R7M-AP20030

Y203-EN2-02-Katalog.book Seite 181 Mittwoch, 24. Mai 2006 2:22 14 R7M-A@, R7M-AP@ SmartStep servo motors The smart alternative to stepper motors • SmartStep motors can be controlled by SmartStep drive and XtraDrive • Cylindrical and flat servo motor types are available • Easy to setup, easy to operate. SmartStep is as easy to use as a stepper motor • Front-panel switches in the SmartStep drive make settings easy and eliminate the need for time-consuming parameter settings • Extended features and embedded in drive control can be provided using intelligent XtraDrive • Models with brake available • Easy to connect to the drive using prebuilt cables Ratings • 230 VAC from 30 W to 750 W (0.095 Nm to 2.39 Nm) System configuration (Refer to servo drive chapter) POWER Servo Drive controlled by pulses CN3 Intelligent Servo Drive CHARGE XtraDrive SmartStep Servo Drive CN1 Drive options CN2 Power and encoder cables R7M-A (cylindrical type) Servo Motor 3,000 rpm (30-750 W) SmartStep servo motors R7M-AP (flat type) Servo Motor 3,000 rpm (100-750 W) 181 Y203-EN2-02-Katalog.book Seite 182 Mittwoch, 24. Mai 2006 2:22 14 Servo motor / servo drive combination R7M-A (3000 min-1) R7M-AP(3000 min-1) SmarStep servo motor Voltage Rated torque Capacity 230 V 0.095 Nm 30 W 0.159 Nm 50 W 0.318 Nm 100 W 0.637 Nm 200 W 1.27 Nm 400 W 2.39 Nm 750 W 230 V 0.318 Nm 100 W 0.637 Nm 200 W 1.27 Nm 400 W 2.39 Nm 750 W Model R7M-A03030-@ R7M-A05030-@ R7M-A10030-@ R7M-A20030-@ R7M-A40030-@ R7M-A75030-@ R7M-AP10030-@ R7M-AP20030-@ R7M-AP40030-@ R7M-AP75030-@ SmartStep servo drive 230 V (1-phase) R7D-APA3H R7D-APA5H R7D-AP01H R7D-AP02H R7D-AP04H R7D-AP08H R7D-AP01H R7D-AP02H R7D-AP04H R7D-AP08H XtraDrive servo drive 230 V (1-phase) XD-P3-MN01 XD-P5-MN01 XD-01-MN01 XD-02-MN01 XD-04-MN01 XD-08-MN XD-01-MN01 XD-02-MN01 XD-04-MN01 XD-08-MN Note: 1. For servo motor and cable part numbers, refer to ordering information at the end of this chapter. 2. Refer to the servo drive chapter for drive options selection and detailed specifications. Servo motor specifications General specifications Item Ambient operating temperature Ambient operating humidity Ambient storage temperature Ambient storage humidity Storage/operating atmosphere Vibration resistance Impact resistance Insulation resistance Dielectric strength Run position Insulation grade Structure Protective structure Vibration grade Mounting method International standards Specification 0 to 40 °C 20% to 80% (with no condensation) -20 to 60 °C 20% to 80% (with no condensation) No corrosive gases. 10 to 2,500 Hz in X, Y, and Z directions with 0.2 mm double amplitude or acceleration of 24.5 m/s2 max., whichever is smaller Acceleration 98 m/s2 max., in a vertical direction, two times Between power line terminals and FG: 10 MΩ min. (at 500 VDC) Between power line terminals and FG: 1,500 VAC for 1 min at 50/60 Hz Any direction Type B Totally-enclosed self-cooling IP55 for both the cylindrical and flat servo motors V-15 Flange-mounting Approval obtained for UL, cUL, and EN (EMC directive and low-voltage directive) Performance specifications Flat servo motors Item Rated output Rated torque Rated rotation speed Momentary maximum rotation speed Momentary maximum torque Rated current Momentary maximum current Rotor inertia Power rate Allowable radial load Allowable thrust load Weight Without brake With brake Encoder resolution Radiation shield dimensions Brake Brake inertia specifications Excitation voltage Power consumption (at 20 °C) Current consumption (at 20 °C) Static friction torque Attraction time Release time Backlash Rating Insulation grade Applicable servo driver (R7D-) 182 R7M-AP10030-@ R7M-AP20030-@ R7M-AP40030-@ 100 W 200 W 400 W 0.318 N⋅m 0.637 N⋅m 1.27 N⋅m 3,000 r/min 3,000 r/min 3,000 r/min 4,500 r/min 4,500 r/min 4,500 r/min 0.96 N⋅m 1.91 N⋅m 3.82 N⋅m 0.89 A (rms) 2.0 A (rms) 2.6 A (rms) 2.8 A (rms) 6.0 A (rms) 8.0 A (rms) 2.09 × 10-5 kg⋅m2 3.47 × 10-5 kg⋅m2 6.5 × 10-6 kg⋅m2 15.7 kW/s 19.4 kW/s 46.8 kW/s 78 N 245 N 245 N 49 N 68 N 68 N 0.7 kg 1.4 kg 2.1 kg 0.9 kg 1.9 kg 2.6 kg 2,000 pulses/revolution for phase-A and phase-B, 1 pulse/revolution for phase-Z t6 × 250 mm square 1.52 × 10-5 kg⋅m2 1.52 × 10-5 kg⋅m2 3.1 × 10-6 kg⋅m2 24 VDC ±10% 7.5 W 7.6 W 8.2 W 0.31 A 0.32 A 0.34 A 0.4 N⋅m min. 0.9 N⋅m min. 1.9 N⋅m min. 60 ms max. 40 ms max. 60 ms max. 20 ms max. 20 ms max. 20 ms max. 1° 1° 1° Continuous Continuous Continuous Type F Type F Type F AP01H AP02H AP04H R7M-AP75030-@ 750 W 2.39 N⋅m 3,000 r/min 4,500 r/min 7.1 N⋅m 4.1 A (rms) 13.9 A (rms) 2.11 × 10-4 kg⋅m2 26.9 kW/s 392 N 147 N 4.2 kg 5.7 kg t12 × 300 mm square 8.75 × 10-5 kg⋅m2 7.5 W 0.31 A 3.5 N⋅m min. 20 ms max. 40 ms max. 1° Continuous Type F AP08H AC servo systems Y203-EN2-02-Katalog.book Seite 183 Mittwoch, 24. Mai 2006 2:22 14 Cylindrical servo motors Item Rated output Rated torque Rated rotation speed Momentary maximum rotation speed Momentary maximum torque Rated current Momentary maximum current Rotor inertia Power rate Allowable radial load Allowable thrust load Weight Without brake With brake Encoder resolution Radiation shield dimensions Brake Brake inertia specifications Excitation voltage Power consumption (at 20 °C) Current consumption (at 20 °C) Static friction torque Attraction time Release time Backlash Rating Insulation grade Applicable servo driver (R7D-) R7M-A03030-@ R7M-A05030-@ R7M-A10030-@ R7M-A20030-@ R7M-A40030-@ 30 W 50 W 100 W 200 W 400 W 0.095 N⋅m 0.159 N⋅m 0.318 N⋅m 0.637 N⋅m 1.27 N⋅m 3,000 r/min 3,000 r/min 3,000 r/min 3,000 r/min 3,000 r/min 4,500 r/min 4,500 r/min 4,500 r/min 4,500 r/min 4,500 r/min 0.29 N⋅m 0.48 N⋅m 0.96 N⋅m 1.91 N⋅m 3.82 N⋅m 0.42 A (rms) 0.6 A (rms) 0.87 A (rms) 2.0 A (rms) 2.6 A (rms) 1.3 A (rms) 1.9 A (rms) 2.8 A (rms) 6.0 A (rms) 8.0 A (rms) 1.7 × 10-6 kg⋅m2 2.2 × 10-6 kg⋅m2 3.6 × 10-6 kg⋅m2 1.19 × 10-5 kg⋅m2 1.87 × 10-5 kg⋅m2 5.31 kW/s 11.5 kW/s 28.1 kW/s 34.1 kW/s 86.3 kW/s 68 N 68 N 78 N 245 N 245 N 54 N 54 N 54 N 74 N 74 N 0.3 kg 0.4 kg 0.5 kg 1.1 kg 1.7 kg 0.6 kg 0.7 kg 0.8 kg 1.6 kg 2.2 kg 2,000 pulses/revolution for phase-A and phase-B, 1 pulse/revolution for phase-Z t6 × 250 mm square 0.85 × 10-6 kg⋅m2 0.85 × 10-6 kg⋅m2 0.85 × 10-6 kg⋅m2 6.4 × 10-6 kg⋅m2 6.4 × 10-6 kg⋅m2 24 VDC ±10% V 6W 6W 6W 7W 7W 0.25 A 0.25 A 0.25 A 0.29 A 0.29 A 0.2 N⋅m min. 0.2 N⋅m min. 0.34 N⋅m min. 1.47 N⋅m min. 1.47 N⋅m min. 30 ms max. 30 ms max. 30 ms max. 60 ms max. 60 ms max. 60 ms max. 60 ms max. 60 ms max. 20 ms max. 20 ms max. 1° 1° 1° 1° 1° Continuous Continuous Continuous Continuous Continuous Type F Type F Type F Type F Type F APA3H APA5H AP01H AP02H AP04H R7M-A75030-@ 750 W 2.39 N⋅m 3,000 r/min 4,500 r/min 7.1 N⋅m 4.4 A (rms) 13.9 A (rms) 6.67 × 10-5 kg⋅m2 85.6 kW/s 392 N 147 N 3.4 kg 4.3 kg 1.7 × 10-5 kg⋅m2 7.7 W 0.32 A 2.45 N⋅m min. 60 ms max. 20 ms max. 1° Continuous Type F AP08H Torque and rotation speed characteristics Flat servo motors The following graphs show the characteristics with a 3 m standard cable and R7D-AP@H servo driver (200 VAC input) R7M-AP10030 (100 W) R7M-AP20030 (200 W) (N·m) (N·m) 1.0 0.96 2.0 0.96 (3725) 0.8 0.8 1.91 1.91 (3600) 1.5 Repeated usage Repeated usage 1.4 0.6 1.0 0.4 0.318 0.637 0.318 Continuous usage 0.2 0.222 1000 2000 3000 4000 5000 (r/min) 0 R7M-AP40030 (400 W) 1000 2000 4000 3000 5000 R7M-AP75030 (750 W) (N·m) (N·m) 4.0 0.452 Continuous usage (r/min) 0 0.637 0.5 (2350) 3.82 8.0 3.82 (3250) 7.1 (2500) 7.1 (3200) Single-phase 200 VAC input 6.0 3.0 Repeated usage 2.0 4.0 3-phase 200 VAC input Repeated usage 1.77 1.27 1.27 2.39 1.22 1.0 2.39 0.89 (r/min) 1000 2000 3000 SmartStep servo motors 4000 1.64 1.54 Continuous usage Continuous usage 0 2.45 2.0 5000 0 (r/min) 1000 2000 3000 4000 5000 183 Y203-EN2-02-Katalog.book Seite 184 Mittwoch, 24. Mai 2006 2:22 14 Torque and rotation speed characteristics Cylindrical servo motors The following graphs show the characteristics with a 3 m standard cable and an R7D-AP@H servo driver (200 VAC input.) R7M-A05030 (50 W) R7M-A03030 (30 W) (N·m) 0.3 (N·m) 0.29 0.5 0.29 0.48 0.48 0.4 0.2 Repeated usage Repeated usage 0.3 0.2 0.1 0.095 0.159 0.095 0.069 (r/min) 0 1000 2000 3000 4000 5000 R7M-A10030 (100 W) (r/min) 0 1000 2000 3000 4000 5000 R7M-A20030 (200 W) (N·m) 1.0 0.107 Continuous usage 0.1 Continuous usage 0.159 (N·m) 2.0 0.96 0.96 (3600) 1.91 (3650) 1.91 0.91 0.8 1.5 1.33 Repeated usage Repeated usage 0.6 1.0 0.4 0.318 0.637 0.318 0.222 Continuous usage 0.2 1000 2000 3000 4000 5000 R7M-A40030 (400 W) 1000 2000 3000 4000 5000 (N·m) 3.82 (2000) 8.0 3.82 (2900) 7.1 3.0 7.1 (2225) 6.0 Repeated usage Repeated usage 2.0 4.0 1.27 1.0 (r/min) 0 R7M-A75030 (750 W) (N·m) 4.0 0.452 Continuous usage (r/min) 0 0.637 0.5 1.45 1.27 2.39 1.24 0.89 Continuous usage 2.0 2.39 Continuous usage 1.24 0 184 (r/min) 1000 2000 3000 4000 5000 0 (r/min) 1000 2000 3000 4000 5000 AC servo systems Y203-EN2-02-Katalog.book Seite 185 Mittwoch, 24. Mai 2006 2:22 14 Dimensions Cylindrical servo motors (3,000 r/min) 200 VAC: 30W/50W/100W/200W/400W/750W Without brake: R7M-A03030-S1-D/A05030-S1-D/A10030-S1-D/A20030-S1-D/A40030-S1-D/A75030-S1-D With brake: R7M-A03030-BS1-D/A05030-BS1-D/A10030-BS1-D/A20030-BS1-D/A40030-BS1-D/A75030-BS1-D Model R7M-A03030@ R7M-A05030@ R7M-A10030@ R7M-A20030@ R7M-A40030@ R7M-A75030@ Dimensions (mm) LL Without brake With brake 69.5 101 77 108.5 94.5 135 96.5 136 124.5 164 145 189.5 LR 25 Flange surface C D1 D2 40 46 30h7 F 2.5 G 5 Z Two, 4.3 dia. Axis end S QK 6h6 14 b 2 h 2 t1 1.2 30 60 70 50h7 3 6 Four, 5.5 dia. 8h6 14h6 20 3 5 3 5 1.8 3 40 80 90 70h7 3 8 Four, 7 dia. 16h6 30 R7M-A@@@30-S1-D (Without brake) R7M-A@@@30-BS1-D (With brake) 300 Axis end dimensions 300 b t1 h 300 300 Hole with “Z” mark QK* QK* C S dia. D2 dia. S dia. D2 dia. D1 dia. G LL F G LR C F LL LR Flat servo motors (3,000 r/min) 200 VAC: 100W/200W/400W/750W Without brake: R7M-AP10030-S1-D/AP20030-S1-D/AP40030-S1-D/AP75030-S1-D With brake: R7M-AP10030-BS1-D/AP20030-BS1-D/AP40030-BS1-D/AP75030-BS1-D Model R7M-AP10030@ R7M-AP20030@ R7M-AP40030@ R7M-AP75030@ Dimensions (mm) LL Without brake With brake 62 91 67 98.5 87 118.5 86.5 120 LR 25 30 Flange surface C D1 60 70 80 90 D2 50h7 70h7 F 3 3 G 6 8 Z 5.5 7 Axis End S QK 8h6 14 14h6 16 40 120 110h7 3.5 10 10 16h6 R7M-AP@@@30-S1-D (Without brake) 145 h 3 5 t1 1.8 3 22 Axis end dimensions R7M-AP@@@30-BS1-D (With brake) 300 b 3 5 300 b t1 h 300 300 Four, Z-dia. mounting holes QK* QK* S dia. D2 dia. S dia. D2 dia. C D1 dia. G LL G F LR SmartStep servo motors LL F LR C 185 Y203-EN2-02-Katalog.book Seite 186 Mittwoch, 24. Mai 2006 2:22 14 Ordering information (Refer to servo drive chapter) POWER Servo Drive controlled by pulses CN3 CHARGE B SmartStep Servo Drive CN1 Intelligent Servo Drive B XtraDrive Drive options CN2 C Power and encoder cables A A R7M-A (cylindrical type) Servo Motor 3,000 rpm (30-750 W) R7M-AP (flat type) Servo Motor 3,000 rpm (100-750 W) Note: The symbols ABC... show the recommended sequence to select the servo motor and cables. Servo motor Cylindrical servo motors (3,000-r/min) Symbol A Specifications Design Cylindrical servo motors (3,000-r/min) Servo motor model Without brake Straight shaft with key With brake Rated torque 0.095 Nm 0.159 Nm 0.318 Nm 0.637 Nm 1.27 Nm 2.39 Nm 0.095 Nm 0.159 Nm 0.318 Nm 0.637 Nm 1.27 Nm 2.39 Nm Capacity 30 W 50 W 100 W 200 W 400 W 750 W 30 W 50 W 100 W 200 W 400 W 750 W Rated torque 0.318 Nm 0.637 Nm 1.27 Nm 2.39 Nm 0.318 Nm 0.637 Nm 1.27 Nm 2.39 Nm Capacity 100 W 200 W 400 W 750 W 100 W 200 W 400 W 750 W R7M-A03030-S1-D R7M-A05030-S1-D R7M-A10030-S1-D R7M-A20030-S1-D R7M-A40030-S1-D R7M-A75030-S1-D R7M-A03030-BS1-D R7M-A05030-BS1-D R7M-A10030-BS1-D R7M-A20030-BS1-D R7M-A40030-BS1-D R7M-A75030-BS1-D Compatible servo drives B SmartStep XtraDrive R7D-APA3H XD-P3-MN01 R7D-APA5H XD-P5-MN01 R7D-AP01H XD-01-MN01 R7D-AP02H XD-02-MN01 R7D-AP04H XD-04-MN01 R7D-AP08H XD-08-MN R7D-APA3H XD-P3-MN01 R7D-APA5H XD-P5-MN01 R7D-AP01H XD-01-MN01 R7D-AP02H XD-02-MN01 R7D-AP04H XD-04-MN01 R7D-AP08H XD-08-MN Flat servo motors (3,000-r/min) Symbol A Specifications Design Flat servo motors Without brake (3,000-r/min) Straight shaft with key With brake Servo motor model R7M-AP10030-S1-D R7M-AP20030-S1-D R7M-AP40030-S1-D R7M-AP75030-S1-D R7M-AP10030-BS1-D R7M-AP20030-BS1-D R7M-AP40030-BS1-D R7M-AP75030-BS1-D Compatible servo drives B SmartStep XtraDrive R7D-AP01H XD-01-MN01 R7D-AP02H XD-02-MN01 R7D-AP04H XD-04-MN01 R7D-AP08H XD-08-MN R7D-AP01H XD-01-MN01 R7D-AP02H XD-02-MN01 R7D-AP04H XD-04-MN01 R7D-AP08H XD-08-MN Servo drive Note: Choosing SmartStep drive or XtraDrive affects to the encoder cable needed. B Refer to SmartStep servo drive or XtraDrive chapter for detailed drive specifications and selection of drive accessories. 186 AC servo systems Y203-EN2-02-Katalog.book Seite 187 Mittwoch, 24. Mai 2006 2:22 14 Servo motor cables for SmartStep drive Standard cable (power + encoder) Symbol Drive Specifications SmartStep For servo motors C without brake R7M-A(P)@@@30-S1-D 3m 5m 10 m 15 m 20 m For servo motors 3m with brake 5m R7M-A(P)@@@30-BS1-D 10 m 15 m 20 m Power cable model Encoder cable model R7A-CEA003S-DE R7A-CEA005S-DE R7A-CEA010S-DE R7A-CEA015S-DE R7A-CEA020S-DE R7A-CEA003B-DE R7A-CEA005B-DE R7A-CEA010B-DE R7A-CEA015B-DE R7A-CEA020B-DE Appearance Power cable model R88A-CAWA003S-DE R88A-CAWA005S-DE R88A-CAWA010S-DE R88A-CAWA015S-DE R88A-CAWA020S-DE R88A-CAWA003B-DE R88A-CAWA005B-DE R88A-CAWA010B-DE R88A-CAWA015B-DE R88A-CAWA020B-DE Encoder cable model R7A-CRA003-FDE R7A-CRA005-FDE R7A-CRA010-FDE R7A-CRA015-FDE R7A-CRA020-FDE R7A-CRA003-FDE R7A-CRA005-FDE R7A-CRA010-FDE R7A-CRA015-FDE R7A-CRA020-FDE Appearance Power cable model R88A-CAWA003S-DE R88A-CAWA005S-DE R88A-CAWA010S-DE R88A-CAWA015S-DE R88A-CAWA020S-DE R88A-CAWA003B-DE R88A-CAWA005B-DE R88A-CAWA010B-DE R88A-CAWA015B-DE R88A-CAWA020B-DE Encoder cable model XD-CRA003-DE XD-CRA005-DE XD-CRA010-DE XD-CRA015-DE XD-CRA020-DE XD-CRA003-DE XD-CRA005-DE XD-CRA010-DE XD-CRA015-DE XD-CRA020-DE Appearance R7A-CEA0___-DE Only for Brake models Flexible cables (power + encoder) Symbol Drive Specifications SmartStep For servo motors C without brake R7M-A(P)@@@30-S1-D 3m 5m 10 m 15 m 20 m For servo motors 3m with brake 5m R7M-A(P)@@@30-BS1-D 10 m 15 m 20 m R7A-CRA0___-FDE R88A-CAWA0___-DE Only for brake models Servo motor cables for XtraDrive Drive Flexible cables (power + encoder) Symbol Drive Specifications XtraDrive For servo motors C without brake R7M-A(P)@@@30-S1-D 3m 5m 10 m 15 m 20 m 3m For servo motors with brake 5m R7M-A(P)@@@30-BS1-D 10 m 15 m 20 m XD-CRA0___-DE R88A-CAWA0___-DE Only for brake models Connectors Specifications SmartStep connectors kit SmartStep encoder connector (for CN2) Hypertac power connector female Hypertac encoder connector female Hypertac power connector male (used in the motor) Hypertac encoder connector male (used in the motor) SmartStep servo motors Models included in kit R7A-CNA01R SPOC-06K-FSDN169 SPOC-17H-FRON169 Model R7A-CNA00K-DE SRUC-06J-MSCN236 SRUC-17G-MRWN087 187 Y203-EN2-02-Katalog.book Seite 188 Mittwoch, 24. Mai 2006 2:22 14 E ALL DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527. Cat. No. I45E-EN-01 188 In the interest of product improvement, specifications are subject to change without notice. AC servo systems