U-Series Servomotors and Servo Drivers Are UL and cUL Approved Standard UL cUL Model Applicable Standard File No. AC Servo Driver UL508C E179149 AC Servomotor UL1004 E179189 AC Servo Driver cUL C22.2 No. 14 E179149 AC Servomotor cUL C22.2 No. 100 E179189 Options Specifications Regeneration Unit Specifications (For 30- to 750-W Models) Parameter Unit Specifications General Specifications General Specifications Item Item Specifications Operating ambient temperature 0°C to 55°C Storage ambient temperature --10°C to 75°C Operating ambient humidity 35% to 85% RH (with no condensation) Storage ambient humidity 35% to 85% RH (with no condensation) Storage and operating atmosphere No corrosive gasses. Vibration resistance Impact resistance 0.5 G {4.9 m/s2} max. Acceleration 2 G {19.6 m/s2} Specifications Operating ambient temperature 0°C to 55°C Storage ambient temperature --10°C to 75°C Operating ambient humidity 35% to 85% RH (with no condensation) Storage ambient humidity 35% to 85% RH (with no condensation) Storage and operating atmosphere No corrosive gasses. Vibration resistance 0.5 G {4.9 m/s2} max. Impact resistance Acceleration 2 G {19.6 m/s2} max. max. Performance Specifications Performance Specifications Model Item R88A-RG08U R88A-PR02U R88A-PR03U Type Handy type Mounted type Regeneration operating voltage 380 VDC Accessory cable 1m (Connected by connectors.) Regeneration processing current 8 ADC Connectors 7910-7500SC (10 pins) D sub-connector (9 pins) Average regeneration power 12 W (internal resistance: 50 Ω, 60 W) Display 7-segment LED, 5 digits Error detection function Regeneration resistance disconnection, regeneration transistor damage, overvoltage Weight Alarm output 1b contact (open contact at time of protective function operation) (200 VAC drive possible.) Weight Approx. 1 kg Indicator LED Specifications Item Specifications POWER Lit while power flows through PN terminal. REGEN Lit during regeneration operation. ALARM-REGEN Lit for regeneration resistance disconnection or regeneration transistor damage. ALARM-OV Lit when overvoltage occurs. Note: 1. When the error detection function operates, an alarm is output from the Unit. 2. Create a sequence so that the power supply (R--T) to the Servo Driver is cut off when an alarm is generated. 3. When the error detection function operates and the Servo Driver’s power supply is cut off, the Regeneration Unit won’t be restored to its normal status until 2 to 3 seconds have elapsed, even if the power supply is turned on again. (Normal status is restored after the electrolytic capacitor in the Servo Driver has been discharged and the voltage between signals P and N drops.) Co Commuu nications i ti specifications Approx. 0.18 kg Approx. 0.02 kg Standard RS-232C RS-422A Communications method Asynchronous (ASYNC) Baud rate 2,400 bps Start bits 1 bit Data 8 bits Parity None Stop bits 1 bit Errors detected by Parameter Unit Display CPF00 Cannot transmit even after 5 seconds have elapses since power supply was turned on. CPF01 A BCC error or faulty reception data has occurred for five consecutive times, or a time overrun (1 s) has occurred for three consecutive times. External Dimensions Unit: mm AC Servomotors Encoder plug • 30 to 100 W INC 30 W R88M-U03030HA/U03030LA Motor plug 18 50 W R88M-U05030HA/U05030LA 14 dia. 100 W R88M-U10030HA/U10030LA Model L LL R88M-U03030HA 94.5 69.5 S Sh6 dia. 6 46 dia. R88M-U03030LA R88M-U05030HA Radius at 4 corners: 3.7 Two, 4.3-mm dia. holes 30h7 dia. 102 77 6 119. 5 94.5 8 R88M-U05030LA R88M-U10030HA R88M-U10030LA • 30 to 100 W INC With B 30 W R88M-U03030HAB/U03030LA-B Encoder plug 50 W R88M-U05030HAB/U05030LA-B Motor plug 100 W R88M-U10030HAB/U10030LA-B Model 14 dia. L LL LB S R88M-U03030HA-B 126 101 31.5 6 R88M-U05030HA-B 133.5 108.5 31.5 6 Sh6 dia. R88M-U03030LA-B Radius at 4 corners: 3.7 Two, 4.3-mm dia. holes 46 dia. 30h7 dia. R88M-U05030LA-B R88M-U10030HA-B 160 135 40.5 8 R88M-U10030LA-B • 200 to 400 W INC Encoder plug 200 W R88M-U20030HA/U20030LA Motor plug 300 W R88M-U30030LA 14 dia. 400 W R88M-U40030HA Model R88M-U20030HA L LL 126.5 96.5 R88M-U20030LA R88M-U30030LA 154.5 124.5 INC : Incremental Encoder Attached With B : With brakes Four, 5.5-mm dia. holes 70 dia. 50h7 dia. R88M-U40030HA Note: 14h6 dia. Radius at 4 corners: 5.3 External Dimensions Unit: mm • 200 to 400 W INC With B Encoder plug 200 W R88M-U20030HAB/U20030LA-B Motor plug 300 W R88M-U30030LA-B 14 dia. 400 W R88M-U40030HA-B Model L R88M-U20030HA-B 166 LL 14h6 dia. 136 70 dia. R88M-U20030LA-B R88M-U30030LA-B Radius at 4 corners: 5.3 Four, 5.5-mm dia. holes 50h7 dia. 194 164 R88M-U40030HA-B • 750 W INC Encoder plug R88M-U75030HA Motor plug 14 dia. Radius at 4 corners: 8.2 Four, 7-mm dia. holes 16h6 dia. 90 dia. 70h7 dia. • 750 W INC With B Encoder plug R88M-U75030HA-B Motor plug 14 dia. Four, 7-mm dia. holes 16h6 dia. 90 dia. 70h7 dia. Note: INC : Incremental Encoder Attached With B : With brake Radius at 4 corners: 8.2 External Dimensions Unit: mm AC Servo Drivers • 200 VAC, 30 to 200 W R88D-UA02HA/UA03HA/UA04HA/ UA08HA R88D-UP02HA/UP03HA/UP04HA/ UP08HA 4 • 100 VAC, 30 to 100 W Two, 6-mm dia. holes R88D-UA03LA/UA04LA/UA10LA R88D-UP03LA/UP04LA/UP10LA 160 • 200 VAC, 400 W R88D-UA12HA R88D-UP12HA • 100 VAC, 200 W R88D-UA12LA 4 R88D-UP12LA Two, 6-mm dia. holes • 200 VAC, 750 W R88D-UA20HA R88D-UP20HA • 100 VAC, 300 W R88D-UA15LA R88D-UP15LA Two, 6-mm dia. holes Radius at 2 corners: 3 External Dimensions Unit: mm Regeneration Unit • R88A-RG08UA 6 dia. Parameter Units • R88A-PR02U • R88A-PR03U Two, 4.5-mm dia. holes 54 57.5 15 6.9 Terminal and Connector Functions (30 to 750 W) Terminal Block Specifications Signal Name Power supply indicator Function R T Power supply input Power input terminal for the main circuit and control circuit. (The voltage differs according to the model type.) P N Main circuit DC output These are the connection terminals for the Regeneration Unit (R88A-RG08U). Alarm indicator CN3: Parameter Unit connector Connect these when the regeneration energy is high. U Servomotor U-phase output Red V Servomotor V-phase output White W Servomotor W-phase output Blue Frame ground Green These are the terminals for outputs to the Servomotor. This is the connection terminal. Use a class-3 or higher ground. It is used in common for Servomotor output and power supply input. CN1: Control I/O connector Terminal block Encoder Input CN2 (Incremental Encoder) Pin no. Signal Name Interface 1, 2, 3 E0V Encoder power supply GND Power supply outlet for encoder: 5 V, 120 mA. 4, 5, 6 E5V Encoder power supply +5 V 7 DIR Rotation direction switch input Connects to GND when reverse rotation is executed by + input. 8, 9, 10, 11, 12, 13 NC Not used Do not connect. 14 S+ Encoder + S-phase input 15 S-- Encoder -- S-phase input Line driver input ((conforming g to EIA RS 422A) (I RS-422A) (Inputt impedance: 220 Ω) 16 A+ Encoder + A-phase input 17 A-- Encoder -- A-phase input 18 B+ Encoder + B-phase input 19 B-- Encoder -- B-phase input 20 FG Shielded ground Line driver input ((conforming g to EIA RS 422A) (I RS-422A) (Inputt impedance: 220 Ω) Line driver input ((conforming g to EIA RS 422A) (I RS-422A) (Inputt impedance: 220 Ω) Cable shielded ground. CN2: Encoder connector Terminal and Connector Functions (30 to 750 W) Control Input CN1 (Analog Input/Pulse Train Input) Pin no. Signal Name 1 TREF Torque command input 2 AGND Torque command input ground 3 REF Speed command input 4 AGND Speed command input ground 5 -- -- 6 -- -- 1 +PULS/CW/A Feed pulse, reverse pulse,, or 90
phase diff difference pulse l (A-phase) Function, Interface ±1 to ±10 V / rated torque g q Changeable byy means of user parameter Cn-13 torque command d scale. l Specified driver type: A: R88D-UA P: R88D-UP A ±2 to ±10 V / rated torque g Changeable byy means of user parameter Cn-03 speed command d scale. l Do not connect. Line driver input 6 mA to 3 V. P Setu parameter Setup arameter Cn-02 bits 3, 4, and 5 allow feed pulse/forward, reverse signal, forward pulse/reverse pulse,, 90
phase h difference diff pulse l (A-, (A B B-phase) h ) signal i l (X1, (X1 X2, X2 X4) to be switched. 2 --PULS/CW/A 3 +SIGN/CCW/B 4 --SIGN/CCW/B 5 +ECRST + deviation counter reset 6 --ECRST -- deviation counter reset 11 PCL/SPD1 Forward rotation current limit input / Speed selection command 1 input 12 NCL/SPD2 Forward rotation current limit input / Speed selection command 2 input 13 +24VIN +24-V power supply input for control DC Power supply for pin nos. 11, 12, 14, 15, 16, 17, 18; +24-V A/P input 14 RUN Run command input ON: Servo ON, when setup parameter Cn-01 bit no. 0 = 0. A/P Forward/reverse signal, forward rotation pulse, ulse, or 90
phase difference pulse (B-phase) Maximum response res onse frequency: 200 kpps k s Line driver input 6 mA to 3 V. Resets the deviation counter when command input is prohibited. Forward/reverse rotation current limit (PCL/NCL) when setup parameter Cn-02 bit no. 2 = 0. (ON: Current limit) A/P Internal setting speed (Cn-1F, 20, 21) selector switch when setup parameter Cn-02 bit no. 2 = 1. When setup parameter Cn-01 bit no. 0 = 1, this signal is not used. (Automatically set to Servo ON.) 15 ((See th the next page for more info on this Pin No.) MING/PLOCK TVSEL/RDIR Gain deceleration input ON: Decrease speed loop gain, when setup parameter Cn-01 bit nos. b, A = 0, 0. Position lock command input When setup parameter Cn-01 bit nos. b, A = 0, 1, then, when this bit is ON, position lock goes in effect if the motor rotation speed is no more than the position lock rotation speed (Cn-0F). Torque / Speed control switch input When setup parameter Cn-01 bit nos. b, A = 1, 1, then, when this bit is ON, the mode changes from the torque command (TREF) mode to the speed command (REF) mode. When in torque command mode, speed command (REF) inputs become forward/reverse rotation speed limits. Rotation direction command inputs When setup parameter Cn-02 bit no. 2 = 1, this is the rotation direction command for internal speed settings 1 to 3. (This table continues on the next page.) A Terminal and Connector Functions (30 to 750 W) Specifications Table -- continued from previous page Pin no. Signal 15 (Prior g page h has other info on this pin no.) MING/IPG/RDIR 16 Name Function, Interface Specified driver type: A: R88D-UA P: R88D-UP P Gain deceleration input When setup parameter Cn-02 bit no. 2 = 0 and setup parameter Cn-01 bit no. F = 0 then, when this bit is ON, speed loop gain decreases. Pulse prohibit When setup parameter Cn-02 bit no. 2 = 0 and setup parameter Cn-01 bit no. F = 1 then, when this bit is ON, input command pulse is prohibited. Rotation direction command input When setup parameter Cn-02 bit no. 2 = 1, this is the rotation direction command for internal speed settings 1 to 3. POT Forward drive prohibit input Forward rotation overtravel input (OFF when prohibited). When setup parameter Cn-01 bit no. 2 = 1, this signal is not used. A/P 17 NOT Reverse drive prohibit input Reverse rotation overtravel input (OFF when prohibited). When setup parameter Cn-01 bit no. 3 = 1, this signal is not used. A/P 18 RESET Alarm reset input ON: Servo alarm status is reset. A/P 28 -- -- Do not connect -- 29 -- -- Note: Those input specifications which are not recorded in the above table are 5 mA for 24 V power supply input. CN1: Control Output (Analog Input/Pulse Train Input) Pin no. Signal Name Function, Interface Specified driver type: A: R88D-UA P: R88D-UP 7 BKIR Brake interlock output Outputs external brake interlock signal. (See Note.) A/P 8 VCMP Speed conformity output Output when the Servomotor rotation speed conforms to the speed command. (See Note.) A INP Positioning completed output Turned ON when the pulse count remaining in the P deviation counter is equal to or less than the positioning completed range set in user parameter Cn-1b. (See Note.) TGON/CLIMT Servomotor rotation detection output When setup parameter Cn-01 bit no. 4 = 0, this turns ON if A/P the Servomotor rotation speed exceeds the value set for the Servomotor rotation detection speed (Cn-0b). (See Note.) Current limit detection output When bit 4 of setup parameter Cn-01 is set to “1,” the CLIMT signal will turned ON in any of the following 3 cases: 9 The output torque reaches the value set for the torque limit (Cn-08, -09) The forward/reverse rotation current limit (PCL/NCL) is ON and the output torque reaches the external current limit set in Cn-18 or Cn-19. When the forward/reverse rotation power supply limit is OFF, and the output torque reaches the torque limit set in Cn-08, -09. (See Note.) 10 OGND Output ground common Output ground common for BKIR, VCMP, INP, TGON/CLIMT A/P 19 EGND Encoder signal output GND This is the ground for encoder signal outputs. A/P 20 +A Encoder + A-phase input A/P 21 --A Encoder -- A-phase input Outputs encoder pulses divided according to user g to parameter Cn-0A. Line driver output ((conforming RS 422A) RS-422A). (This table continues on the next page.) Terminal and Connector Functions (30 to 750 W) Specifications Table -- continued from previous page Pin no. Signal Name Function, Interface Specified driver type: A: R88D-UA P: R88D-UP Outputs encoder pulses divided according to user g to parameter Cn-0A. Line driver output ((conforming RS 422A) RS-422A). A/P Encoder Z-phase output (1 pulse/revolution). Line driver ( g to RS-422A). ) output (conforming A/P Do not connect. -- Alarm code output 1 When an alarm is generated for the Servo Driver, the contents of the alarm are output in code. Open collector output: 30 VDC, 20 mA max. A/P ALO2 Alarm code output 2 When an alarm is generated for the Servo Driver, the contents of the alarm are output in code. Open collector output: 30 VDC, 20 mA max. A/P 32 ALO3 Alarm code output 3 When an alarm is generated for the Servo Driver, the contents of the alarm are output in code. Open collector output: 30 VDC, 20 mA max. A/P 33 ALOCOM Alarm code output GND When an alarm is generated for the Servo Driver, the contents of the alarm are output in code. Open collector output: 30 VDC, 20 mA max. A/P 34 ALM Alarm output ALMCOM Alarm output GND When an alarm is generated g for the Servo Driver,, the output t t is i OFF. OFF Open O collector ll t output. t t (See (S Note.) N t ) A/P 35 36 FG Frame ground Ground terminal for shield wire of cable and FG line. A/P 22 --B Encoder -- B-phase input 23 +B Encoder + B-phase input 24 +Z Encoder + Z-phase input 25 --Z Encoder + Z-phase input 26 -- -- 27 -- -- 30 ALO1 31 Note: These functions are open collector output 30 V/50 mA maximum. A/P Special Cables R88A-CRU


C Encoder Cables For connection between a U-series AC Servomotor Encoder Connector and a Servo Driver. R88A-CPU


M
Connecting Cables for a CV500-MC221/421 C200H-MC221 Motion Control Unit For connection between the Motion Control Unit and U-series AC Servomotor. R88D-U-series AC Servo Driver Model C R88A-CRU Note: R88M-U-series AC Servomotor Specifications For a Servomotor with 30- to 750-W incremental encoder attached. The three blank squares in the model number are for the cable length. The length will be 3, 5, 10, 15 or 20 m. For example, for a 3-m cable it would be: R88A-CRU003C. R88A-CAU



Power Cables For connection between a U-series Servomotor Power Connector and a Servo Driver. CV500-MC221/421 C200H-MC221 Motion Control Unit R88M-U-series AC Servomotor Model S R88A-CAU B R88A-CAU Note: M1 M2 R88A-CPU For a 30- to 750-W Servo Driver. For 2 axes For a 30- to 750-W Servo Driver. The three blank squares in the model number are for the cable length. The length will be 1 or 2 m. For example, for a 1-m cable it would be: R88A-CPU001M1. R88A-CPU


S General-purpose Control Cable For connection between a SYSMAC Position Control Unit or a general controller and a U-series AC Servo Driver. Specifications For a Servomotor with brakes with 30 to 750 W capabilities. Position Control Unit or General Controller R88A-CNU


Connector for the Control Cable Since the Connector for the Control Cable is not attached, be sure to purchase a connector kit, use a special control cable, or use a general-purpose control cable. Sumitomo 3M Model For 1 axis For a Servomotor without brakes with 30 to 750 W capabilities. The three blank squares in the model number are for the cable length. The length will be 3, 5, 10, 15 or 20 m. For example, for a 3-m cable it would be: R88A-CAU003S. R88A-CNU01C Specifications Model R88A-CPU Note: R88D-U-series AC Servo Driver R88D-U-series AC Servo Driver Specifications For a 30- to 750-W Servo Driver (Half-pitch 36P) Model S R88A-CPU Note: R88D-U-series AC Servo Driver Specifications For a 30 to 750 W Servo Driver. The three blank squares in the model number are for the cable length. The length will be 1 or 2 m. For example, for a 1-m cable it would be: R88A-CPU001S. Model Number Legend AC Servomotors R88M-U10030H
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Motor shaft status Blank: Thrust axis (standard) S1: With Key With or without brakes Blank: Without brakes B: With brakes Design changes A: Design changes log (latest version) Servomotor power supply specifications, Encoder specifications H: 200 VAC, with Incremental Encoder L: 100 VAC, with Incremental Encoder T: 200 VAC, with an Absolute Encoder Rated rotation speed 30: 3000 r/min Servomotor capacity (Example) 050: 50 W; 100: 100 W U-series model Servomotor code AC Servo Drivers R88D-UA02H
Design changes A: Design changes log (latest version) Servo Driver power supply specifications H: 200-VAC power supply inputs L: 100-VAC power supply inputs Maximum output current (Example) 02: 2 A; 12: 12A Input command signal specifications A: Analog inputs P: Pulse train inputs U-series model Servo Driver code Standard Models AC Servomotor (Incremental Encoder Attached) Specifications S ag Straight axis i with ith no key Se o Servomotor t without brakes For o 200 00 VAC C For o 100 00 VAC C Se o Servomotor t with brakes For o 200 00 VAC C For o 100 00 VAC C S ag Straight axis i with ith key Se o Servomotor t without brakes For o 200 00 VAC C For o 100 00 VAC C Model 30 W R88M-U03030HA 50 W R88M-U05030HA 100 W R88M-U10030HA 200 W Model 30 W R88D-UA02HA R88D-UA03HA R88D-UA04HA R88M-U20030HA 200 W R88D-UA08HA 400 W R88M-U40030HA 400 W R88D-UA12HA 750 W R88M-U75030HA 750 W R88D-UA20HA 30 W R88M-U03030LA 30 W R88D-UA03LA 50 W R88M-U05030LA 50 W R88D-UA04LA 100 W R88M-U10030LA 100 W R88D-UA10LA 200 W R88M-U20030LA 200 W R88D-UA12LA 300 W R88M-U30030LA 300 W R88D-UA15LA 30 W R88D-UP02HA 50 W R88D-UP03HA 100 W R88D-UP04HA For o 100 00 VAC C Pulse u se Train a I Input t Models M d l (Incremental Encoder) For o 200 00 VAC C 30 W R88M-U03030HA-B 50 W R88M-U05030HA-B 100 W R88M-U10030HA-B 200 W R88M-U20030HA-B 200 W R88D-UP08HA 400 W R88M-U40030HA-B 400 W R88D-UP12HA 750 W R88M-U75030HA-B 750 W R88D-UP20HA 30 W R88M-U03030LA-B 30 W R88D-UP03LA 50 W R88M-U05030LA-B 50 W R88D-UP04LA 100 W R88M-U10030LA-B 100 W R88D-UP10LA 200 W R88M-U20030LA-B 200 W R88D-UP12LA 300 W R88M-U30030LA-B 300 W R88D-UP15LA 30 W R88M-U03030HA-S1 50 W R88M-U05030HA-S1 100 W R88M-U10030HA-S1 200 W R88M-U20030HA-S1 400 W R88M-U40030HA-S1 750 W R88M-U75030HA-S1 30 W R88M-U03030LA-S1 50 W R88M-U05030LA-S1 300 W 30 W 50 W For o 100 00 VAC C For o 200 00 VAC C 50 W 200 W For o 200 00 VAC C Specifications Analog a og Input u M d l Models (Incremental Encoder) 100 W 100 W Se o Servomotor t with brakes AC Servo Driver For o 100 00 VAC C AC Servomotor (Absolute Encoder Attached) Specifications S ag Straight axis i with no key Se o o o Servomotor without ith t brakes For o 200 VAC Model 30 W R88M-U03030TA 50 W R88M-U05030TA 100 W R88M-U10030TA R88M-U10030LA-S1 200 W R88M-U20030TA R88M-U20030LA-S1 400 W R88M-U40030TA R88M-U30030LA-S1 750 W R88M-U75030TA R88M-U03030HA-BS1 R88M-U05030HA-BS1 Se o o o Servomotor with ith brakes b k For o 200 VAC 30 W R88M-U03030TA-B 50 W R88M-U05030TA-B R88M-U10030TA-B 100 W R88M-U10030HA-BS1 100 W 200 W R88M-U20030HA-BS1 200 W R88M-U20030TA-B 400 W R88M-U40030HA-BS1 400 W R88M-U40030TA-B 750 W R88M-U75030HA-BS1 750 W R88M-U75030TA-B 30 W R88M-U03030LA-BS1 50 W R88M-U05030LA-BS1 100 W R88M-U10030LA-BS1 200 W R88M-U20030LA-BS1 300 W R88M-U30030LA-BS1 Standard Models Parameter Units General-purpose Control Cables Specifications Model Hand-held type R88A-PR02U Mounted type R88A-PR03U Regeneration Unit Specifications For 30 to 750 W For a general-purpose controller (Connector on one side) Model 1m R88A-CPU001S 2m R88A-CPU002S Connector for the Control Cable Specifications Model Regeneration processing current 8 ADC R88A-RG08UA Specifications Model For 30 to 750 W (Sumitomo 3M: Half pitch 36P) R88A-CNU01C Encoder Cables Specifications For o 30 to o 750 W For o Se Servomotors o oos with ith an Incremental Encoder (C (Connectors on each side) For o Se Servomotors o oos with ith an Ab Absolute l t Encoder (Connectors on each h side) id ) Model 3m R88A-CRU003C 5m R88A-CRU005C 10 m R88A-CRU010C Terminal Block Connector 15 m R88A-CRU015C 20 m R88A-CRU020C Co e s o Cab Conversion Cables es for o C Connector--Terminal t T i lC Conversion i U Unit it 3m R88A-CSU003C 5m R88A-CSU005C 10 m R88A-CSU010C 15 m R88A-CSU015C 20 m R88A-CSU020C Power Cables Specifications For o 30 to o 750 W Model For o Se Servomotors o oos without ith t b brakes k 3m R88A-CAU003S 5m R88A-CAU005S 10 m R88A-CAU010S 15 m R88A-CAU015S 20 m R88A-CAU020S 3m R88A-CAU003B 5m R88A-CAU005B 10 m R88A-CAU010B 15 m R88A-CAU015B 20 m R88A-CAU020B For o Se Servomotors o oos with ith brakes b k Special Control Cables Specifications For 30 to 750 W For the CV500-MC221/ CV500-MC421/ C200H-MC221 Motion Control Unit (Connectors on each side) Connectors and Terminal Blocks (30to 750-W Servo Drivers) Model F or 1 ax is 1m R88A-CPU001M1 2m R88A-CPU002M1 F or 2 ax es 1m R88A-CPU001M2 2m R88A-CPU002M2 Specifications Model XW2B-40F5-P 1m R88A-CTU001N 2m R88A-CTU002N Front Panel Mounting Brackets (30- to 750-W Servo Drivers) Specifications Model 200 VAC: 30 to 400 W 100 VAC: 30 to 200 W For Servo Drivers R88A-TK01U 200 VAC: 750 W 100 VAC: 300 W For Servo Drivers R88A-TK02U Note: For information on any products which are not listed here, contact your local sales office. Important Information NOTICE Before using the product under the conditions listed below, consult your OMRON representative; make sure that the ratings and performance characteristics of the product are appropriate for the systems machines, or equipment; and, ensure that you have provided the systems, machines, or equipment with double safety mechanisms. 1. Applications under conditions or environments not specified in the manual. 2. Applications for nuclear reactor control, train facilities, aviation facilities, motorized vehicles, furnaces, medical equipment, amusement equipment, and safety equipment. 3. Applications strongly related to human life or property, particularly those requiring safety. ATTENTION You must read the relevant user’s manuals carefully before attempting to operate any of the equipment described in this catalog. NOTE: DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters to inches divide by 25.4.
OMRON ELECTRONICS, INC. OMRON CANADA, INC. One East Commerce Drive Schaumburg, IL 60173 885 Milner Avenue Scarborough, Ontario M1B 5V8 1-800-55-OMRON 416-286-6465 Cat. No. GCSMD1 10/98 Specifications subject to change without notice. Printed in U.S.A.