Parameter Specifications
Contents
1. Mounting dimensions 5 5 Two M4 o wo 149 5105 Mounting dimensions 5 5 Two M4 Y a Dimensions E Servomotors Cylindrical Servomotors 3 000 r min 200 V AC 30 W 50 W 100 W 200 W 400 W 750 W Without Brake R7M A03030 S1 A05030 S1 A10030 S1 A20030 S1 A40030 S1 A75030 S1 With Brake R7M A03030 B S1 A05030 B S1 A10030 B S1 A20030 B S1 A40030 B S1 A75030 B S1 Dimensions mm SITE ne dl surface ar as Boao rans R7M A05030L had a n PAE TEE 30 5ph7 Four 5 5 dia 44h6 Seppe pees MATO 16 95 0 0 9177 3 0 07 8 0 Dimensions of R7M AL 1 L S1 with key R7M ALILILI30 S1 Without Brake R7M ALJLL80 B S1 With Brake Axis end a 300 dimensions Hole with S dia D2 dia Flat Servomotors 3 000 r min 200 V AC 100 W 200 W 400 W 750 W Without Brake R7M AP10030 S1 AP20030 S1 AP40030 S1 AP75030 S1 With Brake R7M AP10030 B S1 AP20030 B S1 AP40030 B S1 AP75030 B S1 Dimensions mm LL LR Flange surface Y E R7M2. Position Control E Unit 3 Customizable e Counter Unit or DeviceNet one O axis positioner SMARTSTEP CI nn i Servomotor i _ E ri Tn i l jan fm Ns Serial Communications Unit Board a Connector Terminal Bl y 3 aa PER Position Control Unit aa Ne with pulse output Note Select 1 or and E Integrated Motor Cables For CN2 Symbol Compatible Description Servomotors Servomotor Cable R7M A R7A CEALILILJS Power Cable for Servomotor Servomotor connector Naa brake Mee er Taiko Electronics Amp Connector Cap 350780 1 for the cable Connector Socket 350570 3 length 1 m 3m 2 5m 10m 15m or 20 m Encoder Cable Motor Connector Molex Driver Connector Sumitomo 3M Connector 54280 0800 Connector Plug 10114 3000VE Connector Case 10314 52A0 008 Servomotor Cable R7M AUI 1 130 B R7A CEALILILIB Power Cable for Servomotor 130 BS1 The boxes in the Servomotor connector with brake 1L130 B model number are Taiko Electronics Amp a Connector Cap 350781 1 11130 BS1 for the cable Connector Socket 350570 3 length 1 m 3 m 5m 10m 15m or 20 m Encoder Cable Motor Connector Molex Driver Connector Sumitomo 3M Connector 5
3. 3 82 2900 ZS 100 VAC input 3 0 N Repeated usage i 2 0 1 45 1 24 1 0 Continuous usage 0 89 r r min 1000 2000 3000 4000 5000 R7M A05030 50 W Nem Repeated usage Continuous usage r r min 1000 2000 3000 4000 5000 R7M A20030 200 W Nem Repeated usage Continuous usage r r min 1000 2000 3000 4000 5000 R7M A75030 750 W Nem 6 0 Repeated usage 4 0 2 0 Continuous usage 1 24 l r r min 1000 2000 3000 4000 5000 Decelerator Specifications m Performance Specifications Backlash within 45 Minutes Motor Decelera Model R7G Rated Rated Effi Instantaneous Instanta Decelerator Allowable Allowable capacity tion ratio rotation torque ciency peak rotation neous peak inertia radial load thrust load speed speed torque See note 1 shaft center See note 4 sean TT IC E Servomotors Servomotors m resres Teo Toar fe ECO pe o ESCORT fame ECC vo mosrossso os ose es sw es esexi ar e ms reseso f wr ro 00 fea aeris see Jasa v resso wo ere o wo eso sexis e ww vs RaSFosB100_ RGSFOsBI00P eoo re 75 90 aso aoex1 oe we EAS ee l O e R E l E l 1 25 RGSF25B100 RGSF25B100P E CC 02 so E so 0 ES 54 x 10 CA note 2 AR note 2 f E CC CO aio os EE 00000 Jian nia 80 C a e at fis Rasroscio0 resrosowoe Teo sa e
4. A Dor T aar Texas Inst SN75175 MC3486 or equivalent Positioning id 84 inp Completed Tn Brake Max operating voltage 30 V DC FUN 24VIN 13 a 74 BKIR cl Max output current 50 mA 2AN DC A dk IVS 40 utput Phase Z output is 20 mA max Command RUN 14 ERK LI Mono OGND ee 32 Alarm reset 1 Z Phase Z ak RESET 18 Ki LNG 33 es L__ trovo 0 ZCOM Alarm 0776 ALM Output o LANCON Shell FG Frame Ground Connect the shield wire to the connector shell A Regeneration Resistor can be connected across the B1 and B2 terminals with 400 W and 750 W Servo Drivers When using an external Regeneration Resistor with a 400 W Servo Driver just connect it across the B1 and B2 terminals When using an external Regeneration Resistor with a 750 W Servo Driver remove the jumper bar from the B2 and B3 terminals and then connect the Regeneration Resistor across the B1 and B2 terminals 18 Parameter Specifications E General Specifications pte Specification V 90 max with no condensation 90 max with no condensation Storageloperating atmosphere Vibration resistance 10to 55 Hz in X Y and Z directions with 0 1 mm double am plitude or acceleration of 9 8 m s max whichever is smaller Impact resistance Acceleration 19 6 m s max in X Y and Z directions three times m Function Specifications SMARTSTEP pee omron R7A PRO2A PARAMETER UNIT RESET SCROLL MO A DATA READ O WRITE D
5. OMRON Faster More Accurate and Easier to Use A New Concept in Servo Systems SMARTSTEP Leia f TOMO Na mE W E NADA mena E E ere i K ON aT 7 eS AN oi SINAR TINTA pen Pe 2S aa Uh ai OMRON 54 D APO1L Note Do not use this document to operate the Unit OMRON Corporation OMRON ELECTRONICS LLC E Authorized Distributor Control Devices Division HO 1 East Commerce Drive Schaumburg Shiokoji Horikawa Shimogyo ku IL 60173 U S A Kyoto 600 8530 Tel 1 847 843 7900 Fax 1 847 843 8568 Japan OMRON ASIA PACIFIC PTE LTD Tel 81 75 344 7109 83 Clemenceau Avenue Fax 81 75 344 7149 11 01 UE Square Singapore 239920 Regional Headquarters Tel 65 6835 3011 Fax 65 6835 2711 OMRON EUROPE B V OMRON CHINA CO LTD Wegalaan 67 69 NL 2132 JD Hoofddorp Room 2211 Bank of China Tower The Netherlands 200 Yin Cheng Zhong Road Tel 31 2356 81 300 PuDong New Area Shanghai 200120 China Fax 31 2356 81 388 Tel 86 21 5037 2222 Fax 86 21 5037 2200 Note Specifications subject to change without notice Cat No 1807 E1 04 Printed in Japan 0405 1M Quick High Torque High Precision Positionin g for Up to 15 Axes Plus an Operating Environment that Ensures Fast and Easy Setup Backed by the trend toward increasing complexity in motor control more advanced functions multifunctional versatility and greater applications compatibility are demanded in servo systems This is f
6. shaft with brake key 200 W R7M AP20030 S1 400 W R7M AP40030 S1 R7M AP75030 S1 With brake 100 W R7M AP10030 BS1 R7M AP20030 BS1 R7M AP40030 BS1 750 W R7M AP75030 BS1 Two axis Servo Relay Unit for XW2B 40J6 9A CJ1M CPU21 22 23 CPU Unit Cable to Doesn t support commu im XW2Z 100J B5 1m Servo nications functions Driver For the XW2B O0J6 12m XW2Z 200J B5 IB 1m 2m Supports communica im XW2Z 100J B7 tions functions For the XW2B 40J6 4A 2m XW2Z 200J B7 One axis Servo Relay Unit for XW2B 20J6 8A CJ1M CPU21 22 23 CPU Unit 26 Ordering Guide Symbol Name Compatible Units Mode m Motor Cables Integrated Encoder Cable to COM1H PLB21 and 0 5m XW2Z 050J A3 Position COMI CPUAS VI sn da AS and Power Cable Control m Unit C200H NC112 XW2Z 050J A4 XW2Z 100J A4 C200H NC211 and XW2Z 050J A5 C500 NC113 211 Am 1m XW2Z 100J A5 CS1W NC113 and XW2Z 050J A8 C200HW NC113 XW2Z 100J A8 CS1W NC213 413 and XW2Z 050J A9 C200HW NC213 413 am 1m XW2Z 100J A9 CS1W NC133 XW2Z 050J A12 XW2Z 100J A12 CS1W NC233 433 XW2Z 050J A13 XW2Z 100J A13 CJ1W NC113 XW2Z 050J A16 XW2Z 100J A16 symbol Specifications Model For Motors WItNOUt Drakes 3m Sm TRVA EROS For Motors ee CJ1W NC213 413 CJ1W NC133 0 5 GNSS En pweru Power Cables Separate Motor CS1W NC233 433 Cables Symbol CS1W General 0 5m Model Oam Pow For Mo R88A CAWA003S er Ca tors
7. connect a DC Reactor between 1 and 2 2 Oo Main circuit DC Out Do not connect anything to this terminal put Control Circuit Pow These are the input terminals for the control power supply er Supply Terminals B1 and B2 External Regenera Connect an External Regeneration Resistor to these terminals if the regenerative capacity of the inter or tion Resistance Ter nal capacitor is exceeded An External Regeneration Resistor cannot be connected to the 30 to 200 B1 B2 and B3 minals W models U lL Servomotor Red These are the terminals for outputs to the Servomotor Ud A Control I O CN1 Specifications Pin Symb Name o O Function interface WC PULS CW A Feed pulses reverse pulses or 90 phase Line driver input 7 mA at 3 V 2 PULS CW A difference pulses A phase Open collector input 7 to 15 mA ET Input impedance 200 Q MEN SIGN CCW B Direction signal forward pulses or 90 Maximum response frequency 250 kpps KA SIGN CCW B phase difference pulses B phase Position control is performed based on the pulses that have been in put Loe ECRST Deviation counter reset Line driver input 7 mA at 3 V _ECRST Open collector input 7 to 15 mA Input impedance 200 Q ON Resets deviation counter 7 BKIR Brake interlock output Outputs holding brake timing signals 8 mp Positioning completed output ON when the position erroris within the positioning completed range 10 OGND O
8. gt RBBA PX5O7O For the R7D APO4H R88A Px5069 For the R7D APO4L or R7D APOBH R88A PX5061 m Front Mounting Bracket Specifications Front Mounting Bracket R88A TKO1W E Computer Monitor Software Specifications Catalog number WMON Win Version 2 0 SBCE 011 E Decelerator Straight Shaft with Key Nihon Densan Shinpo Cylindrical Servomotor Backlash within 45 Minutes Motor capacity Deceleration deceleration ratio Gs ae Ws 15 50 W R7G RGSFO5B50 O ia LS memesroeso 9 merase 9 R7G RGSF25B50 O meresrsemo O memesrsemo O RA7G AGSFISBIOO O memesrsemo Oo Are masrosezoo O R7G RGSFo9c400 JO Prenas 9 meressam Oo A7G RGSFOSC200 O menesrsam O merase 9 A7G RGSF25c400 memesrascro o memesracs O J f R7G AGSFI5C750 O menesrscso gt 28 Cylindrical Servomotor Backlash within 3 Minutes Motor capacity Deceleration deceleration ratio 15 19 15 125 aw ATG VRSFPBOSEGO O RvevasrPaoeB5 o mevasrPenseso JO R7G VRSFPB25B50 MO A R7GVASFPBOSBIOO o R7G VRSFPBOOBIO0 R7G VRSFPBTSBI00 R7G VRSFPE2SCI00 R7G VRSFPBO5B200 O MEN oa R7G VRSFPBO9C400 R7G VRSFPB15C400 R7G VRSFPB25C400 400 W R7G VRSFPB05C400 R7G VRSFPBO9C400 NT R7G VRSFPB15C400 JO R7G VRSFPB25D400 MN IA zow R7G VASFPEOSO
9. AP10030 62 0 MS Es R7M AP20030L 67 9885 985 70n7 446 a E aep e Ke DN ANDA LD KN DN 120 0 70 16 507 BS TO ee Dimensions of R7M ALJ LJS1 with key R7M APLILILI30 S1 Without Brake R7M APLJ_IL130 B S1 With Brake Axis end dimensions a 300 la FR o A Four Z dia mounting holes S dia D2 dia 17 Circuit Diagram Single phase 200 to 230 V AC 10 15 50 60 Hz or Single phase 100 to 115 V AC 10 15 50 60 Hz The 750 W Servo Drivers can input three phase 200 to 230 V AC 1MCCB Main circuit Noise filter Main circuit ower suppl P PPY contactor a OFF ON T DETSIDA j Surge suppressor Q Q B1 B2 o iiie Servomotor DA AOS on EA O SMARTSTEP A series WO Servo Driver u 3 L1C OO I I I 2 si Encoder If necessary connect a DC Reactor to these Q tominals o suppress D o all Te high harmonics in the KX f f 3 l power supply OO N OS jap sleet EN Attach the shield wire to SO ADIMal the terminal securely ias b ze 1 200 ED gt Ss TXD Transmission lt wl R i 281 qxp data RS 422 Interface Position pa ES CCW 43 2000 m Compatible Line Drivers Ciaran SO Lapor AA PO Reception Texas Inst SN75174 p p RXD MC3487 or equivalent Pe ECRSTI5 2000 ____ 220 of AS Compatible Line Receivers Reset EcaSTO
10. O Connector CN1 T0HLNOI LN External Regeneration gt Resistor Terminals Servomotor Power Terminals Her _ Encoder Input Connector CN2 H3GOIN3 ZNO Ground Terminals for Power Supply and Servomotor Power E Switch Operations s Position Speed Speed Torque Gain Adjustment Switch Loop Gain Loop Gain Loop Command Adjusts the motor s responsiveness a fal lit When this switch is set to 0 the Unit will operate according to il the settings in the internal parameters Pn100 Pn101 Enables parameter settings including settings other Pn102 and Pn401 than gain settings When this switch is set to 1 through F the Unit will operate o1 5 15 4000 250 according to the rotary switch s setting 2 2 20 3500 200 3030 3 000 780 A A eee Decrease the switch setting to lower the motor s responsive ness i e so that it moves more smoothly Increase the switch setting to raise the motor s responsive ness i e so that it moves faster Components and Functions Enable Switch Parameter Settings Pin 6 of the DIP switch selects whether the Servo Driver operates according to the DIP switch settings or parameter settings o EA Setting Selection 6 Mm OFF Enables the DIP switch scm ES 3 E tings 2 UN i MN Default setting Online Autotuning Setting The Autotuning Switch selects whether the gain will
11. R7M A03030 B R7M A05030 B R7M A10030 B 400 W R7D AP04H R7D AP08H 100 V AC R7D APA3L R7D APASL R7D APO1L 200 W R7D APO2L 200 W R7M A20030 B 400 W R7D APO4L 400 W R7M A40030 B m Control Cables For CN1 na ee symbol Name Compatible Units Model shaft with brake R7M A05030 S1 Servo Re Use with Position Control Units XW2B 20J6 1B key lay Unit Doesn t support communications 100 W R7M A10030 S1 functions 400 W R7M A40030 S1 NC113 133 C200HW NC113 750 W R7M A75030 51 C200H NC112 and 3F88M With brake R7M A03030 BS1 R7M A05030 BS1 100 W R7M A10030 BS1 DRT141 200 W R7M A20030 BS1 Use with Position Control Units XW2B 40J6 2B Doesn t support communications functions Units CS1W NC213 233 413 433 CJ1W NC213 233 413 433 C200HW NC213 413 C500 NC113 211 and C200H NC211 Use with Other Units XW2B 20J6 3B D 4 t icati 400 W R7M A40030 BS1 v communications 5 3 Units CS1W HCP22 COM1H 750 W R7M A75030 BS1 PLB21 and CQM1 CPU43 V1 Use with Position Control Units XW2B 40J6 4A Flat Servomotors 3 000 r min A aa CS1W NC213 233 413 433 Specifications 0 Model CJ1W NC213 233 413 433 Straight Without 100 W R7M AP10030 For CS1W HCP22 V1 Customiz XW2B 80J7 1A able Counter Unit shaft with brake out key 200 W R7M AP20030 400 W R7M AP40030 750 W R7M AP75030 With brake 100 W R7M AP10030 B R7M AP20030 B R7M AP40030 B R7M AP75030 B Straight Without R7M AP10030 S1
12. Un008 Position deviation deviation counter Command Displays number of residual pulses in deviation counter input pulse units standard Cumulative load ratio Displays effective torque rated torque 100 10 s cycle 10 s cycles Un00B Dynamic brake resistance load ratio Displays power consumption during dynamic brake operation calcu lates tolerance power consumption as 100 in 10 s cycles Un00C Input pulse counter Counts and displays input pulses displayed in hexadecimal units ee Feedback pulse counter Counts and displays feedback pulses 4X calculation displayed in hexa decimal _Un009 Regeneration load ratio Displays regeneration absorption power due to regeneration resistance calculates internal resistance capacity or Pn600 setting as 100 in 22 Model Number Legends AC Servomotors R7M AC 111111 J6 8 i 23 4 5 6 7 O A Indicates a Servomotor ee E Eoo a E Am ET 30 W 050 fow 100 W 200 Specification 3000 Tin Brake Bank MOS AC Servo Drivers R7M APL LL 1 2 3 4 Hem Code Indicates a Servo Driver Seres TAP sow Specification Maximum out A3 30 W put capacity AB 50 W 100 W 200 W 400 W 750 W mow Power supply specification 23 Connecting Cables SMARTSTEP Servo Driver 200v 30w SMARTSTEP pee g Computer Monitor Software for Windows OS CORA ZERO
13. after phase Z is detected Fno05 User parameter initializaton Restores user parameters to their default settings O Oo Fnoo6 Alarm history data clear Clears the data stored inthe alarm history SOS Fn00C Analog monitor output offset man Manually adjusts the analog output monitor offset ual adjustment Analog monitor output scaling Changes the analog monitor output scaling output voltage adjustment Servomotor current detection off Automatically adjusts the offset for Servomotor current detection set automatic adjustment Servomotor current detection off Manually adjusts the offset for Servomotor current detection set manual adjustment Fnot0 Password setting You can permit or prohibit writing to user parameters Fn012 Version check Check the Servo Driver s version information E Monitor Mode Details Number Comente ms platon OOO O O Unooo Speed feedback wmn Displays actual rotation speed of Servomotor Un002 Torguecommand Displays command values to current loop rated torque 100 Uno0s Number of pulses from phase Z edge Pulses Displays rotation position from phase Z edge 4X calculation Unoo4 Electrical angle Displaysineelectrcal angle of the Servomotor Un005 Input signal monitor fe Displays the control input signal CN1 status using ON OFF bits Un006 Output signal monitor Displays the control output signal CN1 status using ON OFF bits
14. alarm occurs ON OFF o CN 5 CM 3 _ Pin2 Dynamic Brake Mode _ 2 C 1 C Default setting Case oF feysemer SSS aso OFF Deviation counter overfow Seproo Parameter Unitranemission orori epr Parameter Unt transmission enor ast Overoad warning a Regeneration overload warning These errors are not cleared by resetting the alarm The power must be turned ON again to clear the alarm Servo Driver Specifications E General Specifications Specification Ambient operating temperature 0 to 55 C Ambient operating humidity 90 max with no condensation Ambient storage temperature 20 to 85 C Ambient storage humidity 90 max with no condensation Storage operating atmosphere No corrosive gases Vibration resistance 10 to 55 Hz in X Y and Z directions with 0 1 mm double amplitude or acceleration of 4 9 m s max whichever is smaller Impact resistance Acceleration 19 6 m s max in X Y and Z directions three times Insulation resistance Between power line terminals and case 0 5 MQ min at 500 V DC Dielectric strength Between power line terminals and FG 1 500 V AC for 1 min at 50 60 Hz Between each control signal and FG 500 V AC for 1 min Protective structure Built into panel IP10 International EC EMC EN55011 class A group 1 standards Directives Directive EN61000 6 2 Low Voltage EN50178 Directive UL Standards UL508C cUL Standards cUL C22 2 No
15. min 3 000 r min 3 000 r min 3 000 r min Momentary maximum rotation 4 500 r min 4 500 r min 4 500 r min 4 500 r min 4 500 r min 4 500 r min speed Momentary maximum torque 0 29Nm 0 48N m 0 96Nm 1 91Nm 3 82 N m Rated current 0 42 A rms 0 6 A rms 0 87 A rms 2 0 A rms 2 6 A rms 4 4 A rms Momentary maximum current 1 3A rms 1 9A rms 2 8 A rms 6 0 A rms 8 0 A rms 13 9 A rms kg m kg m kg m kg m kg m kg m ee miras ot are es 154 am 48 Brake inertia 0 85 x 10 0 85 x 10 0 85 x 10 6 4 x 10 6 4 x 108 1 7x 10 kgm kg m kg m kg m kg m kg m Excitation voltage 24 V DC 10 V Power consumption 6 W 6 W 6 W 7 W 7 W 7 7 W at 20 C Current consump 0 25 A 0 25 A 0 25 A 0 29 A 0 29 A 0 32 A tion at 20 C min min min min Rating Continuous Continuous Continuous Continuous Continuous Continuous 13 Motor Specifications E Torque and Rotation Speed Characteristics Cylindrical Servomotors The following graphs show the characteristics with a 3 m standard cable and an R7D APLIL Servo Driver 100 V AC input or R7D APLIH Servo Driver 200 V AC input 14 R7M A03030 30 W Nem Repeated usage Continuous usage r r min 1000 2000 3000 4000 5000 R7M A10030 100 W Nem Repeated usage Continuous usage r t min 1000 2000 3000 4000 5000 R7M A40030 400 W Nem 4 0 4 3 82 2000
16. responsiveness Pn103 Set using the ratio between the machine system inertia and the Servomotor ro tor inertia Pn109 Feed forward amount Position control feed forward compensation value Peer o Pn10A Feed forward com Sets position control feed forward command filter mand filter Pn110 Online autotuning set Selects online Auto tunes initial operations only after 0012 ting auto tuning power is turned ON See note 1 Always auto tunes No auto tuning a owsa U Selects adhesive MERA Friction compensation OFF friction compensa th PET tion function Friction compensation rated torque ratio small 2 Friction compensation rated torque ratio large Co fosa E E 20 Setting range Hz 1to 2 000 0 01 ms 15 to 51 200 1 s 1 to 2 000 0 to 10 000 0 01 ms 0 to 6 400 Parameter Specifications Parameter Parameter name Explanation Default Setting number setting range Pn200 Position control set Command pulse Feed pulses Direction signal Positive 1011 ting 1 mode logic free mole 1 1 Forward pulse Reverse pulse Positive logic 2 90 phase difference A B phase signal x1 Positive logic 3 90 phase difference A B phase signal x2 Positive logic 4 90 phase difference A B phase signal x4 Positive logic 5 Feed pulses Direction signal Negative logic Forward pulse Reverse pulse Negative logic 7 90 phase difference A B phase signal x1 Negative logic 90 phase difference A B pha
17. 0o vasrreesceoor 120 ra ro feo fea feos 16 Te K E fas E fie E rear K E jam E ws E Jost Note 1 This inertia is for Cylindrical Servomotors Refer to the Flat Servomotor User s Manual Cat No 1533 for applicable inertia for that model 2 This decelerator is for a Servomotor with a straight shaft without a key 3 The value given for the allowable radial load is the value at the center of the shaft 15 Dimensions E Servo Drivers 200 V AC 30 W 50 W 100 W 200 W R7D APA3H APASH APO1H APO2H 100 V AC 30 W 50 W 100 W 200 W R7D APA3L APAS5L APO1L APO2L 200 V AC 400 W R7D APO4H 100 V AC 400 W R7D APO4L 200 V AC 750 W R7D APOSH UUU UU UTN 160 Do ke no gO a go Oo Cr D 57 Ns AN 5 dia hole 5 5 E A 160 E IO HE H 5 dia hole O Sa JOR RA E ee al oO 2 al al yoy A E NN
18. 14 m Performance Specifications Control Specifications for 100 V AC Input Type LS lt a AP10030 AP20030 AP40030 Continuous outputcurrent rms os o os 20 Momentary maximum output currentem 18 w e 0 wo O o Single phase 100 115 V AC 85 to 127 V 50 60 Hz Single phase 100 115 V AC 85 to 127 V 50 60 Hz Voltage doubler method Control method Speed feedback 2 000 pulses revolution Incremental Encoder Inverter method PWM method based on IGBT PWM frequency 11 7 kHz Compatible motor voltage Compatible motor capacity 100 W 200 W 400 W Command pulse response 250 kHz Control Specifications for 200 V AC Input Type 200 VAC sow sw ow ow mw ow AP10030 AP20030 AP40030 AP75030 Continuous output current ems oe o os 20 4 Momentary maximum output current rms 13 19 28 eo so we Single phase 200 230 V AC 170 to 253 V 50 60 Hz Single phase 200 230 V AC 170 to 253 V 50 60 Hz Three phase 200 230 V AC can be used with the 750 W model 2 000 pulses revolution Incremental Encoder weight To Jos os Ta uu Servo Driver Specifications E I O Specifications Terminal Specifications Symbol Name L1 and L2 Main circuit Power These are the input terminals for the main circuit power supply Or Supply Terminals L1 L2 and L3 DC Reactor Normally short circuit between 1 and 2 Terminals If harmonic control measures are required
19. 4280 0800 Connector Plug 10114 3000VE Connector Case 10314 52A0 008 24 Connecting Cables E Separate Motor Cables For CN2 Symbol Compatible Description Servometors Power Cable for R88A CA Motor Connector Tyco Electronics Amp Motor nn WALILIEIS Connector Cap 350780 1 Connector Socket 350570 3 brake The boxes in the model number are for the cable length 3 m 5m 10m 15 m or 20 m Power Cable for _130 B R88A CA Motor Connector Tyco Electronics Amp Motor with brake 130 BS1 WALILI_IB Connector Cap 350781 1 Connector Socket 350570 3 _ILI30 B__ The boxes in the IL130 BS1 model number are for the cable length 3 m 5 m 10m 15m or 20 m Encoder Cable R7M ALJLJL 301 R88A Motor Connector Molex Driver Connector Sumitomo 3M R7M APLI_ILI30L CRALILILIC Connector Socket 54280 0800 Connector Plug 10114 3000VE The boxes inthe Crimp Terminal 10134 52AD 008 model number are DH for the cable UX 1 9 length 3 m 5 m 10m 15 m or 20 m Note A Power Cable and an amp Encoder Cable are required for Separate Motor Cables 25 Ordering Guide E Servomotors E Servo Drivers Cylindrical Servomotors 3 000 r min 200 V AC R7D APASH R7D APASH R7D APO1H 200 W R7D AP02H Specifications Straight Without R7M A03030 shaft with brake out key R7M A05030 R7M A10030 R7M A75030 With brake 30 W
20. 7S0 o ae mevasrpaisoso O mevasrpsserso P Flat Servomotor Backlash within 45 Minutes Motor Deceleration capacity deceleration ratio SAC Oa IN GA Bia Se yl US ee R7G RGSF25F100P O eE E el a P Mo R7G RGSF15C400P Pf JO poo R7G RGSF25C400P Pf PFO Gia SU ae a IS Bie Ls Polo EA o RA IS ee O IP Er ea OP NI A DNAN cda ie je ee MOE ee DI Gee SP 100 W 200 W 400 W 750 W Ordering Guide Flat Servomotor Backlash within 3 Minutes Deceleration deceleration ratio AA EA A Ba pe PD a aa ON DA ARA o O EG EEE e Can EN Ea ee Je E E die ON O 2 R7G VRSFPB25C200P Poo A OT E PD sc ee E pisas PO O SO a A DA OR je ee On AA UN O Ne tte E e A SD eS TAS 100 W 200 W 400 W 750 W 29 30 Read and Understand this Catalog Please read and understand this catalog before purchasing the product Please consult your OMRON representative if you have any questions or comments Warranty and Limitations of Liability WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITAB
21. LLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons Consult with your OMRON representative at any time to confirm actual specifications of purchased product DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this catalog 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 users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability
22. LY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted INNO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of the product in the customer s application or use of the product Take all necessary steps to determine the suitability of the product for the systems machines and equipment with which it will be used Know and observe all prohibitions of use applicable to this product NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCT IS PROPERLY RATED AND INSTA
23. RIVER gt PR PR gt DRIVER Function Copy Parameters Read or save parameters from the Servo Driver Write parameters to the Servo Driver Compare parameters in the Servo Driver with parameters in the Parameter Unit m Mode Change Specifications Power ON FE Parameter Monitor mode BB PRM MON BB PRM MON Un000 3000r min Pn000 0000 Un002 40 Un002 40 Un008 00100pulse Un008 00100pulse Un00D 10000000 Un00D 10000000 gt Copy Parameters mode BB i BB 1 DRIVER gt PR 1 DRIVER PR 2 PR gt DRIVER PR gt DRIVER Verify LIST 3 Verify 4 LIST KI 1 y A 4 Display Alarms mode sit IK 19 Parameter Specifications m Parameter Details Parameter Parameter name Explanation Default number setting Function selection ba Reverse rotation CCW direction is taken for positive com 0010 sic switch 1 mand See note 1 1 CW direction is taken for positive com mand Control mode Position control by pulse train command 210 3 Notused f SSS Function selection ba Select stop meth liso Servomotor stopped by dynamic brake 1002 ca ee a am oe 1 Stop by dynamic brake and release cenomotoris brake after Servomotor stops OFF Servomotor stopped with free run 1to3 Notused el Pn100 Speed loop gain Adjusts speed loop s responsiveness Pn101 Speed loop integral Speed loop integral time constant 2000 constant Pn102 Position loop gain Adjusts position loop s
24. be adjusted automatically during operation ON OFF 1 Perform online autotuning ON OFF Complete online autotuning 1 The result is stored in the Inertia Ratio parameter Pn103 and the Servo Driver runs Resolution Setting Pins 4 and 5 select the positioning resolution If the resolution is set to 1 000 the default setting the motor makes one revolution for every 1 000 pulses input OFF OFF 1 000 pulses revolution 0 36 step OFF ON 110 000 pulses revolu tion 0 036 step ON OFF 500 pulses revolution 0 72 step Default setting ON ON 6 000 pulses revolution 0 072 step m Alarm Table Error detection function A04 OFF Parameter setting error A30 OFF Regeneration error A82 OFF Regeneration overload A40 OFF Overvoltage Undervoltage A51 OFF Overspeed Resolution ON OFF 4 N WN OOD Ll Command Pulse Input Setting Pin 3 selects the command pulse mode Select Forward pulse Reverse pulse positive logic or Feed pulses Direction signal positive logic ON OFF 6 UN 5 E 4 Pin3 Command Pulse Mode OFF Forward pulse Reverse gt T bai pulse positive logic ON Feed pulses Direction sig 11 E nal positive logic Default setting Dynamic Brake Setting Pin 2 enables or disables dynamic brake operation If the dynamic brake is enabled the motor can be brought to an emergency stop when the RUN command goes OFF or an
25. c 10 Motor Specifications E General Specifications Specification Ambient operating temperature O to 40 C Ambient operating humidity 20 to 80 with no condensation Ambient storage temperature 20 to 60 C Ambient storage humidity 20 to 80 with no condensation Storage operating atmosphere No corrosive gases Vibration resistance 10 to 2 500 Hz in X Y and Z directions with 0 2 mm double amplitude or acceleration of 24 5 m s max whichever is smaller Impact resistance Acceleration 98 m s max in a vertical direction two times Insulation resistance Between power line terminals and FG 10 MQ min at 500 V DC Run position Any direction Insulation grade Type B Totally enclosed self cooling Dielectric strength Between power line terminals and FG 1 500 V AC for 1 min at 50 60 Hz Protective structure IP55 for both the Cylindrical and Flat Servomotors Mounting method Flange mounting International standards Approval obtained for UL cUL and EN EMC directive and low voltage directive m Performance Specifications Flat Servomotors Item R7M AP10030 R7M AP20030 R7M AP40030 R7M AP75030 APO1L APO2L APO4L eee seme RITOS ERES III 1 og rien peli 3 1 x 10 kgm 1 52 x 10 kgm 1 52 x 10 kgm 8 75 x 10 kg m ITI l Excitation voltage 24 V DC 10 Power consumption at 7 5 W 7 6 W 8 2 W 7 5 W 20 C Current consumption at 0 31 A 0 32 A 0 34 A 0 31 A 20 C Ratings Continuous Continuous Continu
26. command 0 01 ms 0 to ter time constant 65 535 and deceleration 00 40 Pn402 Forward torque limit Forward rotation output torque limit percentage of rated torque ratio O to 800 350 3 65 535 Pn208 See note 1 Pn403 Reverse torque limit Reverse rotation output torque limit percentage of rated torque ratio O to 800 Pn500 Positioning comple Sets the range of positioning completed output signal Command O to 250 tion range units Pn505 Deviation counter Sets the detection level for the deviation counter over alarm 1024 x256 com 1 to overflow level mand units 32767 Pn600 Regeneration resistor Setting for regeneration resistance load ratio monitoring calculations 10W See capacity model See note 2 specs Note 1 These parameters are read when the power is turned ON Parameter Pn110 2 is valid when online 2 When using a Regeneration Resistor set the resistor s capacity when the temperature has risen to 120 C Set this pa rameter to 0 if a Regeneration Resistor is not being used 21 Parameter Specifications E Function Mode Details Number Name Explanation Fn000 Alarm history display Displays up to 10 alarm entries Eas Rigidity setting during online auto Sets the control target during online auto tuning tuning Fno02 Jog operation Makes the Servomotor rotate using key operations from the Parameter Unit a pae aioe E To e reaa TE tion of phase Z
27. er to page 27 for details D Y lt S 19 Ke Lo Q o Gam dh 9 gt oO Q e e CS1W NC113 213 413 CJ1W NC113 213 413 NC133 233 433 NC133 233 433 C200HW NC113 213 413 With the Separate Motor Power and Encoder Cables one Power Cable and one Encoder Cable is reguired AC Servomotor SYSMAC CJ1M Customizable Counter Units CS1W HCP22 V1 Position Control Cable Servo Relay Unit Servo Driver Cable xXxw2z 000J A Q XW2B I 1J6 L JB See note XW2Z LILILIJ B5 See note See note One axis Positioner 3F88M DRT141 SYSMAC SYSMAC CPM2A CPM2C These models are shown as examples Note Refer to page 27 for details Components and Functions E Components LARM CODE E UNIT No X Unit Number Switch 30 RS 422 485 Sox paso VER VOLTAGE VOLTAGE cs Gain Adjustment Switch OJOVERLOAD 3 DB OVER LOAD OVER LOAD A INRUSH OL oo OL FS YSTEM EER ERR TR en cos DIP Switch Resolution Setting l z al l e Command Pulse Input Setting RUNAWAY Q COUNTER OVER OVER s e Dynamic Brake Setting CHARGE Autotuning Switch Charge Indicator Alarm Indicator Power Indicator Main circuit Power Terminals _____ o Communications Connector CN3 O Z wo 3 O O DC Reactor Terminals Monitor Output Connector CN4 Control circuit Power Terminals Control I
28. les mitad R88A CAWA005S brakes R88A CAWA010S R88A CAWAO15S Cables XW2Z 100J A32 For the 3F88M DRT141 XW2Z 050J A25 XW2Z 100J A25 CJ1M CPU21 22 23 for XW2Z 100J A26 2 axes RS 422 Cable with the XW2B 40J6 4A only Na a e Controllers R88A CAWA020B roast a gener Ld R88A CTUOO1N t i al nal Block Controllers Ti PERAN Encoder Cables Separate Motor ee BS i Control VO R88A CAWA020S For Mo R88A CAWA003B tors with XW2Z 100J C1 ce R88A CAWA005B R88A CAWAO10B R88A CAWA015B 2 R88A CPU001S 2 R88A CPU002S 0 1 1 1 1 m m m m m m m im 2m XW2Z 200J C1 en im Cable Connec tor Termi nal Block uN XW2B 40F5 P Cables Symbol Specifications Mode Encoder Cables R7A CRA003C E Options for CN3 R7A CRA005C R7A CRA010C Computer Monitor Cable R7A CCA002P2 R7A CRAO15C R7A CRA020C m Other Options Symbol Name Analog Monitor Cable R88A CMW001S 2l Ordering Guide Accessories E Connectors Specifications Model Encoder Connector Motor side R7A CNAO2R Encoder Connector Driver side R7A CNAO1R Control I O Connector R88A CNU01C m Parameter Copy Unit Specifications Parameter Unit with cable R7A PRO2A E External Regeneration Resistor Specifications Moder Resson RERAAAZ2O7S m DC Reactor Specifications Model For the R7D APA3L R7D APASL or R88A PX5063 R7D APO1L For the R7D APO2L R88A PX5062 R7D APO1H For the R7D APO2H
29. or a 100 W motor Torque N m SMARTSTEP instantaneous peak torque SMARTSTEP rated torque Stepping motor torque characteristics 1000 2000 3000 4000 Speed r min International standards SMARTSTEP conforms to CE UL cUL and other standards for international use Flexible System Configurations for a Variety of Applications SMARTSTEP Controllers Communications Cable Parameter Unit AC Servo Drivers Monitoring and debugging possible via SYSMAC C series PLC Connection to AA o NS5 NS8 NS10 or NS12 R7A PRO2A SYSMAC CJ Series ponen een oreneoo eeenee o NS12 10 8 5 These models are shown as examples SYSMAC CS Series Power Cables Separate Motor Power and Encoder Serial Communications Serial Communications Unit Cables Board R88A CAWLILILIS without brake R88A CAWLILILIS Motor Cables with brake Integrated Motor Power Encoder Cable R7A CEALILILJS Servo Relay Unit Servo Driver Cable Sra tias XW2B 40J6 4A Xw2Z O000J B7 with brake with communications Communications Cable XW2Z 000yJ C1 See note CS1W SCB41 V1 CS1W SCU21 V1 CJ1W SCU41 V1 Position Control NC Units Encoder Cable Separate Motor Power and Encoder Cables R7A CRALILILIC i Note Ref
30. ous Continuous 11 Motor Specifications E Torque and Rotation Speed Characteristics Flat Servomotors The following graphs show the characteristics with a 3 m standard cable and an R7D APLIL Servo Driver 100 V AC input or R7D APLIH Servo Driver 200 V AC input R7M AP10030 100 W Nem 1 0 7 0 96 0 96 0 8 Repeated usage 0 6 0 4 ve Continuous usage r min 1000 2000 3000 4000 5000 R7M AP40030 400 W Nem 4 0 4 3 82 2350 3 82 3250 7 100 VAC input 3 0 A Repeated usage 2 0 4 Continuous usage r min 1000 2000 3000 4000 5000 12 R7M AP20030 200 W Nem 2 0 7 1 91 1 91 3600 Repeated usage 0 5 Continuous usage r min 1000 2000 3000 4000 5000 R7M AP75030 750 W Nem 8 0 7 1 2500 7 1 N A 607 Single phase ms 200 VAC input 3 phase S 200 VAC input Repeated usage 4 0 J Continuous usage r min 1000 2000 3000 4000 5000 Motor Specifications m Performance Specifications Cylindrical Servomotors Item R7M A03030 R7M A05030 R7M A10030 R7M A20030 R7M A40030 R7M A75030 Applicable Servo Driver R7D APA3H APASH APO1H APO2H APO4H APO8H APA3L APASL APO1L APO2L APO4L Rated output 100 W 200 W 400 W 750 W Rated torgue 0 095 N m 0 159 N m 0 318 N m 0 637 N m 1 27 N m 2 39 N m Rated rotation speed 3 000 r min 3 000 r min 3 000 r
31. s 900 ee azo a fe O A 1 25 RGSF25C400 RGSF25C400P 21 7 CNN EA EC 1 2 67 x 10 wo See note 2 See note 2 1 5 RGSF05C750 RGSFO5C750P 600 108 8 900 8 0 ETA E mario x mario PN ea Rastor C 7 mo E 1 6 23 x 10 See note 2 See note 2 1 15 RGSF15C750 RGSF15C750P 16 2 48 6 6 56 x 10 1176 See note 2 See note 2 1 25 RGSF25C750 RGSF25C750P 21 7 65 1 6 5 x 10 1323 See note 2 See note 2 1 This inertia is for Cylindrical Servomotors Refer to the Flat Servomotor User s Manual Cat No 1533 for applicable inertia for that model 2 This torque is for the decelerator Be sure to select a motor capacity with torque no higher than this ie 3 This decelerator is for a Servomotor with a straight shaft without a key 4 The value given for the allowable radial load is the value at the center of the shaft Backlash within 3 Minutes Motor Decelera Model R7G Rated Rated Effi Instantaneous Instanta Decelerator Allowable Allowable capacity tion ratio rotation torque ciency peak rotation neous peak inertia radial load thrust load speed speed torque See note 1 shaft center See note 3 For Cylindrical For Flat r min r min Servomotors Servomotors Note fis vasrreosse00 vasrreosszoop 600 ari es oo fe rsaxio fee we gt vs vaser oscaoo vasrr oecaoor ses ars Jee feo ms emi oi Jus ms vaserescaoo vasrreiscaoor 200 fest 6s feo fes ferao re e vas vasrreesca
32. se signal x2 Negative logic 90 phase difference A B phase signal x4 Negative logic 1 Deviation counter Ro High level signal ie Rising signal low to high Low level signal Falling signal high to low 2 Deviation counter Deviation counter reset if an alarm oc reset if an alarm curs when Servomotor is OFF occurs when the ey 1 Deviation counter not reset if an alarm ae S Ka occurs when Servomotor is OFF Deviation counter reset only if alarm oc curs s osa E SS S S Pn202 Electronic gear ratio Sets the pulse rate for the command pulses and Servo Servomotor travel dis 4 1 to G1 numerator tance 65 535 See note 1 1 Pn203 Electronic gear ratio Setting range 0 01 lt G1 G2 lt 100 ae G2 denominator See note 1 Pn204 Position command fil Sets soft start for command pulse Soft start characteristics are for the primary 0 01 ms 0 to ter time constant 1 filter 6 400 primary filter 0000 Pn207 Position control set Selects position NN Primary filter lacoste 1 command filter Linear acceleration and deceleration Pros Notused Position command fil Sets soft start for command pulse soft start characteristics are for the linear 0 01 ms 0 to acceleration and deceleration 6 400 5 ter time constant 2 linear acceleration Pn304 Jog speed Sets rotation speed during jog operation r min 0 to 10 000 Pn401 Torque command fil Sets the constant when filtering the internal torque
33. timpedance 2200 5 m0 Aar Encoder phase Ainput Line driver input conforms to EIA RS422A mn _A __ Encoder phase A input put impedance 220 5 m2 B Encoder phase Binput Line driver input conforms to EIA RS422A ta B Encoder phase B input Imputimpedance 220 0 5 Shell Fe Cable shield ground Oroundlorcabies shiod wre Compatible Connectors Receptacle at Servo Driver 10214 52AJL Sumitomo 3M or equivalent Cable plug 10114 3000VE Sumitomo 3M Cable case 10314 52A0 008 Sumitomo 3M Communications Connector CN3 Specifications Function A 0 rana data Tranemssion daa RS 2320 apa 2 RXD Reception data Reception data RS 232C input 3 PRMU Unit switching Switching terminal for a Parameter Unit 5 V output This is the 5 V power supply output to the Pa Pp 8 GND Ground SSCs meter Shell FG Cable shield ground Ground for cable s shield wire Compatible Connectors Receptacle at Servo Driver HR12 10R 8 SDL Hirose Electric Cable connector HR212 10P 8P Hirose Electric Monitor Output CN4 Specifications Function 1 NM Speed monitor Speed monitor output 1 V per 1 000 r min ba rent monitor erent monitor 1 V rated torque 3 GND Ground Grounds for monitor output 4 GND Ground S Compatible Connectors Receptacle at Servo Driver DF11 4DP 2DSA 01 Hirose Electric Cable socket DF11 4DS 2C Hirose Electric Cable case DF11 2428SCF Hirose Electri
34. urther combined with the need to raise productivity and improve cost performance SMARTSTEP meets these needs with high speed high precision positioning fewer process steps speedier setup and a variety of functions that allow easy operation and quick and efficient connection with peripheral components NS 12 Programmable Terminal Connection Control cables for connecting drivers and controllers are available for every type of controller for easy connection Motors are also connected with a single cable Special decelerators are also available Operation OMRON PLCs and PTs combine to make monitoring and debugging easier than ever This functionality is further enhanced by Programming Devices like Monitoring Software and Parameter Units SYSMAC CJ CS series PLC TE pa Lg S EA S EAS SS amp CHARGE OMRON R7D APO1L DRIVER 100V 100W POWER 1001 END WIGODNa ZN SMARTSTEP jpn Setup Basic setup requires no adjustments Front panel switches make settings easy and eliminate the need for time consuming parameter settings whenever adjustment is required Ease of use is equivalent to that of a stepping motor Performance Positioning is stable because SMARTSTEP prevents out of step operation making high speed high torque high precision positioning easier than ever O Speed vs torque comparison f
35. utputground common Ground common for output signals pins 7 and 8 143 24V 24VDC power input for control Power supply input 24 V DC for pins 14 and 18 ma RUN RUNcommandinput ON Servo ON Starts power to Servomotor 18 19 20 RESET Alarm reset input ON Servo alarm status is reset GND O RS 422A ground Ground for RS 422A RS 422A reception data Interface for RS 422A data transfers at RxD 22 TXD RS 422A transmission data 23 TxD 24 RT Termination resistance terminal Connect to RXD pin 21 in the Unit at the end of the line 32 Z Encoder phase Z open collector output Output goes ON when the encoder s phase Z signal 1 pulse revolu ZCOM tion is detected Ma Open collector output 20 mA max at 30 V DC 34 ALM Alarm output Output goes OFF when alarm is detected 35 ALMCOM Open collector output 50 mA max at 30 V DC Shell FG Cable shield ground Ground for cable s shield wire Compatible Connectors Receptacle at Servo Driver 10236 52A2JL Sumitomo 3M or equivalent Cable solder plug 10136 3000VE Sumitomo 3M Cable case 10336 52A0 008 Sumitomo 3M Servo Driver Specifications Encoder Connector CN2 Specifications Function 1 23 EOV Encoder power supply GND Power supply outlet for encoder 4 56 ESV Encoderpower supply 5W 8 S4 Encoder phase S input Line driver input conforms to ElA RS422A o s JEncoder phaseSinput mu
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