Omron r7d ap04h коды ошибок

Cat. No. I533-E1-04

USERS MANUAL

SMARTSTEP A SERIES

MODELS R7M-A@ (Servomotors) R7D-AP@ (Servo Drivers)

Servomotors/Servo Drivers

Thank you for choosing this SMARTSTEP A-series product. Proper use and handling of the product will ensure proper product performance, will lengthen product life, and may prevent possible accidents. Please read this manual thoroughly and handle and operate the product with care. Please keep this manual handy for reference after reading it.

1.To ensure safe and proper use of the OMRON Inverters, please read this USER’S MANUAL (Cat. No. I533-E1) to gain sufficient knowledge of the devices, safety information, and precautions before actual use.

2.The products are illustrated without covers and shieldings for closer look in this USER’S MANUAL. For actual use of the products, make sure to use the covers and shieldings as specified.

3.This USER’S MANUAL and other related user’s manuals are to be delivered to the actual end users of the products.

4.Please keep this manual close at hand for future reference.

5. If the product has been left unused for a long time, please inquire at our sales representative.

Items to Check Before Unpacking 1.Check the following items before removing the product from the package:

Has the correct product been delivered (i.e., the correct model number and specifications)? Has the product been damaged in shipping?

2.Check that the following accessories have been delivered. Safety Precautions

No connectors or mounting screws are provided. Obtain these separately.

NOTICE 1.This manual describes information about installation, wiring, switch setting, and troubleshooting of the

SMARTSTEP A-series Servomotors and Servo Drivers. For information about actual operating proce- dures using a Parameter Unit, refer to the SMARTSTEP A Series Operation Manual (I534).

2.Be sure that this manual accompanies the product to its final user. 3.Although care has been given in documenting the product, please contact your OMRON representative

if you have any suggestions on improving this manual. 4.Assume that anything not specifically described in this manual is not possible.

5.Do not allow the Servomotor or Servo Driver to be wired, set, or operated (from a Parameter Unit) by anyone that is not a profession electrical engineer or the equivalent.

6.We recommend that you add the following precautions to any instruction manuals you prepare for the system into which the product is being installed.

Precautions on the dangers of high-voltage equipment. Precautions on touching the terminals of the product even after power has been turned OFF. (These

terminals are live even with the power turned OFF.) 7.Specifications and functions may be changed without notice in order to improve product performance. 8.Positive and negative rotation of AC Servomotors described in this manual are defined as looking at the

end of the output shaft of the motor as follows: Counterclockwise rotation is positive and clockwise rota- tion is negative.

9.Do not perform withstand-voltage or other megameter tests on the product. Doing so may damage inter- nal components.

10.Servomotors and Servo Drivers have a finite service life. Be sure to keep replacement products on hand and to consider the operating environment and other conditions affecting the service life.

11.Do not set values for any parameters not described in this manual. Operating errors may result. Consult your OMRON representative if you have questions.

12.Before using the product under conditions which are not described in the manual or applying the product to nuclear control systems, railroad systems, aviation systems, vehicles, combustion systems, medical equipment, amusement machines, safety equipment, and other systems, machines, and equipment that may have a serious influence on lives and property if used improperly, consult your OMRON represen- tative.

Notice: OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or dam- age to property.

!DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. Additionally, there may be severe property damage.

!WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. Additionally, there may be severe property damage.

!Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage.

OMRON Product References All OMRON products are capitalized in this manual. The word Unit is also capitalized when it refers to an OMRON product, regardless of whether or not it appears in the proper name of the product.

The abbreviation Ch, which appears in some displays and on some OMRON products, often means word and is abbreviated Wd in documentation in this sense.

The abbreviation PC means Programmable Controller and is not used as an abbreviation for anything else.

Visual Aids The following headings appear in the left column of the manual to help you locate different types of information.

Note Indicates information of particular interest for efficient and convenient operation of the product.

OMRON, 2001 All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

General Warnings Observe the following warnings when using the SMARTSTEP Servomotor and Servo Driver and all connected or peripheral devices.

This manual may include illustrations of the product with protective covers removed in order to describe the components of the product in detail. Make sure that these protective covers are on the product before use.

Consult your OMRON representative when using the product after a long period of storage.

!WARNING Always connect the frame ground terminals of the Servo Driver and the Servomo- tor to a class-3 ground (to 100 or less). Not connecting to a class-3 ground may result in electric shock.

!WARNING Do not touch the inside of the Servo Driver. Doing so may result in electric shock.

!WARNING Do not remove the front cover, terminal covers, cables, or optional items while the power is being supplied. Doing so may result in electric shock.

!WARNING Installation, operation, maintenance, or inspection must be performed by autho- rized personnel. Not doing so may result in electric shock or injury.

!WARNING Wiring or inspection must not be performed for at least five minutes after turning OFF the power supply. Doing so may result in electric shock.

!WARNING Do not damage, press, or put excessive stress or heavy objects on the cables. Doing so may result in electric shock.

!WARNING Do not touch the rotating parts of the Servomotor in operation. Doing so may result in injury.

!WARNING Do not modify the product. Doing so may result in injury or damage to the product.

!WARNING Provide a stopping mechanism on the machine to ensure safety. The holding brake is not designed as a stopping mechanism for safety purposes.

!WARNING Provide an external emergency stopping mechanism that can stop operation and shutting off the power supply immediately. Not doing so may result in injury.

!WARNING Do not come close to the machine immediately after resetting momentary power interruption to avoid an unexpected restart. (Take appropriate measures to secure safety against an unexpected restart.) Doing so may result in injury.

!Caution Use the Servomotors and Servo Drivers in a specified combination. Using them incorrectly may result in fire or damage to the products.

!Caution Do not store or install the product in the following places. Doing so may result in fire, electric shock, or damage to the product.

Locations subject to direct sunlight.

Locations subject to temperatures or humidity outside the range specified in the specifications.

Locations subject to condensation as the result of severe changes in tempera- ture.

Locations subject to corrosive or flammable gases.

Locations subject to dust (especially iron dust) or salts.

Locations subject to shock or vibration.

Locations subject to exposure to water, oil, or chemicals.

!Caution Do not touch the Servo Driver radiator, Servo Driver regeneration resistor, or Ser- vomotor while the power is being supplied or soon after the power is turned OFF. Doing so may result in a skin burn due to the hot surface.

Storage and Transportation Precautions

!Caution Do not hold the product by the cables or motor shaft while transporting it. Doing so may result in injury or malfunction.

!Caution Do not place any load exceeding the figure indicated on the product. Doing so may result in injury or malfunction.

Installation and Wiring Precautions

!Caution Do not step on or place a heavy object on the product. Doing so may result in injury.

!Caution Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product. Doing so may result in fire.

!Caution Be sure to install the product in the correct direction. Not doing so may result in malfunction.

!Caution Provide the specified clearances between the Servo Driver and the control panel or with other devices. Not doing so may result in fire or malfunction.

!Caution Do not apply any strong impact. Doing so may result in malfunction.

!Caution Be sure to wire correctly and securely. Not doing so may result in motor runaway, injury, or malfunction.

!Caution Be sure that all the mounting screws, terminal screws, and cable connector screws are tightened to the torque specified in the relevant manuals. Incorrect tightening torque may result in malfunction.

!Caution Use crimp terminals for wiring. Do not connect bare stranded wires directly to ter- minals. Connection of bare stranded wires may result in burning.

!Caution Always use the power supply voltage specified in the Users Manual. An incorrect voltage may result in malfunction or burning.

!Caution Take appropriate measures to ensure that the specified power with the rated volt- age and frequency is supplied. Be particularly careful in places where the power supply is unstable. An incorrect power supply may result in malfunction.

!Caution Install external breakers and take other safety measures against short-circuiting in external wiring. Insufficient safety measures against short-circuiting may result in burning.

!Caution Take appropriate and sufficient countermeasures when installing systems in the following locations. Failure to do so may result in damage to the product.

Locations subject to static electricity or other forms of noise.

Locations subject to strong electromagnetic fields and magnetic fields.

Locations subject to possible exposure to radioactivity.

Locations close to power supplies.

Operation and Adjustment Precautions

!Caution Confirm that no adverse effects will occur in the system before performing the test operation. Not doing so may result in equipment damage.

!Caution Check the newly set parameters and switches for proper execution before actually running them. Not doing so may result in equipment damage.

!Caution Do not make any extreme adjustments or setting changes. Doing so may result in unstable operation and injury.

!Caution Separate the Servomotor from the machine, check for proper operation, and then connect to the machine. Not doing so may cause injury.

!Caution When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation. Not doing so may result in injury.

!Caution Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may result in malfunction.

Maintenance and Inspection Precautions

!WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may result in malfunction, fire, or electric shock.

!Caution Resume operation only after transferring to the new Unit the contents of the data required for operation. Not doing so may result in an unexpected operation.

Warning Labels Warning labels are pasted on the product as shown in the following illustration. Be sure to follow the instructions given there.

Warning label

Example from R7D-AP01L

Example from R7D-AP01L

Read and Understand this Manual Please read and understand this manual before using 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 SUITABLY 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.

IN NO 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 products in the customer’s application or use of the products.

At the customer’s request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product, machine, system, or other application or use.

The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products:

Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses not described in this manual.

Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment, amusement machines, vehicles, safety equipment, and installations subject to separate industry or government regulations.

Systems, machines, and equipment that could present a risk to life or property.

Please know and observe all prohibitions of use applicable to the products.

NEVER USE THE PRODUCTS 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 PRODUCTS ARE PROPERLY RATED AND INSTALLED 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.

It is our practice to change model numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the products may be changed without any notice. When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm actual specifications of purchased products.

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 manual 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.

ERRORS AND OMISSIONS

The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

Table of Contents

Chapter 1. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 1-1 Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 1-3 Servo Driver Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5 1-4 Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6 1-5 System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

Chapter 2. Standard Models and Specifications. . . . . . . . . . . . . . . . 2-1 2-1 Standard Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 2-2 External and Mounted Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6 2-3 Servo Driver Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17 2-4 Servomotor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31 2-5 Reduction Gear Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-39 2-6 Cable and Connector Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-43 2-7 Servo Relay Units and Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-58 2-8 Parameter Unit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-111 2-9 External Regeneration Resistor Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-113 2-10 DC Reactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-114

Chapter 3. System Design and Installation . . . . . . . . . . . . . . . . . . . . 3-1 3-1 Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 3-2 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8 3-3 Regenerative Energy Absorption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37

Chapter 4. Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 4-1 Operational Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3 4-2 Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 4-3 Preparing for Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 4-4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9 4-5 Gain Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11 4-6 User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15 4-7 Operating Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26

Chapter 5. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 5-1 Measures when Trouble Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2 5-2 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5 5-3 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7 5-4 Overload Characteristics (Electron Thermal Characteristics) . . . . . . . . . . . . . . . . . . . . . . . . 5-15 5-5 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16

Chapter 6. Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 6-1 Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . R-1

Chapter 1

Introduction

1-1 Features

1-2 System Configuration

1-3 Servo Driver Nomenclature

1-4 Applicable Standards

1-5 System Block Diagrams

Chapter 1

1-2

Introduction

1-1 Features

The SMARTSTEP A-series Servomotors and Servo Drivers have been developed as pulse string input-type Position Controllers to replace stepping motors in simple positioning systems. The SMARTSTEP A-series Servomotors and Servo Drivers combine the stepping motors ease of use with faster positioning resulting from high speed and high torque, higher reliability with no loss of positioning accuracy even during sudden load changes, and other advanced features.

Faster Response and Rotation Speed SMARTSTEP A-series Servomotors and Servo Drivers incorporate the same high-speed and high- torque features, unachievable with stepping motors, as the OMNUC W Series. The SMARTSTEP A- series Servomotors provide faster rotation speeds of up to 4,500 r/min, with constant operation pos- sible at this speed. Faster output torque of up to 1 s can output up to approximately 300% of the rated torque, providing even faster middle- and long-stroke positioning.

Constant Accuracy The A-series product lines higher encoder resolution of 2,000 pulses/rotation provides feedback control enabling continuous operation without loss of positioning accuracy, even with sudden load changes or sudden acceleration or deceleration.

Minimal Setting with Servo Driver Front Panel Switches The SMARTSTEP A Series can be operated immediately without time-consuming parameter setting. The A-series Servo Drivers front panel switches enable easier alteration of function or positioning resolution settings.

Resolution Settings SMARTSTEP A-series Servomotor resolution can be selected from the following four levels: 500 pulses/rotation (0.72/step); 1,000 pulses/rotation (0.36/step) (default setting); 5,000 pulses/ rotation (0.072/step); or 10,000 pulses/rotation (0.036/step)

Command Pulse Input Setting SMARTSTEP A-series command pulse input setting can be switched between CW/CCW (2-pulse) and SIGN/PULS (single-pulse) methods to easily adapt to Position Controller output specifica- tions.

Dynamic Brake Setting SMARTSTEP A-series Servomotors can be forcibly decelerated to a stop at RUN OFF or when an alarm occurs.

Gain Setting A special rotary switch on SMARSTEP A-series Servo Drivers enables easy gain setting. Online autotuning can also be activated with the flick of a switch, and responsiveness can be easily matched to the machinery to be used.

Chapter 1

1-3

Introduction

Note Using aParameter Unit or personal computer enables operation with parameter settings.

Cylinder-style and Flat-style Servomotors The SMARTSTEP A Series offers Flanged Cylinder-style Servomotors, with a smaller mounting area, and Flat-style Servomotors, with a shorter overall length. The Flat Servomotor depth dimen- sions are approximately the same as those of stepping motors of the same output capacity. Servo- motors can be selected by size, thereby making equipment more compact.

A Wider Selection of Programming Devices Special SMARTSTEP A-series Parameter Units and personal computer monitoring software are available. The special monitoring software enables performing parameter setting, speed and current monitoring, speed and current waveform displays, I/O monitoring, autotuning, jogging, and other operations from a computer. It is also possible to perform multiple-axis communications that set the parameters and monitor operations for multiple Servo Drivers. For details, refer to the Servo Driver Personal Computer Monitor Software (CD-ROM) for Windows 95/98, Version 2.0 (WMON Win Ver.2.0) (Catalog No.: SBCE-011).

Chapter 1

1-4

Introduction

1-2 System Configuration

MACHINE No.

RUN ERROR

SENS DATA

X Y Z U

NC413

CN1 CN2

A24

A1

B24

B1

No.

MS

NS

M0

M1

M2

3F88M-DRT1411 AXIS POSITIONER

NA 10

1

DR0 DR1 L/R

1 2

3 O

N

0

1 2 3

4 5

6789 0

1 2 3

4 5

6789

DIP SWITCH

DIP SWITCH

L/R

DR0 DR1

ON

ON ON ONOFF OFF

OFF

ON OFF

OFF

COMMUNICATION

SPEED

125kbps

250kbps

500kbps

LOCAL/REMOTE

REMOTE MODE

LOCAL MODE

ALARM

LS

SOFT LIMIT

ORG SRH NG

ENCODER ALM

STOP

DRIVER ALM

OTHER

M0 M1

M2

(RED : )

CCW

CW

OPEN

LINE

OPEN

LINE

I/O

PA203 POWER

/

SCROLL MODE/SET

DATA

RESET

JOG

RUN

DRIVER PR PR DRIVER

READ WRITE

R7APR02A PARAMETER UNIT

B.B INP VCMP

TGON REF POWER

SYSMAC CJ/CS/C/CV Programmable Controller

Position Control Units CJ1W-NC113/213/413 CJ1W-NC133/233/433 CS1W-NC113/213/413 CS1W-NC133/233/433 C200HW-NC113/213/413 C500-NC113/211

R7A-PR02A Parameter Unit (Hand-held)

Pulse String

SMARTSTEP A-series R7D-AP@ Servo Driver

SMARTSTEP A-series R7M-A@ Servomotor

3F88M-DRT141 Single-shaft Positioner for DeviceNet

SYSMAC CQM1H

SYSMAC CPM2CSYSMAC CPM2A

SYSMAC + Position Control Unit with pulse string output

SYSMAC Programmable Controllers with pulse outputs

Single-shaft Positioner with pulse string output

Chapter 1

1-5

Introduction

1-3 Servo Driver Nomenclature

Rotary switch for unit No. selection

Rotary switch for gain adjustment

Function selection switches:

Alarm display

Control-circuit power supply indicator

Communications connector (CN3)

Monitor output connector (CN4)

Control I/O connector (CN1)

Encoder input connector (CN2)

Main-circuit power supply indicator

Main-circuit power supply input terminals

DC reactor connection terminals

Control-circuit power supply input terminals

Servomotor power terminals

FG terminals for power supply and servomotor power

External regeneration resistance terminals

Switch/parameter setting enable switch Resolution setting Command pulse input setting Dynamic braking setting Online autotuning switch

Chapter 1

1-6

Introduction

1-4 Applicable Standards

EC Directives

Note Installation under the conditions stipulated in 3-2-5 EMC-compatible Wiring must be met to ensure conformance to EMC Directives.

UL and cUL Standards

EC Directives Product Applicable standards Remarks Low Voltage Directive

AC Servo Drivers EN50178 Safety requirements for electrical devices for measurement, control, and research facilities

AC Servomotors IEC60034-1, -5, -8, -9 EN60034-1, -9

Rotating electrical equipment

EMC Directives AC Servo Drivers and AC Servomotors

EN55011 class A group 1 Wireless interference and measure- ment methods for radio-frequency devices for industry, science, and medical application

EN61000-6-2 Electromagnetic compatibility and immunity standards for industrial environments

Standards Product Applicable standards File No. Remarks UL AC Servo Drivers UL508C E179149 Power conversion devices

AC Servomotors UL1004 E179189 Electric motors

cUL AC Servo Drivers cUL C22.2 No. 14 E179149 Industrial control devices

AC Servomotors cUL C22.2 No. 100 E179189 Motors and generators

Chapter 1

1-7

Introduction

1-5 System Block Diagrams

100 V AC: R7D-APA3L/-APA5L/-AP01L/-AP02L/-AP04L

AC Servo Driver

Command pulse input

Control I/OSerial port

Speed control

Current command processing

Position control

Encoder signal processing

Digital current amp

PWM generation

Current detection

Interface

Gate drive overcurrent protection

Gate drive Voltage detection

Relay drive

Fuse

DC/DC conversion

Analog voltage

conversion

CN4 Analog monitor output

CN3 Parameter Unit/computer

Voltage detection

1

2

L1

L2

L2C

L1C

R

T

P1

N1

+

+

5 V +16.5 V +5 V 15 V

+

M

E

CHARGE

B1 B2

P2

N2

U V W

U V W

CN2

CN1

I/O CPU

ASIC

+5 V POWER

0 V

(See note.)

RS-422

AC Servomotor

Alarm code display

Command pulse

processing

Note Only on R7D-AP04H/AP04L.

Chapter 1

1-8

Introduction

200 V AC: R7D-APA3H/-APA5H/-AP01H/-AP02H/-AP04H

200 V AC: R7D-AP08H

AC Servo Driver

Command pulse input

Control I/OSerial port

Speed control

Current command processing

Position control

Encoder signal processing

Digital current amp

PWM generation

Current detection

Interface

Gate drive overcurrent protection

Gate driveVoltage detection

Relay drive

Fuse

DC/DC conversion

Analog voltage

conversion

CN4 Analog monitor output

CN3 Parameter Unit/computer

Voltage detection

1

2

L1

L2

L2C

L1C

R

T

P1

N1

+

+

5 V +16.5 V +5 V 15 V

+

M

E

CHARGE

B1 B2

P2

N2

U V W

U V W

CN2

CN1

I/O CPU

ASIC

+5 V POWER

0 V

(See note.)

RS-422

AC Servomotor

Alarm code display

Command pulse

processing

Note Only on R7D-AP04H/AP04L.

AC Servo Driver

Ther- mistor

AC Servomotor

Command pulse input

Control I/OSerial port

Speed control

Current command processing

Position control

Command pulse

processing

Encoder signal

processing Digital

current amp

PWM generation

Interface

Gate drive over- current protectionGate

drive Voltage detection

Relay drive

Fuse

DC/DC conversion

Analog voltage

conversion

Alarm code display

CN4 Analog monitor output

CN3 Parameter Unit/computer

Voltage detection

1

2

L1

L2

L3

L2C

L1C

R

S

T

P

N

+

+

5 V +16.5 V +5 V 15 V

+

M

E

CHARGE

B1 B2 B3

P

N

U V W

U V W

CN2

CN1

RS-422

I/O CPU

ASIC

+5 V POWER

0 V

12 V

FAN

Current detection

Chapter 2

Standard Models and Specifications

2-1 Standard Models

2-2 External and Mounted Dimensions

2-3 Servo Driver Specifications

2-4 Servomotor Specifications

2-5 Reduction Gear Specifications

2-6 Cable and Connector Specifications

2-7 Servo Relay Units and Cable Specifications

2-8 Parameter Unit Specifications

2-9 External Regeneration Resistor Specifications

2-10 DC Reactors

Chapter 2

2-2

Standard Models and Specifications

2-1 Standard Models

Servomotors

3,000-r/min Cylinder-style Servomotors

3,000-r/min Flat-style Servomotors

Servo Drivers

Specifications Model

Without brake

Straight shaft without key

30 W R7M-A03030

50 W R7M-A05030

100 W R7M-A10030

200 W R7M-A20030

400 W R7M-A40030

750 W R7M-A75030

Straight shaft with key

30 W R7M-A03030-S1

50 W R7M-A05030-S1

100 W R7M-A10030-S1

200 W R7M-A20030-S1

400 W R7M-A40030-S1

750 W R7M-A75030-S1

With brake

Straight shaft without key

30 W R7M-A03030-B

50 W R7M-A05030-B

100 W R7M-A10030-B

200 W R7M-A20030-B

400 W R7M-A40030-B

750 W R7M-A75030-B

Straight shaft with key

30 W R7M-A03030-BS1

50 W R7M-A05030-BS1

100 W R7M-A10030-BS1

200 W R7M-A20030-BS1

400 W R7M-A40030-BS1

750 W R7M-A75030-BS1

Specifications Model

Without brake

Straight shaft without key

100 W R7M-AP10030

200 W R7M-AP20030

400 W R7M-AP40030

750 W R7M-AP75030

Straight shaft with key

100 W R7M-AP10030-S1

200 W R7M-AP20030-S1

400 W R7M-AP40030-S1

750 W R7M-AP75030-S1

With brake

Straight shaft without key

100 W R7M-AP10030-B

200 W R7M-AP20030-B

400 W R7M-AP40030-B

750 W R7M-AP75030-B

Straight shaft with key

100 W R7M-AP10030-BS1

200 W R7M-AP20030-BS1

400 W R7M-AP40030-BS1

750 W R7M-AP75030-BS1

Specifications Model

Single-phase 100 V AC

30 W R7D-APA3L

50 W R7D-APA5L

100 W R7D-AP01L

200 W R7D-AP02L

400 W R7D-AP04L

Single-phase 200 V AC

30 W R7D-APA3H

50 W R7D-APA5H

100 W R7D-AP01H

200 W R7D-AP02H

400 W R7D-AP04H

750 W R7D-AP08H

Chapter 2

2-3

Standard Models and Specifications

Reduction Gears (Straight Shaft with Key)

For Cylinder-style Servomotors (Backlash = 3 Max.)

Note There are no reduction gears for 30-W Servo- motors.

For Flat-style Servomotors (Backlash = 3 Max.)

For Cylinder-style Servomotors (Backlash = 45 Max.)

Note There are no reduction gears for 30-W Servo- motors.

For Flat-style Servomotors (Backlash = 45 Max.)

Specifications Model Servomotor

capacity Reduction gears

(deceleration ratio) 50 W 1/5 R7G-VRSFPB05B50

1/9 R7G-VRSFPB09B50

1/15 R7G-VRSFPB15B50

1/25 R7G-VRSFPB25B50

100 W 1/5 R7G-VRSFPB05B100

1/9 R7G-VRSFPB09B100 1/15 R7G-VRSFPB15B100

1/25 R7G-VRSFPB25B100

200 W 1/5 R7G-VRSFPB05B200

1/9 R7G-VRSFPB09C400

1/15 R7G-VRSFPB15C400

1/25 R7G-VRSFPB25C200 400 W 1/5 R7G-VRSFPB05C400

1/9 R7G-VRSFPB09C400

1/15 R7G-VRSFPB15C400

1/25 R7G-VRSFPB25D400

750 W 1/5 R7G-VRSFPB05C750

1/9 R7G-VRSFPB09D750 1/15 R7G-VRSFPB15D750

1/25 R7G-VRSFPB25E750

Specifications Model Servomotor

capacity Reduction gears

(deceleration ratio) 100 W 1/5 R7G-VRSFPB05B100P

1/9 R7G-VRSFPB09B100P 1/15 R7G-VRSFPB15B100P

1/25 R7G-VRSFPB25C100P

200 W 1/5 R7G-VRSFPB05B200P

1/9 R7G-VRSFPB09C400P

1/15 R7G-VRSFPB15C400P

1/25 R7G-VRSFPB25C200P

400 W 1/5 R7G-VRSFPB05C400P 1/9 R7G-VRSFPB09C400P

1/15 R7G-VRSFPB15C400P

1/25 R7G-VRSFPB25D400P

750 W 1/5 R7G-VRSFPB05C750P

1/9 R7G-VRSFPB09D750P

1/15 R7G-VRSFPB15D750P 1/25 R7G-VRSFPB25E750P

Specifications Model Servomotor

capacity Reduction gears

(deceleration ratio) 50 W 1/5 R7G-RGSF05B50

1/9 R7G-RGSF09B50

1/15 R7G-RGSF15B50

1/25 R7G-RGSF25B50

100 W 1/5 R7G-RGSF05B100

1/9 R7G-RGSF09B100 1/15 R7G-RGSF15B100

1/25 R7G-RGSF25B100

200 W 1/5 R7G-RGSF05B200

1/9 R7G-RGSF09C400

1/15 R7G-RGSF15C400

1/25 R7G-RGSF25C400 400 W 1/5 R7G-RGSF05C400

1/9 R7G-RGSF09C400

1/15 R7G-RGSF15C400

1/25 R7G-RGSF25C400

750 W 1/5 R7G-RGSF05C750

1/9 R7G-RGSF09C750 1/15 R7G-RGSF15C750

1/25 R7G-RGSF25C750

Specifications Model Servomotor

capacity Reduction gears

(deceleration ratio) 100 W 1/5 R7G-RGSF05B100P

1/9 R7G-RGSF09B100P 1/15 R7G-RGSF15B100P

1/25 R7G-RGSF25B100P

200 W 1/5 R7G-RGSF05B200P

1/9 R7G-RGSF09C400P

1/15 R7G-RGSF15C400P

1/25 R7G-RGSF25C400P

400 W 1/5 R7G-RGSF05C400P 1/9 R7G-RGSF09C400P

1/15 R7G-RGSF15C400P

1/25 R7G-RGSF25C400P

750 W 1/5 R7G-RGSF05C750P

1/9 R7G-RGSF09C750P

1/15 R7G-RGSF15C750P 1/25 R7G-RGSF25C750P

Chapter 2

2-4

Standard Models and Specifications

Servo Relay Units for CN1

Control Cables for CN1

Integrated Servomotor Cables

Separate Servomotor Cables Power Cables

Encoder Cables

Note Use a robot cable if cable flexibility is required.

Specifications Model Servo Relay Unit

For CS1W-NC113/133 CJ1W-NC113/133 C200HW-NC113 C200H-NC112 3F88M-DRT141 (No communications supported.)

XW2B-20J6-1B

For CS1W-NC213/233/413/433 CJ1W-NC213/233/413/433 C200HW-NC213/413 C500-NC113/211 C200H-NC211 (No communications supported.)

XW2B-40J6-2B

For CS1W-HCP22 CQM1H-PLB21 CQM1-CPU43-V1 (No communications supported.)

XW2B-20J6-3B

For CS1W-NC213/233/413/433 CJ1W-NC213/233/413/433 (Communications supported.)

XW2B-40J6-4A

For CJ1M-CPU21/CPU22/ CPU23

XW2B-20J6-8A

XW2B-40J6-9A

For CS1W-HCP22-V1 and FQM1-MMP21

XW2B-80J7-1A

Servo Driver Cable

No communications supported.

1 m XW2Z-100J-B5

2 m XW2Z-200J-B5

Communications sup- ported.

1 m XW2Z-100J-B7

2 m XW2Z-200J-B7

For FQM1-MMP21 1 m XW2Z-100J-B10

2 m XW2Z-200J-B10

For CS1W-HCP22-V1 1 m XW2Z-100J-B12 2 m XW2Z-200J-B12

Position Control Unit Cable

For CQM1H-PLB21, CQM1-CPU43-V1

0.5 m XW2Z-050J-A3

1 m XW2Z-100J-A3

For C200H-NC112 0.5 m XW2Z-050J-A4

1 m XW2Z-100J-A4

For C200H-NC211, C500-NC113/211

0.5 m XW2Z-050J-A5 1 m XW2Z-100J-A5

For CS1W-NC113, C200HW-NC113

0.5 m XW2Z-050J-A8

1 m XW2Z-100J-A8

For CS1W-NC213/413, C200HW-NC213/413

0.5 m XW2Z-050J-A9

1 m XW2Z-100J-A9

For CS1W-NC133 0.5 m XW2Z-050J-A12 1 m XW2Z-100J-A12

For CS1W-NC233/433 0.5 m XW2Z-050J-A13

1 m XW2Z-100J-A13

For CJ1W-NC113 0.5 m XW2Z-050J-A16

1 m XW2Z-100J-A16

For CJ1W-NC213/413 0.5 m XW2Z-050J-A17 1 m XW2Z-100J-A17

For CJ1W-NC133 0.5 m XW2Z-050J-A20

1 m XW2Z-100J-A20

For CJ1W-NC233/433 0.5 m XW2Z-050J-A21

1 m XW2Z-100J-A21

For CS1W-HCP22 (1 axis)

0.5 m XW2Z-050J-A22 1 m XW2Z-100J-A22

For CS1W-HCP22 (2 axes)

0.5 m XW2Z-050J-A23

1 m XW2Z-100J-A23

For 3F88M-DRT141 0.5 m XW2Z-050J-A25

1 m XW2Z-100J-A25

Position Control Unit Cable

For CJ1M-CPU21/ CPU22/CPU23

1 m XW2Z-100J-A26

For FQM1-MMP21 for general-purpose I/O

0.5 m XW2Z-050J-A28

1 m XW2Z-100J-A28 For CS1W-HCP22-V1 for general-purpose I/O

0.5 m XW2Z-050J-A29

1 m XW2Z-100J-A29

For FQM1-MMP21 for special I/O

0.5 m XW2Z-050J-A30

1 m XW2Z-100J-A30

For CS1W-HCP22-V1 for special I/O

0.5 m XW2Z-050J-A32

1 m XW2Z-100J-A32

Specifications Model General-purpose Control Cable (with Connector on one end)

1 m R88A-CPU001S 2 m R88A-CPU002S

Connector Terminal Block Cable 1 m R88A-CTU001N 2 m R88A-CTU002N

Connector Terminal Blocks XW2B-40F5-P

Specifications Model For Servomotors without brakes (both Cylinder- and Flat-style)

3 m R7A-CEA003S 5 m R7A-CEA005S 10 m R7A-CEA010S 15 m R7A-CEA015S 20 m R7A-CEA020S

For Servomotors with brakes (both Cylinder- and Flat-style)

3 m R7A-CEA003B 5 m R7A-CEA005B 10 m R7A-CEA010B 15 m R7A-CEA015B 20 m R7A-CEA020B

Specifications Standard cable model

Robot cable model

For Servo- motors with- out brakes (both Cylin- der- and Flat-style)

3 m R88A-CAWA003S R88A-CAWA003SR 5 m R88A-CAWA005S R88A-CAWA005SR 10 m R88A-CAWA010S R88A-CAWA010SR 15 m R88A-CAWA015S R88A-CAWA015SR 20 m R88A-CAWA020S R88A-CAWA020SR

For Servo- motors with brakes (both Cylinder- and Flat- style)

3 m R88A-CAWA003B R88A-CAWA003BR 5 m R88A-CAWA005B R88A-CAWA005BR 10 m R88A-CAWA010B R88A-CAWA010BR 15 m R88A-CAWA015B R88A-CAWA015BR 20 m R88A-CAWA020B R88A-CAWA020BR

Specifications Standard cable model

Robot cable model

For Servo- motors (Cyl- inder-style or Flat-style)

3 m R7A-CRA003C R7A-CRA003CR

5 m R7A-CRA005C R7A-CRA005CR

10 m R7A-CRA010C R7A-CRA010CR

15 m R7A-CRA015C R7A-CRA015CR

20 m R7A-CRA020C R7A-CRA020CR

Specifications Model

Chapter 2

2-5

Standard Models and Specifications

Peripheral Cable Connectors

Parameter Units

External Regeneration Resistors

DC Reactors

Front-panel Brackets

Specifications Model Analog Monitor Cable (CN4) 1 m R88A-CMW001S Computer Monitor Cable (CN3) DOS 2 m R7A-CCA002P2

PC98 2 m R7A-CCA002P3 Control I/O Connector (CN1) R88A-CNU01C Encoder Connector (CN2) R7A-CNA01R Encoder Connector (Servomotor end) R7A-CNA02R Communications Cable 1 m XW2Z-100J-C1

2 m XW2Z-200J-C1

Specifications Model Hand-held (with 1-m cable) R7A-PR02A

Specifications Model Resistor 220 W 47 R88A-RR22047S

Specifications Model For R7D-APA3L/APA5L/APA01L R88A-PX5063 For R7D-AP02L R88A-PX5062 For R7D-AP04L R88A-PX5061 For R7D-APA3H/APA5H/AP01H R88A-PX5071 For R7D-AP02H R88A-PX5070 For R7D-AP04H R88A-PX5069 For R7D-AP08H R88A-PX5061

Specifications Model For the SMARTSTEP A Series R88A-TK01W

Chapter 2

2-6

Standard Models and Specifications

2-2 External and Mounted Dimensions

2-2-1 Servo Drivers

Single-phase 100 V AC: R7D-APA3L/-APA5L/-AP01L/-AP02L (30 W to 200 W) Single-phase 200 V AC: R7D-APA3H/-APA5H/-AP01H/-AP02H (30 W to 200 W)

Wall Mounting

Front Panel Mounting (Using Mounting Brackets)

External dimensions Mounted dimensions

55

16 0

(75) 130

Two, M4

(5 ) 5

5. 5

16 0

55 14

9. 5

0. 5

17

External dimensions Mounted dimensions

18 0

19 5

7. 5

(7 .5

)

18 0

0. 5

19 5

7. 5

(7 .5

)

5 dia. 24.5

2 Two, M4

(1 68

)

10

52

6 6

1.5

5

11.542

32.5

Chapter 2

2-7

Standard Models and Specifications

Single-phase 100 V AC: R7D-AP04L (400 W) Single-phase 200 V AC: R7D-AP04H (400 W)

Wall Mounting

Front Panel Mounting (Using Mounting Brackets)

External dimensions Mounted dimensions

16 0

14 9.

5 5.

5 (5

)

5 dia.

5

12

75

(75) 130

17

Two, M4

14 9.

5 0.

5

16 0

5. 5

(5 )

75

12

External dimensions Mounted dimensions 24.5

2

5 dia.

(7 .5

) 5

11.542

18 0

19 5

7. 5

32.5

18 0

0. 5

19 5

7. 5

(7 .5

)

Two, M4

10

52 1.5 (1

68 )

6 6

Chapter 2

2-8

Standard Models and Specifications

Single-phase/Three-phase 200 V AC: R7D-AP08H (750 W)

Wall Mounting

Front Panel Mounting (Using Mounting Brackets)

External dimensions Mounted dimensions 5 dia.

90

16 0

(75) 180

17

Two, M4

14 9.

5 0.

5

16 0

5. 5

(5 )

90

27

14 9.

5 5.

5 (5

)

External dimensions Mounted dimensions 5 dia.

7. 5

(7 .5

) 5

42

24.5

2

18 0

19 5

18 0

0. 5

19 5

7. 5

(7 .5

)

Two, M4

10

22.5

43.5

52 12.5

(1 68

) 6

6

Chapter 2

2-9

Standard Models and Specifications

2-2-2 Parameter Unit

R7A-PR02A Hand-held Parameter Unit

SCROLL MODE/SET

DATA

RESET

JOG

RUN

DRIVER PR PR DRIVER

READ WRITE

R7APR02A PARAMETER UNIT

B.B INP VCMP

TGON REF POWER

70

12 0

10 00

42

6

13.2 dia.

17 0.8

1.5

4.8 dia.

Chapter 2

2-10

Standard Models and Specifications

2-2-3 Servomotors

Cylinder-style Servomotors without a Brake

30 W/50 W/100 W R7M-A03030(-S1)/-A05030(-S1)/-A10030(-S1)

Cylinder-style Servomotors with a Brake

30 W/50 W/100 W R7M-A03030-B(S1)/-A05030-B(S1)/-A10030-B(S1)

Model Dimensions (mm)

LL S b h t1

R7M-A03030-@ 69.5 6h6 2 2 1.2

R7M-A05030-@ 77 6h6 2 2 1.2

R7M-A10030-@ 94.5 8h6 3 3 1.8

Model Dimensions (mm)

LL S b h t1

R7M-A03030-B@ 101 6h6 2 2 1.2

R7M-A05030-B@ 108.5 6h6 2 2 1.2

R7M-A10030-B@ 135 8h6 3 3 1.8

Dimensions of shaft end with key (-S1)Two, 4.3 dia.

LL 25

405 2.5

S d

ia .

30 h7

d ia

.

30030

30030

40

14

h

t1

b

6 dia. 7 dia.

9. 5

19.5 20

11

21.5 5

46 dia.

Dimensions of shaft end with key (-BS1)

14

Two, 4.3 dia.

LL 25

405 2.5

S d

ia .

30 h7

d ia

.

30030

30030

46 dia.

40

h

t1

b

6 dia. 7 dia.

9. 5

19.5 27

11

21.5 5

Chapter 2

2-11

Standard Models and Specifications

Cylinder-style Servomotors without a Brake

200 W/400 W/750 W R7M-A20030(-S1)/-A40030(-S1)/-A75030(-S1)

Cylinder-style Servomotors with a Brake

200 W/400 W/750 W R7M-A20030-B(S1)/-A40030-B(S1)/-A75030-B(S1)

Model Dimensions (mm)

LL LR C D1 D2 G Z S QK

R7M-A20030-@ 96.5 30 60 70 50h7 6 5.5 14h6 20

R7M-A40030-@ 124.5 30 60 70 50h7 6 5.5 14h6 20

R7M-A75030-@ 145 40 80 90 70h7 8 7 16h6 30

Model Dimensions (mm)

LL LR C D1 D2 G Z S QK

R7M-A20030-B@ 136 30 60 70 50h7 6 5.5 14h6 20

R7M-A40030-B@ 164 30 60 70 50h7 6 5.5 14h6 20

R7M-A75030-B@ 189.5 40 80 90 70h7 8 7 16h6 30

Dimensions of output section of 750-W Servomotors

Dimensions of shaft end with key (-S1)

30030

30030

S d

ia .

D 2

di a.

LL LR

G 3

C

C

Four, Z dia.

QK

2

5

5

3

6 dia.

7 dia.

20

11

13

9

21.5

D1 dia.

Dimensions of output section of 750-W Servomotors

Dimensions of shaft end with key (-BS1)

30030

30030

S d

ia .

D 2

di a.

LL LR

G 3

C

C

Four, Z dia.

D1 dia.

6 dia. 7 dia.

21.5

9

13 27

11

QK

2

5

5

3

Chapter 2

2-12

Standard Models and Specifications

Flat-style Servomotors without a Brake 100 W/200 W/400 W/750 W R7M-AP10030(-S1)/-AP20030(-S1)/-AP40030(-S1)/AP75030(-S1)

Flat-style Servomotors with a Brake

100 W/200 W/400 W/750 W R7M-AP10030-B(S1)/-AP20030-B(S1)/-AP40030-B(S1)/AP75030-B(S1)

Model Dimensions (mm) Basic servomotor dimensions With key (shaft

end dimensions) Cable outlet dimensions

LL LR C D1 D2 F G Z S QK b h t1 A1 A2 A3 A4 A5 R7M-AP10030-@ 62 25 60 70 50h7 3 6 5.5 8h6 14 3 3 1.8 9 18 25 21 14 R7M-AP20030-@ 67 30 80 90 70h7 3 8 7 14h6 16 5 5 3 R7M-AP40030-@ 87 R7M-AP75030-@ 86.5 40 120 145 110h7 3.5 10 10 16h6 22 5 5 3 28 38 19

Model Dimensions (mm) Basic servomotor dimensions With key (shaft

end dimensions) Cable outlet dimensions

LL LR C D1 D2 F G Z S QK b h t1 A1 A2 A3 A4 A5 R7M-AP10030-B@ 91 25 60 70 50h7 3 6 5.5 8h6 14 3 3 1.8 9 18 25 21 23 R7M-AP20030-B@ 98.5 30 80 90 70h7 3 8 7 14h6 16 5 5 3 R7M-AP40030-B@ 118.5 R7M-AP75030-B@ 120 40 120 145 110h7 3.5 10 10 16h6 22 5 5 3 28 38 26

Dimensions of shaft end with key (-S1)

G F

LL LR

S d

ia .

D 2 d

ia .

C

C

30030

30030

Four, Z dia.

QK

h

t1

b

6 di

a. 7

di a.

A 1

A 2

13

A5

A3

A4

D1 dia.

Dimensions of shaft end with key (-BS1)

G F

LL LR

S d

ia .

D 2

di a.

30030

30030

C

C Four, Z dia.

D1 dia.

QK

h

t1

b

6 di

a. 7

di a. A3

A4

A 1

13

A 2

A5

Chapter 2

2-13

Standard Models and Specifications

2-2-4 Reduction Gears

For Cylinder-style Servomotors (Backlash = 3 Max.)

* «AT» in the table refers to the set bolt.

External Diagrams

Model Dimensions (mm) Weight (kg)

LM LR C1 C2 D1 D2 D3 D4 E3 F G S T Z1 Z2 AT* l Key dimensions

QK b h t1

50 W 1/5 R7G-VRSFPB05B50 67.5 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.55

1/9 R7G-VRSFPB09B50 67.5 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.55

1/15 R7G-VRSFPB15B50 78 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.7

1/25 R7G-VRSFPB25B50 78 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.7

100 W 1/5 R7G-VRSFPB05B100 67.5 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.55

1/9 R7G-VRSFPB09B100 67.5 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.55

1/15 R7G-VRSFPB15B100 78 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.7

1/25 R7G-VRSFPB25C100 92 50 78 40 46 90 70 62 17 3 6 19 30 M4 M6 M3 20 22 6 6 3.5 1.7

200 W 1/5 R7G-VRSFPB05B200 72.5 32 52 60 70 60 50 45 10 3 10 12 20 M5 M5 M4 12 16 4 4 2.5 0.72

1/9 R7G-VRSFPB09C400 89.5 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 1.7

1/15 R7G-VRSFPB15C400 100 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 2.1

1/25 R7G-VRSFPB25C400 100 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 2.1

400 W 1/5 R7G-VRSFPB05C400 89.5 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 1.7

1/9 R7G-VRSFPB09C400 89.5 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 1.7

1/15 R7G-VRSFPB15C400 100 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 2.1

1/25 R7G-VRSFPB25D400 104 61 98 60 70 115 90 75 18 5 8 24 40 M5 M8 M4 20 30 8 7 4 3.2

750 W 1/5 R7G-VRSFPB05C750 93.5 50 78 80 90 90 70 62 17 3 10 19 30 M6 M6 M4 20 22 6 6 3.5 2.1

1/9 R7G-VRSFPB09D750 97.5 61 98 80 90 115 90 75 18 5 10 24 40 M6 M8 M4 20 30 8 7 4 3.4

1/15 R7G-VRSFPB15D750 110 61 98 80 90 115 90 75 18 5 10 24 40 M6 M8 M4 20 30 8 7 4 3.8

1/25 R7G-VRSFPB25E750 135 75 125 80 90 135 110 98 17 5 10 32 55 M6 M10 M4 20 45 10 8 5 7.2

Key dimensions

QK

b

h

t1

D1 dia.

Four, Z1 dia.

@C2

LM

G

LR

T

F

E3

D 4

di a.

D 3h

7 di

a.

S h6

d ia

.

@C1

D2 dia.

Set bolt (AT)

Four, Z2 dia. (effective depth: l)

Chapter 2

2-14

Standard Models and Specifications

For Cylinder-style Servomotors (Backlash = 45 Max.)

* «AT» in the table refers to the set bolt.

External Diagrams

Model Dimensions (mm) Weight (kg)

LM LR C1 C2 D1 D2 D3 D4 E3 F G S T Z1 Z2 AT* l Key dimensions

QK b h t1

50 W 1/5 R7G-RGSF05B50 67.5 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.55

1/9 R7G-RGSF09B50 67.5 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.55

1/15 R7G-RGSF15B50 78 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.70

1/25 R7G-RGSF25B50 78 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.70

100 W 1/5 R7G-RGSF05B100 67.5 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.55

1/9 R7G-RGSF09B100 67.5 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.55

1/15 R7G-RGSF15B100 78 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.70

1/25 R7G-RGSF25B100 78 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 M3 12 16 4 4 2.5 0.70

200 W 1/5 R7G-RGSF05B200 72.5 32 52 60 70 60 50 45 10 3 10 12 20 M5 M5 M4 12 16 4 4 2.5 0.72

1/9 R7G-RGSF09C400 89.5 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 1.7

1/15 R7G-RGSF15C400 100 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 2.1

1/25 R7G-RGSF25C400 100 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 2.1

400 W 1/5 R7G-RGSF05C400 89.5 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 1.7

1/9 R7G-RGSF09C400 89.5 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 1.7

1/15 R7G-RGSF15C400 100 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 2.1

1/25 R7G-RGSF25C400 100 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3.5 2.1

750 W 1/5 R7G-RGSF05C750 93.5 50 78 80 90 90 70 62 17 3 10 19 30 M6 M6 M4 20 22 6 6 3.5 2.1

1/9 R7G-RGSF09C750 93.5 50 78 80 90 90 70 62 17 3 10 19 30 M6 M6 M4 20 22 6 6 3.5 2.1

1/15 R7G-RGSF15C750 110 50 78 80 90 90 70 62 17 3 10 19 30 M6 M6 M4 20 22 6 6 3.5 2.5

1/25 R7G-RGSF25C750 110 50 78 80 90 90 70 62 17 3 10 19 30 M6 M6 M4 20 22 6 6 3.5 2.5

Key dimensions

QK

b

h

t1

D1 dia.

Four, Z1 dia.

@C2

LM

G

LR

T

F

E3

D 4

di a.

D 3h

7 di

a.

S h6

d ia

.

@C1

D2 dia.

Set bolt (AT)

Four, Z2 dia. (effective depth: l)

Chapter 2

2-15

Standard Models and Specifications

For Flat-style Servomotors (Backlash = 3 Max.)

* «AT» in the table refers to the set bolt.

External Diagrams

Model Dimensions (mm) Weight (kg)

LM LR C1 C2 D1 D2 D3 D4 E3 F G S T Z1 Z2 AT* l Key dimensions

QK b h t1

100 W 1/5 R7G-VRSFPB05B100P 72.5 32 52 60 70 60 50 45 10 3 10 12 20 M5 M5 M4 12 16 4 4 2.5 0.72

1/9 R7G-VRSFPB09B100P 72.5 32 52 60 70 60 50 45 10 3 10 12 20 M5 M5 M4 12 16 4 4 2.5 0.72

1/15 R7G-VRSFPB15B100P 83 32 52 60 70 60 50 45 10 3 10 12 20 M5 M5 M4 12 16 4 4 2.5 0.77

1/25 R7G-VRSFPB25C100P 92 50 78 60 70 90 70 62 17 3 10 19 30 M5 M6 M3 20 22 6 6 3.5 1.8

200 W 1/5 R7G-VRSFPB05B200P 72.5 32 52 80 90 60 50 45 10 3 12 12 20 M6 M5 M4 12 16 4 4 2.5 0.85

1/9 R7G-VRSFPB09C400P 93.5 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 1.8

1/15 R7G-VRSFPB15C400P 100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 2.2

1/25 R7G-VRSFPB25C200P 100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 2.2

400 W 1/5 R7G-VRSFPB05C400P 93.5 50 78 80 90 90 70 62 17 3 10 19 30 M6 M6 M4 20 22 6 6 3.5 1.8

1/9 R7G-VRSFPB09C400P 93.5 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 1.8

1/15 R7G-VRSFPB15C400P 100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 2.2

1/25 R7G-VRSFPB25D400P 109 61 98 80 90 115 90 75 18 5 12 24 40 M6 M8 M4 20 30 8 7 4 3.4

750 W 1/5 R7G-VRSFPB05C750P 98 50 78 120 145 90 70 62 17 3 15 19 30 M8 M6 M4 20 22 6 6 3.5 2.6

1/9 R7G-VRSFPB09D750P 97.5 61 98 120 145 115 90 75 18 5 15 24 40 M8 M8 M4 20 30 8 7 4 3.8

1/15 R7G-VRSFPB15D750P 110 61 98 120 145 115 90 75 18 5 15 24 40 M8 M8 M4 20 30 8 7 4 4.2

1/25 R7G-VRSFPB25E750P 155 75 125 120 145 135 110 98 17 5 15 32 55 M8 M10 M4 20 45 10 8 5 7.8

Key dimensions

QK

b

h

t1

LM

G

D1 dia.

Four, Z1 dia.

@C2

@C1

D2 dia.

LR

T

F

E3

D 4

di a.

D 3h

7 di

a.

S h6

d ia

.

Set bolt (AT)

Four, Z2 dia. (effective depth: l)

Chapter 2

2-16

Standard Models and Specifications

For Flat-style Servomotors (Backlash = 45 Max.)

* «AT» in the table refers to the set bolt.

External Diagrams

Model Dimensions (mm) Weight (kg)

LM LR C1 C2 D1 D2 D3 D4 E3 F G S T Z1 Z2 AT* l Key dimensions

QK b h t1

100 W 1/5 R7G-RGSF05B100P 72.5 32 52 60 70 60 50 45 10 3 10 12 20 M5 M5 M4 12 16 4 4 2.5 0.72

1/9 R7G-RGSF09B100P 72.5 32 52 60 70 60 50 45 10 3 10 12 20 M5 M5 M4 12 16 4 4 2.5 0.72

1/15 R7G-RGSF15B100P 78 32 52 60 70 60 50 45 10 3 8 12 20 M5 M5 M4 12 16 4 4 2.5 0.77

1/25 R7G-RGSF25B100P 78 32 52 60 70 60 50 45 10 3 8 12 20 M5 M5 M4 12 16 4 4 2.5 0.77

200 W 1/5 R7G-RGSF05B200P 72.5 32 52 80 90 60 50 45 10 3 12 12 20 M6 M5 M4 12 16 4 4 2.5 0.85

1/9 R7G-RGSF09C400P 89.5 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 1.8

1/15 R7G-RGSF15C400P 100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 2.2

1/25 R7G-RGSF25C400P 100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 2.2

400 W 1/5 R7G-RGSF05C400P 89.5 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 1.8

1/9 R7G-RGSF09C400P 89.5 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 1.8

1/15 R7G-RGSF15C400P 100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 2.2

1/25 R7G-RGSF25C400P 100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3.5 2.2

750 W 1/5 R7G-RGSF05C750P 93.5 50 78 120 145 90 70 62 17 3 15 19 30 M8 M6 M4 20 22 6 6 3.5 2.5

1/9 R7G-RGSF09C750P 93.5 50 78 120 145 90 70 62 17 3 15 19 30 M8 M6 M4 20 22 6 6 3.5 2.5

1/15 R7G-RGSF15C750P 110 50 78 120 145 90 70 62 17 3 15 19 30 M8 M6 M4 20 22 6 6 3.5 2.9

1/25 R7G-RGSF25C750P 110 50 78 120 145 90 70 62 17 3 15 19 30 M8 M6 M4 20 22 6 6 3.5 2.9

Key dimensions

QK

b

h

t1

LM

G

LR

T

F

E3

D 4

di a.

D 3h

7 di

a.

S h6

d ia

.

@C1

D2 dia. D1 dia.

Four, Z1 dia.

@C2

Set bolt (AT)

Four, Z2 dia. (effective depth: l)

Chapter 2

2-17

Standard Models and Specifications

2-3 Servo Driver Specifications

SMARTSTEP A-series R7D-AP@ Servo Drivers Select a Servo Driver to match the Servomotor to be used.

2-3-1 General Specifications

Note 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.

Note 2. Absolutely do not conduct a withstand voltage test with a Megger tester on the Servo Driver. If such tests are conducted, internal elements may be damaged.

Note 3. Depending on the operating conditions, some Servo Driver parts will require maintenance. Refer to 5-5 Periodic Maintenance for details.

Note 4. The service life of the Servo Driver is 50,000 hours at an average ambient temperature of 40C at 80% of the rated torque.

Item Specifications Ambient operating temperature 0 to 55C Ambient operating humidity 90% max. (with no condensation)

Ambient storage temperature 20 to 85C Ambient storage humidity 90% max. (with no condensation)

Storage and operating atmo- sphere

No corrosive gasses.

Vibration resistance 10 to 55 Hz in X, Y, and Z directions with 0.1-mm double amplitude; accel- eration: 4.9 m/s2 max.

Impact resistance Acceleration 19.6 m/s2 max., in X, Y, and Z directions, three times

Insulation resistance Between power line terminals and case: 0.5 M min. (at 500 V DC)

Dielectric strength Between power line terminals and case: 1,500 V AC for 1 min at 50/60 Hz Between each control signal and case: 500 V AC for 1 min

Protective structure Built into panel (IP10).

Chapter 2

2-18

Standard Models and Specifications

2-3-2 Performance Specifications

Control Specifications

100-V AC Input Type

200-V AC Input Type (Single-phase Input)

Item R7D-APA3L R7D-APA5L R7D-AP01L R7D-AP02L R7D-AP04L Continuous output cur- rent (rms)

0.42 A 0.6 A 0.89 A 2.0 A 2.6 A

Momentary maximum out- put current (rms)

1.3 A 1.9 A 2.8 A 6.0 A 8.0 A

Input power supply

Main cir- cuits

Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz (double voltage method)

Control circuits

Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz

Heating value Main cir- cuits

3.1 W 4.6 W 6.7 W 13.3 W 20.0 W

Control circuits

13 W 13 W 13 W 13 W 13 W

Control method All-digital servo

Speed feedback 2,000 pulses/revolution, incremental encoder

Inverter method PWM method based on IGBT

PWM frequency 11.7 kHz

Maximum applicable fre- quency (command pulse application)

250 kpps

Weight Approx. 0.8 kg Approx. 0.8 kg Approx. 0.8 kg Approx. 0.8 kg Approx. 1.1 kg

Applicable Servomotor wattage

30 W 50 W 100 W 200 W 400 W

Applicable Servomotor (R7M-)

Cylinder- style

A03030 A05030 A10030 A20030 A40030

Flat-style AP10030 AP20030 AP40030

Item R7D- APA3H

R7D- APA5H

R7D- AP01H

R7D- AP02H

R7D- AP04H

R7D- AP08H

Continuous output cur- rent (rms)

0.42 A 0.6 A 0.89 A 2.0 A 2.6 A 4.4 A

Momentary maximum output current (rms)

1.3 A 1.9 A 2.8 A 6.0 A 8.0 A 13.9 A

Input power supply

Main cir- cuits

Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz (for R7DAP08H only, three- phase input possible)

Control circuits

Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz

Heating value

Main cir- cuits

3.1 W 4.6 W 6.7 W 13.3 W 20 W 47 W

Control circuits

20 W 20 W 20 W 20 W 20 W 20 W

Control method All-digital servo

Chapter 2

2-19

Standard Models and Specifications

2-3-3 Terminal Block Specifications

Speed feedback 2,000 pulses/revolution, incremental encoder

Inverter method PWM method based on IGBT

PWM frequency 11.7 kHz

Maximum applicable frequency (command pulse application)

250 kpps

Weight Approx. 0.8 kg

Approx. 0.8 kg

Approx. 0.8 kg

Approx. 0.8 kg

Approx. 1.1 kg

Approx. 1.7 kg

Applicable Servomotor wattage

30 W 50 W 100 W 200 W 400 W 750 W

Applicable Servomotor (R7M-)

Cylinder- type

A03030 A05030 A10030 A20030 A40030 A75030

Flat-type AP10030 AP20030 AP40030 AP75030

Signal Function Condition L1 Main circuits power

supply input R7DAP@H: Single-phase 200/230 V AC (170 to 253 V AC) 50/60 Hz R7DAP@L: Single-phase 100/115 V AC (85 to 127 V AC) 50/60 Hz Note: Only the R7DAP08H (750 W) has an L3 terminal, enabling three- phase input: Three-phase 200/230 V AC (170 to 253 V AC) 50/60 Hz

L2

L3

+1 DC Reactor termi- nal for power sup- ply harmonic control

Normally short-circuit between +1 and +2. If harmonic control measures are required, connect a DC Reactor between +1 and +2.

+2

Main circuit DC out- put (Reverse)

Do not connect anything.

L1C Control circuits power supply input

R7D-AP@H: Single-phase 200/230 V AC (170 to 253 V AC) 50/60 Hz R7D-AP@L: Single-phase 100/115 V AC (85 to 127 V AC) 50/60 HzL2C

B1 External regenera- tion resistance con- nection terminals

30 to 200 W: No External Regeneration Resistor can be connected. 400 W: This terminal does not normally need to be connected. If regenerative energy is high, connect an External Regeneration Resistor between B1 and B2. 750 W: Normally shorted between B2 and B3. If there is high regenerative energy, remove the short bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2.

B2

B3

U Servomotor con- nection terminals

Red These are the terminals for outputs to the Servomotor. Be sure to wire these terminals correctly.V White

W Blue

Green/ Yellow

Frame ground This is the ground terminal. Ground to a minimum of 100 (class D, class 3).

Item R7D- APA3H

R7D- APA5H

R7D- AP01H

R7D- AP02H

R7D- AP04H

R7D- AP08H

Chapter 2

2-20

Standard Models and Specifications

2-3-4 Control I/O Specifications (CN1)

Control I/O and External Signals for Position Control

Note 1. Interface for RS-422:

Applicable line driver: T.I. SN75174, MC3487 or equivalent

Applicable line receiver: T.I. SN75175, MC3486 or equivalent

Note 2. Automatic-reset fuses are used for output protection. If overcurrent causes the fuse to oper- ate, current will not flow, and after a fixed period of time it will automatically reset.

Maximum operating voltage: 30 V DC

RUN command

Alarm reset

Reverse pulse

Forward pulse

Deviation counter reset

Positioning completed output

Frame ground Shell

200

4

5

6

200

200

+CW

CW

+CCW

CCW

+ECRST

ECRST

1

2

3

INP8

OGND

BKIR7

10

18RESET

3.3 k14RUN

13+24VIN24 V DC

FG

(See note 1.)

3.3 k

ZCOM

Z32

33

ALMCOM

ALM34

35

22

23 TXD

TXD+

20 RXD+

21 RXD

24 RT

(See note 2.)

(See note 2.)

(See note 2.)

(See note 2.)

Maximum Output Current: Phase Z: 20 mA DC Other than Phase Z: 50 mA DC

Brake interlock

Phase Z

Alarm output

Transmission data

Reception data

Terminating resistance terminal

Chapter 2

2-21

Standard Models and Specifications

Control I/O Signals

CN1 Control Inputs

CN1 Control Outputs

Note An open-collector output interface is used for pin-7 and -8 sequence outputs. (Maximum operating volt- age: 30 V DC; maximum output current: 50 mA)

Pin No.

Signal name Function Contents

1 +PULS/CW/A Feed pulses, reverse pulses, or 90 phase difference pulses (phase A)

Pulse string input terminals for position commands. Line-driver input: 7 mA at 3 V Maximum response frequency: 250 kpps Open-collector input: 7 to 15 mA Maximum response frequency: 250 kpps Any of the following can be selected by means of a Pn200.0 setting: feed pulses or direction signals (PULS/SIGN); forward or reverse pulses (CW/CCW); 90 phase difference (phase A/B) signals (A/B).

2 PULS/CW/A

3 +SIGN/CCW/B Direction signal, for- ward pulses, or 90 phase difference pulses (phase B)

4 SIGN/CCW/B

5 +ECRST Deviation counter reset

Line-driver input: 7 mA at 3 V Open-collector input: 7 to 15 mA ON: Pulse commands prohibited and deviation counter cleared.

Note Input for at least 20 s.

6 ECRST

13 +24VIN +24-V power supply input for control DC

Power supply input terminal (+24 V DC) for sequence inputs (pins 14 and 18).

14 RUN RUN command input ON: Servo ON (Starts power to Servomotor.)

18 RESET Alarm reset input ON: Servo alarm status is reset.

Pin No.

Signal name

Function Contents

32 Z Phase Z output Outputs the Encoders phase Z. (1 pulse/revolution) Open collector output (maximum output voltage: 30 V DC max; maximum output current: 20 mA)

33 ZCOM

34 ALM Alarm output When the Servo Driver generates an alarm, the output turns OFF. Open collector output (maximum operating voltage: 30 V DC; maximum output current: 50 mA)

35 ALMCOM

7 BKIR Brake interlock output Outputs the holding brake timing signals.

8 INP Positioning completed output

ON when the position error is within the positioning completed range (Pn500).

10 OGND Output ground common Ground common for sequence outputs (pins 7 and 8).

Chapter 2

2-22

Standard Models and Specifications

Interface for RS-422

CN1: Pin Arrangement

Note Do not wire the empty pins.

CN1 Connectors (36P) Servo Driver receptacle 10236-52A2JL (Sumitomo 3M) Cable solder plug 10136-3000VE (Sumitomo 3M) Cable case 10336-52A0-008 (Sumitomo 3M)

Pin No.

Signal name Function Contents

20 RXD+ Reception data Interface for RS-422A transmission and reception.

21 RXD

22 TXD+ Transmission data

23 TXD

24 RT Terminating resistance terminal Connect to pin 21 (RXD) on the end Unit.

19 GND RS-422A ground Ground for RS-422A.

2

4

6

8

PULS /CW/A

10 OGND

12

SIGN /CCW

/B

14

ECRST

16

18

1

3

5

7

+PULS /+CW/+A

9

11

+SIGN /+CCW/+B

13

15

+ECRST

17

28

RXD+

29

TXD+

33

35

31

ALM

ALMCOM

RUN

feed pulse, reverse pulse,

phase A

Output ground common

direction signal,

forward pulse, phase B

Deviation counter reset

+ feed pulse, + reverse pulse,

+ phase A

+ direction signal,

+ forward pulse, + phase B

Reception data +

Transmission data +

Alarm output

Alarm output ground

RUN command input Z

Encoder phase-Z

output

20

22

24

26INP

+ deviation counter reset

Positioning completed

output

+24VIN Control DC +24-V input

36RESET Alarm reset

input

BKIR Brake interlock

output

RT

Terminating resistance

terminal

27

19

21

23

25

32

34

30

GND Ground for RS-422A

RXD

TXD Transmission

data

Reception data

ZCOM Phase-Z

output ground

Chapter 2

2-23

Standard Models and Specifications

Control Input Circuits

Position Command Pulse Inputs and Deviation Counter Reset Inputs

Line Driver Input

Open Collector Input Using External Power Supply

Note Select a value for resistance R so that the input current will be from 7 to 15 mA.

Sequence Inputs

Signal Levels ON level: Minimum (+24VIN-11) V OFF level: Maximum (+24VIN-1) V

Vcc R 24 V 1.6 to 2.4 k 12 V 750 to 1.1 k 5 V None

Controller Servo Driver

Applicable line driver: AM26LS31A or equivalent

Input current: 7 mA, 3 V 200 +

+

Controller Servo Driver

Input current: 7 to 15 mA 200 +

Vcc

R

External power supply: 24 V + 1 V DC Power supply capacity: 50 mA min. (per Unit)

To other input circuit GNDs To other input circuits

Photocoupler input: 24 V DC, 7 mA

Servo Driver

13+24VIN

14 3.3 k

Minimum ON time: 2 ms

Chapter 2

2-24

Standard Models and Specifications

Control Output Circuits

Sequence and Alarm Outputs

Note Automatic-reset fuses are used for output protection. If overcurrent causes the fuse to operate, current will not flow, and after a fixed period of time it will automatically reset.

Phase-Z Output

Note Automatic-reset fuses are used for output protection. If overcurrent causes the fuse to operate, current will not flow, and after a fixed period of time it will automatically reset.

To other output circuits

Di: Diode for preventing surge voltage (Use speed diodes.)

External power supply 24 V DC 1 V

Maximum operating voltage: 30 V DC Maximum output current: 50 mA

Servo Driver

+

X

Di

(See note.)

Maximum operating voltage: 30 V DC Maximum output current: 20 mA

(See note.) FG

ZCOM

Z32

33

Servo Driver Controller

Chapter 2

2-25

Standard Models and Specifications

Control Input Details

Feed Pulse/Direction Signal, Reverse Pulse/Forward Pulse, +90 Phase Difference Signals (Phase A/Phase B)

CN1 Pin Numbers CN1 pin 1: +Feed Pulse (+PULS), +Reverse Pulse (+CW), +90 Phase Difference Signals (Phase A) (+A) CN1 pin 2: Feed Pulse (PULS), Reverse Pulse (CW), 90 Phase Difference Signals (Phase A) (A) CN1 pin 3: +Direction Signal (+SIGN), +Forward Pulse (+CCW), +90 Phase Difference Signals (Phase B) (+B) CN1 pin 4: Direction Signal (SIGN), Forward Pulse (CCW), 90 Phase Difference Signals (Phase B) (B)

Functions The function of these signals depends on the setting of Pn200.0 (command pulse mode: position control setting 1).

Logic Pn200.0 setting

Command pulse mode

Input pins Servomotor forward command

Servomotor reverse command

0 Feed pulse and direction signal

1: +PULS 2: PULS 3: +SIGN 4: SIGN

1 Reverse pulse and forward pulse

1: +CW 2: CW 3: +CCW 4: CCW

2 90 phase differ- ence signals (1)

1: +A 2: A 3: +B 4: B

3 90 phase differ- ence signals (2)

4 90 phase differ- ence signals (4)

P os

iti ve

H L

L

L

Chapter 2

2-26

Standard Models and Specifications

5 Feed pulse and direction signal

1: +PULS 2: PULS 3: +SIGN 4: SIGN

6 Reverse pulse and forward pulse

1: +CW 2: CW 3: +CCW 4: CCW

7 90 phase differ- ence signals (1)

1: +A 2: A 3: +B 4: B

8 90 phase differ- ence signals (2)

9 90 phase differ- ence signals (4)

Logic Pn200.0 setting

Command pulse mode

Input pins Servomotor forward command

Servomotor reverse command

N eg

at iv

e

L H

H

H

Chapter 2

2-27

Standard Models and Specifications

Command Pulse Timing

The following wave forms are for positive logic. Conditions are the same for negative logic.

Command pulse mode

Timing

Feed pulse and direc- tion signal Maximum input fre- quency: 250 kpps

Reverse pulse and for- ward pulse Maximum input fre- quency: 250 kpps

90 phase difference signals Maximum input fre- quency: 1: Line driver: 250 kpps 2: Line driver: 250 kpps 4: Line driver: 187.5 kpps

Direction signals

Feed pulses

Forward rotation command Reverse rotation command

t1 0.1 s t2 > 3.0 s 2.0 s T 4.0 s (/T) 100 50 (%)

t1 t1t2 t2 t2

t1 t1

T

Reverse pulses

Forward pulses

Forward rotation command Reverse rotation command

t1 0.1 s t2 > 3.0 s 2.0 s T 4.0 s (/T) 100 50 (%)

T

t2

t1 t1

Phase A pulses

Phase B pulses

Forward rotation command Reverse rotation command

t1 0.1 ms 2.0 ms T 4.0 ms (/T) 100 50 (%)

t1 t1

T

Chapter 2

2-28

Standard Models and Specifications

+ Deviation Counter Reset (5: +ECRST) Deviation Counter Reset (6: ECRST)

The content of the deviation counter will be reset when the deviation counter reset signal turns ON and the position loop will be disabled. Input the reset signal for 20 s minimum. The counter will not be reset if the signal is too short.

RUN Command Input (14: RUN) This is the input that turns ON the power drive circuit for the main circuit of the Servo Driver. If this signal is not input (i.e., servo-OFF status), the Servomotor cannot operate except for JOG opera- tions.

Alarm Reset (18: RESET) This is the external reset signal input for the alarm. Remove the cause of the alarm and then restart operation. Turn OFF the RUN command before inputting the reset signal. It can be dangerous to input the reset signal while the RUN command is ON.

Control Output Details

Control Output Sequence

Alarm Output (34: ALM) Alarm Output Ground (35: ALMCOM)

When the Servo Driver detects an error, outputs are turned OFF. This output is OFF at the time of powering up, and turns ON when the initial processing is completed.

Power supply input

(L1C, LC2, L1, L2, (L3))

Alarm output

(ALM)

Brake interlock output

(BKIR)

RUN command input

(RUN)

Alarm reset input

(RESET)

2 ms

0 to 35 ms

300 ms

Positioning completed output

(INP)

Approx. 2 s

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

2 ms

Chapter 2

2-29

Standard Models and Specifications

Positioning Completed Output (8: INP) The INP signal turns ON when the number of accumulated pulses in the deviation counter is less than Pn500 (positioning completed range).

Brake Interlock Output (7: BKIR) External brake timing signals are output.

2-3-5 Encoder Input Connector Specifications (CN2)

CN2 Connectors Used (14P) Servo Driver receptacle: 10214-52A2JL (Sumitomo 3M) Cable solder plug: 10114-3000VE (Sumitomo 3M) Cable case: 10314-52A0-008 (Sumitomo 3M)

2-3-6 Communications Connector Specifications (CN3)

CN3 Connectors Used (8P) Servo Driver receptacle: HR12-10R-8 SDL (Hirose Electric) Cable connector: HR212-10P-8P (Hirose Electric)

Pin No. Symbol Signal name Function/Interface 1, 2, 3 E0V Encoder power supply GND Power supply outlet for encoder: 5 V, 180 mA

4, 5, 6 E5V Encoder power supply +5 V

8 S+ Encoder + phase-S input Line driver input (conforming to EIARS-422A) (Input impedance: 300 5%)9 S Encoder phase-S input

10 A+ Encoder + phase-A input Line driver input (conforming to EIARS-422A) (Input impedance: 300 5%)11 A Encoder phase-A input

12 B+ Encoder + phase-B input Line driver input (conforming to EIARS-422A) (Input impedance: 300 5%)13 B Encoder phase-B input

Shell FG Shield ground Cable shield ground

Pin No. Symbol Signal name Function/Interface 1 /TXD Transmission data Transmission data, RS-232C output

Reception data, RS-232C input2 /RXD Reception data

3 PRMU Unit switching This is the switching terminal for a Parameter Unit or personal computer.

7 +5V +5 V output This is the +5-V power supply output to the Parameter Unit.8 GND Ground

Shell FG Shield ground Cable shield ground

Chapter 2

2-30

Standard Models and Specifications

2-3-7 Monitor Output Connector Specifications (CN4)

CN4 Connectors Used (4P) Servo Driver receptacle: DF11-4DP-2DSA (01) (Hirose Electric) Cable connector socket: DF11-4DS-2C (Hirose Electric) Cable connector contact: DF11-2428SCF (Hirose Electric)

Pin No. Symbol Signal name Function/Interface 1 NM Speed monitor Speed monitor output: 1 V per 1,000 r/min

Forward rotation: voltage; reverse rotation: + voltage The output accuracy is approximately 15%.

2 AM Current monitor Current monitor output: 1 V / rated torque Forward rotation: voltage; reverse rotation: + voltage The output accuracy is approximately 15%.

3 GND Monitor ground Grounds for monitor output

4 GND Monitor ground

Chapter 2

2-31

Standard Models and Specifications

2-4 Servomotor Specifications

SMARTSTEP A-series Servomotors (R7M-A@) There are two kinds of SMARTSTEP A-series Servomotor:

3,000-r/min Cylinder-style Servomotors

3,000-r/min Flat-style Servomotors

These Servomotors also have optional specifications, such as the shaft type, brake, etc. Select the appropriate Servomotor for your system according to the load conditions and installa- tion environment.

2-4-1 General Specifications

Note 1. Vibration may be amplified due to sympathetic resonance of machinery, so use the Servo- motor Driver under conditions that will not exceed 80% of the specification values over a long period of time.

Note 2. The above items reflect individual evaluation testing. The results may differ under compound conditions.

Note 3. The Servomotors cannot be used in misty environments.

Item Specification Ambient operating temperature 0 to 40C Ambient operating humidity 20% to 80% (with no condensation)

Storage ambient temperature 20 to 60C Ambient storage temperature 20% to 80% (with no condensation)

Storage and operating atmo- sphere

No corrosive gasses.

Vibration resistance (See note 1.)

10 to 2,500 Hz, 0.2-mm double amplitude or 24.5 m/s2 max. acceleration, whichever is smallest, in X, Y, and Z directions.

Impact resistance Acceleration 98 m/s2 max., in X, Y, and Z directions, two times

Insulation resistance Between power line terminals and FG: 10 M min. (via 500-V DC Megger Tester)

Dielectric strength Between power line terminals and FG: 1,500 V AC for 1 min at 50/60 Hz

Run position All directions

Insulation grade Type B

Structure Totally-enclosed self-cooling

Protective structure IP55 (Excluding through-shaft portion)

Vibration grade V-15

Mounting method Flange-mounting

Chapter 2

2-32

Standard Models and Specifications

2-4-2 Performance Specifications

3,000-r/min Cylinder-style Servomotors Item Unit R7M-

A03030 R7M-

A05030 R7M-

A10030 R7M-

A20030 R7M-

A40030 R7M-

A75030 Rated output* W 30 50 100 200 400 750

Rated torque* Nm 0.095 0.159 0.318 0.637 1.27 2.39

Rated rotation speed

r/min 3,000

Momentary maxi- mum rotation speed

r/min 4,500

Momentary maxi- mum torque*

Nm 0.29 0.48 0.96 1.91 3.82 7.1

Rated current* A (rms) 0.42 0.60 0.89 2.0 2.6 4.4

Momentary maxi- mum current*

A (rms) 1.3 1.9 2.8 6.0 8.0 13.9

Rotor inertia kgm2 (GD2/4)

1.7 106 2.2 106 3.6 106 1.19 105 1.87 105 6.67 105

Torque constant* Nm/A 0.255 0.286 0.408 0.355 0.533 0.590

Induced voltage constant*

mV/ (r/ min)

8.89 9.98 14.0 12.4 18.6 20.6

Power rate* kW/s 5.31 11.5 28.1 34.1 86.3 85.6

Mechanical time constant

ms 1.2 0.8 0.5 0.4 0.2 0.3

Winding resistance 15.8 9.64 6.99 1.34 1.23 0.45

Winding inductance mH 23.1 16.9 13.2 7.2 7.9 5.7

Electrical time con- stant

ms 1.5 1.8 1.9 5.4 6.4 13

Allowable radial load

N 68 68 78 245 245 392

Allowable thrust load

N 54 54 54 74 74 147

W ei

gh t Without brake kg Approx. 0.3 Approx. 0.4 Approx. 0.5 Approx. 1.1 Approx. 1.7 Approx. 3.4

With brake kg Approx. 0.6 Approx. 0.7 Approx. 0.8 Approx. 1.6 Approx. 2.2 Approx. 4.3

Radiation shield dimensions (material)

t6 @250 mm (Al)

Applicable Servo Driver (R7D-)

100 VAC APA3L APA5L AP01L AP02L AP04L

200 VAC APA3H APA5H AP01H AP02H AP04H AP08H

Chapter 2

2-33

Standard Models and Specifications

Note 1. *The values for items marked by asterisks are the values at an armature winding tempera- ture of 100C, combined with the Servo Driver. Other values are at normal conditions (20C, 65%). The momentary maximum torque shown above indicates the standard value.

Note 2. The brakes are the non-excitation operation type (released when excitation voltage is ap- plied).

Note 3. The operation time is the measured value (reference value) with a surge killer (CR50500, by Okaya Electric Industries co. LTD) inserted.

Note 4. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures.

Note 5. The value indicated for the allowable radial load is for the positions shown in the diagrams following the next table.

B ra

ke s

pe ci

fic at

io ns Brake inertia kgm2

(GD2/4) 8.5 107 8.5 107 8.5 107 6.4 106 6.4 106 1.71 105

Excitation volt- age

V 24 V DC 10%

Power con- sumption (at 20C)

W 6 6 6 7 7 7.7

Current con- sumption (at 20C)

A 0.25 0.25 0.25 0.29 0.29 0.32

Static friction torque

Nm 0.2 min. 0.2 min. 0.34 min. 1.47 min. 1.47 min. 2.45 min.

Attraction time (See note 3.)

ms 30 max. 30 max. 30 max. 60 max. 60 max. 60 max.

Release time (See note 3.)

ms 60 max. 60 max. 60 max. 20 max. 20 max. 20 max.

Backlash 1 (reference value)

Rating Continuous

Insulation grade Type F

Item Unit R7M- A03030

R7M- A05030

R7M- A10030

R7M- A20030

R7M- A40030

R7M- A75030

Radial load

Thrust load

5 mm

Chapter 2

2-34

Standard Models and Specifications

3,000-r/min Cylinder-style Servomotors: Torque and Rotation Speed Characteristics The following graphs show the characteristics with a 3-m standard cable, and a 100-V AC input for R7D-AP@L Servo Drivers, or a 200-V AC input for R7D-AP@H Servo Drivers.

R7M-A03030 (30 W)

Repeated usage

Continuous usage

R7M-A05030 (50 W)

Repeated usage

Continuous usage

R7M-A10030 (100 W)

Repeated usage

Continuous usage

R7M-A20030 (200 W)

Repeated usage

Continuous usage

R7M-A40030 (400 W)

Repeated usage

Continuous usage

R7M-A75030 (750 W)

Repeated usage

Continuous usage

0.1

1000 2000 3000

0.1590.159

0.107

4000 5000 0

0.2

0.3

0.4

0.5 0.48 0.48

(Nm)

(r/min)

0.1

0.2

0.3

1000 2000 3000

0.0950.095

0.069

4000 5000 0

0.29 0.29

(Nm)

(r/min)

0.2

1000 2000 3000

0.96

(3600)

0.3180.318

0.91

0.222

4000 5000 0

0.4

0.6

0.8

1.0 0.96

(Nm)

(r/min)

0.5

1.0

1.5

1000 2000 3000

1.91 (3650)

0.6370.637

1.33

0.452

4000 5000 0

2.0 1.91

(Nm)

(r/min)

1.0

2.0

3.0

1000 2000 3000

3.82 (2900)

(2000)

1.271.27 1.45

0.89

4000 5000 0

4.0 3.82

(Nm)

(r/min)

2.0

4.0

6.0

1000 2000 3000

7.1 (2225)

2.392.39

1.24

4000 5000 0

8.0

7.1

(Nm)

(r/min)

1.24

100-V AC input

Chapter 2

2-35

Standard Models and Specifications

3,000-r/min Flat-style Servomotors Item Unit R7M-

AP10030 R7M-

AP20030 R7M-

AP40030 R7M-

AP75030 Rated output* W 100 200 400 750

Rated torque* Nm 0.318 0.637 1.27 2.39

Rated rotation speed r/min 3,000

Momentary maximum rotation speed

r/min 4,500

Momentary maximum torque*

Nm 0.96 1.91 3.82 7.1

Rated current* A (rms) 0.89 2.0 2.6 4.1

Momentary maximum current*

A (rms) 2.8 6.0 8.0 13.9

Rotor inertia kgm2 (GD2/4) 6.5 106 2.09 105 3.47 105 2.11 104

Torque constant* Nm/A 0.392 0.349 0.535 0.641

Induced voltage con- stant*

mV/ (r/min) 13.7 12.2 18.7 22.4

Power rate* kW/s 15.7 19.4 46.8 26.9

Mechanical time con- stant

ms 0.7 0.6 0.4 0.7

Winding resistance 5.53 1.13 1.04 0.43

Winding inductance mH 20.7 8.4 8.9 7.7

Electrical time con- stant

ms 3.7 7.4 8.5 18

Allowable radial load N 78 245 245 392

Allowable thrust load N 49 68 68 147

W ei

gh t Without brake kg Approx. 0.7 Approx. 1.4 Approx. 2.1 Approx. 4.2

With brake kg Approx. 0.9 Approx. 1.9 Approx. 2.6 Approx. 5.7

Radiation shield dimensions (mate- rial)

t6 @250 mm (Al) t12 @300 mm (Al)

Applicable Servo Driver (R7D-)

100 VAC AP01L AP02L AP04L

200 VAC AP01H AP02H AP04H AP08H

B ra

ke s

pe ci

fic at

io ns Brake inertia kgm2 (GD2/4) 2.9 106 1.09 105 1.09 105 8.75 105

Excitation voltage V 24 V DC 10%

Power consump- tion (at 20C)

W 6 5 7.6 7.5

Current consump- tion (at 20C)

A 0.25 0.21 0.32 0.31

Static friction torque

Nm 0.4 min. 0.9 min. 1.9 min. 3.5 min.

Attraction time (See note 3.)

ms 40 max. 40 max. 40 max. 40 max.

Release time (See note 3.)

ms 20 max. 20 max. 20 max. 20 max.

Backlash 1 (reference value)

Rating Continuous

Insulation grade

Type F

Chapter 2

2-36

Standard Models and Specifications

Note 1. *The values for items marked by asterisks are the values at an armature winding tempera- ture of 100C, combined with the Servo Driver. Other values are at normal conditions (20C, 65%). The momentary maximum torque shown above indicates the standard value.

Note 2. The brakes are the non-excitation operation type (released when excitation voltage is ap- plied).

Note 3. The operation time is the measured value (reference value) with a surge killer (CR50500, by Okaya Electric Industries co. LTD) inserted.

Note 4. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures.

Note 5. The value indicated for the allowable radial load is for the position shown in the following di- agram.

Radial load

5 mm

Thrust load

Chapter 2

2-37

Standard Models and Specifications

3,000-r/min Flat-style Servomotors: Torque and Rotation Speed Characteristics The following graphs show the characteristics with a 3-m standard cable, and a 100-V AC input for R7D-AP@L Servo Drivers, or a 200-V AC input for R7D-AP@H Servo Drivers.

R7M-AP10030 (100 W)

Repeated usage

Continuous usage

R7M-AP20030 (200 W)

Repeated usage

Continuous usage

R7M-AP40030 (400 W)

Repeated usage

Continuous usage

R7M-AP75030 (750 W)

Repeated usage

Continuous usage

0.2

1000 2000 3000

0.96

(3725)

0.3180.318

0.800

0.222

4000 5000 0

0.4

0.6

0.8

1.0 0.96

(Nm)

(r/min)

0.5

1.0

1.5

1000 2000 3000

1.91 (3600)

0.6370.637

1.40

0.452

4000 5000 0

2.0 1.91

(Nm)

(r/min)

1.0

2.0

3.0

1000 2000 3000

1.271.27

1.77

1.22

0.87

4000 5000 0

4.0 3.82

(Nm)

(r/min)

2.0

4.0

6.0

1000 2000 3000

7.1 (3200)

2.392.39

1.54 1.64

2.45

4000 5000 0

8.0

7.1

(Nm)

(r/min)

3.82 (3250)

(2350)

Three-phase 200-V AC input

(2500) 100-V AC input

Single-phase 200-V AC input

Chapter 2

2-38

Standard Models and Specifications

Servomotor and Mechanical System Temperature Characteristics SMARTSTEP A-series Servomotors use rare earth magnets (neodymium-iron magnets). The tem-

perature coefficient for these magnets is approximately 0.13%/C. As the temperature drops, the Servomotors momentary maximum torque increases, and as the temperature rises the Servomo- tors momentary maximum torque decreases. When the normal temperature of 20C and 10C are compared, the momentary maximum torque increases by approximately 4%. Conversely, when the magnet warms up to 80C from the normal temperature of 20C, the momentary maximum torque decreases by approximately 8%.

Generally, in a mechanical system, when the temperature drops the friction torque increases and the load torque becomes larger. For that reason, overloading may occur at low temperatures. In particular, in systems which use reduction gear, the load torque at low temperatures may be nearly twice the load torque at normal temperatures. Check with a current monitor to see whether over- loading is occurring at low temperatures, and how much the load torque is. Likewise, check to see whether there abnormal Servomotor overheating or alarms are occurring at high temperatures.

An increase in load friction torque visibly increases load inertia. Therefore, even if the Servo Driver parameters are adjusted at a normal temperature, there may not be optimal operation at low tem- peratures. Check to see whether there is optimal operation at low temperatures too.

2-4-3 Encoder Specifications Item Specification

Cylinder-style Servomotors Flat-style Servomotors Encoder method Optical encoder (incremental) Magnetic encoder

(incremental)

Number of output pulses Phase A, B: 2,000 pulses/revolution Phase Z: 1 pulse/revolution

Power supply voltage 5 V DC5%

Power supply current 150 mA max.

Maximum rotation speed 4,500 r/min

Output signals +A, A, +B, B, +S, S

Output interface Conforming to EIA RS-422A. Output based on AM26LS31CN or equivalent.

Serial communications data Phase Z, poll sensor, phases U, V, W

Serial communications method Combined communications method using phases A, B, and S.

Chapter 2

2-39

Standard Models and Specifications

2-5 Reduction Gear Specifications

Reduction Gears for SMARTSTEP A-series Servomotors (R7G-@) There are two kinds of reduction gears for SMARTSTEP A-series Servomotors:

Reduction gears for 3,000-r/min Cylinder-style Servomotors (Backlash 3 max. and backlash 45 max.)

Reduction gears for 3,000-r/min Flat-style Servomotors (Backlash 3 max. and backlash 45 max.)

There are four reduction ratios: 1/5, 1/9, 1/15, and 1/25. Select a reduction ratio to match the ca- pacity of the Servomotor.

Note There are no 30-W reduction gears for Cylinder-style Servomotors.

Reduction Gears for Cylinder-style Servomotors

Backlash = 3 Max.

Note 1. The reduction gear inertia indicates the Servomotor shaft conversion value.

Note 2. The enclosure rating for Servomotors with reduction gears is IP44.

Note 3. The allowable radial torque is the value for the center of the shaft.

Model Rated rotation speed

Rated torque

Ratio Maximum momentary

rotation speed

Maximum momentary

torque

Reduction gear inertia

Allowable radial torque

Allowable thrust torque

r/min Nm % r/min Nm kgm2 N N

50 W 1/5 R7G-VRSFPB05B50 600 0.517 65 900 1.56 4.13 106 392 196

1/9 R7G-VRSFPB09B50 333 0.93 65 500 2.81 3.53 106 441 220

1/15 R7G-VRSFPB15B50 200 1.67 70 300 5.04 3.67 106 588 294

1/25 R7G-VRSFPB25B50 120 2.78 70 180 8.40 3.59 106 686 343

100 W 1/5 R7G-VRSFPB05B100 600 1.19 75 900 3.60 4.08 106 392 196

1/9 R7G-VRSFPB09B100 333 2.29 80 500 6.91 3.43 106 441 220

1/15 R7G-VRSFPB15B100 200 3.82 80 300 11.5 3.62 106 588 294

1/25 R7G-VRSFPB25C100 120 6.36 80 180 19.2 3.92 106 1323 661

200 W 1/5 R7G-VRSFPB05B200 600 2.71 85 900 8.12 1.53 105 392 196

1/9 R7G-VRSFPB09C400 333 3.78 66 500 11.3 2.68 105 931 465

1/15 R7G-VRSFPB15C400 200 6.31 66 300 18.9 2.71 105 1176 588

1/25 R7G-VRSFPB25C200 120 11.1 70 180 33.4 2.67 105 1323 661

400 W 1/5 R7G-VRSFPB05C400 600 5.40 85 900 16.2 3.22 105 784 392

1/9 R7G-VRSFPB09C400 333 9.49 83 500 28.5 2.68 105 931 465

1/15 R7G-VRSFPB15C400 200 15.8 83 300 47.6 2.71 105 1176 588

1/25 R7G-VRSFPB25D400 120 26.4 83 180 79.3 2.79 105 1617 808

750 W 1/5 R7G-VRSFPB05C750 600 10.8 90 900 32.0 7.17 105 784 392

1/9 R7G-VRSFPB09D750 333 18.3 85 500 54.3 6.50 105 1176 588

1/15 R7G-VRSFPB15D750 200 30.5 85 300 90.5 7.09 105 1372 686

1/25 R7G-VRSFPB25E750 120 50.8 85 180 151 7.05 105 2058 1029

Chapter 2

2-40

Standard Models and Specifications

Backlash = 45 Max.

Note 1. The reduction gear inertia indicates the Servomotor shaft conversion value.

Note 2. The enclosure rating for Servomotors with reduction gears is IP44.

Note 3. The allowable radial torque is the value for the center of the shaft.

Note 4. These are the allowable torque values for the reduction gears. Do not exceed these values.

Model Rated rotation speed

Rated torque Ratio Maximum momentary

rotation speed

Maximum momentary

torque

Reduction gear inertia

Allow- able

radial torque

Allow- able

thrust torque

r/min Nm % r/min Nm kgm2 N N

50 W 1/5 R7G-RGSF05B50 600 0.517 65 900 1.56 4.13 106 392 196

1/9 R7G-RGSF09B50 333 0.93 65 500 2.81 3.53 106 441 220

1/15 R7G-RGSF15B50 200 1.67 70 300 5.04 3.67 106 588 294

1/25 R7G-RGSF25B50 120 2.78 70 180 8.40 3.59 106 686 343

100 W 1/5 R7G-RGSF05B100 600 1.19 75 900 3.60 4.08 106 392 196

1/9 R7G-RGSF09B100 333 2.29 80 500 6.91 3.43 106 441 220

1/15 R7G-RGSF15B100 200 3.82 80 300 11.5 3.62 106 588 294

1/25 R7G-RGSF25B100 120 4.02 (See note 4.) 50 180 12.0 (See note 4.) 3.54 106 686 343

200 W 1/5 R7G-RGSF05B200 600 2.71 85 900 8.10 1.53 105 392 196

1/9 R7G-RGSF09C400 333 3.78 66 500 11.3 2.68 105 931 465

1/15 R7G-RGSF15C400 200 6.31 66 300 18.9 2.71 105 1176 588

1/25 R7G-RGSF25C400 120 11.1 70 180 33.4 2.67 105 1323 661

400 W 1/5 R7G-RGSF05C400 600 5.40 85 900 16.2 3.22 105 784 392

1/9 R7G-RGSF09C400 333 9.49 83 500 28.5 2.68 105 931 465

1/15 R7G-RGSF15C400 200 15.8 83 300 47.6 2.71 105 1176 588

1/25 R7G-RGSF25C400 120 21.7 (See note 4.) 68 180 65.1 (See note 4.) 2.67 105 1323 661

750 W 1/5 R7G-RGSF05C750 600 10.8 90 900 32.0 7.17 105 784 392

1/9 R7G-RGSF09C750 333 9.7 (See note 4.) 45 500 29.1 (See note 4.) 6.46 105 931 465

1/15 R7G-RGSF15C750 200 16.2 (See note 4.) 45 300 48.6 (See note 4.) 7.53 105 1176 588

1/25 R7G-RGSF25C750 120 21.7 (See note 4.) 36 180 65.1 (See note 4.) 7.22 105 1323 661

Chapter 2

2-41

Standard Models and Specifications

Reduction Gears for Flat-style Servomotors

Backlash = 3 Max.

Note 1. The reduction gear inertia indicates the Servomotor shaft conversion value.

Note 2. The enclosure rating for Servomotors with reduction gears is IP44.

Note 3. The allowable radial torque is the value for the center of the shaft.

Model Rated rotation speed

Rated torque

Ratio Maximum momentary

rotation speed

Maximum momentary

torque

Reduction gear inertia

Allowable radial torque

Allowable thrust torque

r/min Nm % r/min Nm kgm2 N N

100 W 1/5 R7G-VRSFPB05B100P 600 1.19 75 900 3.60 1.60 105 392 196

1/9 R7G-VRSFPB09B100P 333 2.29 80 500 6.91 1.37 105 441 220

1/15 R7G-VRSFPB15B100P 200 3.82 80 300 11.5 3.38 106 588 294

1/25 R7G-VRSFPB25C100P 120 6.36 80 180 19.2 3.68 106 1323 661

200 W 1/5 R7G-VRSFPB05B200P 600 2.71 85 900 8.12 1.53 105 392 196

1/9 R7G-VRSFPB09C400P 333 3.78 66 500 11.3 2.56 105 931 465

1/15 R7G-VRSFPB15C400P 200 6.31 66 300 18.9 2.71 105 1176 588

1/25 R7G-VRSFPB25C200P 120 11.1 70 180 33.4 2.67 105 1323 661

400 W 1/5 R7G-VRSFPB05C400P 600 5.40 85 900 16.2 3.23 105 784 392

1/9 R7G-VRSFPB09C400P 333 9.49 83 500 28.5 2.56 105 931 465

1/15 R7G-VRSFPB15C400P 200 15.8 83 300 47.6 2.71 105 1176 588

1/25 R7G-VRSFPB25D400P 120 26.4 83 180 79.3 2.79 105 1617 808

750 W 1/5 R7G-VRSFPB05C750P 600 10.8 90 900 32.0 7.17 105 784 392

1/9 R7G-VRSFPB09D750P 333 18.3 85 500 54.3 6.50 105 1176 588

1/15 R7G-VRSFPB15D750P 200 30.5 85 300 90.5 6.86 105 1372 686

1/25 R7G-VRSFPB25E750P 120 50.8 85 180 151 7.05 105 2058 1029

Chapter 2

2-42

Standard Models and Specifications

Backlash = 45 Max.

Note 1. The reduction gear inertia indicates the Servomotor shaft conversion value.

Note 2. The enclosure rating for Servomotors with reduction gears is IP44.

Note 3. The allowable radial torque is the value for the center of the shaft.

Note 4. These are the allowable torque values for the reduction gears. Do not exceed these values.

Model Rated rotation speed

Rated torque Ratio Maximum momentary

rotation speed

Maximum momentary

torque

Reduction gear inertia

Allow- able

radial torque

Allow- able

thrust torque

r/min Nm % r/min Nm kgm2 N N

100 W 1/5 R7G-RGSF05B100P 600 1.19 75 900 3.60 1.60 105 392 196

1/9 R7G-RGSF09B100P 333 2.29 80 500 6.91 1.37 105 441 220

1/15 R7G-RGSF15B100P 200 3.82 80 300 11.5 3.38 106 588 294

1/25 R7G-RGSF25B100P 120 4.02 (See note 4.) 50 180 12.0 (See note 4.)

3.78 106 686 343

200 W 1/5 R7G-RGSF05B200P 600 2.71 85 900 8.10 1.53 105 392 196

1/9 R7G-RGSF09C400P 333 3.78 66 500 11.3 2.56 105 931 465

1/15 R7G-RGSF15C400P 200 6.31 66 300 18.9 2.71 105 1176 588

1/25 R7G-RGSF25C400P 120 11.1 70 180 33.4 2.67 105 1323 661

400 W 1/5 R7G-RGSF05C400P 600 5.40 85 900 16.2 3.23 105 784 392

1/9 R7G-RGSF09C400P 333 9.49 83 500 28.5 2.56 105 931 465

1/15 R7G-RGSF15C400P 200 15.8 83 300 47.6 2.71 105 1176 588

1/25 R7G-RGSF25C400P 120 21.7 (See note 4.) 68 180 65.1 (See note 4.)

2.67 105 1323 661

750 W 1/5 R7G-RGSF05C750P 600 10.8 90 900 32.0 7.17 105 784 392

1/9 R7G-RGSF09C750P 333 9.7 (See note 4.) 45 500 29.1 (See note 4.)

6.00 105 931 465

1/15 R7G-RGSF15C750P 200 16.2 (See note 4.) 45 300 48.6 (See note 4.)

7.65 105 1176 588

1/25 R7G-RGSF25C750P 120 21.7 (See note 4.) 36 180 65.1 (See note 4.)

7.22 105 1323 661

Chapter 2

2-43

Standard Models and Specifications

2-6 Cable and Connector Specifications

2-6-1 Control Cables

General Control Cables (R88A-CPU@@@S) A General Control Cable is connected to the Servo Drivers Control I/O Connector (CN1). There is no connector on the Controller end. When connecting it to a Position Control Unit with no special cable provided, or to a controller manufactured by another company, wire a connector to match the control- ler.

Note There is one method for connecting to a Controller with no special cable provided, and another method for using connector Terminal Block cable and a connector Terminal Block.

Cable Models

Connection Configuration and External Dimensions

Model Length (L) Outer diameter of sheath Weight R88A-CPU001S 1 m 9.9 dia. Approx. 0.3 kg

R88A-CPU002S 2 m Approx. 0.6 kg

Controller Servo Driver

R7D-AP@43 .6

39L

t=18

Chapter 2

2-44

Standard Models and Specifications

Wiring

Connector plug: 10136-3000VE (Sumitomo 3M) Connector case: 10336-52A0-008 (Sumitomo 3M) Cable: AWG24 18P UL20276

Note Wires with the same wire color and the same number of marks form twisted pairs. For example, the orange wire with one red mark () is twisted together with the orange wire with one black mark ().

Connector Terminal Block Cables (R88A-CTU@@@N)

Cable Models

Connection Configuration and External Dimensions

Model Length (L) Outer diameter of sheath Weight R88A-CTU001N 1 m 9.9 dia. Approx. 0.3 kg

R88A-CTU002N 2 m Approx. 0.6 kg

Wire/Mark colorNo. Symbol 1 Orange/Black () +CW 2 Orange/Red () CW 3 Gray/Black () +CCW 4 Gray/Red () CCW 5 White/Black () 6 White/Red () 7 Yellow/Black () BKIR 8 Yellow/Red () INP 9 Pink/Black ()

10 Pink/Red () 11 Gray/Black () 12 Gray/Red ()

+24VIN 13

Orange/Black () +24VINOrange/Red ()

RUN14 White/Black () 15 White/Red () 16 Yellow/Black () 17 Yellow/Red () 18 Pink/Black () RESET

Wire/Mark colorNo. Symbol

27 Yellow/Red () 28 Pink/Black () 29 Pink/Red () 30 Orange/Black () 31 Orange/Red () 32 Gray/Black () Z

ALM 33 Gray/Red () ZCOM 34 White/Black () 35 36

White/Red () ALMCOM

Shell Shield FG

20 Orange/Black () RXD+ GND

21 Orange/Red () RXD 22 Gray/Black () TXD+

TXD RT

23 Gray/Red () 24 White/Black () 25 White/Red () 26 Yellow/Black ()

19 Pink/Red ()

+ECRST ECRST

OGND

1 2

3 4

5 6

7 8

9 10

11 12

13 14

15 16

17 18

27 28

29 30

31 32

33 34

35 36

20 21

22 23

24 25

26

19

Connector Pin Arrangement

Connector Terminal Block

Servo Driver

R7D-AP@

XW2B-40F5-P

43 .6

39L46

72 .7

2

t=18 t=10.3

Chapter 2

2-45

Standard Models and Specifications

Wiring

No.

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

No.

1 2 3 4 5 6 7 8 9

10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34

37 38

35 36

39 40

Terminal Block Connector

A B A B A B A B A B A B A B A B A B A B A B A B A B A B A B A B A B A B A B A B

No.

Servo Driver

+CW CW

CCW CCW

BKIR INP

+24VIN RUN

RESET GND

+ECRST ECRST

OGND

1 2 3 4 5 6 7 8 9

10 11 12 13 14 15 16 17 18

27 28 29 30 31 32 Z

ALM 33 ZCOM 34 35 ALMCOM

Shell FG

20 RXD+ 21 RXD 22 TXD+

TXD RT

23 24 25 26

19

Symbol

Servo Driver connector: Connector plug: 10136-3000VE (Sumitomo 3M) Connector case: 10336-52A0-008 (Sumitomo 3M) Terminal block connector Connector plug: FCN-361J040-AU (Fujitsu) Connector case: FCN-360C040-B (Fujitsu) Cable: AWG24 18P UL20276

Chapter 2

2-46

Standard Models and Specifications

2-6-2 Servomotor Cables A Servomotor Cable connects a Servomotor to the Servo Driver and is available in either of two types: Separate Cables and Integrated Cables. The Integrated Cables include the encoder cable and power cable. Select a Cable to match the Servomotor being used. The maximum distance between the Servomotor and the Servo Driver is 20 meters. Note: Use a robot cable if cable flexibility is required.

Robot Cable Bending Durability A Robot Cable uses materials that enable a service life of 20 million bendings minimum under the fol- lowing conditions for the minimum bending radius (R) or larger.

Note 1. The service life data on bending durability consists of test values. Use this data only as ref- erence values, and allow margin in actual application.

Note 2. The bending durability is the number of times that the Cable can be bent without breaking or other damage occurring that affects the sheath functionality when the conductors inside the cable are conducting electricity. The bending durability does not apply to the shield breaking.

Note 3. Mechanical failure, ground faults, or other problems may occur due to damaged insulation if the Cable is used with a radius smaller than the minimum bending radius. Contact your OMRON representative if the Cable will be used with a radius smaller than the minimum bending radius.

Power Cables

@: 003 to 020

Encoder Cables

@: 003 to 020

Integrated cables

Separate cables

Model Standard cable models

Robot cable models

For Servomotors without brakes

R7A-CEA@@@S Power cable R88A-CAWA@@@S R88A-CAWA@@@SR

Encoder cable R7A-CRA@@@C R7A-CRA@@@CR

For Servomotors with brakes

R7A-CEA@@@B Power cable R88A-CAWA@@@B R88A-CAWA@@@BR

Encoder cable R7A-CRA@@@C R7A-CRA@@@CR

Model Minimum bending radius (R)

For Servomotors without brakes

R88A-CAWA@@@SR 55 mm

For Servomotors with brakes

R88A-CAWA@@@BR 55 mm

Model Minimum bending radius (R)

R7A-CRA@@@CR 46 mm

Chapter 2

2-47

Standard Models and Specifications

Bending Test

2-6-3 Specifications of Integrated Cables

Integrated Cables for Servomotors without Brakes (R7A-CEA@@@S)

Cable Models

Connection Configuration and External Dimensions

Model Length (L) Outer diameter of sheath Weight R7A-CEA003S 3 m 12.4 dia. Approx. 0.8 kg

R7A-CEA005S 5 m Approx. 1.2 kg

R7A-CEA010S 10 m Approx. 2.1 kg

R7A-CEA015S 15 m Approx. 3.1 kg

R7A-CEA020S 20 m Approx. 4.0 kg

Stroke 320 mm

Bending radius (R)

100 times/minute

Servo Driver Servomotor

R7D-AP@ R7M-A@5039 50L

80 t=15.7

27 .7

27.4 t=12

43.7

21 .5

t=12.7

29 .5

Chapter 2

2-48

Standard Models and Specifications

Wiring

Integrated Cables for Servomotors with Brakes (R7A-CEA@@@B)

Cable Models Model Length (L) Outer diameter of sheath Weight

R7A-CEA003B 3 m 12.4 dia. Approx. 0.8 kg

R7A-CEA005B 5 m Approx. 1.2 kg

R7A-CEA010B 10 m Approx. 2.1 kg

R7A-CEA015B 15 m Approx. 3.1 kg

R7A-CEA020B 20 m Approx. 4.0 kg

Symbol No. Servo Driver

E0V 1 E0V 2 E0V 3 E5V 4 E5V 5 E5V 6

7 S+ 8 S 9 A+ 10 A 11 B+ 12 B 13 14

FG Shell

SymbolNo. Servomotor

7 E0V 8 E5V 5 6 1 2 3 4

S+ S A+ A B+ B

Shell FG

AWG22 Black

AWG22 Red

AWG24 Green

AWG24 Green/White

AWG24 Blue

AWG24 Blue/White

AWG24 Yellow

AWG24 Yellow/White

SymbolNo. 1 U phase 2 V phase 3 4

W phase FG

AWG20 Red

AWG20 White

AWG20 Blue

AWG20 Green/Yellow M4 crimp terminal

Connector kit: 54280-0800 (Molex Japan)

Connector cap: 350780-1 (Tyco Electronics AMP) Connector socket: 350570-3 (Tyco Electronics AMP)

Connector plug: 10114-3000VE (Sumitomo 3M) Connector case: 10314-52A0-008 (Sumitomo 3M)

Chapter 2

2-49

Standard Models and Specifications

Connection Configuration and External Dimensions

Wiring

Servo Driver Servomotor

R7D-AP@ R7M-A@5039 50L

80

t=28.4

14

27.4

t=12

43.7

21 .5

t=12.7

29 .5

Symbol No. Servo Driver

E0V 1 E0V 2 E0V 3 E5V 4 E5V 5 E5V 6

7 S+ 8 S 9 A+ 10 A 11 B+ 12 B 13 14

FG Shell

SymbolNo. Servomotor

7 E0V 8 E5V 5 6 1 2 3 4

S+ S A+ A B+ B

Shell FG

AWG22 Black

AWG22 Red

AWG24 Green

AWG24 Green/White

AWG24 Blue

AWG24 Blue/White

AWG24 Yellow

AWG24 Yellow/White

SymbolNo. 1 U phase 2 V phase 3 4

W phase FG

5 Brake 6 Brake

AWG20 Red

AWG20 White

AWG20 Blue

AWG20 Green/Yellow M4 crimp terminal

AWG20 Black M4 crimp terminal

AWG20 Brown M4 crimp terminal

Connector kit: 54280-0800 (Molex Japan)

Connector cap: 350781-1 (Tyco Electronics AMP) Connector socket 350570-3 (Tyco Electronics AMP)

Connector plug: 10114-3000VE (Sumitomo 3M) Connector case: 10314-52A0-008 (Sumitomo 3M)

Chapter 2

2-50

Standard Models and Specifications

2-6-4 Specifications of Separate Cables

Specifications of Standard Power Cables (R88A-CAWA@@@@) Select a Power Cable to match the Servomotor being used. The cable length is 3 to 20 m. (The maximum distance between the Servomotor and the Servo Driver is 20 m.)

Connection Configuration and External Dimensions

Wiring

Power Cables for Servomotors without Brakes

Power Cables for Servomotors without Brakes Power Cables for Servomotors with Brakes Model Length

(L) Outer

diameter of sheath

Weight Model Length (L)

Outer diameter of sheath

Weight

R88A-CAWA003S 3 m 6.2 dia. Approx. 0.2 kg

R88A-CAWA003B 3 m 7.4 dia. Approx. 0.3 kg

R88A-CAWA005S 5 m Approx. 0.3 kg

R88A-CAWA005B 5 m Approx. 0.5 kg

R88A-CAWA010S 10 m Approx. 0.6 kg

R88A-CAWA010B 10 m Approx. 0.9 kg

R88A-CAWA015S 15 m Approx. 0.9 kg

R88A-CAWA015B 15 m Approx. 1.3 kg

R88A-CAWA020S 20 m Approx. 1.2 kg

R88A-CAWA020B 20 m Approx. 1.7 kg

50

50 L

L 27.4

27.4

Servo Driver Servomotor

Servo Driver Servomotor

R7D-AP@

R7D-AP@

t=15.7

t=28.4

14 26

.7 R7M-A@

R7M-A@

Power Cables for Servomotors without Brakes

Power Cables for Servomotors with Brakes

Servo Driver

Red

White

Blue

Green/Yellow

M4 crimp terminal Cable: AWG20 x 4C, UL2464

Servomotor

Symbol

U phase

V phase

W phase

FG

No.

1

2

3

4

Cable side:

Connector cap: 350780-1 (Tyco Electronics AMP)

Connector socket: 350689-3 (Tyco Electronics AMP)

Servomotor side:

Connector plug: 350779-1 (Tyco Electronics AMP)

Contact pin:

350690-3: Pin No. 1 to 3 (Tyco Electronics AMP)

770210-1: Pin No. 4 (Tyco Electronics AMP)

Chapter 2

2-51

Standard Models and Specifications

Power Cables for Servomotors with Brakes

Specifications of Robot Power Cables (R88A-CAWA@@@R) Use one of the following Robot Power Cables if the cable will be used in an environment that requires cable flexibility or if it will be used with moving parts.

Connection Configuration and External Dimensions

Power Cables for Servomotors without Brakes Power Cables for Servomotors with Brakes Model Length

(L) Outer

diameter of sheath

Weight Model Length (L)

Outer diameter of sheath

Weight

R88A- CAWA003SR

3 m 7.4 dia. Approx. 0.2 kg

R88A- CAWA003BR

3 m 7.0 dia. Approx. 0.3 kg

R88A- CAWA005SR

5 m Approx. 0.3 kg

R88A- CAWA005BR

5 m Approx. 0.4 kg

R88A- CAWA010SR

10 m Approx. 0.7 kg

R88A- CAWA010BR

10 m Approx. 0.9 kg

R88A- CAWA015SR

15 m Approx. 1.0 kg

R88A- CAWA015BR

15 m Approx. 1.3 kg

R88A- CAWA020SR

20 m Approx. 1.3 kg

R88A- CAWA020BR

20 m Approx. 1.7 kg

Servo Driver

Red

White

Blue

Green/Yellow

M4 crimp terminal Cable: AWG20 x 6C, UL2464

Servomotor

Symbol

U phase

V phase

W phase

FG

Brake

Brake

No.

1

2

3

4

5

6

Black

Brown

Cable side:

Connector cap: 350781-1 (Tyco Electronics AMP)

Connector socket: 350689-3 (Tyco Electronics AMP)

Servomotor side:

Connector plug: 350715-1 (Tyco Electronics AMP)

Contact pin:

350690-3: Pin No. 1 to 3, 5, and 6 (Tyco Electronics AMP)

770210-1: Pin No. 4 (Tyco Electronics AMP)

50

50 L

L 27.4

27.4

Servo Driver Servomotor

Servo Driver Servomotor

R7D-AP@

R7D-AP@

t=15.7

t=28.4

14 26

.7 R7M-A@

R7M-A@

Power Cables for Servomotors without Brakes

Power Cables for Servomotors with Brakes

Chapter 2

2-52

Standard Models and Specifications

Wiring

Power Cables for Servomotors without Brakes

Power Cables for Servomotors with Brakes

Specifications of Standard Encoder Cables (R7A-CRA@@@C)

Specifications of Robot Encoder Cables (R7A-CRA@@@CR)

Note The connection configuration, external dimensions, and wiring are the same for both Standard Cables and Robot Cables.

Model Length (L) Outer diameter of sheath

Weight

R7A-CRA003C 3 m 7.4 dia. Approx. 0.2 kg

R7A-CRA005C 5 m Approx. 0.3 kg

R7A-CRA010C 10 m Approx. 0.7 kg

R7A-CRA015C 15 m Approx. 1.0 kg

R7A-CRA020C 20 m Approx. 1.3 kg

Model Length (L) Outer diameter of sheath

Weight

R7A-CRA003CR 3 m 7.0 dia. Approx. 0.3 kg

R7A-CRA005CR 5 m Approx. 0.4 kg

R7A-CRA010CR 10 m Approx. 0.9 kg

R7A-CRA015CR 15 m Approx. 1.3 kg

R7A-CRA020CR 20 m Approx. 1.7 kg

Servo Driver

Red

White

Blue

Green/Yellow

M4 crimp terminal Cable: AWG21 x 4C, UL2464

Servomotor

Symbol

U phase

V phase

W phase

FG

No.

1

2

3

4

Cable side:

Connector cap: 350780-1 (Tyco Electronics AMP)

Connector socket: 350689-3 (Tyco Electronics AMP)

Servomotor side:

Connector plug: 350779-1 (Tyco Electronics AMP)

Contact pin:

350690-3: Pin No. 1 to 3 (Tyco Electronics AMP)

770210-1: Pin No. 4 (Tyco Electronics AMP)

Servo Driver

Red

White

Blue

Green/Yellow

M4 crimp terminal Cable: AWG21 x 6C, UL2464

Servomotor

Symbol

U phase

V phase

W phase

FG

Brake

Brake

No.

1

2

3

4

5

6

Black

Brown

Cable side:

Connector cap: 350781-1 (Tyco Electronics AMP)

Connector socket: 350689-3 (Tyco Electronics AMP)

Servomotor side:

Connector plug: 350715-1 (Tyco Electronics AMP)

Contact pin:

350690-3: Pin No. 1 to 3, 5, and 6 (Tyco Electronics AMP)

770210-1: Pin No. 4 (Tyco Electronics AMP)

Chapter 2

2-53

Standard Models and Specifications

Connection Configuration and External Dimensions

Wiring

39 L 43.7

Servo Driver Servomotor

R7D-AP@

t=12.7

21 .5 R7M-A@

t=12

29 .5

No. E0V E0V E0V E5V E5V E5V

S+ S A+ A B+ B

FG Shell

SymbolNo. Servomotor

E0V E5V S+ S A+ A B+ B

Shell FG

AWG22 Black

AWG22 Red

AWG24 Green

AWG24 Green/White

AWG24 Blue

AWG24 Blue/White

AWG24 Yellow

AWG24 Yellow/White

Connector kit: 54280-0800 (Molex Japan)

Connector plug: 10114-3000VE (Sumitomo 3M) Connector case: 10314-52A0-008 (Sumitomo 3M)

Servo Driver

Symbol

1 2 3 4 5 6 7 8 9 10 11 12 13 14

7 8 5 6 1 2 3 4

Chapter 2

2-54

Standard Models and Specifications

2-6-5 Peripheral Cables and Connector Specifications

Analog Monitor Cable (R88A-CMW001S) This is cable for connecting to the Servo Drivers Monitor Output Connector (CN4). It is required for connecting monitor outputs to external devices such as measuring instruments.

Cable Model

Connection Configuration and External Dimensions

Wiring

Model Length (L) Weight R88A-CMW001S 1 m Approx. 0.1 kg

Servo Driver External device

R7D-AP@ 1.

7 di

a.

7.3 L

5

t=6

Connector socket: DF11-4DS-2C (Hirose Electric) Connector contacts: DF11-2428SCF (Hirose Electric)

Cable: AW24 4C UL1007

Servo Driver

Red White Black Black

Symbol No. 1 2 3 4

NM AM

GND GND

Chapter 2

2-55

Standard Models and Specifications

Computer Monitor Cables (R7A-CCA002P@) Computer Monitor Cable and Computer Monitoring Software (run on Windows, Cat. No. SBCE-011) for Servo Drivers are required to use a personal computer for monitoring and setting parameters for a Servo Driver. There are two kinds of cable, one for DOS personal computers, and the other for NEC PC98 notebook computers (but not for PC98 desktop computers).

Cable Models

For DOS Computers

For NEC PC98 Notebook Computers

Connection Configuration and External Dimensions

For DOS Personal Computers:

For NEC PC98 Notebook Computers

Model Length (L) Outer diameter of sheath Weight R7A-CCA002P2 2 m 4.2 dia. Approx. 0.1 kg

Model Length (L) Outer diameter of sheath Weight R7A-CCA002P3 2 m 4.2 dia. Approx. 0.1 kg

Personal computer (DOS)

Servo Driver

R7D-AP@

39 42L

32 .2

t=15

13 .2

d ia

.

6

Servo Driver

R7D-AP@ Notebook computer (NEC PC98)

L

t=12.7

39

29 .5

42

13 .2

d ia

.

6

Chapter 2

2-56

Standard Models and Specifications

Wiring

For DOS Personal Computers:

For NEC PC98 Notebook Computers

Control I/O Connector (R88A-CNU01C) This is the connector for connecting to the Servo Drivers Control I/O Connector (CN1). This connec- tor is used when the cable is prepared by the user.

External Dimensions

Computer Symbol

Connector: 17JE-13090-02 (D8A) (DDK Ltd.)

Gray/Black

Orange/Black Orange/Red

Cable: AWG28 3C UL2464

Servo Driver

Shell

No. No. 2 1

2

8

3 7 8 5

RXD RXDTXD TXD

RTS CTS GND FG

GND FG

Symbol

Case Connector: HR212-10P-8P (Hirose Electric)

Computer Symbol Symbol

Gray/Black

Orange/Black Orange/Red

Cable: AWG28 3C UL2464

Servo Driver

Shell

Connector plug: 10114-3000VE (Sumitomo 3M) Connector case: 10314-52F0-008 (Sumitomo 3M)

No. No. 1 1

2

8

9 10 4 14 12

RXD RXDTXD TXD

RTS CTS GND FG FG

GND FGCase

Connector: HR212-10P-8P (Hirose Electric)

Connector plug: 10136-3000VE (Sumitomo 3M) Connector case: 10336-52A0-008 (Sumitomo 3M)

43 .6

39

t=18

Chapter 2

2-57

Standard Models and Specifications

Encoder Connector (R7A-CNA0@R) This is the connector for the Encoder Cable. This connector is used when the cable is prepared by the user. It is a soldered-type connector, and the applicable cable is as follows.

Applicable cable: AWG16 max.

Outer diameter of coating: 2.1 mm dia. max.

Outer diameter of sheath: 6.7 0.5 mm dia.

External Dimensions

R7A-CNA01R (Servo Driver CN2)

R7A-CNA02R (Servomotor)

29 .5

39

t=12.7

Connector plug: 10114-3000VE (Sumitomo 3M) Connector case: 10314-52A0-008 (Sumitomo 3M)

t=12

43.7

21 .5

Connector kit: 54280-0800 (Molex Japan)

Chapter 2

2-58

Standard Models and Specifications

2-7 Servo Relay Units and Cable Specifications

This section provides the specifications for the Servo Relay Units and cables used for connecting to OMRON Position Control Units. Select the models that match the Position Control Unit being used. For details, refer to 3-2-1 Connecting Cable.

All dimensions are in millimeters unless otherwise specified.

2-7-1 Servo Relay Units

XW2B-20J6-1B This Servo Relay Unit connects to the following OMRON Position Control Units. Communications are not supported.

CS1W-NC113/-NC133

CJ1W-NC113/-NC133

C200HW-NC113

C200H-NC112

3F88M-DRT141

External Dimensions

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

Position Control Unit connector Servo Driver connector

Two, 3.5 dia.

Note Terminal Block pitch: 7.62 mm

29 .5

7 3.5

7 3.5135

15 .5

45

20 .5

(4 6)

44 .3

2

0

10

9

19

Chapter 2

2-59

Standard Models and Specifications

Wiring

XW2B-40J6-2B This Servo Relay Unit connects to the following OMRON Position Control Units. Communications are not supported.

CS1W-NC213/-NC233/-NC413/-NC433

CJ1W-NC213/-NC233/-NC413/-NC433

C200HW-NC213/-NC413

C500-NC113/-NC211

C200H-NC211

External Dimensions

Note 1. The XB contact is used to turn ON/OFF the electromagnetic brake.

2. Do not connect unused terminals. 3. The 0 V terminal is internally connected to

the common terminals. 4. The following crimp terminal is applicable:

R1.25-3 (round with open end).

Emergency stop

CW limit

CCW limit

Origin proximity

Com- mon

External interrupt

(See note 1.)

+24 V

0 V

RUN ALM BKIR10

0

19

9RESET ALMCOM FG

X1 XB

24 V DC

X1

24 V DC

Com- mon

Com- mon

Com- mon

Com- mon

0 1

2 3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

32

33

34

35

36

37

38

39

Position Control Unit connector X-axis Servo Driver connector

Two, 3.5 dia.

Note Terminal Block pitch: 7.62 mm

Y-axis Servo Driver connector

29 .5

7 3.5 180 3.5

7

45

15 .5

0

20

19

39

20 .5

(4 6)

44 .3

2

Chapter 2

2-60

Standard Models and Specifications

Wiring

XW2B-20J6-3B This Servo Relay Unit connects to the following OMRON Pro- grammable Controllers. Communications are not supported.

CQM1-CPU43-V1

CQM1H-PLB21 (Pulse I/O Board for CQM1H-CPU51/-CPU61)

CS1W-HCP22

External Dimensions

X/Y-axis emergency stop

X-axis CW limit

X-axis CCW limit

X-axis origin proximity

X-axis RUN

X-axis ALM

X-axis BKIR

Y-axis CW limit

Y-axis CCW limit

Y-axis origin proximity

Y-axis RUN

Y-axis ALM

Y-axis BKIR

X-axis external interrupt

X-axis RESET

X-axis ALMCOM

Y-axis external interrupt

Y-axis RESET

Y-axis ALMCOM

Note 1. The XB contact is used to turn ON/OFF the electromagnetic brake. 2. Do not connect unused terminals. 3. The 0 V terminal is internally connected to the common terminals. 4. The following crimp terminal is applicable: R1.25-3 (round with open end).

+24 V

0 V

20

0

39

19FG

24 V DC

X1 XB

24 V DC

(See note 1.)

Y1 YB

24 V DC

X1 Y1

(See note 1.)

Com- mon

Com- mon

Com- mon

Com- mon

Com- mon

Com- mon

Com- mon

Com- mon

Com- mon

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

29 .5

7 3.5

7 3.5135

15 .5

45

20 .5

(4 6)

44 .3

2

0

10

9

19

Two, 3.5 dia.

Note Terminal Block pitch: 7.62 mm

CQM1 connector Servo Driver connector

Chapter 2

2-61

Standard Models and Specifications

Wiring

+24 V

0 V

CW CCW RUN INP ALM BKIR10

0

19

9CW CCW Com- mon

ECRST Z RESET ALMCOM FG

24 V DC

X1 XB

24 V DC

(See note 3.)

(See note 2.)

(See note 1.)

X1

Com- mon

(See note 1.)

C Q

M 1

In pu

t U

ni t

Note 1. If these signals are input, the CQM1 output pulse can be input into the High- speed Counter.

Note 2. Input this output signal to the CQM1 Input Unit.

Note 3. The XB contact is used to turn ON/OFF the electromagnetic brake.

Note 4. Phase Z is an open-collector output.

Note 5. Do not connect unused terminals.

Note 6. The 0-V terminal is internally connected to the common terminals.

Note 7. The following crimp terminal is applicable: R1.25-3 (round with open end).

Chapter 2

2-62

Standard Models and Specifications

XW2B-40J6-4A This Servo Relay Unit connects to the following OMRON Position Control Units. Communications are supported.

CS1W-NC213/-NC233/-NC413/-NC433

CJ1W-NC213/-NC233/-NC413/-NC433

External Dimensions

Note Terminal Block pitch: 7.62 mm.

Wiring

Two, 3.5 dia.

29 .5

7 3.5 3.5

7

45

15 .5

Y-axis Servo Driver connector

X-axis Servo Driver connectorPosition Control Unit connector

0

20

19

39

247.5

2. 8

20 .5

(4 6)

44 .3

2. 8

X/Y-axis emergency stop

X-axis CW limit

X-axis CCW limit

X-axis origin proximity

X-axis RUN

X-axis ALM

X-axis BKIR

Y-axis CW limit

Y-axis CCW limit

Y-axis origin proximity

Y-axis RUN

Y-axis ALM

Y-axis BKIR

X-axis external interrupt

X-axis RESET

X-axis ALMCOM

Y-axis external interrupt

Y-axis RESET

Y-axis ALMCOM

Note 1. The XB contact is used to turn ON/OFF the electromagnetic brake. 2. Do not connect unused terminals. 3. The 0 V terminal is internally connected to the common terminals. 4. The following crimp terminal is applicable: R1.25-3 (round with open end).

+24 V

0 V

20

0

39

19FG

24 V DC

X1 XB

24 V DC

(See note 1.)

Y1 YB

24 V DC

X1 Y1

(See note 1.)

Com- mon

Com- mon

Com- mon

Com- mon

Com- mon

Com- mon

Com- mon

Com- mon

Com- mon

Chapter 2

2-63

Standard Models and Specifications

XW2B-20J6-8A

External Dimensions

Wiring

This Servo Relay Unit connects to the following OMRON Programmable Controllers. Communications are not sup- ported.

CJ1M-CPU21/-CPU22/-CPU23

CJ1M-CPU connector Servo Driver connector 135

3.5

7

3.5

7

Two, 3.5 dia.

45

15 .5

(4 6)

44 .3

220 .5

29 .5

Note Terminal pitch: 7.62 mm

Origin prox- imity

+24 V10

0

24 V DC

24 V DC

Com- mon

Com- mon

Com- mon

0 V

RUN ALM BKIR

FGALMCOMRESETCom- mon

Com- mon

IN9

X1

(See note 2.)

9

19IN6 IN8IN7

CW limit (See note 1.) (CIO: 2960.06)

CCW limit (See note 1.) (CIO: 2960.07)

Example: 2960.06 A540.08

XBX1

Note1. The CW limit input signal and CCW limit input signal can be input through an Input Unit. The following flags function as the CW/CCW limit input signals in the CJ1M: Pulse Output 0: CW: A540.08, CCW: A540.09 Pulse Output 1: CW: A541.08, CCW: A541.09 Program the actual inputs from the Input Unit to control these flags as ladder program outputs as shown below.

Note2. The XB contacts are used to turn ON/OFF the electromag- netic brake.

a) Do not connect anything to unused terminals.

b) The 0 V terminal is internally connected to the common terminals.

c) The following crimp terminal is applicable: R1.25-3 (round with open end).

Chapter 2

2-64

Standard Models and Specifications

XW2B-40J6-9A

External Dimensions

This Servo Relay Unit connects to the following OMRON Programmable Controllers. Communications are not sup- ported.

CJ1M-CPU21/-CPU22/-CPU23

CJ1M-CPU connector X-axis Servo Driver connector 1803.5

7

3.5

7

Two, 3.5 dia.

45

15 .5

(4 6)

44 .3

220 .5

29 .5

Y-axis Servo Driver connector

Note Terminal pitch: 7.62 mm

Chapter 2

2-65

Standard Models and Specifications

Wiring

XW2B-80J7-1A

X-axis origin proximity

+24 V20

0

24 V DC

24 V DC

Com- mon

Com- mon

Com- mon

0 V FGCom- mon

Com- mon

IN9

X1

(See note 2.)

39

19

IN6 IN8IN7

X-axis CW limit (See note 1.) (CIO 2960.06)

X-axis CCW limit (See note 1.) (CIO 2960.07)

Example: 2960.06 A540.08

Com- mon

XBX1 YBY1

24 V DC

(See note 2.)

Y1

Com- mon

Com- mon

Com- mon

Com- mon

Com- mon

X-axis RUN

X-axis ALM

X-axis BKIR

Y-axis origin proximity

Y-axis RUN

Y-axis ALM

Y-axis BKIR

X-axis RESET

X-axis ALMCOM

Y-axis RESET

Y-axis ALMCOM

Y-axis CW limit (See note 1.) (CIO 2960.08)

Y-axis CCW limit (See note 1.) (CIO 2960.09)

Note1. The CW limit input signal and CCW limit input signal can be input through an Input Unit. The follow- ing flags function as the CW/CCW limit input signals in the CJ1M: Pulse Output 0: CW: A540.08, CCW: A540.09 Pulse Output 1: CW: A541.08, CCW: A541.09 Program the actual inputs from the Input Unit to control these flags as ladder program outputs as shown below.

Note2. The XB contacts are used to turn ON/OFF the electromagnetic brake.

a) Do not connect anything to unused terminals.

b) The 0 V terminal is internally connected to the common terminals.

c) The following crimp terminal is applicable: R1.25-3 (round with open end).

INC

servo1 ABS _CW-

0

19

This Servo Relay Unit connects to the following OMRON Programmable Controllers.

CS1W-HCP22-V1

FQM1-MMP21

Chapter 2

2-66

Standard Models and Specifications

External Dimensions

Signal selectors

Communications support connectors

160

Controller general-purpose I/O

Controller special I/O

Servo B phase selectors

4.5 dia.

10 0

41 .7

Terminating resistance selector 90

15 .9 30

.7

Y-axis Servo Driver

X-axis Servo Driver

Chapter 2

2-67

Standard Models and Specifications

Terminal Block Connection

1. RS-422 Connector

2. Screwless Clamp Terminal Blocks Use the screwless clamp terminal blocks to wire controller general-purpose I/O and Servo Driver control signals.

Upper Terminal Block Pin Arrangement

Connect to an RS-422 line. Pin No. Signal name 1 TXD 2 TXD+

3 —

4 —

5 —

6 RXD 7 —

8 RXD+

9 —

Shell FG

60

Upper terminal block

Lower terminal block

0

79

19

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

S ig

na l n

am e

S ig

na l n

am e

5 V

( S

ee n

ot e

1. )

La tc

h si

gn al

in pu

t 1

La

tc h

si gn

al in

pu t 2

C N

T 1

A p

ha se

L D

+

in pu

t

C N

T 1

B p

ha se

L D

+

in pu

t

S er

vo D

riv er

# 1

Z

p ha

se L

D +

o ut

pu t

V ol

ta ge

in pu

t ( +

)

S er

vo D

riv er

# 1

A LM

— —

IN 4

IN 5

IN 6

IN 7 — —

S er

vo D

riv er

# 1

R U

N

S er

vo D

riv er

# 1

R

E S

E T

S er

vo D

riv er

# 1

E

C R

S T

— —

T X

D +

R X

D +

No.

No.

60 61 62 63

La tc

h si

gn al

1

co m

m on

( 0

V )

La tc

h si

gn al

2

co m

m on

( 0

V )

C N

T 1

A p

ha se

L D

C N

T 1

B p

ha se

L D

S er

vo D

riv er

# 1

Z

p ha

se L

D

V ol

ta ge

in pu

t ( )

C om

m on

( 0

V )

— —

C om

m on

( 0

V )

C om

m on

( 0

V )

C om

m on

( 0

V )

C om

m on

( 0

V )

— —

T X

D

R X

D

O U

T 0

O U

T 1

O U

T 2

O U

T 3

0 V

64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79

40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59

Chapter 2

2-68

Standard Models and Specifications

Lower Terminal Block Pin Arrangement

Note 1. Used for the pulse output power supply for the FQM1-MMP21.

Note 2. IN4 to IN11 and OUT0 to OUT7 are used for the Servo control power supply.

Note 3. IN0 to IN3 are used for the latch input power supply.

3. Signal Selectors

4. Terminating Resistance Selector Set this selector to ON if there is no wiring from port 2 of the Servo Relay Unit to port 1 of another Servo Relay Unit when the Servo Relay Unit is positioned at the end of an RS-422 line.

Selector Setting description CNT1 SER_A SER_A Not used.

TER_A Connects phase A of an external encoder to the CNT1 phase A of the controller.

CNT1 SER_B SER_B Not used.

TER_B Connects phase A of an external encoder to the CNT1 phase B of the controller.

CNT1 SER_Z SER_Z Connects phase Z of Servo Driver #1 to the CNT1 phase Z of the control- ler.

TER_Z Outputs the phase-Z output of Servo Driver #1 from the terminals.

DA2 — Not used. (Always set to the Y axis.)

AD — Not used.

S ig

na l n

am e

S ig

na l n

am e

+ 24

V (

S ee

n ot

e 2.

)

+ 24

V (

S ee

n ot

e 3.

)

S

er vo

D riv

er #

2 A

LM

S er

vo D

riv er

# 2

T G

O N

IN 8

IN 9

IN 10

IN 11 — —

S er

vo D

riv er

# 2

R U

N

S er

vo D

riv er

# 2

R E

S E

T

S er

vo D

riv er

# 2

E C

R S

T

S er

vo D

riv er

# 2

M IN

G

No.

No.

20 21 22 23

C om

m on

( 0

V )

S er

vo D

riv er

# 2

IN P

C om

m on

( 0

V )

C om

m on

( 0

V )

C om

m on

( 0

V )

C om

m on

( 0

V )

— —

F G

O U

T 6

O U

T 7

O U

T 4

O U

T 5

0 V

24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19

0 V

C om

m on

( 0

V )

C om

m on

( 0

V )

C om

m on

( 0

V )

C om

m on

( 0

V )

— — — —

IN 0

IN 1

IN 2

IN 3 — —

F G—

—

TER_A TER_B TER_Z X axis CUR

SER_A CNT1

SER_B CNT1

SER_Z CNT1

VOL AD

Y axis DA2

TERM ON

OFF

S W

6

Chapter 2

2-69

Standard Models and Specifications

5. Servo Phase-B Selectors (Not Used) Leave these selectors set to INC mode.

Wiring to Screwless Clamp Terminal Blocks Screwless clamp terminal blocks enable wiring without securing the wires with screws. Special fer- rules must be attached to the cables for sensors or external devices if sensors or external devices are also to be connected when wiring the Servo Driver and the control signal.

The following ferrules are applicable.

Wiring Procedure Inserting a Wire

Fully insert the ferrule all the way into the desired terminal hole.

Releasing a Wire

Insert a small flathead screwdriver into the release button above the terminal hole, and pull out the wire while pressing the button.

Manufacturer Model Applicable wire Phoenix Contact AI-0.5-10 0.5 mm2 (20 AWG)

AI-0.75-10 0.75 mm2 (18 AWG)

AI-1.5-10 1.25 mm2 (16 AWG)

Nihon Weidmuller H 0.5/16 D 0.5 mm2 (20 AWG)

H 0.75/16 D 0.75 mm2 (18 AWG)

H 1.5/16 D 1.25 mm2 (16 AWG)

Servo #2 phase-B selector servo2

ABS_CW-

INC

S W

7

S W

8

Servo #1 phase-B selector servo1

ABS_CW-

INC

Small flathead screwdriver

Release button

Chapter 2

2-70

Standard Models and Specifications

The following screwdriver can be used to release wires.

Recommended Screwdriver

Servo Relay Unit Wiring Example I/O power is supplied from terminals 20-0, 21-1, and 60-40 when a Servo Relay Unit is used. As shown in the following example, wiring can be performed by simply connecting the signals.

Upper Terminal Block Pin Arrangement

Model Manufacturer SZF1 Phoenix Contact

Side view Front view

0.6 mm 3.5 mm

60

Upper terminal block

Lower terminal block

0

79

19

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9

5 V

24 V

5 V

La tc

h si

gn al

in pu

t 1

La

tc h

si gn

al in

pu t 2

C N

T 1

A p

ha se

L D

+

in pu

t

C N

T 1

B p

ha se

L D

+

in pu

t

S er

vo D

riv er

# 1

Z

p ha

se L

D +

o ut

pu t

— —

S er

vo D

riv er

# 1

A LM

— —

IN 4

IN 5

IN 6

IN 7 — —

S er

vo D

riv er

# 1

R U

N

S er

vo D

riv er

# 1

R

E S

E T

S er

vo D

riv er

# 1

E

C R

S T

— —

T X

D +

R X

D +

60 61 62 63

La tc

h si

gn al

1

co m

m on

( 0

V )

La tc

h si

gn al

2

co m

m on

( 0

V )

C N

T 1

A p

ha se

LD

-/ -0

V

C N

T 1

B p

ha se

LD -/

0 V

S er

vo D

riv er

# 1

Z

p ha

se L

D -/

0 V

— —

C om

m on

( 0

V )

S er

vo D

riv er

# 1

IN P

C om

m on

( 0

V )

C om

m on

( 0

V )

C om

m on

( 0

V )

C om

m on

( 0

V )

— —

T X

D —

R X

D —

O U

T 0

O U

T 1

O U

T 2

O U

T 3

0 V

64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79

40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 595 V

Chapter 2

2-71

Standard Models and Specifications

Lower Terminal Block Pin Arrangement

+ 24

V

+ 24

V

S

er vo

D riv

er #

2 A

LM

— —

IN 8

IN 9

IN 10

IN 11 — —

S er

vo D

riv er

# 2

R U

N

S er

vo D

riv er

# 2

R E

S E

T

S er

vo D

riv er

# 2

E C

R S

T

20 21 22 23

C om

m on

( 0

V )

S er

vo D

riv er

# 2

IN P

C om

m on

( 0

V )

C om

m on

( 0

V )

C om

m on

( 0

V )

C om

m on

( 0

V )

— —

F G

O U

T 6

O U

T 7

O U

T 4

O U

T 5

0 V

24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19

0 V

C om

m on

( 0

V )

C om

m on

( 0

V )

C om

m on

( 0

V )

C om

m on

( 0

V )

— — — —

IN 0

IN 1

IN 2

IN 3 — —

F G—

—

24 V

— —

Chapter 2

2-72

Standard Models and Specifications

2-7-2 Cables for Servo Relay Units

Servo Driver Cables (XW2Z-@J-B5) These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit. These Cables are used when connecting a Servo Relay Unit that does not support communications.

Cable Models

Connection Configuration and External Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight XW2Z-100J-B5 1 m 8.0 dia. Approx. 0.1 kg

XW2Z-200J-B5 2 m Approx. 0.2 kg

Servo Relay Unit Servo Driver

R7D-AP@ XW2B-20J6-1B XW2B-40J6-2B XW2B-20J6-3B 43

.6

30

39L6

t=18

Servo Relay Unit Symbol

Connector plug: 10136-3000VE (Sumitomo 3M) Connector case: 10336-52A0-008 (Sumitomo 3M)

Cable: AWG28 4P + AWG28 9C

Servo Driver

Shell

No. 1 2 3 4 5 6 7 8 9

10 11 12 13 14 15 16 17 18 19 20

No. 13 +24VIN

OGND10 +CCW3 CCW4

1 +CW 2 CW

ECRST6 +ECRST5

33 ZCOM 32 Z

INP8 14 RUN

15 18 RESET 7 BKIR 34 ALM 35 ALMCOM

FG

Chapter 2

2-73

Standard Models and Specifications

Servo Driver Cables (XW2Z-@J-B7) These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit. These Cables are used when connecting a Servo Relay Unit that supports communications (XW2B-40J6-4A).

Cable Models

Connection Configuration and External Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight XW2Z-100J-B7 1 m 8.0 dia. Approx. 0.1 kg

XW2Z-200J-B7 2 m Approx. 0.2 kg

Servo Relay Unit

XW2B-40J60-4A

Servo Driver

R7D-AP@

43 .6

30

39L6

t=18

No.

Servo Relay Unit

1 2 3 4 5 6 7 8 9

10 11 12 13 14 15 16 17 18 19 21 22 23 24 25 26 20

SymbolNo.

Servo Driver

13 +24VIN OGND10 +CCW3 CCW4

1 +CW 2 CW

ECRST6 +ECRST5

33 ZCOM 32 Z

INP8 14 RUN

15 18 RESET 7 BKIR

34 ALM 35 ALMCOM 20 RXD+ 21 RXD 22 TXD+ 23 TXD

Shell

Connector plug: 10136-3000VE (Sumitomo 3M) Connector case: 10336-52A0-008 (Sumitomo 3M)

Cable: AWG286P+AWG289C

FG

Chapter 2

2-74

Standard Models and Specifications

Servo Driver Cables (XW2Z-@@@J-B12) These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit. Use these cables to con- nect to a Customizable Counter Unit (CSW-HCP22-V1) or Servo Relay Unit (XW2B-80J7-1A).

Cable Models

Connection Configuration and External Dimensions

Model Length (L) Outer diameter of sheath Weight XW2Z-100J-B12 1 m 8.0 dia. Approx. 0.1 kg

XW2Z-200J-B12 2 m Approx. 0.2 kg

Servo Relay Unit

XW2B-80J7-1A

Servo Driver

R7D-AP@

43 .6

48

39L6

Chapter 2

2-75

Standard Models and Specifications

Wiring

Servo Driver Cables (XW2Z-@@@J-B10) These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit. Use these cables to con- nect to a Customizable Counter Unit (FQM1-MMP21) or Servo Relay Unit (XW2B-80J7-1A).

Servo Relay Unit

Symbol

Connector plug: 10136-3000VE (Sumitomo 3M) Connector case: 10336-52A0-008 (Sumitomo 3M)

Cable: AWG28 6P + AWG28 9C

Servo Driver

Shell

No. 1 2 3 4 5 6 7 8

9 10 11 12 13 14 15

16 17 18 19 20

No. 13 +24VIN

OGND10 +CCW3 CCW4

1 +CW 2 CW

ECRST6 +ECRST5

33 ZCOM 32 Z

INP8 14 RUN

18 RESET

7 BKIR 34 ALM

35 ALMCOM

FG

20 21 22

23

RXD+ RXD- TXD+ TXD-

21 22 23

24 25

26 27

28 29 30

Chapter 2

2-76

Standard Models and Specifications

Cable Models

Connection Configuration and External Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight XW2Z-100J-B10 1 m 8.0 dia. Approx. 0.1 kg

XW2Z-200J-B10 2 m Approx. 0.2 kg

Servo Relay Unit

XW2B-80J7-1A

Servo Driver

R7D-AP@

43 .6

48

39L6

Servo Relay Unit

Symbol

Connector plug: 10136-3000VE (Sumitomo 3M) Connector case: 10336-52A0-008 (Sumitomo 3M)

Cable: AWG28 6P + AWG28 9C

Servo Driver

Shell

No. 1 2 3 4 5 6 7 8

9 10 11 12 13 14 15

16 17 18 19 20

No. 13 +24VIN

OGND10 +CCW3 CCW4

1 +CW 2 CW

ECRST6 +ECRST5

33 ZCOM 32 Z

INP8 14 RUN

18 RESET

7 BKIR 34 ALM

35 ALMCOM

FG

20 21 22

23

RXD+ RXD- TXD+ TXD-

21 22 23

24 25

26 27

28 29 30

Chapter 2

2-77

Standard Models and Specifications

Position Control Unit Cables (XW2Z-@J-A3) These Position Control Unit Cables connect a CQM1-CPU43-V1 or CQM1H-PLB21 Programma- ble Controller and an XW2B-20J6-3B Servo Relay Unit.

Cable Models

Connection Configuration and External Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A3 50 cm 7.5 dia. Approx. 0.1 kg

XW2Z-100J-A3 1 m Approx. 0.1 kg

CQM1

CQM1-CPU43-V1 CQM1H-PLB21

L

Servo Relay Unit

XW2B-20J6-3B25

639

32 .2

t=15

Servo Relay Unit

Cable: AWG284P+AWG284C

No. 1 2 3 4 5 6 7 8 9

10 11 12 13 14 15 16

No.

CQM1

15 12

13

14

3 1

4 5 6

Hood cover

Chapter 2

2-78

Standard Models and Specifications

Position Control Unit Cables (XW2Z-@J-A4) These Position Control Unit Cables connect a C200H-NC112 Position Control Unit and an XW2B- 20J6-1B Servo Relay Unit.

Cable Models

Connection Configuration and External Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A1 50 cm 8.0 dia. Approx. 0.1 kg

XW2Z-100J-A1 1 m Approx. 0.1 kg

Position Control Unit C200H-NC112

Servo Relay Unit XW2B-20J6-1B

8 L 6

69 .5

38

Position Control Unit

Cable: AWG28 4P + AWG28 15C

Servo Relay Unit No. A1 A5

A3

A4

A6 A7 A8 B8 A9 B9

A10 B10 A12 B12 A13 B13 A19 B19 A20 B20 A11 B11

No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23

24

25 26

Chapter 2

2-79

Standard Models and Specifications

Position Control Unit Cable (XW2Z-@J-A5) These Position Control Unit Cables connect a C200H-NC211, C500-NC113, or C500-NC211 Posi- tion Control Unit and an XW2B-40J6-2B Servo Relay Unit.

Cable Models

Connection Configuration and External Dimensions

Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A5 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A5 1 m Approx. 0.2 kg

Position Control Unit Servo Relay Unit

C200H-NC211 C500-NC113 C500-NC211

XW2B-40J6-2B

40.5 L 6

52 .3

38

t=18

Chapter 2

2-80

Standard Models and Specifications

Wiring

Position Control Unit

Cable: AWG28 6P + AWG28 19C

Servo Relay Unit No. 1 23

13

2

4 5 9

11 22 6 7 8

17 18 19

15

24

26 27 31 33 20 21 29 28 30 10 32 12

No. 1 2 3 4 5 6 7 8 9

10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 34 33

Chapter 2

2-81

Standard Models and Specifications

Position Control Unit Cables (XW2Z-@J-A8) These Position Control Unit Cables connect a CS1W-NC113 or C200HW-NC113 Position Control Unit and an XW2B-20J6-1B Servo Relay Unit.

Cable Models

Connection Configuration and External Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A8 50 cm 8.0 dia. Approx. 0.1 kg

XW2Z-100J-A8 1 m Approx. 0.1 kg

Position Control Unit CS1W-NC113 C200HW-NC113

Servo Relay Unit XW2B-20J6-1B 38

L 647

83

t=11

Position Control Unit

Cable: AWG28 4P + AWG28 9C

Servo Relay Unit

Crimp terminal

No. A1 A2

A8

A6

A10

A24 A12

A21

A23

A22

A19

A20

No. 1 2 3 4 5 6 7 8 9

10 11 12 13 14 15 16 17 18 19 20 21 22 23 25 26 24

A15 A14

Chapter 2

2-82

Standard Models and Specifications

Position Control Unit Cables (XW2Z-@J-A9) These Position Control Unit Cables connect a CS1W-NC213, CS1W-NC413, C200HW-NC213 or C200HW-NC413 Position Control Unit and an XW2B-40J6-2B or XW2B-40J6-4A Servo Relay Unit.

Cable Models

Connection Configuration and External Dimensions

Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A9 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A9 1 m Approx. 0.2 kg

Position Control Unit

CS1W-NC213 CS1W-NC413 C200HW-NC213 C200HW-NC413

Servo Relay Unit

XW2B-40J6-2B XW2B-40J6-4A

48

L 647

83

t=11

Chapter 2

2-83

Standard Models and Specifications

Wiring

Position Control Unit

Cable: AWG28 6P + AWG28 17C

Servo Relay Unit

Crimp terminal

No. 1 2 3 4 5 6 7 8 9

10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 34 33

No. A1/B1 A2/B2

A8

A6

A10

A14 A24/B24

A19 A21 A12 A23 A22

A20/B20

B8

B6

B10

B14 B23 B22 B21 B19 B12

A15/B15

Chapter 2

2-84

Standard Models and Specifications

Position Control Unit Cables (XW2Z-@J-A12) These Position Control Unit Cables connect a CS1W-NC133 Position Control Unit and an XW2B- 20J6-1B Servo Relay Unit.

Cable Models

Connection Configuration and External Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A12 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A12 1 m Approx. 0.2 kg

Position Control Unit CS1W-NC133 Servo Relay Unit

XW2B-20J6-1B

48

L 647

83

t=11 1000

Servo Relay Unit

Cable: AWG28 4P + AWG28 9C

No.

1 2 3 4 5 6 7 8 9

10 11 12 13 14 15 16 17 18 19 20 21 22 23

24

No.

Position Control Unit

A1 A2 A7 A8 A5 A6

A10

A24 A12

A21

A23

A15 A14

Crimp terminal

25 26

A20

A19

A22

A3 A4

AWG20 Black AWG20 Red

Chapter 2

2-85

Standard Models and Specifications

Position Control Unit Cables (XW2Z-@J-A13) These Position Control Unit Cables connect a CS1W-NC233 or CS1W-NC433 Position Control Unit and an XW2B-40J6-2B or XW2B-40J6-4A Servo Relay Unit.

Cable Models

Connection Configuration and External Dimensions

Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A13 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A13 1 m Approx. 0.2 kg

Position Control Unit CS1W-NC233 CS1W-NC433

Servo Relay Unit XW2B-40J6-2B XW2B-40J6-4A

48

L 647

83

t=11 1000

Chapter 2

2-86

Standard Models and Specifications

Wiring

Servo Relay Unit

Cable: AWG28 6P + AWG28 17C

No.

1 2 3 4 5 6 7 8 9

10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 34 33

No.

Position Control Unit

A1/B1 A2/B2

A8 A7

A6 A5

A10

A14 A24/B24

A19 A21 A12 A23 A22

A20/B20

B8

B6

B7

B5

B10

B14 B23 B22 B21 B19 B12

A15/B15

Crimp terminal

A3/B3 A4/B4

AWG20 Black AWG20 Red

Chapter 2

2-87

Standard Models and Specifications

Position Control Unit Cables (XW2Z@J-A16) These Position Control Unit Cables connect a CJ1W-NC113 Position Control Unit and an XW2B- 20J6-1B Servo Relay Unit.

Cable Models

Connection Configuration and External Dimensions

Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A16 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A16 1 m Approx. 0.2 kg

Position Control Unit CJ1W-NC113

Servo Relay Unit XW2B-20J6-1B

20J6-1B

CJ1W-NC113

L 6

38

t=11

500

Chapter 2

2-88

Standard Models and Specifications

Wiring

Position Control Unit

Cable: AWG28 4P + AWG28 9C

Servo Relay Unit

Crimp terminal

No. A1 A2

A8

A6

A9

A20 A11

A17

A19

A18

A15

A16 A13 A12

No. 1 2 3 4 5 6 7 8 9

10 11 12 13 14 15 16 17 18 19 20 21 22 23

24

25 26

Chapter 2

2-89

Standard Models and Specifications

Position Control Unit Cables (XW2Z@J-A17) These Position Control Unit Cables connect a CJ1W-NC213 or CJ1W-NC413 Position Control Unit and an XW2B-40J6-2B or XW2B-40J6-4A Servo Relay Unit.

Cable Models

Connection Configuration and External Dimensions

Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A17 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A17 1 m Approx. 0.2 kg

Position Control Unit

CJ1W-NC213 CJ1W-NC413

XW2B-40J6-2B XW2B-40J6-4A

L 6 t=11

500

40J6-2B

CJ1W-NC213/NC413

48

Servo Relay Unit

Chapter 2

2-90

Standard Models and Specifications

Wiring

Position Control Unit

Cable: AWG28 6P + AWG28 17C

Servo Relay Unit

Crimp terminal

No. A1/B1 A2/B2

A8

A6

A9

A20/B20 A15 A17 A11 A19 A18

B8

A16/B16

No. 1 2 3 4 5 6 7 8

11 12 13 14 15 16 17 18 19 20 21 22 23 24 27

30

28

31 32 34 33

29

A12

B6

B9 B12 B19 B18 B17 B15 B11

A13/B13

Chapter 2

2-91

Standard Models and Specifications

Position Control Unit Cables (XW2Z-@J-A20) These Position Control Unit Cables connect a CJ1W-NC133 Position Control Unit and an XW2B- 20J6-1B Servo Relay Unit.

Cable Models

Connection Configuration and External Dimensions

Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A20 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A20 1 m Approx. 0.2 kg

Position Control Unit CJ1W-NC133

Servo Relay Unit XW2B-20J6-1B

L 6

38

t=11

500

20J6-1B

CJ1W-NC133

1000

Chapter 2

2-92

Standard Models and Specifications

Wiring

Position Control Unit

Cable: AWG28 4P + AWG28 9C

Servo Relay Unit

Crimp terminal

No.

A1 A2

A8

A6

A7

A5

A9

A20 A11

A17

A19

A18

A15

A16 A13 A12

No.

1 2 3 4 5 6 7 8 9

10 11 12 13 14 15 16 17 18 19 20 21 22 23

24

25 26

A3 A4

AWG20 Black AWG20 Red

Chapter 2

2-93

Standard Models and Specifications

Position Control Unit Cables (XW2Z-@J-A21) These Position Control Unit Cables connect a CJ1W-NC233 or CJ1W-NC433 Position Control Unit and an XW2B-40J6-2B or XW2B-40J6-4A Servo Relay Unit.

Cable Models

Connection Configuration and External Dimensions

Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A21 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A21 1 m Approx. 0.2 kg

Position Control Unit

CJ1W-NC233 CJ1W-NC433

XW2B-40J6-2B XW2B-40J6-4A

CJ1W-NC233/NC433

40J6-2B

L 6 t=11

500

48

1000

Servo Relay Unit

Chapter 2

2-94

Standard Models and Specifications

Wiring

Position Control Unit

Cable: AWG28 6P + AWG28 17C

Servo Relay Unit

Crimp terminal

No. A3/B3 A4/B4 A1/B1 A2/B2

A8

A6

A7

A5

A9

A20/B20 A15 A17 A11 A19 A18

B8

A16

No.

1 2 3 4 5 6 7 8

11 12 13 14 15 16 17 18 19 20 21 22 23 24 27

30

28

31 32 34 33

29

A12

B6

B7

B5

B9 B12 B19 B18 B17 B15 B11

A13/B13 B16

AWG20 Black AWG20 Red

Chapter 2

2-95

Standard Models and Specifications

Position Control Unit Cable (XW2Z-@J-A22) These Position Control Unit Cables connect a CS1W-HCP22 Position Control Unit and an XW2B- 20J6-3B Servo Relay Unit.

Cable Models

Connection Configuration and External Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A22 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A22 1 m Approx. 0.2 kg

Position Control Unit CS1W-HCP22

Servo Relay Unit XW2B-20J6-3B

20J6-3B

CS1W-HCP22

L 6

25

t=11

500

Position Control Unit

Cable: AWG28 4P + AWG28 4C

Servo Relay Unit

Crimp terminal

No. A19 A20

A18

A16

A15 A17

No. 1 2 3 4 5 6 7 8 9

10 11 12 13 14 15 16

B2 A1 B4 A3

Chapter 2

2-96

Standard Models and Specifications

Position Control Unit Cables (XW2Z-@J-A23) These Position Control Unit Cables connect a CS1W-HCP22 Position Control Unit and an XW2B- 20J6-3B Servo Relay Unit.

Cable Models

Connection Configuration and External Dimensions

Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A23 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A23 1 m Approx. 0.2 kg

Position Control Unit CS1W-HCP22

Servo Relay Unit XW2B-20J6-3B

20J6-3B

CS1W-HCP22

20J6-3B

L 6

25 25t=11

500

Chapter 2

2-97

Standard Models and Specifications

Wiring

Position Control Unit

Cable: AWG28 4P + AWG28 4C

Servo Relay Unit

Crimp terminal

No. A19 A20

A18

A16

A15 A17

No. 1 2 3 4 5 6 7 8 9

10 11 12 13

B2 A1 B4 A3

No. 1 2 3 4 5 6 7 8 9

10 11 12 13

B19 B20

B18

B16

B15 B17

B8 A7 B10 A9

Cable: AWG28 4P + AWG28 4C Servo Relay Unit

Chapter 2

2-98

Standard Models and Specifications

Position Control Unit Cables (XW2Z-@J-A25) These Position Control Unit Cables connect a 3F88M-DRT141 Single-shaft Positioner (for DeviceNet) and an XW2B-20J6-1B Servo Relay Unit.

Cable Models

Connection Configuration and External Dimensions

Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A25 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A25 1 m Approx. 0.2 kg

Position Control Unit 3F88M-DRT141

Servo Relay Unit XW2B-20J6-1B 38

L 647

83

t=11

20J6-1B

500 150

Chapter 2

2-99

Standard Models and Specifications

Wiring

Position Control Unit

Cable: AWG28 8P + AWG28 16C

Servo Relay Unit

Crimp terminal (Round)

No.No. A24 B24 B21 B22 A21 A22

A20 B20

A1 B10

A16/B16 A10

B9

A9

B8

B2

A11 B11 B19

1 2 3 4 5 6 7 8 9

10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26

Crimp terminal (Y-type)

Chapter 2

2-100

Standard Models and Specifications

CJ1M-CPU Unit Cables (XW2Z-100J-A26) These CJ1M-CPU Unit Cables connect a CJ1M Unit with built-in pulse I/O (CJ1M-CPU21/-CPU22/- CPU23) and a Servo Relay Unit (XW2B-20J6-8A and XW2B-40J6-9A).

Cable Models

Connection Configuration and External Dimensions

Model Length (L) Outer diameter of sheath Weight XW2Z-100J-A26 1 m 10.0 dia. Approx. 0.1 kg

500

L

56

6

CJ1M-CPU Unit

CJ1M-CPU21 CJ1M-CPU22 CJ1M-CPU23

C J1

M -C

P U

22 /2

3

6

48

20J6-8A /40J6-9A

Servo Relay Unit

XW2B-20J6-8A XW2B-40J6-9A

Chapter 2

2-101

Standard Models and Specifications

Wiring

Cable: AWG28 6P + AWG28 17C

Servo Relay Unit

No. 1 2 3 4 5 6 7 8 9

10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30

FG

CJ1M-CPU Unit No. 37 39 40 32

31

35

5 17 6 1 23 24

34

33

36

11 18 12 7

29 30 2 8

13 14 19 20 25 26

Chapter 2

2-102

Standard Models and Specifications

Customizable Counter Unit Cables for Special I/O These Customizable Counter Unit Cables connect a Customizable Counter Unit (CS1W-HCP22-V1) and a Servo Relay Unit (XW2B-80J7-1A).

Cable Models

Connection Configuration and External Dimensions

Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A32 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A32 1 m Approx. 0.2 kg

Customizable Counter Unit

L t=11

6

Servo Relay Unit

55

500

CS1W-HCP22

80J7-1ACS1W-HCP22-V1 XW2B-80J7-1A

Chapter 2

2-103

Standard Models and Specifications

Wiring

Cable: AWG28 6P + AWG28 17C

Servo Relay Unit No.No.

B1 A1 B3 A3 B5 A5

A19 A13 B6

A16

A18

A20

B7 A7 B9 A9 B11 A11

B19

1 2 3 4 5 6

8 9

10

14

16

19

21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36

40

FG

Customizable Counter Unit

Crimp terminals

B12 B14 B13

B16

B18

B20

Chapter 2

2-104

Standard Models and Specifications

Customizable Counter Unit Cables for General-purpose I/O These Customizable Counter Unit Cables a Customizable Counter Unit (CS1W-HCP22-V1) and the general-purpose I/O of a Servo Relay Unit (XW2B-80J7-1A).

Cable Models

Connection Configuration and External Dimensions

Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A29 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A29 1 m Approx. 0.2 kg

Customizable Counter Unit

L t=11

6

Servo Relay Unit

55

500

CS1W-HCP22

80J7-1ACS1W-HCP22-V1 XW2B-80J7-1A

Chapter 2

2-105

Standard Models and Specifications

Wiring

Cable: AWG28 6P + AWG28 17C

Servo Relay Unit No.No.

B1

B2

B3 B4 B5

A11 B9 B8 B10

A12

B11 B12

A1 A2 A3 A4 A5 A10

A6

2

4 6 8

10

12 14

16 18

20 22

24

1 3

5 7

9

11 13 15 17 19

21

23 25

27 29 31

FG

Customizable Counter Unit

Crimp terminals

A7

A8

A9 B6 B7

33

Chapter 2

2-106

Standard Models and Specifications

Motion Controller Cables for Special I/O These Motion Controller Cables connect a Motion Control Module (FQM1-MMP21) and the special I/ O of a Servo Relay Unit (XW2B-80J7-1A).

Cable Models

Connection Configuration and External Dimensions

Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A30 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A30 1 m Approx. 0.2 kg

Motion Control Module

L 6

Servo Relay Unit

55

80J7-1AFQM1-MMP21 XW2B-80J7-1A55

6

FQM 1-M

M P21

Chapter 2

2-107

Standard Models and Specifications

Wiring Servo Relay Unit

No.No. 3 5 9

11 15 17

21 23 13

27

31

35

4 6

10

16

1 2 3 4 5 6

8 9

10 11

13 14 15

22 23 24 25 26 27 28 29 30 31 32 33 34 35 36

40FG

Motion Control Module

20 22 24

26 28

34

7

12

16 17 18 19 20 21

Crimp terminals

19

25

29

33

12

18

14

30 32

36 37 38 39

Chapter 2

2-108

Standard Models and Specifications

Motion Controller Cable for General-purpose I/O These Motion Controller Cables connect a Motion Control Module (FQM1-MMP21) and the general- purpose I/O of a Servo Relay Unit (XW2B-80J7-1A).

Cable Models

Connection Configuration and External Dimensions

Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A28 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A28 1 m Approx. 0.2 kg

Motion Control Module

L 6

Servo Relay Unit

48

80J7-1AFQM1-MMP21 XW2B-80J7-1A38

6

FQ M

1- M

M P2

1

Chapter 2

2-109

Standard Models and Specifications

Wiring Servo Relay Unit

No.No. 1

3 5 7 9 11

15

17 19

23

4 6

10

16

1 2 3

4 5

6

8 9

10 11

22 23

24 25 26 27 28

29

30 31 32

33

34

FG

Motion Control Module

20 22

24

7

12

17 18 19

20 21

Crimp terminals

13

21

2

8

12

18

14

Chapter 2

2-110

Standard Models and Specifications

Communications Cables (XW2Z-@J-C1) These Communications Cables connect the communications port of an XW2B-40J6-4A Servo Relay Unit that supports communications and a Programmable Controller Serial Communications Unit or Board.

Cable Models

Connection Configuration and External Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight XW2Z-100J-C1 1 m 10.0 dia. Approx. 0.1 kg

XW2Z-200J-C1 2 m Approx. 0.2 kg

39 L

32 .2

t=15

39

t=15

32 .2

Symbol No. SymbolNo.

Shell

2 1 8 6

Shell

SDB SDA RDB RDA FG FG

Connector: XM2A-0901 (OMRON) Connector Hood: XM2S-0911 (OMRON)

2 1 8 6

SDB SDA RDB RDA

Connector: XM2A-0901 (OMRON) Connector Hood XM2S-0911 (OMRON)

Cable: AWG282P UL2464

Chapter 2

2-111

Standard Models and Specifications

2-8 Parameter Unit Specifications

R7A-PR02A Hand-held Parameter Unit A Parameter Unit is required for setting parameters to operate and control the Servo Driver, for copying Servo Driver parameters, and for other func- tions. A 1-meter cable is provided with the Parameter Unit.

General Specifications

Performance Specifications

Item Standards Operating ambient temperature 0 to 55C Storage ambient temperature 20 to 85C Operating ambient humidity 90% max. (with no condensation)

Storage ambient humidity 90% max. (with no condensation)

Storage and operating atmo- sphere

No corrosive gasses.

Vibration resistance 10 to 55 Hz, 0.1-mm double amplitude or 9.8-m/s2 max. acceleration, whichever is smallest, in X, Y, and Z directions

Impact resistance 19.6-m/s2 max. acceleration three times each in X, Y, and Z directions

Model Standards Type Hand-held

Cable length 1 m

Connectors HR212-10P-8P (8 pins) (Hirose Electric)

Display 17-digit 5-segment LCD display

External dimensions 70 120 17.8 mm (W H D)

Weight Approx. 0.3 kg

Communications method Communications using a special protocol (baud rate: 19,200 bits/s)

SCROLL MODE/SET

DATA

RESET

JOG

RUN

DRIVER PR PR DRIVER

READ WRITE

R7APR02A PARAMETER UNIT

B.B INP VCMP

TGON REF POWER

Chapter 2

2-112

Standard Models and Specifications

Function Specifications Model Standards

Parameter setting Displaying and changing parameter settings

Monitor display Displaying all monitor data

Function Mode Executing functions

Alarm displays Displaying alarms

Parameter copying Reading and saving parameters from the Servo Driver to the Parameter Unit; writing parameters from the Parameter Unit to the Servo Driver; and comparing Servo Driver and Parameter Unit parameters.

Chapter 2

2-113

Standard Models and Specifications

2-9 External Regeneration Resistor Specifications

If the Servomotors regenerative energy is excessive, connect an External Regeneration Resistor.

Note 1. External Regeneration Resistors cannot be connected to Servo Drivers of between 30 to 200 W. Connection to a 400-W Servo Driver is usually not required. If the Servomotors regenerative energy is excessive, connect an External Regeneration Resistor between B1 and B2. For a 750-W Servo Driver, B2 and B3 are normally short-circuited. If the Servomotors re- generative energy is excessive, remove the short bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2.

Note 2. Refer to Surge Absorbers for External Regeneration Resistor selection details.

R88A-RR22047S External Regeneration Resistor

Specifications

External Dimensions All dimensions are in millimeters.

R88A-RR22047S External Regeneration Resistor

Model Resistance Nominal capacity

Regeneration absorption for 120C

temperature rise

Heat radiation condition

Thermal switch output

specifications R88A-RR22047S 47 5% 220 W 70 W t1.0 @350

(SPCC) Operating tem- perature: 170C3%, NC contact Rated output: 3 A

Thermal switch output

20

t1.2 200

220

230

6248

4. 2

6

500

1. 5

di a.

(0 .3

m m

2 )

3 di

a. (0

.7 5m

m 2 )

Chapter 2

2-114

Standard Models and Specifications

2-10 DC Reactors

Connect a DC Reactor to the Servo Drivers DC Reactor connection terminal as a harmonic current control measure. Select a model to match the Servo Driver being used.

R88A-PX@ DC Reactors

Specifications

External Dimensions

Servo Driver model DC Reactor Model Rated current (A) Inductance (mH) Weight (kg)

100 V R7D-APA3L/APA5L/AP01L R88A-PX5063 1.8 10.0 Approx. 0.6

R7D-AP02L R88A-PX5062 3.5 4.7 Approx. 0.9

R7D-AP04L R88A-PX5061 4.8 2.0 Approx. 0.5

200 V R7D-APA3H/APA5H/AP01H R88A-PX5071 0.85 40.0 Approx. 0.5

R7D-AP02H R88A-PX5070 1.65 20.0 Approx. 0.8

R7D-AP04H R88A-PX5069 3.3 10.0 Approx. 1.0

R7D-AP08H R88A-PX5061 4.8 2.0 Approx. 0.5

Model A B C D E F G H

R88A-PX5061 35 52 80 95 35 45 50 4

R88A-PX5062 40 59 100 120 40 50 55 4

R88A-PX5063 35 52 90 105 35 45 50 4

R88A-PX5069 40 59 105 125 45 60 65 4

R88A-PX5070 40 59 100 120 35 45 50 4

R88A-PX5071 35 52 80 95 30 40 45 4

Four, H dia.A

B

C D

E

F

G

Chapter 3

System Design and Installation

3-1 Installation Conditions

3-2 Wiring

3-3 Regenerative Energy Absorption

Chapter 3

3-2

System Design and Installation

Installation and Wiring Precautions

!Caution Do not step on or place a heavy object on the product. Doing so may result in injury.

!Caution Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product. Failure to observe this may result in fire.

!Caution Be sure to install the product in the correct direction. Not doing so may result in malfunction.

!Caution Provide the specified clearances between the Servo Driver and the control box or other devices. Not doing so may result in fire or malfunction.

!Caution Do not apply any strong impact. Doing so may result in malfunction.

!Caution Be sure to wire correctly and securely. Not doing so may result in motor runaway, injury, or malfunction.

!Caution Be sure that all the mounting screws, terminal screws, and cable connector screws are tightened to the torque specified in the relevant manuals. Incorrect tightening torque may result in malfunction.

!Caution Use crimp terminals for wiring. Do not connect bare stranded wires directly to ter- minals. Connection of bare stranded wires may result in burning.

!Caution Always use the power supply voltages specified in the this manual. An incorrect voltage may result in malfunctioning or burning.

!Caution Take appropriate measures to ensure that the specified power with the rated volt- age and frequency is supplied. Be particularly careful in places where the power supply is unstable. An incorrect power supply may result in malfunctioning.

!Caution Install external breakers and take other safety measures against short-circuiting in external wiring. Insufficient safety measures against short-circuiting may result in burning.

!Caution To avoid damage to the product, take appropriate and sufficient countermeasures when installing systems in the following locations:

Locations subject to static electricity or other sources of noise.

Locations subject to strong electromagnetic fields and magnetic fields.

Locations subject to possible exposure to radiation.

Locations close to power supply lines.

Chapter 3

3-3

System Design and Installation

3-1 Installation Conditions

3-1-1 Servo Drivers

Space around Drivers Install Servo Drivers according to the dimensions shown in the following illustration to ensure

proper heat dispersion and convection inside the panel. Also install a fan for circulation if Servo Drivers are installed side by side to prevent uneven temperatures from developing inside the panel.

Take the control cables connector direction into account when installing the Servo Drivers.

Mounting Direction Mount the Servo Drivers in a direction (perpendicular) such that the lettering for the model number, and so on, can be seen.

Operating Environment The environment in which Servo Drivers are operated must meet the following conditions.

Ambient operating temperature: 0 to 55C (Take into account temperature rises in the individual Servo Drivers themselves.)

Ambient operating humidity: 90% max. (with no condensation)

Atmosphere: No corrosive gases.

Ambient Temperature Servo Drivers should be operated in environments in which there is minimal temperature rise to

maintain a high level of reliability.

Temperature rise in any Unit installed in a closed space, such as a control box, will cause the Servo Drivers ambient temperature to rise. Use a fan or air conditioner to prevent the Servo Drivers ambi- ent temperature from exceeding 55C.

Servo Driver surface temperatures may rise to as much as 30C above the ambient temperature. Use heat-resistant materials for wiring, and keep separate any devices or wiring that are sensitive to heat.

50 mm min. 30 mm min.

Fan Fan

W = 10 mm min.

Side panel

S er

vo D

riv er

Air

Air

50 mm min.

W W

S er

vo D

riv er

S er

vo D

riv er

Chapter 3

3-4

System Design and Installation

The service life of a Servo Driver is largely determined by the temperature around the internal elec- trolytic capacitors. The service life of an electrolytic capacitor is affected by a drop in electrolytic vol- ume and an increase in internal resistance, which can result in overvoltage alarms, malfunctioning due to noise, and damage to individual elements. If a Servo Driver is always operated at the maxi- mum ambient temperature of 40C and at 80% of the rated torque, then a service life of approxi- mately 50,000 hours can be expected. A drop of 10C in the ambient temperature will double the expected service life.

Keeping Foreign Objects Out of Units Place a cover over the Units or take other preventative measures to prevent foreign objects, such as

drill filings, from getting into the Units during installation. Be sure to remove the cover after installa- tion is complete. If the cover is left on during operation, heat buildup may damage the Units.

Take measures during installation and operation to prevent foreign objects such as metal particles, oil, machining oil, dust, or water from getting inside of Servo Drivers.

3-1-2 Servomotors

Operating Environment The environment in which the Servomotor is operated must meet the following conditions. Operating the Servomotor outside of the following ranges may result in malfunction of the Servomotor.

Ambient operating temperature: 0 to +40C Ambient operating humidity: 20% to 80% (with no condensation)

Atmosphere: No corrosive gases.

Impact and Load The Servomotor is resistant to impacts of up to

98 m/s2. Do not subject it to heavy impacts or loads during transport, installation, or removal. When transporting it, hold onto the Servomotor itself, and do not hold onto the encoder, cable, or connector areas. Holding onto weaker areas such as these can damage the Servomotor.

Always use a pulley remover to remove pulleys, couplings, or other objects from the shaft.

Secure cables so that there is no impact or load placed on the cable connector areas.

Chapter 3

3-5

System Design and Installation

Connecting to Mechanical Systems The axial loads for Servomotors are specified in 2-

4-2 Performance Specifications. If an axial load greater than that specified is applied to a Servo- motor, it will reduce the service life of the motor bearings and may damage the motor shaft.

When connecting to a load, use couplings that can sufficiently absorb mechanical eccentricity and variation.

For spur gears, an extremely large radial load may be applied depending on the gear precision. Use spur gears with a high degree of accuracy (for example, JIS class 2: normal line pitch error of 6 m max. for a pitch circle diameter of 50 mm). If the gear precision is not adequate, allow backlash to ensure that no radial load is placed on the motor shaft.

Bevel gears will cause a load to be applied in the thrust direction depending on the structural preci- sion, the gear precision, and temperature changes. Provide appropriate backlash or take other measures to ensure that no thrust load is applied which exceeds specifications.

Do not put rubber packing on the flange surface. If the flange is mounted with rubber packing, the motor flange may separate due to the tightening strength.

When connecting to a V-belt or timing belt, consult the maker for belt selection and tension. A radial load twice the belt tension will be placed on the motor shaft. Do not allow a radial load exceeding specifications to be placed on the motor shaft due to belt tension. If an excessive radial load is applied, the motor shaft may be damaged. Set up the structure so that the radial load can be adjusted. A large radial load may also be applied as a result of belt vibration. Attach a brace and adjust Servo Driver gain so that belt vibration is minimized.

Water and Drip Resistance The enclosure ratings for the Servomotors are as follows:

3,000-r/min Cylinder-style Servomotors (30 to 750 W): IP55 (except for through-shaft parts)

3,000-r/min Flat-style Servomotors (100 W to 750 kW): IP55 (except for through-shaft parts)

Ball screw center line

Servomotor shaft center line

Shaft core displacement

Backlash

Adjust backlash by adjusting the distance between shafts.

Make moveable.

Bevel gear

Tension

Pulley for tension adjustment (Make adjustable.)Pulley

Belt

Chapter 3

3-6

System Design and Installation

Other Precautions Do not apply commercial power directly to the Servomotor. The Servomotors run on synchronous

AC and use permanent magnets. Applying commercial power directly will burn out the motor coils.

Take measures to prevent the shaft from rusting. The shafts are coated with anti-rust oil when shipped, but anti-rust oil or grease should also be applied when connecting the shaft to a load.

Absolutely do not remove the encoder cover or take the motor apart. The magnet and the encoder are aligned in the AC Servomotor. If they become misaligned, the motor will not operate.

3-1-3 Reduction Gears Installation Use only the specified combinations of Servomotors and reduction gears. Using a combination that

is not specified, or using in combination with another companys reductions gears or Servomotor may result in a reduction in the service life of the motor bearings.

The dimensions of the Servomotor mounting flange on the reduction gears differ for each Servomo- tor. Do not install reduction gears on a Servomotor other than the one specified.

Use a Servomotor with a straight shaft and without a key when installing reduction gears.

Install reduction gears on the Servomotor using the following procedure.

1. Remove the rubber cap and check that the set bolt is loose.

2. Insert the Servomotor shaft into the input shaft.

3. Tighten the Servomotor installation bolt according to the tightening torque specified in the follow- ing table.

4. Tighten the set bolt according to the tightening torque specified in the following table.

5. After tightening the set bolt, replace the rubber cap.

Servomotor installation bolt Tightening torque (Nm) M4 2.9 M5 5.8 M6 9.8 M8 19.6 M10 39.2

Set bolt Tightening torque (Nm) M3 1.0 to 1.5 M4 2.9 to 3.5

Input shaft

Rubber cap

Set bolt

Servomotor installation bolt

Chapter 3

3-7

System Design and Installation

Using Reduction Gears from Other Companies (Reference Information) If the system configuration requires that a SMARTSTEP A-series Motor be used in combination with a reduction gear from another company, select the reduction gear so that the loads on the motor shaft (i.e., both the radial and thrust loads) are with the allowable values. (Refer to 2-4-2 Performance Specifications for details on the allowable loads for motors.) Also, control the motor speed and output torque so that the allowable input speed and allowable input torque of the reduction gear is not exceeded.

Chapter 3

3-8

System Design and Installation

3-2 Wiring

3-2-1 Connecting Cable

This section shows the types of connecting cable used in a SMARTSTEP A-series system. The wide selection of cables provided for configuring a servo system using a Position Control Unit makes wiring simple.

Servo Driver Cable

CN3 (Communications Connector)

Computer Monitor Cable Analog Monitor Cable

Position Control Unit Cable

Servo Relay Unit Cable

Servo Relay Unit

Terminal Block Cable

Connector Terminal Block

Terminal Block Cable

General Control Cable and Control I/O Connector

Position Control Unit

DOS personal computers

CN1 (Control I/O Connector)

Parameter Unit

System Configuration

Servo Driver

Servomotor

MACHINE No.

RUN ERROR

SENS DATA

X Y Z U

NC413

CN1 CN2

A24

A1

B24

B1

0 1

2 3

4 5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

CN2 (Encoder Input Connector)

Servomotor Power Terminal

CJ1W-NC113/133 CJ1W-NC213/233 CJ1W-NC413/433 CS1W-NC113/133 CS1W-NC213/233 CS1W-NC413/433 C200HW-NC113 C200HW-NC213 C200HW-NC413 C500-NC113 C500-NC211 C200H-NC112 C200H-NC211

2

3

1

R7D-AP@

R7M-A@

5 6

CN4

Note: A 1-meter cable is provided with the Parameter Unit.

SCROLL MODE/SET

DATA

RESET

JOG

RUN

DRIVER PR PR DRIVER

READ WRITE

R7APR02A PARAMETER UNIT

B.B INP VCMP

TGON REF POWER

Position Control Unit with a pulse string output

SYSMAC PLC with pulse string output

CQM1-CPU43-V1 CQM1H-PLB21 CS1W-HCP22 CJ1M-CPU21/22/23

Single-axis Positioner with pulse string output

3F88M-DRT141

Note: If using a Servo Relay Unit that supports communications, a communications cable is required to connect the Servo Relay Unit’s communications port and the Programmable Controller’s Serial Communications Unit or Board.

R7A-PR02A

Computer Monitor Software

Controller

NEC PC98 notebook computer

Other Controllers

Flexible Motion Controller

FQM1-MMP21/22

Servomotor Cables 4

Integrated Cables Separate Cables

Power cable

Encoder cable

Note Use a robot cable if flexibility is required when using separate cables. (Refer to pages 2-51 and 2-52.)

Chapter 3

3-9

System Design and Installation

Selecting Connecting Cables

1. Servo Relay Unit Cables Select a Servo Relay Unit and Cable to match the Position Control Unit that is to be used.

Selecting Connecting Cables without Communications Support

Note 1. The empty boxes in the model numbers are for cable length. The Position Control Unit Cable length can be 0.5 or 1 meter long. (For example, XW2Z-050J-A3 is 0.5 meters long.) The Servo Driver cable length can be 1 or 2 meters long. (For example, XW2Z-100J-B5 is 1 meter long.)

Note 2. When 2-axis control is used with one Position Control Unit, two cables are required to the Servo Driver.

Position Control Unit Position Control Unit Cable Servo Relay Unit Servo Driver Cable CQM1-CPU43-V1 XW2Z-@@@J-A3 XW2B-20J6-3B XW2Z-@@@J-B5

CQM1H-PLB21

C200H-NC112 XW2Z-@@@J-A4 XW2B-20J6-1B

C200H-NC211 XW2Z-@@@J-A5 XW2B-40J6-2B

C500-NC113

C500-NC211

CS1W-NC113 XW2Z-@@@J-A8 XW2B-20J6-1B

C200HW-NC113

CS1W-NC213 XW2Z-@@@J-A9 XW2B-40J6-2B

CS1W-NC413

C200HW-NC213

C200HW-NC413

CS1W-NC133 XW2Z-@@@J-A12 XW2B-20J6-1B

CS1W-NC233 XW2Z-@@@J-A13 XW2B-40J6-2B

CS1W-NC433

CJ1W-NC113 XW2Z-@@@J-A16 XW2B-20J6-1B

CJ1W-NC213 XW2Z-@@@J-A17 XW2B-40J6-2B

CJ1W-NC413

CJ1W-NC133 XW2Z-@@@J-A20 XW2B-20J6-1B

CJ1W-NC233 XW2Z-@@@J-A21 XW2B-40J6-2B

CJ1W-NC433

CS1W-HCP22 XW2Z-@@@J-A22 (single-axis) XW2B-20J6-3B

XW2Z-@@@J-A23 (two-axis)

3F88M-DRT141 XW2Z-@@@J-A25 XW2B-20J6-1B

CJ1M-CPU21 XW2Z-@@@J-A26 XW2B-20J6-8A (1 axis) XW2B-40J6-9A (2 axes)CJ1M-CPU22

CJ1M-CPU23

Chapter 3

3-10

System Design and Installation

Selecting Connecting Cables with Communications Support

Note 1. The empty boxes in the model numbers are for cable length. The Position Control Unit cable length can be 0.5 or 1 meter long. (For example, XW2Z-050J-A9 is 0.5 meters long.) The Servo Driver cable length can be 1 or 2 meters long. (For example, XW2Z-100J-B7 is 1 meter long.)

Note 2. When 2-axis control is used with one Position Control Unit, two cables are required to the Servo Driver.

Note 3. When using the communications, an XW2Z-@@@J-C1 communications cable is required to connect the Servo Relay Units communications port and the Programmable Controller Se- rial Communications Unit or Board. The communications cable length can be 1 or 2 meters long. (For example, XW2Z-100J-C1 is 1 meter long.)

2. Connector-Terminal Block and Cables These cables are used for connecting to Controllers for which no special cable is provided. The cables and terminal block convert the Servo Drivers Control I/O Connector (CN1) signals to terminal block connections.

Position Control Unit Position Control Unit Cable Servo Relay Unit Servo Driver Cable CS1W-NC213 XW2Z-@@@J-A9 XW2B-40J6-4A XW2Z-@@@J-B7

CS1W-NC413

CS1W-NC233 XW2Z-@@@J-A13

CS1W-NC433

CJ1W-NC213 XW2Z-@@@J-A17

CJ1W-NC413

CJ1W-NC233 XW2Z-@@@J-A21

CJ1W-NC433

C200HW-NC213 XW2Z-@@@J-A9

C200HW-NC413

CS1W-HCP22-V1 XW2Z-@@@J-A32 XW2B-80J7-1A XW2Z-@@@J-B12

XW2Z-@@@J-A29

FQM1-MMP21 XW2Z-@@@J-A30 XW2Z-@@@J-B10

XW2Z-@@@J-A28

Connector Terminal Block Cable Remarks XW2B-40F5-P R88A-CTU@@@N The empty boxes in the model numbers are for

cable length. The cables can be 1 or 2 meters long. (For example, R88A-CTU002N is 2 meters long.)

Chapter 3

3-11

System Design and Installation

3. General Control Cables and Control I/O Connector These cables and connector are used for connecting to Controllers for which no special cable is pro- vided, and when the cable for the Servo Drivers control I/O connector is prepared by the user.

4. Servomotor Cables Servomotor Cables come in two types: Cables for Servomotors without brakes and Cables for Servo- motors with brakes. Select the Cable to match the Servomotor being used. Integrated Cables com- bine an encoder cable and power cable, or separate Power Cables and Encoder Cables are available.

One Power Cable and one Encoder Cable are required if separate cables are used.

Separate cables are also available with robot cables. Use a robot cable if cable flexibility is required.

Integrated Cables

Separate Cables

Power Cables

Name Cable Remarks General Control Cable R88A-CPU@@@S The cable is attached to a connector that con-

nects to the Control I/O Connector (CN1). The empty boxes in the model numbers are for cable length. The cables can be 1 or 2 meters long. (For example, R88A-CPU001S is 1 meter long.)

Control I/O Connector R88A-CNU01C This is the connector for connecting to the Con- trol I/O Connector (CN1). (This item is a con- nector only.)

Specifications Cable model number Remarks Cable for Servomotors with- out brakes (both Cylinder- style and Flat-style)

R7A-CEA@@@S Insert the cable length in the @@@ of the model number. There are five cable lengths: 3 m, 5 m, 10 m, 15 m, and 20 m. (Model number exam- ple: R7A-CEA003S for a 3-m cable)Cable for Servomotors with

brakes (both Cylinder-style and Flat-style)

R7A-CEA@@@B

Specifications Cable model number Remarks Cable for Servomotors with- out brakes (both Cylinder- style and Flat-style)

R88A-CAWA@@@S Insert the cable length in the @@@ of the model number. There are five cable lengths: 3 m, 5 m, 10 m, 15 m, and 20 m. (Model number exam- ple: R88A-CAWA003S for a 3-m cable)Cable for Servomotors with

brakes (both Cylinder-style and Flat-style)

R88A-CAWA@@@B

Robot Cable for Servomotors without brakes (both Cylin- der-style and Flat-style)

R88A-CAWA@@@SR Insert the cable length in the @@@ of the model number. There are five cable lengths: 3 m, 5 m, 10 m, 15 m, and 20 m. (Model number exam- ple: R88A-CAWA003SR for a 3-m cable) Use a Robot Cable if cable flexibility is required.

Robot Cable for Servomotors with brakes (both Cylinder- style and Flat-style)

R88A-CAWA@@@BR

Chapter 3

3-12

System Design and Installation

Encoder Cables

5. Computer Monitor Cable A Computer Monitor Cable and the Computer Monitor Software for Servo Drivers (run on Windows) are required to make Servo Driver parameter settings and perform monitoring from a personal com- puter.

6. Analog Monitor Cable This is the cable for connecting to the Servo Drivers analog monitor connector (CN4). It is required for connecting analog monitor outputs to an external device (such as a measuring instrument).

Specifications Cable model number Remarks Cable for Servomotors with or without brakes (both Cylin- der-style and Flat-style)

R7A-CRA@@@C Insert the cable length in the @@@@ of the model number. There are five cable lengths: 3 m, 5 m, 10 m, 15 m, and 20 m. (Model number example: R7A-CRA003C for a 3-m cable)

Robot Cable for Servomotors with or without brakes (both Cylinder-style and Flat-style)

R7A-CRA@@@CR Insert the cable length in the @@@@ of the model number. There are four cable lengths: 3 m, 5 m, 15 m, and 20 m. (Model number exam- ple: R7A-CRA003CR for a 3-m cable) Use a Robot Cable if cable flexibility is required.

Name/specifications Model Remarks Computer Monitor Cable

For DOS personal computers

2 m R7A-CCA002P2 Only 2-meter cables are available.

NEC PC98 note- book computer

2 m R7A-CCA002P3 Only 2-meter cables are available.

Name/specifications Model Remarks Analog Monitor Cable 1 m R88A-CMW001S Only 1-meter cables are available.

Chapter 3

3-13

System Design and Installation

3-2-2 Peripheral Device Connection Examples

Single-phase Input: R7D-APA3L; R7D-APA5L; R7D-AP01L; R7D-AP02L; R7D-AP04L; R7D-APA3H; R7D-APA5H; R7D-AP01H; R7D-AP02H; R7D-AP04H; and R7D-AP08H

Single-phase 100/115 V AC, 50/60 Hz: R7D-AP@@L Single-phase 200/230 V AC, 50/60 Hz: R7D-AP@@H

Noise filter (See note 1.)

Main-circuit power supply Main-circuit contactor (See note 1.)

Surge killer (See note 1.)

Servo error display

Class D ground (Class 3 ground: 100 or less)

Class D ground (Class 3 ground: 100 or less)

User control device

Control cable

DC Reactor

Note 1. Recommended product in 3-2-4 Wiring for Noise Resistance. 2. Recommended relay: MY Relay (24 V), by OMRON.

3. For 400-W and 750-W Servo Drivers, an R88A-RR22047S External Regeneration Resistor may be connected. Connect if the regenerative energy exceeds the individual Servo Driver’s regenerative capacity. Also, connect a thermal switch output so that

the power supply will be turned OFF when open. 4. If an External Regeneration Resistor is to be connected to a 750-W

Servo Driver, remove the short bar between B2 and B3. 5. When either the main-circuit power supply or the control circuit

power supply is OFF, the dynamic brake will operate.

R T

NFB

1 2

3 4

E NF

OFF

X

ON

1MC X

1MC

PL

L1

L2

L1C

L2C

SMARTSTEP A-series Servo Driver

1MC

CN1

X

SMARTSTEP A-series Servomotor

W

V

U

B

E

M

CN2

Servomotor cable

24 V DC

XB

+ 1

+ 2

B1

B2

External Regeneration Resistor

(See note 3.)

B3

ALMCOM

ALM34

35

X 24 V DC

CN1

(See note 2.) OGND

BKIR7

10 24 V DC

CN1

XB

(See note 4.)

Chapter 3

3-14

System Design and Installation

Three-phase Input: R7D-AP08H

Three-phase 200/230 V AC, 50/60 Hz

Noise filter (See note 1.)

Main-circuit power supply Main-circuit contactor (See note 2.)

Surge killer (See note 2.)

Servo error display

Class D ground (Class 3 ground: 100 or less)

Class D ground (Class 3 ground: 100 or less)

User control device

Control cable

DC Reactor

Note 1. Recommended product in 3-2-4 Wiring for Noise Resistance.

2. Recommended relay: MY Relay (24 V), by OMRON. 3. An R88A-RR22047S External Regeneration Resistor may be connected.

Connect if the regenerative energy exceeds the individual Servo Driver’s regenerative capacity. Also, connect the thermal switch output so that the power supply will be turned OFF when open.

4. If an External Regeneration Resistor is to be connected, remove the short bar between B2 and B3.

5. When either the main-circuit power supply or the control-circuit power supply is OFF, the dynamic brake will operate.

SMARTSTEP A-series Servo Driver SMARTSTEP A-series Servomotor

R T

NFB

S

1 2 3

4 5 6

E NF

OFF

X

ON

1MC X

1MC

PL

L1

L2

1MC

W

V

U

B

E

M

CN2

Servomotor cable

24 V DC

XB

CN1

X

ALMCOM

ALM34

35

X 24 V DC

CN1

(See note 2.) OGND

BKIR7

10 24 V DC

CN1

XB

L1C

L3

L2C

1

2

B1

B2

B3 (See note 4.)

External Regeneration Resistor

(See note 3.)

+

+

Chapter 3

3-15

System Design and Installation

3-2-3 Terminal Block Wiring

When wiring a Terminal Block, pay attention to wire sizes, grounding systems, and anti- noise measures.

Terminal Block Names and Functions Terminal

label Name Function