Read and Understand this Catalog Please read and understand this catalog before purchasing the product. Please consult your OMRON representative if you have any questions or comments. Warranty and Limitations of Liability WARRANTY OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON-INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED. -series AC Servomotors/Servodrivers Series now includes 1,500-r/min Servomotors. Servodrivers now available with capacities of up to 15 kW. 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 the product in the customer's application or use of the product. Take all necessary steps to determine the suitability of the product for the systems, machines, and equipment with which it will be used. Know and observe all prohibitions of use applicable to this product. NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT IS PROPERLY RATED AND 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. Consult with your OMRON representative at any time to confirm actual specifications of purchased product. DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown. PERFORMANCE DATA Performance data given in this catalog is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability. Note: Do not use this document to operate the Unit. OMRON Corporation Industrial Automation Company Control Devices Division H.Q. Shiokoji Horikawa, Shimogyo-ku, Kyoto, 600-8530 Japan Tel:(81)75-344-7109 Fax:(81)75-344-7149 Regional Headquarters OMRON EUROPE B.V. Wegalaan 67-69, NL-2132 JD Hoofddorp The Netherlands Tel:(31)2356-81-300/ Fax:(31)2356-81-388 OMRON ELECTRONICS LLC 1 East Commerce Drive, Schaumburg, IL 60173 U.S.A. Tel:(1)847-843-7900/Fax: (1)847-843-8568 Printed on 100% Recycled Paper Authorized Distributor: OMRON ASIA PACIFIC PTE. LTD. 83 Clemenceau Avenue, #11-01, UE Square, Singapore 239920 Tel:(65)6835-3011/Fax : (65)6835-2711 OMRON (CHINA) CO., LTD. Room 2211, Bank of China Tower, 200 Yin Cheng Zhong Road, PuDong New Area, Shanghai, 200120 China Tel:(86)21-5037-2222/Fax:(86)21-5037-2200 Note: Specifications subject to change without notice. Cat. No. I805-E1-06 Printed in Japan 0407-0.2M The advanced W Series of Servomotores and Servodrivers are loaded with functions. They can also be connected to DeviceNet networks, allowing easier distributed control and information management. The OMNUC W Series provides the per formance demanded in today's workplace. Their fast response, high speed, and pr ecise control will dramatically improve machine performance and pro ductivity. Dramatically improved basic performance. To realize the productivity improvements demanded of equipment today, you have to maximize the equipment's performance with the best possible control. The OMNUC W-series CPU operation time has been cut in half and the settling time has been slashed to one-third compared to the OMNUC U Series. These improvements and others, such as upgraded control algorithms, have helped to dramatically improve basic performance. Contents Features Servomotor/Servodriver Combinations Servomotor and Reduction Gear Combinations System Configuration Controllers Servomotor Specifications Servodriver Specifications External Dimensions Cable Specifications Operation and Display User Parameters Connection Diagrams Terminal Blocks and Connectors Ordering Information DeviceNet Option Unit 2 6 10 12 14 16 26 29 46 50 53 62 64 67 76 This catalog provides information and specifications needed to select Servomotors and Servodrivers. It does not provide precautions for operating these products. Always refer to the OMNUC W-series AC Servomotors/Servodriver User's Manual for precautions and other information before operating these products. More variety to suit different applications. The OMNUC W Series has a wide range of variations to help build the ideal system. Space-saving flat Servomotors, water-resistant IP67-compatible Servomotors, and Servomotors with gears are all available even with capacities over 1 kW, which could not be handled with earlier models. Of course, absolute encoder compatibility and braking are still available and the Servomotors conform to safety standards, such as CE and UL/cUL. The built-in online autotuning function is effective in applications with machinery that has variable loads. The autotuning function makes it easy to adjust parameters, even for users operating a Servomotor for the first time. Improve productivity even more by connecting to a PLC. Even more advanced control and system configurations can be achieved by connecting to an OMRON Position Control Unit (such as a CS1W-NC ) or Motion Control Unit (such as a CS1-MC ) mounted to an OMRON PLC. Debugging can be performed using convenient Windows-based tools. For smaller scale systems, it is possible to connect to a compact or micro OMRON PLC. Compatible with the open field network DeviceNet. 2 60 to 70 % of U Series. A DeviceNet Option Unit is also available. As a Position Control Unit, it can be connected directly to an OMNUC W-series Servodriver, and is equipped with communications functions for DeviceNet. This means that parameters can be set, the operating status can be monitored, and faults can be predicted from a PLC up to 500 m away. 3 The OMNUC W Series provides high performanc e and a multitude of functions. They are easy-to-use and the full line-up of variations can be used in a wide range of applica tions. New Additions The Series has been expanded to include 1,500-r/min Servomotors (for both incremental and absolute encoders) with capacities ranging from 450 W to 15 kW and Servodrivers with capacities of 7.5 kW and 15 kW. Reduced Settling Time Comprehensive Motor Line Conformance to International Standards A full line of variations is available, including motors with brakes, motors with gears, and flat-profile motors. Also, three different rated motor speeds are available: 3,000 r/min, 1,500 r/min, and 1,000 r/min. The wide variety allows you to choose the best model for your application. The W-series Servomotors and Servodrivers can be exported and used overseas because they conform to UL/cUL standards. Environmentally Resistant Models Enclosures can conform to IP67 standards (possible for flatprofile motors, 3,000-r/min motors with capacities of 1 kW or more, 1,000-r/min motors, and 1,500-r/min motors). These motors are ideal for applications where waterproofing is required. Vibration-suppression has been improved with upgraded control algorithms. Even with low-rigidity machinery, the upgraded vibration-suppression can slash the settling time to 1/3 the time required in the U Series. High-speed, High-precision Drive Countermeasures Against Power Supply Harmonics A maximum speed of 5,000 r/min has been achieved in most models. Positioning precision can be improved by using a high-resolution serial encoder (16,384 pulses/revolution or 32,768 pulses/revolution). Torque control precision (reproducibility) has also been improved to -2%. A DC reactor connection terminal is provided. Smooth Operation Motor speed ripple has been reduced substantially. Operation is smooth at low speeds. Simple Replacement of OMRON Servomotors OMRON S-, R-, H-, V-, and M-series Servomotors can now be replaced with W-series Servomotors. Built-in Parameter Setting Device Parameters can be input directly from the Servodriver. Reduced Wiring When a serial encoder is used, the number of encoder signal wires is 1/2 of earlier models. Absolute encoder: Wires reduced from 15 to just 7. Incremental encoder: Wires reduced from 9 to just 5. Separate Main and Control Power Supplies The main and control power supplies have been separated completely. If an alarm occurs, the alarm code can be read and the appropriate countermeasures can be taken even with the main power supply turned OFF for safety. Compatible with Long Cables Unlike conventional models, long power cables and encoder cables (up to 70 m) can be used. All-in-one Control Automatic Motor Discrimination Function The Servodriver automatically determines the Servomotor's capacity and model and sets the motor parameters accordingly. Personal Computer Monitoring Software Online Autotuning Automatically measures machine characteristics and sets required servo gains. Settings can be made quickly even by first-time users. 4 Windows-based monitoring software is available. The software can be used to easily perform tasks such as setting up the system, monitoring operation, and editing parameters. Of course the U-series models (including the UE models) can be connected, too. Torque, position, and speed control can be achieved just by switching parameters. Regenerative Resistance Terminals Standard External regenerative resistance terminals are standard equipment, so regenerative resistance can be connected very easily. Trace Function When trigger conditions are satisfied, up to two analog elements and two ON/OFF elements can be recorded in the DeviceNet Option Unit and read from the PLC. Monitor Item Reading Function The contents of AC Servodriver monitor display can be read from the PLC. Parameter Reading/Writing Function Parameters can be checked from the PLC using DeviceNet communications, and reading/writing performed according to the operating status. Note: If the DeviceNet Option Unit is mounted to an AC Servodriver, the AC Servodriver will automatically be set to operate in position control mode. No other operating mode can be used. 5 Servomotor/Servodriver Combinations Servomotor/Servodriver Combinations Choose the Servomotor/Servodriver for Each Application to Maximize Performance R88M Servomotors Style Cylinder style Rated speed Capacity 3,000 r/min. 30 W (5,000 r/min.) 50 W International standards CE, UL/cUL Approved 100 W Shaft end (without reduction gear) Straight With key With key and tap Straight with tap R88D Servodrivers Enclosure rating 100 V 200 V Single phase WTA3HL WTA3H --IP55 (excluding WTA5HL WTA5H --shaft opening) WT01HL WT01H --- 200 W WT02HL WT02H --- 400 W --- WT04H --- 750 W --- WT08H WT08H (See note.) --- WT15H 2 kW --IP67 (excluding --shaft opening) --- --- WT20H 3 kW --- --- WT30H 4 kW --- --- WT50H 5 kW --- --- WT50H --- WT05H --- WT10H 1.3 kW --IP67 (excluding --shaft opening) --- --- WT15H 1.8 kW --- --- WT20H 2.9 kW --- --- WT30H 4.4 kW --- --- WT50H 5.5 kW --- --- WT60H 7.5 kW --- --- WT75H 1,500 r/min. 11 kW (2,000 r/min.) 15 kW --- --- WT150H WT150H 1 kW With key and tap Straight 1.5 kW 1,500 r/min. 450 W (3,000 r/min.) 850 W Approved With key and tap Straight --- --- ----- WT05H --- WT08H 900 W --- WT10H 1.2 kW --- --- WT15H 2 kW --- --- WT20H 3 kW --- --- WT30H 4 kW --- --- WT50H 5.5 kW --- --- WT60H Flat style 3,000 r/min. 100 W (5,000 r/min.) 200 W 400 W 750 W 1.5 kW Approved Approved With key and tap Straight Straight With key With key and tap Straight with tap IP55 (excluding shaft opening) IP67 (including shaft opening) Low-inertia machines Machines with fast tact times (Robots, Assembly machines, Conveyance machines) WT10H --IP67 (excluding --shaft opening) --- 1,000 r/min. 300 W (2,000 r/min.) 600 W Application 200 V Three phase WT01HL WT01H --WT02HL WT02H ----- WT04H --- --- WT08H WT08H (See note.) --- --- WT15H Machines requiring high torque (Simple processing machines, Assembly machines, Transfer machines) Machines requiring high torque (Simple processing machines, Assembly machines, Transfer machines) Machines allowing little motor depth Machines requiring waterproof motor (Semiconductormanufacturing machines, Food-processing machines, AGVs) Note: When using a 200-V single-phase Servomotor, it is necessary to change part of the power supply wiring. Refer to the relevant connection diagram for details. The power supply specification is 220 to 230 VAC (+10%/-15%). 6 Servomotor/Servodriver Combinations Available Models AC Servodrivers R88D-WT@@H@ 1 23 4 5 6 Part Item Code Specification 1 R88D indicates the product is a Servodriver. 2 Series W W-series 3 Input signal T Analog or pulse-train input 4 Max. output capacity A3 30 W 5 --- 6 Power supply A5 50 W 01 100 W 02 200 W 04 400 W 05 500 W 08 750 W 10 1 kW 15 1.5 kW 20 2 kW 30 3 kW 50 5 kW 60 6 kW 75 7.5 kW 150 15 kW H --- Blank 200 VAC L 100 VAC 7 Servomotor/Servodriver Combinations AC Servomotors (Without Reduction Gear) AC Servomotors (With Reduction Gear) R88M-W@@@@@@@-@@@@ R88M-W@@@@@@@-@G@@@@ 1 Part 2 3 4 Item 5 6 7 8 9 Code 1 Specification 2 3 Part 4 Item 5 6 7 8 9 10 Code Specification 1 R88M indicates the product is a Servomotor. 1 2 Series W 2 Series W W-series 3 Style Blank Cylinder style 3 Style Blank Cylinder style P Flat style 4 5 6 7 W-series P Flat style Motor capacity 030 30 W 100 100 W 1K0 1 kW Speed 10 1000 r/min. 15 30 Motor pow- H er supply L specificaT tions S Brake Motor capacity 030 100 30 W 100 W 1K0 1 kW 10 1000 r/min. 1500 r/min. 15 1500 r/min. 3000 r/min. 30 3000 r/min. H 200 VAC, incremental encoder L 100 VAC, incremental encoder T 200 VAC, absolute encoder S 100 VAC, absolute encoder Blank No brake B 24-VDC brake 200 VAC, incremental encoder 5 6 100 VAC, incremental encoder 200 VAC, absolute encoder Speed Motor power supply specifications 100 VAC, absolute encoder Blank No brake B 4 R88M indicates the product is a Servomotor. 7 Brake 24-VDC brake 8 Waterproof/ Blank No additional specifications oil seal O With oil seal specificaW Waterproof tions 8 Gear ratio (See G05 to G05: 1/5, G09: 1/9, G11: 1/11, note.) G45 G15: 1/15, G20: 1/20, G21: 1/21, G25: 1/25, G29: 1/29, G33: 1/33, G45: 1/45 9 Shaft end 9 Backlash Blank Straight S1 With key S2 With key and tap S3 Straight with tap Note: Waterproof specifications are available for only flat-style motors. 8 10 B 3 minutes max. C About 45 minutes Brake shaft end Blank J Straight With key Note: Not all motors can be combined with a reduction gear. See "Servomotor and Reduction Gear Combinations" on page 10 for more details. Servomotor/Servodriver Combinations Servomotor Combinations (Models without Reduction Gears) R88M-W@@@@@@@-@@@@ 3 4 5 3 4 5 Type Capacity Rotation speed Cylin- 30 W der 50 W Flat 3,000 r/min 6 7 8 9 Basic model 6 7 8 9 Motor power supply specification With/without brake Wateproof/oil seal specifications Shaft shape H L T S R88M-W03030 Yes Yes Yes Yes Yes Blank Yes B Yes Blank Yes O W Yes Blank Yes S1 Yes S2 Yes S3 R88M-W05030 Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes 100 W R88M-W10030 Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes 200 W R88M-W20030 Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes 400 W R88M-W40030 Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes 750 W R88M-W75030 Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes 1 kW R88M-W1K030 Yes Yes Yes Yes Yes Yes Yes Yes 1.5 kW R88M-W1K530 Yes Yes Yes Yes Yes Yes Yes Yes 2 kW R88M-W2K030 Yes Yes Yes Yes Yes Yes Yes Yes 3 kW R88M-W3K030 Yes Yes Yes Yes Yes Yes Yes Yes 4 kW R88M-W4K030 Yes Yes Yes Yes Yes Yes Yes Yes 5 kW R88M-W5K030 Yes Yes Yes Yes Yes Yes Yes Yes 450 W 1,500 850 W r/min R88M-W45015 Yes Yes Yes Yes Yes Yes Yes R88M-W85015 Yes Yes Yes Yes Yes Yes Yes 1.3 kW R88M-W1K315 Yes Yes Yes Yes Yes Yes Yes 1.8 kW R88M-W1K815 Yes Yes Yes Yes Yes Yes Yes 2.9 kW R88M-W2K915 Yes Yes Yes Yes Yes Yes Yes 4.4 kW R88M-W4K415 Yes Yes Yes Yes Yes Yes Yes 5.5 kW R88M-W5K515 Yes Yes Yes Yes Yes Yes Yes 7.5 kW R88M-W7K515 Yes Yes Yes Yes Yes Yes Yes 11 kW R88M-W11K015 Yes Yes Yes Yes Yes Yes Yes 15 kW R88M-W15K015 Yes Yes Yes Yes Yes Yes Yes 300 W 1,000 600 W r/min R88M-W30010 Yes Yes Yes Yes Yes Yes Yes Yes R88M-W60010 Yes Yes Yes Yes Yes Yes Yes Yes 900 W R88M-W90010 Yes Yes Yes Yes Yes Yes Yes Yes 1.2 kW R88M-W1K210 Yes Yes Yes Yes Yes Yes Yes Yes 2 kW R88M-W2K010 Yes Yes Yes Yes Yes Yes Yes Yes 3 kW R88M-W3K010 Yes Yes Yes Yes Yes Yes Yes Yes 4 kW R88M-W4K010 Yes Yes Yes Yes Yes Yes Yes Yes 5.5 kW R88M-W5K510 Yes Yes Yes Yes Yes Yes Yes 100 W 3,000 200 W r/min R88M-WP10030 Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes R88M-WP20030 Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes 400 W R88M-WP40030 Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes 750 W R88M-WP75030 Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes 1.5 kW R88M-WP1K530 Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Note: 1,500-r/min motors are equipped with absolute encoders only. (These encoders can, however, be used as incremental encoders.) 9 Servomotor and Reduction Gear Combinations Servomotor and Reduction Gear Combinations How to Use the Servomotor Combination Tables Use the table on the right, Motor and Reduction Gear Combinations, to check whether or not the desired combination is possible. Next, check the configuration details using the table for the corresponding Servomotor category. * The model numbers are basically configured with the motor capacity (1) and the gear ratio option specification (2). Motor and Reduction Gear Combinations R88M-W@-@ 1 2 * The meanings of the symbols used in the tables are as follows: @ Blank: Without brake B: With brake Motor type Capacity Reduction gear type Standard (Backlash: 30' max.) Blank: Straight shaft J: With key Cylinder-style motor (3,000 r/min) 30 W to 750 W Yes 1 kW to 5 kW Yes H: L: T: S: 200 VAC with incremental encoder 100 VAC with incremental encoder 200 VAC with absolute encoder 100 VAC with absolute encoder Cylinder-style motor (1,500 r/min) 450 W to 15 kW Yes Cylinder-style motor (1,000 r/min) 300 W to 5.5 kW Yes Flat-style motor 200 VAC with incremental encoder 200 VAC with absolute encoder 100 W to 750 W Yes H: T: 1.5 kW Yes Standalone Reduction Gear (See note 1.) Economy (Backlash: Approx. 45') Standard (Backlash: 30' max.) Yes Yes Yes Yes Note: 1. The SMARTSTEP Reduction Gear (backlash: 3 min max.) can be combined with the 3,000-r/min, 50- to 750-W motor. The actual installation work to combine the Reduction Gear and Servomotor should be done by the customer. 2. "Yes" represents compatible combinations. Any combinations without "Yes" cannot be used. 30-W to 750-W Cylinder-style Motors (3,000 r/min) Motor Basic model capacity Reduction gear ratio 1/5 1/9 1/11 1/21 1/33 -@G05B -@G09B -@G11B -@G21B -@G33B 1-kW to 5-kW Cylinder-style Motors (3,000 r/min) Motor capacity Basic model Reduction gear ratio 1/5 1/9 1/20 1/29 1/45 -@G05BJ -@G09BJ -@G20BJ -@G29BJ -@G45BJ 30 W R88MW03030-@ Yes Yes Yes Yes 1 kW R88MW1K030-@ Yes Yes Yes Yes Yes 50 W R88MW05030-@ Yes Yes Yes Yes 1.5 kW R88MW1K030-@ Yes Yes Yes Yes Yes 100 W R88MW10030-@ Yes Yes Yes Yes 2 kW R88MW2K030-@ Yes Yes Yes Yes Yes 200 W R88MW20030-@ Yes Yes Yes Yes 3 kW R88MW3K030-@ Yes Yes Yes Yes Yes 400 W R88MYes W40030-@ Yes Yes Yes 4 kW R88MW4K030-@ Yes Yes Yes Yes 750 W R88MYes W75030-@ Yes Yes Yes 5 kW R88MW5K030-@ Yes Yes Yes Note: "Yes" represents compatible combinations. Any combinations without "Yes" cannot be used. Economy Reduction Gears (Backlash: Approx. 45') Motor capacity Basic model 30 W R88M-W03030-@ 50 W R88M-W05030-@ Reduction gear ratio 1/5 1/9 1/15 1/25 -@G05CJ -@G09CJ -@G15CJ -@G25CJ 100 W R88M-W10030-@ Yes Yes Yes Yes 200 W R88M-W20030-@ Yes Yes Yes Yes 400 W R88M-W40030-@ Yes Yes Yes Yes 750 W R88M-W75030-@ Yes Yes Yes Yes Note: 1. "Yes" represents compatible combinations. Any combinations without "Yes" cannot be used. 2. These reduction gears can be attached to only shafts with key. 10 Note: 1. "Yes" represents compatible combinations. Any combinations without "Yes" cannot be used. 2. These reduction gears can be attached to only shafts with key. Servomotor and Reduction Gear Combinations 100-W to 1.5-kW Flat-style Motors (3,000 r/min) 300-W to 5.5-kW Cylinder-style Motors (1,000 r/min) Standard Reduction Gears (Backlash: 3' max.) Motor capacity Basic model Reduction gear ratio 1/5 1/9 1/20 1/29 1/45 -@G05BJ -@G09BJ -@G20BJ -@G29BJ -@G45BJ Motor capacity Basic model Reduction gear ratio 300 W R88M-W30010-@ Yes Yes Yes Yes Yes 600 W R88M-W60010-@ Yes Yes Yes Yes Yes -@G05B -@G11B -@G21B -@G33B 900 W R88M-W90010-@ Yes Yes Yes Yes Yes 1/5 1/11 1/21 1/33 100 W R88M-WP10030-@ Yes Yes Yes Yes 1.2 kW R88M-W1K210-@ Yes Yes Yes 200 W R88M-WP20030-@ Yes Yes Yes Yes 2 kW R88M-W2K010-@ Yes Yes Yes 400 W R88M-WP40030-@ Yes Yes Yes Yes 3 kW R88M-W3K010-@ Yes Yes 750 W R88M-WP75030-@ Yes Yes Yes Yes 4 kW R88M-W4K010-@ 1.5 kW R88M-WP1K530-@ Yes Yes Yes Yes 5.5 kW R88M-W5K510-@ Note: "Yes" represents compatible combinations. Note: 1. "Yes" represents compatible combinations. Any combinations without "Yes" cannot be used. 2. These reduction gears can be attached to only shafts with key. Economy Reduction Gears (Backlash: Approx. 45') Motor capacity Basic model Reduction gear ratio 1/5 1/9 1/15 1/25 -@G05CJ -@G09CJ -@G15CJ -@G25CJ 100 W R88M-WP10030-@ Yes Yes Yes Yes 200 W R88M-WP20030-@ Yes Yes Yes Yes 400 W R88M-WP40030-@ Yes Yes Yes Yes 750 W R88M-WP75030-@ Yes Yes Yes Yes 1.5 kW R88M-WP1K530-@ Note: 1. "Yes" represents compatible combinations. Any combinations without "Yes" cannot be used. 2. These reduction gears can be attached to only shafts with key. 450-W to 15-kW Cylinder-style Motors (1,500 r/min) Motor capacity Basic model Reduction gear ratio 1/5 1/9 1/20 1/29 1/45 -@G05BJ -@G09BJ -@G20BJ -@G29BJ -@G45BJ 450 W R88MW45015-@ Yes Yes Yes Yes Yes 850 W R88MW85015-@ Yes Yes Yes Yes Yes 1.3 kW R88MW1K315-@ Yes Yes Yes Yes Yes 1.8 kW R88MW1K815-@ Yes Yes Yes Yes 2.9 kW R88MW2K915-@ Yes Yes Yes 4.4 kW R88MW4K415-@ Yes Yes 5.5 kW R88MW5K515-@ 7.5 kW R88MW7K515-@ 11 kW R88MW11K015-@ 15 kW R88MW15K015-@ Note: 1. "Yes" represents compatible combinations. Any combinations without "Yes" cannot be used. 2. These reduction gears can be attached to only shafts with key. 3. The motors are equipped with absolute encoders only. (These encoders can, however, be used as incremental encoders.) 11 System Configuration System Configuration Flexible System Configuration That Can Be Matched to the Application Controllers DeviceNet Unit DeviceNet CJ-series PLC CJ1W-DRM21 Analog Commands Feedback Signals MC Unit Cable CS1W-DRM21-V1 CS-series PLC R88A-CPW@@@M@ (See note.) Motion Control (MC) Unit Note: Refer to page 48 for details on available models. CS1W-MC221-V1/ 421-V1 CJ1W-MCH71 CS1W-MCH71 MECHATROLINK-II (See note.) Position Control (NC) Unit Pulse-train Commands Servodriver Cable XW2Z-@@@J-B4 (See note.) CJ1W-NCF71 CJ1W-NC113/213/413 CJ1W-NC133/233/433 CS1W-NC113/213/413 CS1W-NC133/233/433 Servo Relay Unit XW2B-@@J6-@B (See note.) HCP22 RUN ERC OPN ERH COMM IN 0 1 2 3 4 5 6 7 8 9 10 11 OUT 0 1 2 3 4 5 6 7 32 1 09 32 1 X101 65 4 OFF 87 87 09 TOOL ON 65 4 MACH No. X100 A1 B1 A2 B2 1 PERIPHE RAL 12 CN2 CN1 1 B 00906 SYSMAC CJ1M 20 A A B CS1W-HCP22-V1 Customizable Counter Unit Position Control Unit Cable XW2Z-@@@J-A@ (See note.) SYSMAC CPM2A 12 SYSMAC CPM2C 3F88M-DRT141 Single-axis Positioner Note: Refer to page 48 for details on available models. System Configuration AC Servodrivers DeviceNet Option Unit AC Servomotors MECHATROLINK-II Interface Unit NCW152 3 4 5 2 6 7 81 X 10 3 4 5 2 6 7 81 X 1 3 4 5 2 6 7 D R 81 C N 11 Power Cables (See note.) M S N S C N 6 C N 4 R88A-NCW152-DRT Yaskawa model number JUSP-NS115 (OMRON ordering model number FNY-NS115) (See note.) For motors without brake: R88A-CAW@@@@S For motors with brake: R88A-CAW@@@@B R88M-W03030L Note: Use the OMRON ordering model number (FNY-NS115) when ordering. The product is marked only with the Yaskawa model number (JUSP-NS115). Note: Refer to page 48 for details on available models. Power Signals R88M-W75030T-B Feedback Signals Encoder Cables (See note.) R88A-CRWA@@@C For cylinder-style motors (3,000 r/min): 30 W to 75 W R88D-WTA3HL R88D-WT08H R88A-CRWB@@@N For cylinder-style motors (3,000 r/min): 1 kW to 5 kW R88M-WP75030H For cylinder-style motors (1,000 r/min): 300 W to 5.5 kW For cylinder-style motors (1,500 r/min): 450 W to 15 kW Note: Refer to page 48 for details on available models. R88M-W3K030H R88D-WT30H R88D-WT60H Note: The illustrations shown here are examples only. Note: The illustrations shown here are examples only. 13 Controllers Controllers Combining the Servodriver with a Controller from Simple Positioning Can Improve Machine Productivity to Advanced Positioning Position Control (NC) Units Perform simple positioning just by writing position data from the CPU Unit. * The Position Control Unit can respond to commands from the CPU Unit and produce a pulse output at high speed (2 ms when using the CS1W-NC or CJ1W-NC.) * To suppress machine vibration, an S-shape curve can be specified for the acceleration/deceleration curve instead of a trapezoidal curve. * When the CS1W-NC or CJ1W-NC is being used, the Unit's data and parameters can be created and stored easily using the Windows-based WS02-NCTC1-E Support Software. * Position data can be stored in the Position Control Unit's flash memory, which eliminates the need to periodically replace the backup battery. CJ1W-NC113/213/413 CJ1W-NC133/233/433 Input CS1W-NC113/213/413 CS1W-NC133/233/433 C200HW-NC113/213/413 Open Loop Method, Pulse Output * Simple positioning can be performed with the direct operation function. Position Control Unit Servo Relay Unit OMNUC W-series Servodriver OMNUC W-series Servomotor Motion Control (MC) Units These high-speed, highly accurate, 2-axis/4-axis Motion Controllers are equipped with the multitasking G language and are compatible with absolute and incremental encoders. CPU Unit Motion Control Unit CX-Motion Software CS1W-MC221/421 C200H-MC221 * The multi-tasking G language allows 4 axes to be controlled simultaneously and it is also possible to control each axis independently. The G language can simplify the PLC's ladder program by reducing position-control-related ladder programming. * Winding operations can be simplified and speeded up. (Instructions providing a 2-axis traverse function are available.) * The encoder response frequency is 2 Mpps for x4 operation, which is compatible with applications requiring high-speed and high-accuracy. * A D code (interrupt code) can be output to the CPU Unit when positioning is completed or an important position is passed. * Programming is easy with the WIndows-based CX-Motion Support Software. * A manual pulse generator can be used. 14 Teaching Box OMNUC W-series Servodriver OMNUC W-series Servomotor Terminal-block Conversion Unit Controllers SYSMAC CJ1M The CJ1M is a high-performance, compact PLC for distributed control. Built-in I/O boards and special instructions support simple positioning and pulse I/O. Simple Positioning The Pulse I/O board is equipped with two ports each for input and output, supporting high-speed input at up to 100 kHz and output at up to 100 kHz. Connection with a Servodriver enables simple positioning. SYSMAC CJ1M Pulse input 2 SYSMAC CJ1M Incremental Encoder Pulse output 2 OMNUC W-series Servodriver Pulse output 1 OMNUC W-series Servodriver OMNUC W-series Servomotor OMNUC W-series Servomotor Pulse input 1 Incremental Encoder Special Instructions for Simple Positioning Equipped with special pulse I/O instructions, the CJ1M can be operated by writing easy ladder programs. Instruction example: Search for origin (ORG), speed instruction (ACC), pulse output (PLS2) SYSMAC CPM2A/CPM2C The CPM2A/CPM2C PLCs are equipped with synchronized pulse control and position control functions. Meets the needs for higher line speed and multiple-product small-lot production. SYSDRIVE Inverter Encoder SYSMAC CPM2A PLC Main motor SYSMAC CPM2A OMNUC W-series Servomotor/Servodriver Position Control Function SYSMAC CPM2C Synchronized Pulse Control This function supports 1-axis pulse outputs with trapezoidal acceleration/deceleration (10 kHz) and 2-axis simple pulse outputs. A Servomotor can be used for operations such as adjusting the feed rate of workpieces (constant feed) and the amount of fillings (constant amount) such as jam or custard. The output pulse frequency can be set to be a specified multiple of the input pulse frequency and that multiple can be changed from the ladder program. This function can be used to adjust the feed rate of packaging film so that the brand name or other printing remains in the correct location during packaging. 15 Servomotor Specifications Servomotor Specifications Performance Specifications Cylinder-style Motors (3,000 r/min) Item 200 VAC Servomotor (R88M-) Servodriver (R88D-) W03030@ W05030@ W10030@ W20030@ W40030@ W75030@ W1K030@ W1K530@ W2K030@ W3K030@ W4K030@ W5K030@ WTA3H WTA5H WT01H WT02H WT04H WT08H WT10H WT15H WT20H WT30H WT50H WT50H Rated output W 30 50 100 200 400 750 1k 1.5 k 2k 3k 4k Rated torque N*m 0.0955 0.159 0.318 0.637 1.27 2.39 3.18 4.90 6.36 9.80 12.6 5k 15.8 Max. momentary torque N*m 0.286 0.477 0.955 1.91 3.82 7.16 9.54 14.7 19.1 29.4 37.8 47.6 Rated speed r/min 3,000 Max. momentary speed r/min 5,000 Rated current A(rms) 0.44 0.64 0.91 2.1 2.8 4.4 5.7 9.7 12.7 18.8 25.4 28.6 Rotor inertia (without brake) kg*m2 x 10-4 0.0166 0.022 0.0364 0.106 0.173 0.672 1.74 2.47 3.19 7.0 9.6 12.3 11.5 27.8 38.2 93.7 84.8 57.9 97.2 127 137 166 202 1176 Power rate kW/s 5.49 Applicable load inertia Multiple 100 (Restricted, however, by the regenerative processing capacity.) 10 Allowable radial load on shaft N 68 Allowable thrust load on shaft N 54 Approx. weight (without brake) kg 0.3 0.4 0.5 1.1 Approx. weight (with brake) kg 0.6 0.7 0.8 1.6 Encoder resolution (See note.) INC A, B phase: 2,048 pulses/rev. A, B phase: 32,768 pulses/rev. ABS A, B phase: 16,384 pulses/rev. A, B phase: 32,768 pulses/rev. 78 245 392 686 980 74 147 196 392 1.7 3.4 4.6 5.8 7.0 11.0 14.0 17.0 2.2 4.3 6.0 7.5 8.5 14.0 17.0 20.0 Brake specifications Inertia kg*m2 x 10-4 0.0085 0.058 0.14 0.325 2.1 Excitation volt- V age 24 VDC 10% Power consumption W 6 6.9 7.7 7 9.85 Current consumption A 0.25 0.29 0.32 0.29 0.41 Static friction torque N*m 0.2min. 1.47 min. 2.45 min. 7.84 min. 20 min. Absorption time ms 30 max. 60 max. 80 max. 180 max. Release time ms 60 max. 20 max. 20 max. 100 max. Backlash --- 1 (reference value) Rating --- Continuous Insulation --- Type F 24 VDC 10% 0.34 min. Note: The encoder resolution for the Z phase is 1 pulse/rev. 16 Servomotor Specifications Cylinder-style Motors (3,000 r/min) Item 100 VAC Servomotor (R88M-) W03030@ W05030@ W10030@ Servodriver (R88D-) WTA3HL WTA5HL WT01HL W20030@ WT02HL Rated output W 30 50 100 200 Rated torque N*m 0.0955 0.159 0.318 0.637 Max. momentary torque N*m 0.286 0.477 0.955 1.91 Rated speed r/min 3,000 Max. momentary speed r/min 5,000 Rated current A(rms) 0.66 0.95 2.4 3.0 Rotor inertia (without brake) kg*m2 x 10-4 0.0166 0.022 0.0364 0.106 11.5 27.8 38.2 Power rate kW/s 5.49 Applicable load inertia Multiple 100 (Restricted, however, by the regenerative processing capacity.) Allowable radial load on shaft N 68 Allowable thrust load on shaft N 54 78 245 74 Approx. weight (without brake) kg 0.3 0.4 0.5 1.1 Approx. weight (with brake) kg 0.6 0.7 0.8 16 Encoder resolution INC A, B phase: 2,048 pulses/rev.; Z phase: 1 pulse/rev. ABS A, B phase: 16,384 pulses/rev.; Z phase: 1 pulse/rev. kg*m2 x 10-4 0.0085 Brake specifications Inertia 0.058 Excitation voltage V 24 VDC 10% Power consumption W 6 Current consumption A 0.25 Static friction torque N*m 0.2 min. 6.5 0.27 0.34 min. 1.5 min. Absorption time ms 30 max. 60 max. Release time ms 60 max. 20 max. Backlash --- 1 (reference value) Rating --- Continuous Insulation --- Type F General Motor Specifications Cylinder-style Motors (3,000 r/min) Item 30 to 750 W 1 to 5 kW Ambient temperature Operating: 0 to +40C Storage: -20 to +60C Ambient humidity (with no condensation) Operating: 20% to 80% Storage: 20% to 80% Atmosphere No corrosive gases Vibration resistance 49 m/s2 24.5 m/s2 Shock resistance 490 m/s (twice in vertical direction) Insulation resistance 10 M min. at 500 VDC Dielectric strength 1,500 VAC for 1 min Operating position Any direction Insulation class Type B Construction Totally-enclosed self-cooling 2 Enclosure rating IP55 (See note.) Vibration class V-15 EC directives EMC directive Type F IP67 (See note.) EN55011 class A group1 EN61000-6-2 Low-voltage directive IEC60034-1, 5, 8, 9 EN60034-1, 9 UL standards UL1004 cUL standards cUL C22.2 No.100 Note: Enclosure ratings do not include the shaft opening. 17 Servomotor Specifications Torque and Rotation Speed Characteristics Cylinder-style Motors with 200-VAC Power Supply (3,000 r/min) The following graphs show characteristics with a standard 3-m cable and 200-VAC input. 0.3 0.286 (N*m) R88M-W05030T 0.5 0.477 0.286 (N*m) R88M-W10030T 0.955 0.477 1.0 0.4 0.0955 Continuous usage 0 1.5 Repetitive usage 0.0955 0.159 0.1 0.06 R88M-W40030H (400 W) (400 W) Repetitive usage 0.4 0.159 Continuous usage (r/min) 0 1,000 2,000 3,000 4,000 5,000 0.318 0.2 0.09 (r/min) 0 1,000 2,000 3,000 4,000 5,000 0.318 Continuous usage 0.637 0.19 Continuous usage (r/min) 0 1,000 2,000 3,000 4,000 5,000 Repetitive usage 2.0 1.0 Continuous usage 0 4 2.39 2.39 2.0 0.76 6 Repetitive usage 4.0 1.5 1.27 1.27 Continuous usage (r/min) 0 1,000 2,000 3,000 4,000 5,000 R88M-W2K030H (2 kW) (2 kW) R88M-W3K030H (3 kW) R88M-W3K030T (3 kW) (N*m) 30 29.4 15 6.36 6.36 10 Repetitive usage 20 13.5 2.4 3.25 Continuous usage Repetitive usage 4.9 4.9 5 2.4 1.7 Continuous usage 0 (r/min) 1,000 2,000 3,000 4,000 5,000 (r/min) 1,000 2,000 3,000 4,000 5,000 R88M-W5K030H (5 kW) (5 kW) (N*m) R88M-W5K030T 50 47.8 46.8 (3,000) 40 Repetitive usage 12.6 12.6 Repetitive usage 20 14.2 10 Continuous usage (r/min)0 1,000 2,000 3,000 4,000 5,000 13.9 (3,000) 7.0 3.18 3.18 R88M-W4K030H (4 kW) (4 kW) 30 9.8 9.8 Continuous usage 0 4.53 10 (N*m) R88M-W4K030T 40 37.8 37.3 (2,900) 27.6 (3,000) 9.3 5 14.7 30 20 Repetitive usage 10 Repetitive usage 1.46 0.2 (r/min) 0 1,000 2,000 3,000 4,000 5,000 (N*m) R88M-W2K030T 20 19.1 18.3 (3,250) R88M-W1K530H (1.5 kW) R88M-W1K530T (1.5 kW) 8 6.0 0.39 (r/min) 1,000 2,000 3,000 4,000 5,000 (N*m) 15 3.0 0.637 0.5 (N*m) R88M-W1K030T 9.54 10 8.67 (3,000) (N*m) R88M-W75030T 8.0 7.16 7.16 (3,650) Repetitive usage 1.0 R88M-W1K030H (1 kW) (1 kW) R88M-W75030H (750 W) (750 W) (N*m) R88M-W40030T 4.0 3.82 3.82 (3,525) 1.91 0.6 Repetitive usage 0.2 R88M-W20030H (200 W) (200 W) (N*m) R88M-W20030T 1.91 0.955 2.0 0.8 0.3 0.2 0.1 R88M-W10030H (100 W) (100 W) R88M-W05030H (50 W) (50 W) R88M-W03030H (30 W) R88M-W03030T (30 W) (N*m) Continuous usage (r/min)0 1,000 2,000 3,000 4,000 5,000 6.3 10 (r/min) 0 1,000 2,000 3,000 4,000 5,000 15.8 15.8 13.5 Continuous usage 7.8 (r/min) 1,000 2,000 3,000 4,000 5,000 Cylinder-style Motors with 100-VAC Power Supply (3,000 r/min) The following graphs show characteristics with a standard 3-m cable and 100-VAC input. (N*m) 0.3 R88M-W03030L (30 W) R88M-W03030S (30 W) 0.286 0.286 (4,450) (N*m) 0.5 0.477 R88M-W05030L (50 W) R88M-W05030S (50 W) 0.477 (4,500) Repetitive usage 0.3 0.2 0.1 0.0955 0.0955 Continuous usage 0 18 0.06 0.1 (r/min) 0 1,000 2,000 3,000 4,000 5,000 0.955 0.8 0.38 0.4 0.25 0.2 R88M-W10030L (100 W) (100 W) (N*m) R88M-W10030S 1.0 0.955 R88M-W20030L (200 W) (200 W) (N*m) R88M-W20030S 2.0 1.91 1.91 (3,000) 1.5 0.6 Repetitive usage Repetitive usage 0.4 0.159 0.159 0.318 0.2 Continuous usage 0.09 0 (r/min) 1,000 2,000 3,000 4,000 5,000 1.0 0.318 Repetitive usage 0.637 0.19 0.637 0.5 0.39 0.5 Continuous usage (r/min) 0 1,000 2,000 3,000 4,000 5,000 Continuous usage (r/min) 1,000 2,000 3,000 4,000 5,000 Servomotor Specifications Cylinder-style Motors (1,500 r/min) Item 200 VAC Servomotor (R88M-) Servodriver (R88D-) Rated output W W45015T W85015T W1K315T W1K815T W2K915T W4K415T W5K515T W7K515T W11K015T W15K015T WT05H 450 WT10H 850 WT15H 1,300 WT20H 1,800 WT30H 2,900 WT50H WT60H WT75H WT150H WT150H 4,400 5,500 7,500 11,000 15,000 Rated torque N*m 2.84 5.39 8.34 11.5 18.6 28.4 35.0 48.0 70.0 95.4 Max. momentary torque N*m 8.92 13.8 23.3 28.7 45.1 71.1 87.6 119 175 224 Rated speed r/min 1,500 Max. momentary speed r/min 3,000 2,000 Rated current A(rms) 3.8 7.1 10.7 16.7 23.8 32.8 42.1 54.7 58.6 78.0 Rotor inertia (without brake) kg*m2 x 10-4 7.24 13.9 20.5 31.7 46.0 67.5 89.0 125 281 315 20.9 33.8 41.5 75.3 120 137 184 174 289 1,470 Power rate kW/s 11.2 Applicable load inertia Multiple 5 Allowable radial load on shaft N 490 686 1,176 Allowable thrust load on shaft N 98 343 490 Approx. weight (without brake) kg Approx. 5.5 Approx. 7.6 Approx. 9.6 Approx. 14 Approx. 18 Approx. 23 Approx. 30 Approx. 40 Approx. 57.5 Approx. weight (with brake) kg Approx. 7.5 Approx. 9.6 Approx. 12 Approx. 19 Approx. 23.5 Approx. 28.5 Approx. 35 Approx. 45.5 Approx. 65 Approx. 100 Encoder resolution INC --- ABS A, B phase: 32,768 pulses/rev. Z phase: 1 pulse/rev. 1,764 4,998 588 2,156 Approx. 86 Brake specifications Inertia kg*m2 x 10-4 2.1 8.5 18.8 37.5 Excitation volt- V age 24 VDC 10% (nonpolar) Power consumption W 9.85 18.5 23.5 32 35 Current consumption A 0.41 0.77 0.98 1.33 1.46 Static friction torque N*m 4.41 43.1 72.6 84.3 114.6 Absorption time ms 180 max. 170 max. 250 max. Release time ms 100 max. 80 max. Backlash --- 1 max. Rating --- Continuous Insulation --- Type F 12.7 19 Servomotor Specifications General Motor Specifications Cylinder-style Motors (1,500 r/min) Item 450 W to 15 kW (standard type: 1,500 r/min) Ambient temperature Operating: 0 to +40C Storage: -20 to +60C Ambient humidity (with no condensation) Operating: 20% to 80% Storage: 20% to 80% Atmosphere No corrosive gases Vibration resistance 24.5 m/s2 Shock resistance 490 m/s2 (twice in vertical direction) Insulation resistance 10 M min. at 500 VDC Dielectric strength 1,500 VAC for 1 min Operating position Any direction Insulation class Type F Construction Totally-enclosed self-cooling Enclosure rating IP67 (See note.) Vibration class V-15 EC directives EMC directive EN55011 class A group1 EN61000-6-2 Low-voltage directive IEC60034-1, 5, 8, 9 EN60034-1, 9 UL standards UL1004 cUL standards cUL C22.2 No.100 Note: Enclosure ratings do not include the shaft opening. 20 Servomotor Specifications Torque and Rotation Speed Characteristics Cylinder-style Motors with 200-VAC Power Supply (1,500 r/min) The following graphs show characteristics with a standard 3-m cable and 200-VAC input. R88M-W45015T (450 W) R88M-W85015T (850 W) R88M-W1K315T (1.3 kW) R88M-W1K815T (1.8 kW) (N*m) 10 (N*m) 20 (N*m) (N*m) 40 8.92 30 8.40 8 (2190) 6 15 13.8 23.3 12.7 (2870) 11.5 Repetitive usage 4.80 10 30 28.7 22.3 26.4 (2870) 24.6 (2770) 20 17.1 Repetitive usage Repetitive usage 20 Repetitive usage 4 2.94 5.88 2.84 5.39 10 8.83 5 2 Continuous usage 1.42 2.70 Continuous usage (r/min) 0 0 1000 2000 2000 44.2 (2490) 20 60 Repetitive usage 40 42.5 Continuous usage (r/min) 0 0 1000 2000 2000 R88M-W11K015T (11 kW) R88M-W15K015T(15 kW) (N*m) 250 224 171 (1760) Repetitive usage 125 150 100 Continuous usage 2000 Continuous usage 24.0 (r/min) 0 1000 2000 3000 (r/min) 1000 2000 3000 95.4 Continuous usage (r/min) (r/min) 0 1000 Continuous usage 71.6 50 0 14.2 Repetitive usage 52.5 50 54.8 188 100 70.0 48.0 17.5 212 105 77.0 Repetitive usage (1670) 200 150 53.8 52.8 20 3000 (N*m) 175 115 (2540) 100 35.0 (r/min) 0 1000 3000 200 150 50 9.30 Continuous usage Repetitive usage 40 38.5 28.4 20 10 86.5 (2540) 34.1 18.6 3000 119 32.2 22.3 2000 (N*m) 87.6 60 1000 R88M-W7K515T(7.5 kW) 80 (2410) (r/min) 3000 (N*m) 100 66.5 Repetitive usage 30 2000 R88M-W5K515T (5.5 kW) 71.1 40 5.80 Continuous usage 4.17 (r/min) 0 1000 (N*m) 80 45.1 Continuous usage 3000 R88M-W4K415T(4.4 kW) (N*m) 50 11.5 10 (r/min) 0 1000 3000 R88M-W2K915T (2.9 kW) 11.8 8.34 3000 1000 2000 3000 21 Servomotor Specifications Performance Specifications Cylinder-style Motors (1,000 r/min) Item 200 VAC Servomotor (R88M-) W30010@ W60010@ W90010@ W1K210@ W2K010@ W3K010@ W4K010@ Servodriver (R88D-) WT05H WT08H WT10H WT15H WT20H WT30H WT50H Rated output W 300 600 900 1.2k W5K510@ WT60H 2k 3k 4k 5.5k Rated torque N*m 2.84 5.68 8.62 11.5 19.1 28.4 38.2 52.6 Max. momentary torque N*m 7.17 14.1 19.3 28.0 44.0 63.7 107 137 Rated speed r/min 1,000 Max. momentary speed r/min 2,000 Rated current A(rms) 3 5.7 7.6 11.6 18.5 24.8 30 43.2 Rotor inertia (without brake) kg*m2 x 10-4 7.24 13.9 20.5 31.7 46.0 67.5 89.0 125 Power rate kW/s 23.2 36.3 41.5 79.4 120 164 221 1470 11.2 Applicable load iner- Multiple tia 10 Allowable radial load N on shaft 490 686 1176 Allowable thrust load on shaft N 98 343 490 Approx. weight (without brake) kg 5.5 7.6 9.6 14 18 23 30 40 Approx. weight (with brake) kg 7.5 9.6 12 19 23.5 28.5 35 45.5 INC A, B phase: 32,768 pulses/rev.; Z phase: 1 pulse/rev. Encoder resolution 1764 588 ABS Brake specifications Inertia kg*m 2 x 10-4 2.1 Excitation voltage V 8.5 24 VDC10% Power consump- W tion 9.85 18.5 23.5 Current consumption A 0.41 0.77 0.98 Static friction torque N*m 4.41 43.1 72.6 Absorption time ms 180 ms max. Release time ms 100 ms max. Backlash --- 1 max. Rating --- Continuous Insulation --- Type F 22 12.7 Servomotor Specifications General Motor Specifications Cylinder-style Motors (1,000 r/min) Item 300 to 5.5 kW Ambient temperature Operating: 0 to +40C Storage: -20 to +60C Ambient humidity (with no condensation) Operating: 20% to 80% Storage: 20% to 80% Atmosphere No corrosive gases Vibration resistance 24.5 m/s2 Shock resistance 490 m/s2 (twice in vertical direction) Insulation resistance 10 M min. at 500 VDC Dielectric strength 1,500 VAC for 1 min Operating position Any direction Insulation class Type F Construction Totally-enclosed self-cooling Enclosure rating IP67 (See note.) Vibration class V-15 EC directives EMC directive EN55011 class A group1 EN61000-6-2 Low-voltage directive IEC60034-1, 5, 8, 9 EN60034-1, 9 UL standards UL1004 cUL standards cUL C22.2 No.100 Note: Enclosure ratings do not include the shaft opening. Torque and Rotation Speed Characteristics Cylinder-style Motors with 200-VAC Power Supply (1,000 r/min) The following graphs show characteristics with a standard 3-m cable and 200-VAC input. R88M-W30010H (300 W) W) (N*m) R88M-W30010T (300 8 7.17 7.0 (1,875) 6.2 6 R88M-W60010H (600 W) R88M-W60010T (600 W) (N*m) 15 14.1 Repetitive usage 30 Repetitive usage Repetitive usage 2.84 5.8 0 500 1,000 1,500 Continuous usage (r/min) 0 2,000 500 R88M-W2K010H (2 kW) (N*m) R88M-W2K010T (2 kW) 50 44.0 43.0 (1,825) 40 35.8 Repetitive usage 30 (N*m) 80 1,000 63.7 62.5 (1,700) 60 500 1,500 28.4 (r/min) 0 2,000 R88M-W4K010H (4 kW) R88M-W4K010T (4 kW) (N*m) 125 107 75 1,000 107 (1,500) 150 100 9.7 0 500 1,000 1,500 (r/min) 0 2,000 1,000 5.5 1,500 46.1 137.0 134.4 (1,600) Repetitive usage 71.9 63.1 38.2 (r/min) 2,000 R88M-W5K510H (5.5 kW) R88M-W5K510T (5.5 kW) 56.6 50 52.6 50 20 Continuous usage 500 (N*m) Repetitive usage 40.0 31.7 11.5 Continuous usage 4.3 100 Repetitive usage 19.1 20 11.8 Continuous usage (r/min) 0 2,000 R88M-W3K010H (3 kW) R88M-W3K010T (3 kW) 21.8 10 2.8 1,500 40 21.6 8.62 5 1.4 Continuous usage 27.1 (1,800) Repetitive usage 20 8.8 5.68 5 2 28.0 12.5 10 2.95 R88M-W1K210H (1.2 kW) R88M-W1K210T (1.2 kW) (N*m) 15 10 4 10 13.8 (1,925) 12.7 R88M-W90010H (900 W) W) (N*m) R88M-W90010T (900 19.3 20 18.8 (1,800) Continuous usage 500 1,000 14.2 1,500 25 (r/min) 0 2,000 Continuous usage Continuous usage 18.4 500 1,000 1,500 (r/min) 0 2,000 500 1,000 25.0 1,500 (r/min) 2,000 23 Servomotor Specifications Performance Specifications Flat-style Motors Item 200 VAC 100 VAC Servomotor (R88M-) WP10030@ WP20030@ WP40030@ WP75030@ WP1K530@ WP10030@ WP20030@ Servodriver (R88D-) WT01H WT02H WT04H WT08H WT15H WT01HL WT02HL Rated output W 100 200 400 750 1.5k 100 200 Rated torque N*m 0.318 0.637 1.27 2.39 4.77 0.318 0.637 1.91 3.82 7.16 14.3 0.955 1.91 Max. momentary torque N*m 0.955 Rated speed r/min 3,000 3,000 Max. momentary speed r/min 5,000 Rated current A (rms) 0.89 2.0 2.6 4.1 7.5 2.2 5,000 2.7 Rotor inertia (without brake) kg*m2 x 10-4 0.0491 0.193 0.331 2.1 4.02 0.0491 0.193 Power rate kW/s 20.6 21.0 49.0 27.1 56.7 20.6 21.0 Applicable load inertia Multiple 100 (Restricted, however, by the regenerative processing capacity.) Allowable radial load on shaft N 78 245 392 Allowable thrust load on shaft N 49 68 147 Approx. weight (without brake) kg 0.7 1.4 2.1 4.2 Approx. weight (with brake) kg 0.9 1.9 2.6 5.7 Encoder resolution INC A, B phase: 2,048 pulses/rev., Z phase: 1 pulse/rev. ABS A, B phase: 16,384 pulses/rev., Z phase: 1 pulse/rev. 490 78 245 49 68 6.6 0.7 1.4 8.1 0.9 1.9 0.029 0.109 Brake specifications Inertia kg*m2 x 10-4 0.029 Excitation voltage V 24 VDC10% Power consumption W 8.2 7.6 8.2 7.5 10 8.2 7.6 Current consumption A 0.34 0.32 0.34 0.31 0.42 0.34 0.32 Static friction torque N*m 0.4 min. 0.9 min. 1.9 min. 3.5 min. 7.1 min. 0.4 min. 0.9 min. Absorption time ms 20 ms max. 60 ms max. 20 ms max. 20 ms max. 20 ms max. 0.109 0.875 24 VDC10% Release time ms 40 ms max. Backlash --- 1 max. 1 max. 40 ms max. Rating --- Continuous Continuous Insulation --- Type F Type F General Motor Specifications Flat-style Motors (3,000 r/min) Item Ambient temperature 100 W to 1.5 kW Operating: 0 to +40C, Storage: -20 to +60C Ambient humidity (with no condensation) Operating: 20% to 80%, Storage: 20% to 80% Atmosphere No corrosive gases Vibration resistance 49 m/s2 Shock resistance 490 m/s2 (twice in vertical direction) Insulation resistance 10 M min. at 500 VDC Dielectric strength 1,500 VAC for 1 min Operating position Any direction Insulation class Type B Construction Totally-enclosed self-cooling Enclosure rating IP55 (See note.) or IP67 Vibration class V-15 EC directives EMC directive EN55011 class A group1 EN61000-6-2 Low-voltage directive IEC60034-1, 5, 8, 9; EN60034-1, 9 UL standards UL1004 cUL standards cUL C22.2 No.100 Note: Enclosure ratings do not include the shaft opening. 24 20 ms max. Servomotor Specifications Torque and Rotation Speed Characteristics Flat-style Motors with 200-VAC Power Supply The following graphs show characteristics with a standard 3-m cable and 200-VAC input. R88M-WP10030H (100 W) (100 W) (N*m) R88M-WP10030T 1.0 0.955 0.955 (4,500) R88M-WP20030H (200 W) (200 W) R88M-WP20030T (N*m) 2.0 1.91 1.91 0.81 0.8 3.0 1.5 Repetitive usage 0.6 Repetitive usage Repetitive usage 2.0 1.0 0.4 0.318 0.2 0 0.318 Continuous usage 0.19 (r/min) 1,000 2,000 3,000 4,000 5,000 Continuous usage (N*m) 2.39 Continuous usage (r/min) 1,000 2,000 3,000 4,000 5,000 14.3 (3,400) 14.3 Repetitive usage Repetitive usage 10 4.0 2.39 0 0.76 R88M-WP1K530H (1.5 kW) R88M-WP1K530T (1.5 kW) 6.0 2.0 Continuous usage 0.39 (r/min) 1,000 2,000 3,000 4,000 5,000 0 15 1.27 1.0 0.5 R88M-WP75030H (750 W) (750 W) 1.82 1.27 0.637 0.637 (N*m) R88M-WP75030T 8.0 7.16 7.16 (3,350) 0 R88M-WP40030H (400 W) (400 W) (N*m) R88M-WP40030T 4.0 3.82 3.82 (3,300) 1.6 (4,890) 5 4.77 3.0 (4,900) Continuous usage 1.2 (r/min) 1,000 2,000 3,000 4,000 5,000 4.77 0 2.4 (r/min) 1,000 2,000 3,000 4,000 5,000 Flat-style Motors with 100-VAC Power Supply The following graphs show characteristics with a standard 3-m cable and 100-VAC input. R88M-WP10030L (100 W) (100 W) R88M-WP10030S (N*m) 1.0 0.955 0.955 (4,500) R88M-WP20030L (200 W) (200 W) (N*m) R88M-WP20030S 2.0 1.91 1.91 (3,000) 0.81 0.8 1.5 Repetitive usage Repetitive usage 0.6 1.0 0.4 0.2 0 0.318 0.318 Continuous usage 0.83 0.637 0.19 (r/min) 1,000 2,000 3,000 4,000 5,000 0.5 0 0.637 Continuous usage 0.39 (r/min) 1,000 2,000 3,000 4,000 5,000 25 Servodriver Specifications Servodriver Specifications Performance Specifications Servodrivers Item 200 VAC Servomotor WTA3H WTA5H WT01H WT02H WT04H WT05H WT08H WT10H (R88M-) Maximum servomotor output 30 W Continuous output current (rms) 0.44 A 0.64 A 0.91 A 2.1 A 2.8 A 3.8 A Momentary maximum output current (rms) 1.3 A 8.5 A 11.0 A 13.9 A 17 A Weight 50 W 2.0 A 100 W 200 W 400 W 500 W 750 W 1 kW 2.8 A 6.5 A 0.8 kg Input power supply 5.7 A 1.1 kg 1.7 kg 7.6 A WT15H WT20H WT30H WT50H WT60H WT75H WT150H 1.5 kW 2 kW 11.6 A 18.5 A 24.8 A 32.9 A 46.9 A 54.7 A 78 A 3 kW 28 A 42 A 2.8 kg 3.8 kg 56 A 5 kW 84 A 5.5 kW 7.5 kW 15 kW 110 A 130 A 5.5 kg 15 kg 170 A 26 kg Main circuits Single-phase 200 to 230 VAC, Three-phase 200 to 230 VAC, Three-phase 200 to 230 VAC, +10% to -15%, 50/60 Hz +10% to -15%, 50/60 Hz +10% to -15%, 50/60 Hz (See note 2.) Control circuits Single-phase 200 to 230 VAC, +10% to -15%, 50/60 Hz Control method All-digital servo Seed feedback Serial encoder, 13/16/17 bits (incremental and absolute encoders) Capacity Ana- Speed control range log inLoad fluctuation rate puts Voltage fluctuation rate 1:5,000 0.01% max. at 0% to 100% (at rated rotation speed) 0% at rated voltage 10% (at rated rotation speed) Temperature fluctuation rate 0.1% max. at 25 25C (at rated rotation speed) Frequency characteristics 400 Hz (at the same load as the rotor inertia) Torque control repeat- 2% ability Acceleration time set- 0 to 10 s (acceleration and deceleration set separately) ting Pulse Maximum response train pulse frequency inputs Positioning range Line driver input: 500 Kpps Open collector input: 200 Kpps 0 to 250 (command unit) Feed-forward compen- 0% to 100% sation Input signals Bias setting 0 to 450 r/min Position command pulse Feed pulse, forward/reverse signal, forward pulse, reverse pulse, 90 phase difference (phases A/B) signal Speed command volt- 2 to 10 VDC / rated rotation speed (motor forward rotation by +voltage) age Mechanical impedance: Approx. 14 k; circuit time constant: Approx. 47 s Torque command volt- 1 to 10 VDC / rated torque (motor forward torque by +voltage) age Mechanical impedance: Approx. 14 k; circuit time constant: Approx. 47 s Sequence input Output signals Run command, gain deceleration, position lock command, control mode switch, gain switch, direction command, pulse prohibit, forward/reverse current limit, speed selection command, forward/reverse drive prohibit, alarm reset Position feedback out- Phase A, phase B, phase Z, absolute phase (for absolute encoders only): Line driver output put Speed monitor output 1 V/1,000 r/min Current monitor output 1 V/rated torque Sequence output Servo alarm, alarm code (3-bit output): CN1 output terminal fixed, speed conformity, positioning completion 1, motor rotation detection, servo ready, current limit detection, brake interlock, warning, positioning completion 2, speed limit detection Dynamic brake stopping Operates when the power supply turns off, a servo alarm is generated, an overrun occurs, or the servo turns off. Other protective functions Parameter destruction, main circuit detector error, parameter setting error, motor mismatch, overcurrent, regenerative error, regenerative overload, overvoltage, undervoltage, overspeeding, overload, dynamic brake overload, inrush resistance overload, heating plate overheating, backup error (absolute), checksum error (absolute), battery error (absolute), absolute error (absolute), overspeed error (absolute), encoder overheating, speed command input read error, torque command input read error, system error, overrun detection, excessive rotation data error (absolute), encoder communications error, encoder parameter error, encoder data error, multiple rotation limit mismatch (absolute), error counter count-up, phase-failure detection, Parameter Unit transmission error Note: 1. Applicable rotor inertia differs according to the motor. Refer to the motor specifications. 2. Input power supply specification when using the R88D-WT08H at single-phase 200 V: single-phase 200 to 230 VAC, +10% to -15%, 50/ 60 Hz. 26 Servodriver Specifications Servodrivers Item 100 VAC Servomotor (R88M-) WTA3HL WTA5HL WT01HL WT02HL Maximum servomotor output 30 W 50 W 100 W 200 W Continuous output current (rms) 0.66 A 0.95 A 2.4 A 3.0 A Momentary maximum output current (rms) 2.0 A 2.9 A 7.2 A 9.0 A Weight 0.8 kg Input power supply Main circuits Control circuits Control method Analog inputs Pulse train inputs Input signals Output signals Single-phase 100 to 115 VAC, +10% to -15%, 50/60 Hz All-digital servo Seed feedback Capacity 1.1 kg Single-phase 100 to 115 VAC, +10% to -15%, 50/60 Hz Serial encoder, 13/16/17 bits (incremental and absolute encoders) Speed control range 1:5000 Load fluctuation rate 0.01% max. at 0% to 100% (at rated rotation speed) Voltage fluctuation rate 0% at rated voltage 10% (at rated rotation speed) Temperature fluctuation rate 0.1% max. at 25 25C (at rated rotation speed) Frequency characteristics 400 Hz (at the same load as the rotor inertia) Torque control repeatability 2% Acceleration time setting 0 to 10 s (acceleration and deceleration set separately) Maximum response pulse fre- Line driver input: 500 Kpps quency Open collector input: 200 Kpps Positioning range 0 to 250 (command unit) Feed-forward compensation 0% to 100% Bias setting 0 to 450 r/min Position command pulse Feed pulse, forward/reverse signal, forward pulse, reverse pulse, 90 phase difference (phases A/B) signal Speed command voltage 2 to 10 VDC / rated rotation speed (motor forward rotation by +voltage) Mechanical impedance: Approx. 14 k; circuit time constant: Approx. 47 s Torque command voltage 1 to 10 VDC / rated torque (motor forward torque by +voltage) Mechanical impedance: Approx. 14 k; circuit time constant: Approx. 47 s Sequence input Run command, gain deceleration, position lock command, control mode switch, gain switch, direction command, pulse prohibit, forward/reverse current limit, speed selection command, forward/reverse drive prohibit, alarm reset Position feedback output Phase A, phase B, phase Z, absolute phase (for absolute encoders only): Line driver output Speed monitor output 1 V/1000 r/min Current monitor output 1 V/rated torque Sequence output Servo alarm, alarm code (3-bit output): CN1 output terminal fixed, speed conformity, positioning completion 1, motor rotation detection, servo ready, current limit detection, brake interlock, warning, positioning completion 2, speed limit detection Dynamic brake stopping Operates when the power supply turns OFF, a servo alarm is generated, an overrun occurs, or the servo turns OFF. Other protective functions Parameter destruction, main circuit detector error, parameter setting error, motor mismatch, overcurrent, regenerative error, regenerative overload, overvoltage, undervoltage, overspeeding, overload, dynamic brake overload, inrush resistance overload, heating plate overheating, backup error (absolute), checksum error (absolute), battery error (absolute), absolute error (absolute), overspeed error (absolute), encoder overheating, speed command input read error, torque command input read error, system error, overrun detection, excessive rotation data error (absolute), encoder communications error, encoder parameter error, encoder data error, multiple rotation limit mismatch (absolute), error counter count-up, phase-failure detection, Parameter Unit transmission error Note: Applicable rotor inertia differs according to the motor. Refer to the motor specifications. 27 Servodriver Specifications General Specifications Item Specifications Ambient temperature Operating: 0 to +55C Storage: -20 to +85C Ambient humidity (with no condensation) Operating: 20 to 90% max. Storage: 20 to 90% max. Atmosphere No corrosive gases Vibration resistance 4.9 m/s2 Shock resistance 19.6 m/s2 (3 times each in X, Y, and Z directions) Insulation resistance 1 M min. at 500 VDC Dielectric strength 1,500 VAC for 1 min Protective structure Built into control panel (IP10) Vibration class V-15 EC directives EMC directive EN55011 EN61000-6-2 Low-voltage directive EN50178 UL standards UL508C cUL standards cUL C22.2 No. 14 28 External Dimensions External Dimensions AC Servomotors Cylinder-style Motors without Brakes (3,000 r/min) 200 VAC: 30 W/50 W/100 W R88M-W03030H (-S1)/W05030H (-S1)/W10030H (-S1) R88M-W03030T (-S1)/W05030T (-S1)/W10030T (-S1) 100 VAC: 30 W/50 W/100 W R88M-W03030L (-S1)/W05030L (-S1)/W10030L (-S1) R88M-W03030S (-S1)/W05030S (-S1)/W10030S (-S1) 30030 6 dia. 20 21.5 30030 9.5 19.5 7 dia. 5 Z *Shaft end h* b* 11 D1 dia. C S dia. D2 dia. QK* G F LL t1* C LR * These dimensions are applicable to R88M-W@-S1 with key. Dimensions (mm) LL LR Flange surface Model R88M-W03030@ (-S1) 69.5 R88M-W05030@ (-S1) 77 R88M-W10030@ (-S1) 94.5 C 25 40 D1 46 D2 30h7 Shaft end F 2.5 G 5 Z S Two, 6h6 4.3 dia. 8h6 QK* 14 b* h* t1* 2 2 1.2 3 3 1.8 29 External Dimensions Cylinder-style Motors with Brakes (3,000 r/min) 200 VAC: 30 W/50 W/100 W R88M-W03030H-B (S1)/W05030H-B (S1)/W10030H-B (S1) R88M-W03030T-B (S1)/W05030T-B (S1)/W10030T-B (S1) 100 VAC: 30 W/50 W/100 W R88M-W03030L-B (S1)/W05030L-B (S1)/W10030L-B (S1) R88M-W03030S-B (S1)/W05030S-B (S1)/W10030S-B (S1) 30030 6 dia. 7 dia. 30030 21.5 27 9.5 19.5 5 Z *Shaft end h* b* 11 D1 dia. C S dia. D2 dia. QK* G F LL t1* C LR * These dimensions are applicable to R88M-W@-BS1 with key. Dimensions (mm) LL LR Flange surface Model R88M-W03030@-B (S1) C 101 R88M-W05030@-B (S1) 108.5 R88M-W10030@-B (S1) 135 30 25 40 D1 46 D2 30h7 Shaft end F 2.5 G 5 Z S Two, 6h6 4.3 dia. 8h6 QK* 14 b* h* t1* 2 2 1.2 3 3 1.8 External Dimensions Cylinder-style Motors without Brakes (3,000 r/min) 200 VAC: 200 W/400 W/750 W R88M-W20030H (-S1)/W40030H (-S1)/W75030H (-S1) R88M-W20030T (-S1)/W40030T (-S1)/W75030T (-S1) 100 VAC: 200 W R88M-W20030L (-S1) R88M-W20030S (-S1) 30030 Output section dimensions for 750-W Servomotors 20 6 dia. 7 dia. 13 20 21.5 9 30030 2 Four, Z dia. 11 *Shaft end 5 5 D1 dia. C S dia. D2 dia. 3 QK* 3 G LL C LR * These dimensions are applicable to R88M-W@-S1 with key. Dimensions (mm) LL LR Flange surface Model R88M-W20030@ (-S1) 96.5 C D1 D2 Shaft end F G S QK* 30 60 70 50h7 3 6 Four, 14h6 5.5 dia. 20 40 80 90 70h7 3 8 Four, 7 dia. 30 R88M-W40030@ (-S1) 124.5 R88M-W75030@ (-S1) 145 Z 16h6 b* 5 h* 5 t1* 3 31 External Dimensions Cylinder-style Motors with Brakes (3,000 r/min) 200 VAC: 200 W/400 W/750 W R88M-W20030H-B (S1)/W40030H-B (S1)/W75030H-B (S1) R88M-W20030T-B (S1)/W40030T-B (S1)/W75030T-B(S1) 100 VAC: 200 W R88M-W20030L-B (S1) R88M-W20030S-B (S1) 30030 6 dia. 20 Output section dimensions for 750-W Servomotors 7 dia. 30030 27 21.5 9 13 2 Four, Z dia. 11 *Shaft end 5 D1 dia. C 5 S dia. D2 dia. 3 QK* G LL 3 C LR * These dimensions are applicable to R88M-W@-BS1 with key. Dimensions (mm) LL LR Flange surface Model C R88M-W20030@-B (S1) 136 R88M-W40030@-B (S1) 164 R88M-W75030@-B (S1) 189.5 32 D1 D2 Shaft end F G Z S QK* 30 60 70 50h7 3 6 Four, 14h6 5.5 dia. 20 40 80 90 70h7 3 8 Four, 7 dia. 30 16h6 b* 5 h* 5 t1* 3 External Dimensions Cylinder-style Motors without Brakes (3,000 r/min) 200 VAC: 1 kW/1.5 kW/2 kW/3 kW/4 kW/5 kW R88M-W1K030H (-S2)/W1K530H (-S2)/W2K030H (-S2)/W3K030H (-S2)/W4K030H (-S2)/W5K030H (-S2) R88M-W1K030T (-S2)/W1K530T (-S2)/W2K030T (-S2)/W3K030T (-S2)/W4K030T (-S2)/W5K030T (-S2) LL LR G F C *Shaft end M8 effective depth 16 8 30 D1 dia. C 4 7 QK* S dia. KL2 KL1 D2 dia. D3 dia. 2 Four, Z dia. Mounting hole KB1 KB2 * These dimensions are applicable to R88M-W@-S2 with key and tap. Dimensions (mm) LL LR KB1 KB2 KL1 KL2 Flange surface Model C R88M-W1K030@ (-S2) 149 R88M-W1K530@ (-S2) R88M-W2K030@ (-S2) R88M-W3K030@ (-S2) 199 R88M-W4K030@ (-S2) R88M-W5K030@ (-S2) 45 76 128 175 102 154 198 125 177 124 178 236 161 215 276 201 255 63 D1 D2 D3 Shaft end F G Z S QK* 96 88 100 115 95h7 130 3 10 7 24h6 32 114 88 130 145 110h7 165 6 12 9 28h6 50 Cylinder-style Motors with Brakes (3,000 r/min) 200 VAC: 1 kW/1.5 kW/2 kW/3 kW/4 kW/5 kW R88M-W1K030H-B (S2)/W1K530H-B (S2)/W2K030H-B (S2)/W3K030H-B (S2)/W4K030H-B (S2)/W5K030H-B (S2) R88M-W1K030T-B (S2)/W1K530T-B (S2)/W2K030T-B (S2)/W3K030T-B (S2)/W4K030T-B (S2)/W5K030T-B (S2) LR LL F C *Shaft end D1 dia. M8 effective depth 16 C 8 30 G 4 7 QK* S dia. KL2 KL1 D2 dia. D3 dia. 2 Four, Z dia. Mounting hole KB1 KB2 * These dimensions are applicable to R88M-W@-BS2 with key and tap. Dimensions (mm) LL LR KB1 KB2 KL1 KL2 Model Flange surface C R88M-W1K030@-B (S2) 193 R88M-W1K530@-B (S2) 219 R88M-W2K030@-B (S2) 242 R88M-W3K030@-B (S2) 237 R88M-W4K030@-B (S2) R88M-W5K030@-B (S2) 45 63 67 171 93 197 116 220 114 216 274 151 253 314 191 293 D1 D2 102 88 100 115 95 119 88 130 145 110h7 h7 D3 F Shaft end G Z S QK* 130 3 10 7 24 h6 32 165 6 12 9 28h6 50 33 External Dimensions Cylinder-style Motors without Brakes (1,500 r/min) 200 VAC: 450 W/850 W/1.3 kW/1.8 kW/2.9 kW/4.4 kW R88M-W45015T (-S2)/W85015T (-S2)/W1K315T (-S2)/W1K815T (-S2)/W2K915T (-S2)/W4K415T (-S2) C S dia. F *Shaft end M effective depth l 30 dia. C D2 dia. D1 dia. D3 dia. t1* QK* KL2 KL1 Output section dimensions for 450-W to 1.3-kW Servomotors LR G b* LL h* 12 Four, Z dia. Mounting hole KB1 KB2 * These dimensions are applicable to R88M-W@-S2 with key and tap. Dimensions (mm) LL LR KB1 KB2 KL1 KL2 Flange surface Model C R88M-W45015T (-S2) 138 65 117 R88M-W85015T (-S2) 161 88 140 R88M-W1K315T (-S2) 185 112 164 89 144 R88M-W2K915T (-S2) 192 115 170 R88M-W4K415T (-S2) 226 149 204 R88M-W1K815T (-S2) 166 58 79 109 88 D1 D2 D3 130 145 110h7 165 Shaft end F G 6 Z 12 9 S 19h6 QK* 25 22h6 140 88 180 200 114.3 0 230 -0.025 3.2 18 13.5 35 +0.01 60 0 b* h* t1* 5 5 3 6 6 3.5 10 8 5 M l M5 12 M12 25 Cylinder-style Motors with Brakes (1,500 r/min) 200 VAC: 450 W/850 W/1.3 kW/1.8 kW/2.9 kW/4.4 kW R88M-W45015T-B (S2)/W85015T-B (S2)/W1K315T-B (S2)/W1K815T-B (S2)/W2K915T-B (S2)/W4K415T-B (S2) C C D2 dia. D1 dia. *Shaft end M effective depth l D3 dia. b* S dia. F t1* QK* KL2 KL1 Output section dimensions for 450-W to 1.3-kW Servomotors LR G 30 dia. LL h* 12 Four, Z dia. Mounting hole KB1 KB2 * These dimensions are applicable to R88M-W@-BS2 with key and tap. Dimensions (mm) LL LR KB1 KB2 KL1 KL2 Model R88M-W45015T-B (-S2) 176 56 154 R88M-W85015T-B (-S2) 199 79 177 R88M-W1K315T-B (-S2) 223 103 201 79 195 R88M-W2K915T-B (-S2) 243 105 221 R88M-W4K415T-B (-S2) 277 139 255 R88M-W1K815T-B (-S2) 217 34 Flange surface C 58 79 D1 D2 D3 120 88 130 145 110h7 165 146 88 180 200 114.3 0 230 -0.025 F Shaft end G Z S QK* 6 12 9 3.2 18 13.5 35 +0.01 60 0 19h6 25 22h6 b* h* t1* 5 5 3 6 6 3.5 10 8 5 M l M5 12 M12 25 External Dimensions Cylinder-style Motors without Brakes (1,500 r/min) 200 VAC: 5.5 kW/7.5 kW/11 kW/15 kW R88M-W5K515T (-S2)/W7K515T (-S2)/W11K015T (-S2)/W15K015T (-S2) *Shaft end b* M* effective depth l t1* QK* h* LL LR C F S dia. G C D2 dia. D1 dia. KL1 IE 88 D3 dia. S1 dia. Output section dimensions for 11-kW and 15-kW Servomotors KB1 Four, Z dia. Mounting hole KB2 2 * These dimensions are applicable to R88M-W@-S2 with key and tap. Dimensions (mm) Model R88M-W5K515T (-S2) R88M-W7K515T (-S2) LL LR KB1 KB2 KL1 IE Flange surface C D1 D2 260 113 174 238 150 123 180 200 114.3 0 -0.025 334 248 312 R88M-W11K015T (-S2) 338 116 251 317 168 142 220 235 200h7 R88M-W15K015T (-S2) 457 343 435 150 D3 F Shaft end G Z S S1 QK* b* 230 3.2 18 13.5 42h6 --- 270 4 45 20 +0.030 55+0.011 65 90 h* t1* M l 12 8 5 M16 32 16 10 6 M20 40 35 External Dimensions Cylinder-style Motors with Brakes (1,500 r/min) 200 VAC: 5.5 kW/7.5 kW/11 kW/15 kW R88M-W5K515T-B (-S2)/W7K515T-B (-S2)/W11K015T-B (-S2)/W15K015T-B (-S2) *Shaft end b* M* effective depth l t1* QK* h* LL LR F C D1 dia. C D2 dia. S dia. G IE KL3 KL1 88 D3 dia. Output section dimensions for 11-kW and 15-kW Servomotors Four, Z dia. Mounting hole S1 dia. KB1 KB3 KB2 2 * These dimensions are applicable to R88M-W@-BS2 with key and tap. Dimensions (mm) Model R88M-W5K515T-B (-S2) R88M-W7K515T-B (-S2) R88M-W11K015T-B (-S2) R88M-W15K015T-B (-S2) 36 LL LR KB1 KB2 KB3 KL1 KL3 IE Flange surface C D1 D2 D3 Shaft end F G 311 113 174 289 231 150 123 123 180 200 114.3 0 230 3.2 18 -0.025 385 248 363 305 383 116 258 362 315 168 142 142 220 235 200h7 519 343 497 415 150 270 4 Z S 13.5 42h6 S1 --- QK* b* 90 h* t1* 12 8 M l 5 M16 32 16 10 6 M20 40 45 20 65 55+0.030 +0.011 External Dimensions Cylinder-style Motors without Brakes (1,000 r/min) 200 VAC: 300 W/600 W/900 W/1.2 kW/2 kW/3 kW R88M-W30010H (-S2)/W60010H (-S2)/W90010H (-S2)/W1K210H (-S2)/W2K010H (-S2)/W3K010H (-S2) R88M-W30010T (-S2)/W60010T (-S2)/W90010T (-S2)/W1K210T (-S2)/W2K010T (-S2)/W3K010T (-S2) Output section dimensions for 300-W to 900-W Servomotors LR LL F G C b* 30 dia. C D2 dia. QK* KL2 S dia. KL1 M effective depth l *Shaft end D1 dia. t1* h* 12 D3 dia. Four, Z dia. Mounting hole KB1 KB2 * These dimensions are applicable to R88M-W@-S2 with key and tap. Dimensions (mm) LL LR KB1 KB2 KL1 KL2 Flange surface Model C R88M-W30010@ (-S2) 138 58 65 117 109 88 R88M-W60010@ (-S2) 161 88 140 R88M-W90010@ (-S2) 185 112 164 R88M-W1K210@ (-S2) 166 79 89 R88M-W2K010@ (-S2) 192 115 170 R88M-W3K010@ (-S2) 226 149 204 D1 D2 130 145 110h7 D3 Shaft end F G 165 6 12 Z 9 19 S QK* h6 25 22h6 144 140 88 180 200 0 114.3 -0.025 230 3.2 18 13.5 35 +0.01 0 60 b* h* t1* 5 5 3 6 6 3.5 10 8 5 M l M5 12 M12 25 Cylinder-style Motors with Brakes (1,000 r/min) 200 VAC: 300 W/600 W/900 W/1.2 kW/2 kW/3 kW R88M-W30010H-B (S2)/W60010H-B (S2)/W90010H-B (S2)/W1K210H-B (S2)/W2K010H-B (S2)/W3K010H-B (S2) R88M-W30010T-B (S2)/W60010T-B (S2)/W90010T-B (S2)/W1K210T-B (S2)/W2K010T-B (S2)/W3K010T-B (S2) Output section dimensions for 300-W to 900-W Servomotors LR F G C C M effective depth l QK* S dia. KL2 KL1 D2 dia. *Shaft end 30 dia. D1 dia. b* LL t1* h* 12 D3 dia. Four, Z dia. Mounting hole KB1 KB2 * These dimensions are applicable to R88M-W@-BS2 with key and tap. Dimensions (mm) LL LR KB1 KB2 KL1 KL2 Model Flange surface C R88M-W30010@-B (S2) 176 58 56 154 120 88 177 R88M-W60010@-B (S2) 199 79 R88M-W90010@-B (S2) 223 103 201 R88M-W1K210@-B (S2) 217 79 79 R88M-W2K010@-B (S2) 243 105 221 R88M-W3K010@-B (S2) 277 139 255 195 146 88 D1 D2 D3 F Shaft end G 130 145 110h7 165 6 180 200 230 3.2 18 12 Z 9 S 19h6 QK* 25 22h6 0 114.3 -0.025 13.5 35 +0.01 0 60 b* h* t1* 5 5 3 6 6 3.5 10 8 5 M l M5 12 M12 25 37 External Dimensions Cylinder-style Motors without Brakes (1,000 r/min) 200 VAC: 4 kW/5.5 kW R88M-W4K010H (-S2)/W5K510H (-S2) R88M-W4K010T (-S2)/W5K510T (-S2) LL 113 180 3.2 42h6 dia. 18 dia. 150 123 88 114.3 0 -0.025 180 dia. 200 230 . dia Four, 13.5 dia. KB1 KB2 *Shaft end 12 M16 effective depth 32 90 5 8 Dimensions (mm) LL KB1 KB2 Model R88M-W4K010@ (-S2) 260 174 238 R88M-W5K010@ (-S2) 334 248 312 38 External Dimensions Cylinder-style Motors with Brakes (1,000 r/min) 200 VAC: 4 kW/5.5 kW R88M-W4K010H-B (S2)/W5K510H-B (S2) R88M-W4K010T-B (S2)/W5K510T-B (S2) LL 113 3.2 180 42h6 dia. 18 dia. 123 123 150 88 0 180 114.3 -0.025 dia. 200 230 . dia Four, 13.5 dia. KB1 KB3 KB2 M16 effective depth 32 12 *Shaft end 90 5 8 Dimensions (mm) LL KB1 KB2 KB3 Model R88M-W4K010@-B (S2) 311 174 289 231 R88M-W5K510@-B (S2) 385 248 363 305 39 External Dimensions Flat-style Motors without Brakes 200 VAC: 100 W/200 W/400 W/750 W/1.5 kW R88M-WP10030H (-S1)/WP20030H (-S1)/WP40030H (-S1)/WP75030H (-S1)/WP1K530H (-S1) R88M-WP10030T (-S1)/WP20030T (-S1)/WP40030T (-S1)/WP75030T (-S1)/WP1K530T (-S1) 100 VAC: 100 W/200 W R88M-WP10030L (-S1)/WP20030L (-S1) R88M-WP10030S (-S1)/WP20030S (-S1) 30030 7 dia. 6 dia. 13 A3 A4 A2 30030 A1 *Shaft end D1 dia. A5 C D2 dia. QK* G F LL h* b* S dia. t1* Four, Z dia. C LR * These dimensions are applicable to R88M-W@-S1 with key. Dimensions (mm) LL LR Model Flange surface C D1 D2 F Shaft end G QK* b* Cable pull-out section Z S R88M-WP10030@ (-S1) 62 25 60 70 50h7 3 6 5.5 8h6 14 3 3 h* 1.8 t1* R88M-WP20030@ (-S1) 67 30 80 90 70h7 3 8 7 14h6 16 5 5 3 40 120 145 110h7 3.5 10 10 16h6 22 6 6 3.5 A1 9 A2 18 A3 25 A4 A5 21 14 38 19 R88M-WP40030@ (-S1) 87 R88M-WP75030@ (-S1) 86.5 R88M-WP1K530@ (-S1) 114.5 40 19 h6 28 External Dimensions Flat-style Motors with Brakes 200 VAC: 100 W/200 W/400 W/750 W/1.5 kW R88M-WP10030H-B (S1)/WP20030H-B (S1)/WP40030H-B (S1)/WP75030H-B (S1)/WP1K530H-B (S1) R88M-WP10030T-B (S1)/WP20030T-B (S1)/WP40030T-B (S1)/WP75030T-B (S1)/WP1K530T-B (S1) 100 VAC: 100 W/200 W R88M-WP10030L-B (S1)/WP20030L-B (S1) R88M-WP10030S-B (S1)/WP20030S-B (S1) 30030 7 dia. 6 dia. A3 A4 13 A2 30030 A1 *Shaft end D1 dia. A5 h* C b* S dia. D2 dia. QK* G LL F t1* Four, Z dia. C LR * These dimensions are applicable to R88M-W@-BS1 with key. Dimensions (mm) LL LR Model Flange surface C D1 D2 F Shaft end G QK* b* Cable pull-out section Z S R88M-WP10030@-B (S1) 91 25 60 70 50h7 3 6 5.5 8h6 14 3 3 h* 1.8 t1* R88M-WP20030@-B (S1) 98.5 30 80 90 70h7 3 8 7 14h6 16 5 5 3 40 120 145 110h7 3.5 10 10 16h6 22 6 6 3.5 A1 9 A2 18 A3 25 A4 A5 21 23 38 26 R88M-WP40030@-B (S1) 118.5 R88M-WP75030@-B (S1) 120 R88M-WP1K530@-B (S1) 148 19 h6 28 41 External Dimensions AC Servodrivers 200 VAC: 30 W/50 W/100 W/200 W R88D-WTA3H/WTA5H/WT01H/WT02H 100 VAC: 30 W/50 W/100 W R88D-WTA3HL/WTA5HL/WT01HL Mounting hole dimensions Two, M4 5.5 39 160 149.50.5 160 106 55 8 5 55 (5) (75) 130 200 VAC: 400 W R88D-WT04H 100 VAC: 200 W R88D-WT02HL Mounting hole dimensions 5 dia. hole 5.5 Two, M4 5.5 39 160 149.50.5 160 149.5 106 8 5 (5) 12 (63) 12 (5) (75) 130 75 75 200 VAC: 500 W/750 W/1 kW R88D-WT05H/WT08H/WT10H Mounting hole dimensions 5 dia. hole Two, M4 5.5 39 160 149.50.5 160 106 8 35 (55) 90 42 (5) (75) 180 27 90 External Dimensions 200 VAC: 1.5 kW R88D-WT15H Mounting hole dimensions Two, 5 dia. holes Four, M4 5.5 39 160 149.50.5 160 106 (5) 5 (5) 8 1000.5 110 4 110 (75) (5) 180 200 VAC: 2 kW/3 kW R88D-WT20H/WT30H Mounting hole dimensions Two, 6 dia. holes 6 Four, M5 6 39 250 238.50.5 250 238.5 196 (5.5) (5.5) (5) 8 6 100 110 (75) 1000.5 (5) 4 (5) (5) 110 180 200 VAC: 5 kW R88D-WT50H Mounting hole dimensions 6 Two, 5.7 dia. holes 8 6 Four, M5 39 250 238.50.5 250 238.5 196 (5.5) (5) 1.6 5.7 125 135 (75) 230 (5.5) 1250.5 (5) (5) 135 43 External Dimensions 200 VAC: 6 kW/7.5 kW R88D-WT60H/WT75H 10 Two, 7 dia. holes 110 7 7.5 196.7 21 8 39 335 350 max. 282.6 211 100.5 125 25 9 123.4 41 (65.6) 180 230 max. 25 7.5 (25) Mounting hole dimensions 7.5 350 Four, M6 3350.5 7.5 25 1800.5 230 max. 44 (25) 27 87.7 106.8 235 max. External Dimensions 200 VAC: 15 kW R88D-WT150H 245 7 Two, 7 dia. holes (7.5) 140 142 10 8 39 435 450 433 320 293.5 248 151.5 12.5 7 30 7.5 200 260 (30) 26 103 142 285 Mounting hole dimensions Four, M6 7.5 4350.5 450 (7.5) (30) 2000.5 (30) 260 45 Cable Specifications Cable Specifications OMNUC W-series Servodriver 9 Battery for absolute encoder 10 Analog Monitor Computer with Windows monitoring software Parameter Unit 11 12 OMNUC W-series Servomotor 3 1 Motion Control Unit 5 4 Servo Relay Unit 7 6 2 8 8 Position Control Unit Relay Terminal Block Power Cables Symbol 1 46 Description Power Cables for Servomotors without Brakes Connect to: Model Remarks Cylinder-style Servomotors (3,000 r/min): 30 to 750 W Flat-style Servomotors (3,000 r/min): 100 to 750 W R88A-CAWA@@@S @ represents one of the following cable lengths: 3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m Connector on motor end (manufactured by AMP Japan, Ltd.) Connector cap: 350780-1 Connector socket: 350689-3 Flat-style Servomotors (3,000 r/min): 1.5 kW R88A-CAWB@@@S @ represents one of the following cable lengths: 3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m Connector on motor end (manufactured by AMP Japan, Ltd.) Connector cap: 350780-1 Connector socket: 350551-6 (pins 1 to 3) 350551-3 (pin 4) Cylinder-style Servomotors (3,000 r/min): 1 to 2 kW Cylinder-style Servomotors (1,500 r/min): 450 W to 1.3 kW Cylinder-style Servomotors (1,000 r/min): 300 to 900 W R88A-CAWC@@@S @ represents one of the following cable lengths: 3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m Connector on motor end (manufactured by Daiichi Denshi Kogyo Co., Ltd.) Connector cap: MS3106B18-10S Cable clamp: MS3057-10A Cylinder-style Servomotors (3,000 r/min): 3 to 5 kW Cylinder-style Servomotors (1,500 r/min): 1.8 to 4.4 kW Cylinder-style Servomotors (1,000 r/min): 1.2 to 3 kW R88A-CAWD@@@S @ represents one of the following cable lengths: 3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m Connector on motor end (manufactured by Daiichi Denshi Kogyo Co., Ltd.) Connector cap: MS3106B22-22S Cable clamp: MS3057-12A Cable Specifications Symbol 1 Description Power Cables for Servomotors without Brakes, and Servomotors with Brakes (See note.) Power connectors (See note.) Brake connectors (See note.) Power Cables for Servomotors with Brakes Connect to: Model Remarks Cylinder-style Servomotors R88A-CAWE@@@S (1,000 r/min): 4 kW @ represents one of the following cable lengths: 3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m Connector on motor end (manufactured by Daiichi Denshi Kogyo Co., Ltd.) Connector cap: MS3106B32-17S Cable clamp: MS3057-20A Cylinder-style Servomotors (1,500 r/min): 5.5 to 11 kW Cylinder-style Servomotors (1,000 r/min): 5.5 kW R88A-CAWF@@@S @ represents one of the following cable lengths: 3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m Connector on motor end (manufactured by Daiichi Denshi Kogyo Co., Ltd.) Connector cap: MS3106B32-17S Cable clamp: MS3057-20A Cylinder-style Servomotors (1,500 r/min): 5.5 to 11 kW Cylinder-style Servomotors (1,000 r/min): 4 to 5.5 kW Note: Must be used in combination with an R88A-CAWE@@@S or R88ACAWF@@@S Power Cable. R88A-CAWE@@@B @ represents one of the following cable lengths: 3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m Connector on motor end (manufactured by Daiichi Denshi Kogyo Co., Ltd.) Connector cap: MS3106A10SL-3S Cable clamp: MS3057-4A Cylinder-style Servomotors (3,000 r/min): 30 to 750 W Flat-style Servomotors (3,000 r/min): 100 to 750 W R88A-CAWA@@@B @ represents one of the following cable lengths: 3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m Connector on motor end (manufactured by AMP Japan, Ltd.) Connector cap: 350781-1 Connector socket: 350689-3 Flat-style Servomotors (3,000 r/min): 1.5 kW R88A-CAWB@@@B @ represents one of the following cable lengths: 3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m Connector on motor end (manufactured by AMP Japan, Ltd.) Connector cap: 350781-1 Connector socket: 350551-6 (pins 1 to 3) 350551-3 (pin 4) Cylinder-style Servomotors (3,000 r/min): 1 to 2 kW Cylinder-style Servomotors (1,500 r/min): 450 W to 1.3 kW Cylinder-style Servomotors (1,000 r/min): 300 to 900 W R88A-CAWC@@@B @ represents one of the following cable lengths: 3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m Connector on motor end (manufactured by Daiichi Denshi Kogyo Co., Ltd.) Connector cap: MS3106B20-15S Cable clamp: MS3057-12A Cylinder-style Servomotors (3,000 r/min): 3 to 5 kW Cylinder-style Servomotors (1,500 r/min): 1.8 to 4.4 kW Cylinder-style Servomotors (1,000 r/min): 1.2 to 3 kW R88A-CAWD@@@B @ represents one of the following cable lengths: 3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m Connector on motor end (manufactured by Daiichi Denshi Kogyo Co., Ltd.) Connector cap: MS3106B24-10S Cable clamp: MS3057-16A Note: Power connectors and brake connectors are separate for Servomotors with a capacity of 4 kW min. (1,000 r/min) and 5.5 kW min. (1,500 r/min). This means that two cables are necessary when using Servomotors with Brakes: an R88A-CAWE@@@S or R88ACAWF@@@S Power Connector and an R88A-CAWF@@@B Brake Connector. The R88A-CAWF@@@B Brake Connector is wired (2 conductors) only for braking. 47 Cable Specifications Encoder Cables (for CN2) Symbol 2 Description Encoder Cable Connect to: Model Remarks Cylinder-style Servomotors (3,000 r/min): 30 to 750 W Flat-style Servomotors (3,000 r/min): 100 W to 1.5 kW R88A-CRWA@@@C @represents one of the following cable lengths: 3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m Connector on motor end (manufactured by MOLEX JAPAN CO., Ltd.) Connector socket: 542800600 Connector on driver end (manufactured by MOLEX JAPAN CO., Ltd.) Crimp terminal: 50639-8091 Connector plug: 55101-0600 Cylinder-style Servomotors (3,000 r/min): 1 to 5 kW Cylinder-style Servomotors (1,500 r/min): 450 W to 15 kW Cylinder-style Servomotors (1,000 r/min): 300 W to 5.5 kW R88A-CRWB@@@N @represents one of the following cable lengths: 3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m Connector on motor end (manufactured by Daiichi Denshi Kogyo Co., Ltd.) Connector socket: MS3106B20-29S Cable clamp: MS3057-12A Connector on driver end (manufactured by MOLEX JAPAN CO., Ltd.) Crimp terminal: 50639-8091 Connector plug: 55101-0600 Control Cables (for CN1) Symbol Description Connect to Model 3 Control Cable Motion Control Units (for all R88A-CPW@@@M SYSMAC CS1, C200H, and @represents one of the following CV PCs) cable lengths: 1 m, 2 m, 3 m, 5 m represents the number of axes: 1: 1 axis 2: 2 axes 4 Servo Relay Unit 1-axis Position Control Unit XW2B-20J6-1B Remarks --- 2-axis Position Control Unit XW2B-40J6-2B 1-axis CJ1M 2-axis CJ1M 5 6 XW2B-20J6-8A XW2B-40J6-9A Servodriver Con- XW2B-20J6-1B, XW2Bnecting Cable 40J6-2B, XW2B-20J6-3B, XW2B-20J6-8A, or XW2B40J6-9A Servo Relay Unit XW2Z-@@@J-B4 @ represents either of the following cable lengths: 1 m, 2 m XW2B-40J6-4A Servo Relay Unit XW2Z-@@@J-B8 @ represents either of the following cable lengths: 1 m, 2 m Position Control Unit Connecting Cable CS1W-NC113 or C200HW- XW2Z-@@@J-A6 NC113 Position Control Unit @ represents either of the following cable lengths: 50 cm, 1 m CS1W-NC213/413 or C200HW-NC213/413 Position Control Unit XW2Z-@@@J-A7 @ represents either of the following cable lengths: 50 cm, 1 m CJ1W-NC113 Position Con- XW2Z-@@@J-A14 trol Unit @ represents either of the following cable lengths: 50 cm, 1m 7 48 Control Cable CJ1W-NC213/413 Position Control Unit XW2Z-@@@J-A15 @ represents either of the following cable lengths: 50 cm, 1m CJ1M (CJ1M-CPU22/23) XW2Z-100J-A27 --General-purpose Controller R88A-CPW@@@S @ represents either of the following cable lengths: 1 m, 2 m Cable Specifications Symbol 8 Description Relay Terminal Block Cable Connect to Model Relay Terminal Block --- Control I/O Connector CN1 Remarks --General-purpose Controller R88A-CTW@@@N @ represents either of the following cable lengths: 1 m, 2 m XW2B-50G5 --- R88A-CNU11C CN3 Options Symbol 11 12 Description Connect to: Model Parameter Unit with Ca- --ble (1 m) R88A-PR02W Parameter Unit Connecting Cable (2 m) R88APR02U/ PR02W R88A-CCW002C Computer Connecting Cable (2 m) IBM PC/AT or R88Acompatibles CCW002P2 Other Options Symbol 9 Description Backup Battery Connect to: Model R88D-WT@H (@: 50 or less) R88A-BAT01W R88D-WT60H/ 75H/150H R88A-BAT02W 10 Analog Monitor Cable --(1 m) --- Encoder Cable Connector R88ACMW001S Servodriver side R88A-CNW01R Servomotor side R88A-CNW02R Note: For details, refer to Ordering Information on page 67. 49 Operation and Display Operation and Display Unit Keys Operating Functions Parameter Unit R88A-PR02W Servodriver R88D-WT@ R88A-PR02W R88D-WT@ Function Resets an alarm. Switches between status display mode, system check mode, setting mode, and monitor mode. Used as a data setting key while in setting mode. Turns ON or OFF the Servo while jog operations are being performed. Display Panel Displays motor speed, speed commands, torque command motor values, user parameter settings, and Servodriver status. Switches between parameter display and data display, and records data. Increments parameter settings. Used as a forward rotation start key during jog operation. Decrements parameter settings. Used as a reverse rotation start key during jog operation. Changing Modes To change modes, press the MODE/SET Key. Selects the digit whose setting is to be changed. When selected, the digit flashes. Power ON (Display example) Status display mode Baseblock System check mode Mode Details Power ON Alarm history display mode Status display mode Setting mode Function selection switch Monitor mode Speed feedback Symbol Display Baseblock, operating, forward rotation prohibited, reverse rotation prohibited, alarm display Status Display Mode Control-circuit power supply ON Baseblock Speed conformity (during speed control) Positioning complete 1 (during position control) Bit Display Main-circuit power supply ON, control-circuit power supply ON, baseblock (motor OFF), speed conformity, positioning complete 1, torque command being input, error counter reset signal being input, speed command being input, command pulses being input, motor rotation detection Motor rotation detection Speed command being input (during speed control) Command pulses being input (during position control) System check mode Torque command being input (during torque control) Error counter reset signal being input (during position control) Alarm history display, robustness setting during online auto-tuning, jog operations, motor origin search, user parameter initialization, alarm history data clear, online autotuning results saving, command offset automatic adjustment, command offset manual adjustment, password setting Main-circuit power supply ON Setting mode Bit display Symbol display Monitor mode Symbol Status bb Baseblock (motor OFF) rUn Operating p%t Forward rotation prohibited (forward overtravel) n%t Reverse rotation prohibited (reverse overtravel) a.02 Alarm display (refer to Alarm List on page 51) 50 User Parameters Pn000 to Pn600 Speed feedback, speed commands, torque commands, number of pulses from origin, electrical angle, input signal monitoring, output signal monitoring, command pulse speed display, position error, input pulse counter/feedback pulse counter Monitor Item and Alarm List Monitor Item and Alarm List Monitor Mode Monitor No. Monitor item Unit Explanation Un000 Speed Feedback r/min Displays the actual motor speed. Un001 Speed Command r/min Displays the speed command value or internally set speed value during speed control. 0 is displayed during pulse-train input control. Un002 Torque Command % Displays the command value for a current loop that is expressed by treating the rated torque as 100%. Un003 Number of Pulses from Z-Phase Pulses Displays the number of pulses from Z-Phase in encoder resolution units (times 4). Un004 Electrical Angle degrees Displays the motor electrical angle. Displays driver I/O signal status by turning ON or OFF each signal bit. Un005 Input Signal Monitor --- Un006 Output Signal Monitor --- Un007 Command Pulse Speed Display r/min Un008 Position Deviation (Error Counter) Reference Displays the number of pulses accumulated in the error counter (Position Deviation) units that are converted in reference units (input pulse references). Displays command pulse frequency converted in r/min. Un009 Motor Load Rate % Displays effective torque at intervals of 10 s that is expressed by treating the rated torque as 100%. Un00A Regeneration Load Rate % Displays the amount of regeneration energy absorbed at intervals of 10 s that is expressed by treating the Pn600 setting (Regenerative Resistor Capacity) as 100%. Un00B Dynamic Brake Resistance Load % Rate Displays the resistance load factor at intervals of 10 s that is expressed by treating the rated load factor as 100%. Un00C Input Pulse Counter Reference Displays the number of counted input pulses in hexadecimal notation. units Un00D Feedback Pulse Counter Pulses Displays the number of counted encoder feedback pulses in hexadecimal notation (multiplied by 4). Alam Displays In addition to the displays listed below, error codes for the Option Unit are also output. Display Alarm code AL01 a.02 OFF AL02 OFF Alarm details AL03 OFF Parameter destruction, Servodriver EEP-ROM data error a.03 Main circuit detector error a.04 Parameter setting error Motor mismatch, Servomotor and Servodriver capacity mismatch a.05 a.10 ON OFF OFF Overcurrent or heat sink overheating (1.5 kW min.) a.30 ON ON OFF Regeneration error (broken resistor wiring, transistor short-circuit ) Regeneration overload a.32 Main-circuit power supply setting error a.33 a.40 OFF OFF ON Overvoltage Undervoltage a.41 a.51 ON OFF ON Overspeed a.71 ON ON ON Overload (maximum momentary load) a.72 Overload (maximum continuous load) a.73 Dynamic brake overload a.74 Inrush resistance overload Radiation shield overheating (Displayed for 30 W to 1.0 kW models only) a.7a a.81 OFF OFF OFF Backup error a.82 Checksum error a.83 Parity error a.84 Absolute error a.85 Overspeed error a.8b Encoder overheating a.b1 Speed command input read error a.b2 Torque command input read error a.bf System error 51 Monitor Item and Alarm List Display Alarm code AL01 a.c1 ON AL02 OFF Alarm details AL03 ON Overrun detection a.c8 Excessive rotation data error a.c9 Encoder communications error a.ca Encoder parameter error Encoder data error a.cb a.cc ON OFF ON Multiple rotation limit mismatch a.d0 ON ON OFF Error counter count-up a.e7 OFF ON ON Option detection error a.f1 OFF ON OFF Phase-failure detected a.f5 OFF ON OFF Motor current error a.f6 OFF ON OFF Motor conduction error Motor-load deviation over a.d1 Note: Alarm codes are output to pin 37 (AL01), pin 38 (AL02), and pin 39 (AL03) of the CN1 connector on the Servodriver. 52 User Parameters User Parameters Function Selection Parameters PRM. No. Pn000 Parameter name Function Selection Basic Switches Digit 0 1 Pn001 Function Selection Application Switches 1 Function name Reverse Rotation Mode Control Mode Selection Defines forward rotation as counterclockwise (CCW) rotation. 1 Defines forward rotation as clockwise (CW) rotation. 0 Speed control (analog command) --- --- --- 3 Internally set speed control 4 Internally set speed control Speed control (analog command) 5 Internally set speed control Position control (pulse-train command) 6 Internally set speed control Torque control (analog command) 7 Position control (pulse-train command) Speed control (analog command) 8 Position control (pulse-train command) Torque control (analog command) 9 Torque control (analog command) Speed control (analog command) A Speed control with position lock function (analog command) B Position control with pulse prohibit function (pulse-train command) 0 to F Sets the unit No. of the device communicating with Servodriver. 0 Uses the dynamic brake to stop the Ser- 1002 vomotor. 1 Uses the dynamic brake to stop the Servomotor, and releases the dynamic brake after the Servomotor stops. 2 Coasts the Servomotor to a stop. 0 Stops the Servomotor according to the Pn001.0 setting. 1 Decelerates the Servomotor to a stop at the torque specified in Pn406 and then locks the Servomotor. 2 Decelerates the Servomotor to a stop at the torque specified in Pn406 and then turns OFF the Servomotor. 0 Supplies AC power from L1, L2, and (L3) terminals. 1 Supplies DC power from (+) 1 and (-) terminals. Warning Code Output 0 Selection Outputs only alarm codes from AL01, AL02, and AL03. Not Used Servo OFF or Alarm Stop Mode Run Prohibit Input Stop Mode Main Circuit Power Supply AC/DC Input Selection 1 Setting range --- Position control (pulse-train command) 0 Unit 0010 Torque control (analog command) 3 3 0 Factory setting 2 Unit No. Setting 2 Explanation 1 2 1 Setting Outputs both alarm codes and warning codes from AL01, AL02, and AL03. Note: 1. Do not change the factory settings of any "Not Used" parameters. 2. When changing the Pn000, Pn001, or Pn002 parameter, always turn OFF and then ON the main circuit and control circuit power supplies to make the settings valid. 53 User Parameters PRM. No. Pn002 Parameter name Digit Function Selection 0 Application Switches 2 1 2 3 Pn003 Function Selection 0 Application Switches 3 1 Function name Setting Torque Command In- 0 put Switch during Po- 1 sition/Speed Control 2 Explanation None. 0 None. 1 Uses REF for analog torque limit input. Absolute Encoder Us- 0 age Uses the absolute encoder as an absolute encoder. 1 Uses the absolute encoder as an incremental encoder. Analog Monitor 1 Analog Monitor 2 Setting range 0000 --- --- 0002 --- --- 0000 --- --- Uses TREF for torque feed-forward input. Uses TREF for analog torque limit input when PCL and NCL are ON. Fully Closed Encoder 0 Usage 1 Unit Uses TREF for analog torque limit input. 3 Speed Command Input Switch during Torque Control Factory setting Fully closed encoder is not used. Fully closed encoder is used without phase Z. 2 Fully closed encoder is used with phase Z. 3 Fully closed encoder is used in Reverse Rotation Mode without phase Z. 4 Fully closed encoder is used in Reverse Rotation Mode with phase Z. 0 Motor speed: 1 V/1,000 r/min 1 Speed command: 1 V/1,000 r/min 2 Torque command: 0.05 V/rated torque 3 Position error: 0.05 V/1 command unit 4 Position error: 0.05 V/100 command units 5 Reference pulse frequency: 1 V/1,000 r/min 6 Motor speed: 1 V/250 r/min 7 Motor speed: 1 V/125 r/min 8 to F Reserved 0 to F Same as Analog Monitor 1 2 to 3 Not Used Pn004 and Pn005 Not Used Note: 1. Do not change the factory settings of any "Not Used" parameters. 2. When changing the Pn000, Pn001, or Pn002 parameter, always turn OFF and then ON the main circuit and control circuit power supplies to make the settings valid. 54 User Parameters Gain-related Parameters PRM. No. Parameter name Digit Function name Setting Explanation Adjusts speed loop response. Factory setting Unit Setting range Pn100 Speed Loop Gain 80 Hz 1 to 2000 Pn101 Speed Loop Integral Time Speed loop integral time constant Constant 2000 0.01 ms 15 to 51200 Pn102 Position Loop Gain Adjusts speed loop response. 40 1/s 1 to 2000 Pn103 Inertia Ratio Sets the ratio for the mechanical inertia relative to the Servomotor ro- 300 tor inertia. % 0 to 20000 Pn104 Speed Loop Gain 2 Adjusts speed loop response (enabled by gain selector input). Pn105 Speed Loop Integral Time Speed loop integral time constant (enabled by gain selector input). Constant 2 Pn106 Position Loop Gain 2 Adjusts speed loop response (enabled by gain selector input). Pn107 Bias Rotational Speed Position control bias setting Pn108 Bias Addition Baud Uses the deviation counter pulse width to set the operation start for the position control bias function. 7 80 Hz 1 to 2000 2000 0.01 ms 15 to 51200 40 1/s 1 to 2000 0 r/min 0 to 450 Command units 0 to 250 Pn109 Feed-forward Amount Position control feed-forward compensating gain value 0 % 0 to 100 Pn10A Feed-forward Command Filter Sets the command filter for position control feed-forward. 0 0.01 ms 0 to 6400 Pn10B Speed Control Settings 0 0004 --- --- P Control Switching 0 Condition Uses an internal torque command value as the switching condition (level setting: Pn10C). 1 Uses a speed command value as the switching condition (level setting: Pn10D). 2 Uses an acceleration command value as the switching condition (level setting: Pn10E). 3 Uses the number of error pulses as the switching condition (level setting: Pn10F). 4 Does not use the P control switching function. 1 Speed Control Loop 0 Switch 1 PI control 2 Automatic Gain 0 Switching Selection Automatic gain switching disabled 3 IP control 1 Gain switching using position commands 2 Gain switching using position deviation 3 Gain switching using position commands and position deviation Not Used Pn10C P Control Switching (Torque Command) Sets the torque command level for switching from PI control to P con- 200 trol. % 0 to 800 Pn10D P Control Switching (Speed Command) Sets the speed command level for switching from PI control to P con- 0 trol. r/min 0 to 10000 Pn10E P Control Switching (Acceleration Command) Sets the acceleration command level for switching from PI control to 0 P control. 10r/ min/s 0 to 3000 Pn10F P Control Switching (Deviation Pulse) Sets the deviation pulse level for switching from PI control to P con- 10 trol. Command units 0 to 10000 55 User Parameters PRM. No. Pn110 Parameter name Digit Online Autotuning Setting 0 1 2 3 Function name Online Autotuning Selection Speed Feedback Compensation Selection Setting Explanation Factory setting 0 0012 Performs autotuning only when the system runs for the first time after the power is turned ON. 1 Performs autotuning continuously. 2 Does not perform autotuning. 0 Enabled 1 Disabled Friction Compensa- 0 tion Selection Unit Setting range --- --- % 0 to 500 Friction compensation: Disabled 1 Friction compensation: Small rated torque ratio 2 Friction compensation: Large rated torque ratio Not Used Pn111 Speed Feedback Compen- Adjusts the speed loop feedback gain. sating Gain Pn124 Automatic Gain Switching Sets the switching delay following the completion of the condition 100 Timer when using the automatic gain switching function (Pn10B.2 = 1 to 3). ms 1 to 10000 Pn125 Automatic Gain Switching Sets the position deviation amount for the switching condition when 7 Width (Position Deviation using the automatic gain switching function based on position deviation (Pn10B.2 = 2, 3). Amount) Command units 1 to 250 Note: Do not change the factory settings of any "Not Used" parameters. 56 100 User Parameters Position Control-related Parameters PRM. No. Pn200 Parameter name Position Control Setting 1 Digit 0 1 2 3 Function name Setting Command Pulse Mode 0 Error Counter Clear Signal Form Error Counter Clear during Servo OFF or Alarm Pulse Command Filter Selection Explanation Feed pulse/forward-reverse signal: Positive logic 1 Forward rotation pulse/reverse rotation pulse: Positive logic 2 Phase-A/B signal with 90 phase differential (x1): Positive logic 3 Phase-A/B signal with 90 phase differential (x2): Positive logic 4 Phase-A/B signal with 90 phase differential (x4): Positive logic 5 Feed pulse/forward-reverse signal: Negative logic 6 Forward rotation pulse/reverse rotation pulse: Negative logic 7 Phase-A/B signal with 90 phase differential (x1): Negative logic 8 Phase-A/B signal with 90 phase differential (x2): Negative logic 9 Phase-A/B signal with 90 phase differential (x4): Negative logic 0 Clears the error counter when the clear signal goes high. 1 Clears the error counter on the rising edge of the clear signal. 2 Clears the error counter when the clear signal goes low. 3 Clears the error counter on the falling edge of the clear signal. 0 Clears the error counter when the Servo is turned OFF or when an alarm is generated. 1 Does not clear the error counter when the Servo is turned OFF or when an alarm is generated. 2 Clears the error counter only when an alarm is generated. 0 Uses command filter for line driver signal input (500 Kpps). 1 Uses command filter for open collector signal input (200 Kpps). Factory setting --- 1000 Pulses/ 16 to revolu- 16384 tion Encoder Divider Rate Sets the number of output pulses from the driver. Pn202 Electronic Gear Ratio Sets the pulse rate for the command pulse and amount of Servomotor movement. 4 G1 (Numerator) 0.01G1/G2100 Electronic Gear Ratio 1 G2 (Denominator) Pn204 Position Command Soft start setting for command pulse (soft start characteristic: primary filter) Filter Time Constant 1 Pn205 Absolute Encoder Multi-turn Limit Setting Pn206 Number of Fully Closed Encoder Pulses Setting range 1011 Pn201 Pn203 Unit --- --- 1 to 65535 --- 1 to 65535 0 0.01 ms 0 to 6400 Sets the multi-turn limit when using a Servomotor with an absolute encoder. 65535 Number of revolutions 0 to 65535 Sets the number of fully closed encoder pulses per Servomotor revolution. 16384 P/R 25 to 65535 57 User Parameters PRM. No. Pn207 Parameter name Digit Position Control Set- 0 ting 2 1 Function name Position Command Filter Selection Setting Explanation 0 Primary filter 1 Linear acceleration/deceleration Speed Command Input 0 Switch (during Position 1 Control) Factory setting 0000 Unit --- Setting range --- None Uses REF for speed feed-forward input. 2 to 3 Not Used Pn208 Position Command Soft start setting for command pulse (soft start characteristic: linear acceleration 0 Filter Time Constant and deceleration) 2 (Linear Acceleration and Deceleration) 0.01 ms 0 to 6400 Pn217 Command Pulse Factor 1 Factor 1 to 99 Pn218 Position Control Set- 0 ting 3 0000 --- --- Sets the factor for command pulse input. Command Pulse Factor 0 Switching Selection 1 Disables function. Uses command pulse factor switching selection. 1 to 3 Not Used Speed-related Parameters PRM. No. Parameter name Digit Function name Setting Explanation Sets the speed command voltage (REF) to rotate at the rated r/min. Factory setting Setting range Pn300 Speed Command Scale Pn301 No.1 Internal Speed Setting r/min for No. 1 internal speed setting 100 r/min 0 to 10000 Pn302 No. 2 Internal Speed Setting r/min for No. 2 internal speed setting 200 r/min 0 to 10000 Pn303 No. 3 Internal Speed Setting r/min for No. 3 internal speed setting 300 r/min 0 to 10000 Pn304 Jog Speed 500 r/min 0 to 10000 Pn305 Soft Start Acceleration Time Sets the acceleration time for speed-controlling soft start. 0 ms 0 to 10000 Pn306 Soft Start Deceleration Time Sets the deceleration time for speed-controlling soft start. 0 ms 0 to 10000 Pn307 Speed Command Filter Time Sets the filter time constant for speed command voltage input Constant (REF). 40 0.01 ms 0 to 65535 Pn308 Speed Feedback Filter Time Sets the filter time constant for speed feedback. Constant 0 0.01 ms 0 to 65535 Sets the r/min for jog operation. 1000 Unit 0.01 V/rat- 150 to ed speed 3000 Note: 1. Do not change the factory settings of any "Not Used" parameters. 2. When changing any position control-related parameters (Pn200 to Pn208), always turn OFF and then ON the main circuit and control circuit power supplies to make the settings valid. 3. For 13-bit encoders, dividing will not occur if a value of 2048 or greater is specified in Pn201. Torque-related Parameters PRM. No. Parameter name Digit Function name Setting Explanation Factory setting Unit Setting range Pn400 Torque Command Scale Sets the torque command voltage (TREF) to output the rated torque. 30 0.1 V/rated 10 to 100 torque Pn401 Torque Command Filter Time Constant Sets the filter time constant for internal torque command. 0.01 ms 0 to 65535 Pn402 Forward Torque Limit Output torque limit (percentage of rated torque) for forward direction 350 % 0 to 800 Pn403 Reverse Torque Limit Output torque limit (percentage of rated torque) for reverse direction 350 % 0 to 800 Pn404 Forward Rotation External Output torque limit (percentage of rated torque) for forward rotation 100 Current Limit external current limit input % 0 to 800 Pn405 Reverse Rotation External Output torque limit (percentage of rated torque) for reverse rotation 100 Current Limit external current limit input % 0 to 800 Pn406 Emergency Stop Torque Deceleration torque (percentage of rated torque) for emergency stops 350 % 0 to 800 Pn407 Speed Limit Sets the speed limit for the torque control mode 3000 r/min 0 to 10000 58 40 User Parameters PRM. No. Pn408 Parameter name Digit Torque Command Setting 0 Function name Setting Selects Notch Filter 0 1 Function. 1 1 Not Used 2 Selects Notch Filter 0 2 Function. 1 3 Explanation None Factory setting 0000 Unit --- Setting range --- Notch filter 1 used for torque commands. None Notch filter 2 used for torque commands. Not Used Pn409 Notch Filter 1 Frequency Sets the notch filter 1 frequency for the torque command. 2000 Hz 50 to 2000 Pn40A Notch Filter 1 Q Value Sets the notch filter 1 Q value. 70 0.01 50 to 400 Pn40B Notch Filter 2 Frequency Sets the notch filter 2 frequency for the torque command. 2000 Hz 50 to 2000 Pn40C Notch Filter 2 Q Value Sets the notch filter 2 Q value. 70 0.01 50 to 400 Sequence-related Parameters PRM. No. Parameter name Digit Function name Setting Explanation Factory setting Unit Setting range Pn500 Positioning Completed Width 1 Sets the width for positioning completed output 1 (INP1). 3 Command 0 to 250 units Pn501 Position Lock Rotation Speed Sets the r/min for position lock during speed control. 10 r/min 0 to 10000 Pn502 Rotation Speed For Motor Sets the r/min for the motor rotation detection output (TGON). Rotation Detection 20 r/min 0 to 10000 Pn503 Speed Conformity Signal Output Width Sets the allowable variation width (r/min) for the speed conformity output signal (VCMP). 10 r/min 0 to 100 Pn504 Positioning Completion Range 2 Sets the width for positioning completed output 1 (INP2). 3 Command 1 to 250 units Pn505 Deviation Counter Overflow Level Sets the detection level for the deviation counter overflow alarm. 1024 Command 1 to units x 256 32767 Pn506 Brake Timing 1 Sets the amount of delay time from the brake command to the time the servomotor turns OFF. 0 10 ms 0 to 50 Pn507 Brake Command Speed Sets the r/min for outputting the brake command. 100 r/min 0 to 10000 Pn508 Brake Timing 2 Sets the amount of wait time from the time the servomotor turns OFF 50 until the brake command is output. 10 ms 10 to 100 Pn509 Momentary Hold Time Sets the alarm detection disable time for generating a momentary hold. ms 20 to 1000 Pn50A Input Signal Selections 1 0 --- --- Input Signal Allocation 0 Mode 1 20 Uses the same sequence in- 8100 put signal allocation setting as the R88D-UT. For details, refer to the OMNUC W-series AC SERVOMOTORS/ SERVO DRIVERS User's Manual) (I531-E1-@). Enables any sequence input signal allocation settings. Note: 1. Do not change the factory settings of any "Not Used" parameters. 2. When changing any Input Signal Selection parameters (Pn50A to Pn50D), always turn OFF and then ON the main circuit and control circuit power supplies to make the settings valid. 59 User Parameters PRM. No. Pn50A Pn50B Pn50C Parameter name Digit Input Signal Selections 1 1 Function name Setting Explanation RUN Signal Input Terminal Al- 0 location Allocates the signal to CN1-40 pin: Enabled when low. 1 Allocates the signal to CN1-41 pin: Enabled when low. 2 Allocates the signal to CN1-42 pin: Enabled when low. 3 Allocates the signal to CN1-43 pin: Enabled when low. 4 Allocates the signal to CN1-44 pin: Enabled when low. 5 Allocates the signal to CN1-45 pin: Enabled when low. 6 Allocates the signal to CN1-46 pin: Enabled when low. 7 Always enabled. 8 Always disabled. 9 Allocates the signal to CN1-40 pin: Enabled when high. A Allocates the signal to CN1-41 pin: Enabled when high. B Allocates the signal to CN1-42 pin: Enabled when high. C Allocates the signal to CN1-43 pin: Enabled when high. D Allocates the signal to CN1-44 pin: Enabled when high. E Allocates the signal to CN1-45 pin: Enabled when high. F Allocates the signal to CN1-46 pin: Enabled when high. 2 MING (Gain Reduction) Signal 0 to F Input Terminal Allocation Same as Pn50A.1 3 POT (Forward Run Prohibit) Signal Input Terminal Allocation 0 to F Same as Pn50A.1 Input Signal Selection 2 0 NOT (Reverse Run Prohibit) Signal Input Terminal Allocation 0 to F Same as Pn50A.1 1 RESET (Alarm Reset) Signal Input Terminal Allocation 0 to F Same as Pn50A.1 2 PCL (Forward Torque Limit) Signal Input Terminal Allocation 0 to F Same as Pn50A.1 3 NCL (Reverse Torque Limit) Signal Input Terminal Allocation 0 to F Same as Pn50A.1 Input Signal Selections 0 3 RDIR (Rotation Direction Com- 0 to F mand) Signal Input Terminal Allocation Same as Pn50A.1 1 SPD1 (Speed Selection Com- 0 to F mand 1) Signal Input Terminal Allocation Same as Pn50A.1 2 SPD2 (Speed Selection Com- 0 to F mand 2) Signal Input Terminal Allocation Same as Pn50A.1 3 CSEL (Control Mode Selec0 to F tion) Signal Input Terminal Allocation Same as Pn50A.1 Factory setting Unit Setting range 8100 --- --- 6548 --- --- 8888 --- --- Note: 1. Do not change the factory settings of any "Not Used" parameters. 2. When changing any Input Signal Selection parameters (Pn50A to Pn50D), always turn OFF and then ON the main circuit and control circuit power supplies to make the settings valid. 3. When installing an external regenerative resistor, set the resistor capacity (W). 60 User Parameters PRM. No. Pn50D Pn50E Pn50F Pn510 Parameter name Input Signal Selections 4 Output Signal Selections 1 Output Signal Selections 2 Output Signal Selections 3 Digit Function name Setting Explanation Factory setting 0 PLOCK (Position Lock Command) Signal 0 to F Input Terminal Allocation Same as Pn50A.1 1 IPG (Pulse Prohibit) Signal Input Terminal 0 to F Allocation Same as Pn50A.1 2 GSEL (Gain Selection) Signal Input Terminal Allocation 0 to F Same as Pn50A.1 0 Disabled (Not used for the output signal) 1 Allocates the signal to CN1-25 and CN1-26 pins. 2 Allocates the signal to CN1-27 and CN1-28 pins. 3 Allocates the signal to CN1-29 and CN1-30 pins. 3 Not Used 0 INP1 (Positioning Completed 1) Signal Output Terminal Allocation 1 VCMP (Speed Coincidence) Signal Output Terminal Allocation 0 to 3 Same as Pn50E.0. 2 TGON (Motor Rotation Detection) Signal 0 to 3 Output Terminal Allocation Same as Pn50E.0. 3 READY (Servo Ready) Signal Output Ter- 0 to 3 minal Allocation Same as Pn50E.0. 0 CLMT (Torque Limit Detection) Signal Output Terminal Allocation 0 to 3 Same as Pn50E.0. 1 VLMT (Speed Limit Detection) Signal Output Terminal Allocation 0 to 3 Same as Pn50E.0. 2 BKIR (Brake Interlock) Signal Output Ter- 0 to 3 minal Allocation Same as Pn50E.0. 3 WRN (Warning) Signal Output Terminal Allocation 0 to 3 Same as Pn50E.0. 0 INP2 (Positioning Completed 2) Signal Output Terminal Allocation 0 to 3 Same as Pn50E.0. 0 to 3 Same as Pn50E.0. 0 Does not reverse output signal. 1 Not Used 2 PSON (Command Pulse Factor Enable) Signal Output Terminal Allocation Unit Setting range 8888 --- --- 3211 --- --- 0000 --- --- 0000 --- --- 1 to 3 Not Used Pn511 Not Used Pn512 Output Signal Reversal 0 CN1-25/26 Pin Output Signal Reversal 1 Reverses output signal. 1 CN1-27/28 Pin Output Signal Reversal 0, 1 Same as Pn512.0. 2 CN1-29/30 Pin Output Signal Reversal 0, 1 Same as Pn512.0. 3 Not Used PSEL (Command Pulse Factor Switching) Signal Input Terminal Allocation 0 to F Same as Pn50A.1. 8888 --- --- 0000 --- --- 0088 --- --- 0 Pulse 0 to 32767 Pn513 Input Signal Selection 5 0 Pn51A Motor-load Deviation Over Level Sets the allowable deviation level for fully closed and semi-closed encoders. Pn51E Deviation Counter Overflow Sets the detection level for the deviation counter overflow warning (set as a percentage of the De- 0 Warning Level viation Counter Overflow Level (Pn505)). % 0 to 100 Note: Do not change the factory settings of any "Not Used" parameters. Other Parameters PRM. No. Parameter name Digit Function name Setting Explanation Factory setting Pn600 Regenerative Resistor Sets the monitor calculation for the regenerative resistor load Capacity rate. 0 Pn601 Not Used 0 Unit 10 W Setting range 0 to maximum (depending on each model) Note: 1. Do not change the factory settings of any "Not Used" parameters. 2. When installing an external regenerative resistor, set the resistor capacity (W). 61 Connection Diagrams Connection Diagrams Single-phase +10% +10% Single-phase 200 to 230 VAC -15% or single-phase 100 to 115 VAC -15% (50/60 Hz) (50/60 Hz) 1MCCB Main circuit power supply Noise filter Main circuit contactor Surge killer Servomotor OMNUC W-series Servodriver Encoder Connect a DC reactor for suppressing power supply harmonic waves between (+)1 and (+)2 terminals Be sure to ground. Be sure to prepare the end of the shield wire properly. Speed command (+2 to +10 V/rated motor speed) AGND Torque command (+1 to +10 V/rated torque) AGND Alarm Code Output Maximum operating voltage: 30 VDC Maximum output current: 20 mA DC Reverse rotation pulse Position command Forward rotation pulse Phase A Error counter reset Phase B PG Dividing Ratio Output Applicable Line Receiver SN75175 or MC3486 manufactured by TI or the equivalent Phase Z Open-collector command power supply GND common Backup battery (2.8 to 4.5 V) *3 Absolute Encoder Signal Output Serial Data Output SN75175 or MC3486 manufactured by TI or the equivalent SEN signal input *3 24 VDC Run command Gain Reduction Forward Run Prohibit 3.3 k Reverse Run Prohibit 3.3 k Alarm Reset Positioning Completed 3.3 k Motor Rotation Detection 3.3 k Servo Ready Forward Current Limit 3.3 k Reverse Current Limit 3.3 k Alarm Output 3.3 k Connector shell Frame ground (FG) Connect the shield wire to the connector shell. *1. represents a twisted-pair cable. *2. Primary filter *3. Connect when using an absolute encoder. *4. Used only with an absolute encoder. *5. A regenerative resistor can be connected between B1 and B2. 62 Maximum operating voltage: 30 VDC Maximum output cur rent: 50 mA DC Connection Diagrams Three-phase +10% Three-phase 200 to 230 VAC -15% (50/60 Hz) Main circuit power supply Noise filter Main circuit contactor Surge killer Servomotor *6 OMNUC W-series Servodriver Connect a DC reactor for suppressing power supply harmonic waves between (+)1 and (+)2 terminals (No connecting terminal is provided for a capacity of 6 kW or more.) Encoder Be sure to ground. Be sure to prepare the end of the shield wire properly. Speed command (+2 to +10 V/rated motor speed) AGND Torque command (+1 to +10 V/rated torque) AGND Alarm Code Output Maximum operating voltage: 30 VDC Maximum output current: 20 mA DC Reverse rotation pulse Position command Forward rotation pulse Phase A Error counter reset Phase B PG Dividing Ratio Output Applicable Line Receiver SN75175 or MC3486 manufactured by TI or the equivalent Phase Z Open-collector command power supply GND common Backup battery (2.8 to 4.5 V) *3 Absolute Encoder Signal Output Serial Data Output SN75175 or MC3486 manufactured by TI or the equivalent SEN signal input *3 24 VDC Run command Gain Reduction 3.3 k Forward Run Prohibit 3.3 k Reverse Run Prohibit 3.3 k Alarm Reset 3.3 k Forward Current Limit 3.3 k Reverse Current Limit 3.3 k Positioning Completed Motor Rotation Detection Servo Ready Maximum operating voltage: 30 VDC Maximum output cur rent: 50 mA DC Alarm Output 3.3 k Connector shell Frame ground (FG) Connect the shield wire to the connector shell. *1. represents a twisted-pair cable. *2. Primary filter *3. Connect when using an absolute encoder. *4. Used only with an absolute encoder. *5. When using an external regenerative resistor, connect it between B1 and B2. (When the capacity is 6 kW, connect a Regenerative Resistor Unit.) *6. When using the R88D-WT08H at single-phase 200 V, connect single-phase 200 V to L1 and L3, and short-circuit L1 to L2. 63 Terminal Blocks and Connectors Terminal Blocks and Connectors Terminal Blocks Symbol L1, L2 or L1, L2, L3 U V W L1C, L2C Name Function Main circuit AC AC power input terminals for the input terminal main circuit. R88D-WT@@ H (200 VAC): 200/230 VAC (170 to 253 V), 50/60 Hz R88D-WT@@ HL (100 VAC): 100/115 VAC (85 to 127 V), 50/60 = Hz Red Servomotor connection ter- White minal Blue Control power input terminal Frame ground B1, B2 or B1, B2, B3 CN2 Encoder Inputs Pin No. 1 Symbol Signal name E5V Encoder power supply + 5V 2 E0V Encoder power supply ground 3 BAT+ Battery + (used only with absolute encoder) 4 BAT- Battery - (used only with absolute encoder) 5 S+ Encoder + serial signal input 6 S- Encoder - serial signal input Terminals for outputs to the Servomotor. AC power input terminals for the control circuit. R88D-WT@@ H (200 VAC): 200/230 VAC (170 to 253 V), 50/60 Hz R88D-WT@@ HL (100 VAC): 100/115 VAC (85 to 127 V), 50/60 Hz Charge lamp Power lamp Ground terminal. Ground to a maximum of 100 . (class 3). Main circuit DC 5 kW or less: Connect an external output terminal regenerative resistor if regenerative energy is high. 5.5 kW: There is no internal regenerative resistor. Be sure to connect an external Regenerative Resistor Unit. 1, 2 DC reactor connection terminal for suppressing power supply harmonic waves Main circuit DC Normally, not connected. output terminal This terminal exists on the R88D(positive) WT60H only. CN3 (Parameter Unit) Terminal block CN1 (Control I/O) Normally, short 1 and 2. If a countermeasure against power supply harmonic waves is needed, connect a DC reactor between 1 and 2. Note: These terminals do not exist on the R88D-WT60H/75H/150H. CN2 (Encoder input) Main circuit DC Normally, not connected. output terminal (negative) CN1 Control Inputs For Speed and Torque Control Pin No. 5 Symbol REF 6 AGND 9 TRFF 10 AGND 64 Signal name Function/interface 2 to 10 V/rated speed Speed command input ground Can be changed using the Pn300 user parameter (Speed Command Scale). Speed command input Torque command input 1 to 10 V/rated torque Torque command input ground Can be changed using the Pn400 user parameter (Torque Command Scale). Terminal Blocks and Connectors For Position Control Pin No. 3 Symbol Signal name Function/interface PCOM Open collector command pow- Used to input CW, CCW, and ECRST signals as open-collector outputs. Coner supply nect + inputs to these terminals and connect - inputs to open-collector output terminals. 7 +PULS/CW/A 8 -PULS/CW/A Feed pulse, reverse pulse, 90 Line-driver input: 10 mA at 3 V; maximum response frequency: phase difference pulse (phase 500 kpps A) Open-collector input: 25 mA at 5 V; maximum response frequency: 200 kpps Forward/reverse signal, forSwitches between feed pulse and forward/reverse signal, between reverse ward pulse, 90 phase differ- pulse and forward pulse, or between phases A and B 90 phase difference pulsence pulse (phase B) es (x1, 2, 4) according to the Pn200 setting (Position Control Switches 1). 13 18 11 +SIGN/CCW/B 12 -SIGN/CCW/B 14 -ECRST 15 +ECRST Error counter reset Line-driver input: 10 mA at 3 V Open-collector input: 25 mA at 5 V ON: Disables the command and resets the error counter. Shared Terminals Pins 41 to 44 can be reassigned using the Pn50A to Pn50D user parameters. Pin No. Symbol Signal name Function/interface 40 RUN Speed command input ON: Servo ON 41 to 46 MING Gain deceleration input ON: Switches speed loop to P control to decrease speed loop gain. TVSEL Control mode switch input ON: Switches each control mode. PLOCK Position lock command input ON: Enables position lock when the motor speed drops below the position lock rotation speed set in Pn501. IPG Pulse disable input ON: Prohibits input command pulses. RDIR Rotation direction command input Rotation direction command for internal speed settings 1 to 3. (OFF: Forward rotation, ON: Reverse rotation) POT Forward drive prohibit input Forward rotation overtravel input (OFF when prohibited) NOT Reverse drive prohibit input Reverse rotation overtravel input (OFF when prohibited) RESET Alarm reset input ON: Resets Servo alarm status. PCL Forward rotation current limit input ON: Limits current according to the value specified in Pn404 (Forward External Torque Limit) NCL Reverse rotation current limit input ON: Limits current according to the value specified in Pn405 (Reverse External Torque Limit) SPD1 Speed selection command 1 input Switches the internal speed settings (Pn301, Pn302, Pn303). SPD2 Speed selection command 2 input GSEL Gain selection input 47 +24VIN +24 VDC control power supply input +24 V input power supply for pins 40, 41, 42, 43, 44, 45, and 46 ON: Switches to the second speed loop gain (Pn104, Pn105, Pn106). 4 SEN Sensor ON input (See note.) 2 SENGND Sensor ON input ground (See note.) 21 BAT Backup battery + input (See note.) 22 BATGND Backup battery - input (See note.) ON: Supplies 5 V power to absolute encoder. Backup battery connection terminals for absolute encoder in case of power interruption Note: These input signals are used with absolute encoder only. 65 Terminal Blocks and Connectors CN1 Control Outputs Pins 16 and 17 can be reassigned using the Pn003 user parameter. Pins 25 to 30 can be reassigned using the Pn50E to Pn510 user parameters. Pin No. Symbol Signal name Function/interface 1 GND Ground common Ground for encoder outputs and alarm codes. 19 +Z Encoder Z-phase + output 20 -Z Encoder Z-phase - output Encoder Z-phase output (1 pulse/revolution). Line-driver output: Conforms to RS-422A 25 INP1, INP2 Positioning completion output 1, 2 ON when the position error is within the positioning completed width specified in Pn500 while in position control mode. Always OFF while in other modes. 26 to 30 VCMP Speed conformity output ON when the speed error is within the speed coincidence signal output width specified in Pn503 while in speed control mode. Always OFF while in other modes. TGON Servomotor rotation detection output ON when the motor speed exceeds the motor rotation detection level specified in Pn502. READY Servo ready output ON if no errors are detected after the main circuit power supply is turned ON. CLIMT Current limit detection output If PCL (forward rotation current limit input) or NCL (reverse rotation current limit input) is ON, the CLIMT signal will turn ON when the output torque reaches the external torque limit specified in Pn404/405 or the torque limit specified in Pn402/403, whichever is lower. If PCL (forward rotation current limit input) or NCL (reverse rotation current limit input) is OFF, the CLIMT signal will turn ON when the output torque reaches the torque limit specified in Pn402/403. VLIMT Speed limit detection output ON when the motor speed is controlled by Pn407 in torque control mode. Always OFF while in other modes. BKIR Brake interlock output Outputs holding brake timing signals according to the Pn506, Pn507, and Pn508 user parameter settings. WARN Warning output OFF when an overload warning or a regeneration overload warning is detected. 31 ALM Alarm output 32 ALMCOM Alarm output ground Turns OFF the output when the Servodriver generates an alarm. Open-collector output: 30 VDC, 50 mA max. 33 +A Encoder A-phase + output 34 -A Encoder A-phase - output Outputs encoder pulses divided according to the Pn201 setting (PG ratio). Line-driver output: Conforms to RS-422A 35 -B Encoder B-phase - output 36 +B Encoder B-phase + output 37 AL01 Alarm code output 1 38 AL02 Alarm code output 2 39 AL03 Alarm code output 3 48 +ABS 49 -ABS Absolute encoder signal + out- Outputs absolute encoder data. put (See note.) Line-driver output: Conforms to RS-422A Absolute encoder signal - output (See note.) Shell FG Frame ground Note: These input signals are used with absolute encoder only. 66 Outputs encoder pulses divided according to the Pn201 setting (PG ratio). Line-driver output: Conforms to RS-422A Outputs an alarm code when the Servodriver generates an alarm. Open-collector output: 30 VDC, 20 mA max. Ground terminal for shield wire of cable and FG line Ordering Information Ordering Information AC Servomotors Cylinder-style Motors (3,000 r/min) with Incremental Encoders Specifications Straight shafts without key Without brake Model 200 VAC 30 W R88M-W03030H 50 W R88M-W05030H 100 W R88M-W10030H 200 W R88M-W20030H 400 W R88M-W40030H 750 W R88M-W75030H 100 VAC 30 W R88M-W03030L 50 W R88M-W05030L 100 W R88M-W10030L 200 W R88M-W20030L With brake 200 VAC 30 W R88M-W03030H-B 50 W R88M-W05030H-B 100 W R88M-W10030H-B 200 W R88M-W20030H-B 400 W R88M-W40030H-B 750 W R88M-W75030H-B 100 VAC 30 W R88M-W03030L-B 50 W R88M-W05030L-B 100 W R88M-W10030L-B 200 W R88M-W20030L-B Specifications Straight shafts with key Without brake Model 200 VAC 30 W R88M-W03030H-S1 50 W R88M-W05030H-S1 100 W R88M-W10030H-S1 200 W R88M-W20030H-S1 400 W R88M-W40030H-S1 750 W R88M-W75030H-S1 1 kW R88M-W1K030H-S2 1.5 kW R88M-W1K530H-S2 2 kW R88M-W2K030H-S2 3 kW R88M-W3K030H-S2 4 kW R88M-W4K030H-S2 5 kW R88M-W5K030H-S2 100 VAC 30 W R88M-W03030L-S1 50 W R88M-W05030L-S1 100 W R88M-W10030L-S1 200 W R88M-W20030L-S1 With brake 200 VAC 30 W R88M-W03030H-BS1 50 W R88M-W05030H-BS1 100 W R88M-W10030H-BS1 200 W R88M-W20030H-BS1 400 W R88M-W40030H-BS1 750 W R88M-W75030H-BS1 1 kW R88M-W1K030H-BS2 1.5 kW R88M-W1K530H-BS2 2 kW R88M-W2K030H-BS2 3 kW R88M-W3K030H-BS2 4 kW R88M-W4K030H-BS2 5 kW R88M-W5K030H-BS2 100 VAC 30 W R88M-W03030L-BS1 50 W R88M-W05030L-BS1 100 W R88M-W10030L-BS1 200 W R88M-W20030L-BS1 Note: "S1" at the end of a model name represents models with key and without tap. "S2" at the end of a model name represents models with key and tap. Motors with a capacity of 1 kW or more do not have the S1 or S3 type. 67 Ordering Information Cylinder-style Motors (3,000 r/min) with Absolute Encoders Specifications Straight shafts without key Without brake Model 200 VAC 30 W R88M-W03030T 50 W R88M-W05030T 100 W R88M-W10030T 200 W R88M-W20030T 400 W R88M-W40030T 750 W R88M-W75030T 100 VAC 30 W R88M-W03030S 50 W R88M-W05030S 100 W R88M-W10030S 200 W R88M-W20030S With brake 200 VAC 30 W R88M-W03030T-B 50 W R88M-W05030T-B 100 W R88M-W10030T-B 200 W R88M-W20030T-B 400 W R88M-W40030T-B 750 W Specifications Without Straight shafts with brake key R88M-W03030S-B 50 W R88M-W05030S-B 100 W R88M-W10030S-B 200 W R88M-W20030S-B R88M-W03030T-S1 50 W R88M-W05030T-S1 100 W R88M-W10030T-S1 200 W R88M-W20030T-S1 400 W R88M-W40030T-S1 750 W R88M-W75030T-S1 1 kW R88M-W1K030T-S2 1.5 kW R88M-W1K530T-S2 2 kW R88M-W2K030T-S2 3 kW R88M-W3K030T-S2 4 kW R88M-W4K030T-S2 5 kW R88M-W5K030T-S2 100 VAC 30 W R88M-W03030S-S1 50 W R88M-W05030S-S1 100 W R88M-W10030S-S1 R88M-W75030T-B 100 VAC 30 W Model 200 VAC 30 W 200 W R88M-W20030S-S1 With brake 200 VAC 30 W R88M-W03030T-BS1 50 W R88M-W05030T-BS1 100 W R88M-W10030T-BS1 200 W R88M-W20030T-BS1 400 W R88M-W40030T-BS1 750 W R88M-W75030T-BS1 1 kW R88M-W1K030T-BS2 1.5 kW R88M-W1K530T-BS2 2 kW R88M-W2K030T-BS2 3 kW R88M-W3K030T-BS2 4 kW R88M-W4K030T-BS2 5 kW R88M-W5K030T-BS2 100 VAC 30 W R88M-W03030S-BS1 50 W R88M-W05030S-BS1 100 W R88M-W10030S-BS1 200 W R88M-W20030S-BS1 Note: "S1" at the end of a model name represents models with key and without tap. "S2" at the end of a model name represents models with key and tap. Motors with a capacity of 1 kW or more do not have the S1 or S3 type. 68 Ordering Information Cylinder-style Motors (1,500 r/min) with Incremental or Absolute Encoders Specifications Without Straight shafts with brake key Model 200 VAC 450 W R88M-W45015T-S2 850 W R88M-W85015T-S2 1.3 kW R88M-W1K315T-S2 With brake Specifications Straight shafts with key Without brake R88M-W30010T-S2 600 W R88M-W60010T-S2 900 W R88M-W90010T-S2 1.2 kW R88M-W1K210T-S2 2.9 kW R88M-W2K915T-S2 2 kW R88M-W2K010T-S2 4.4 kW R88M-W4K415T-S2 3 kW R88M-W3K010T-S2 5.5 kW R88M-W5K515T-S2 4 kW R88M-W4K010T-S2 7.5 kW R88M-W7K515T-S2 5.5 kW R88M-W5K510T-S2 11 kW R88M-W11K015T-S2 15 kW R88M-W15K015T-S2 300 W R88M-W30010T-BS2 600 W 450 W R88M-W60010T-BS2 R88M-W45015T-BS2 900 W 850 W R88M-W90010T-BS2 R88M-W85015T-BS2 1.2 kW R88M-W1K210T-BS2 With brake 1.3 kW R88M-W1K315T-BS2 2 kW R88M-W2K010T-BS2 1.8 kW R88M-W1K815T-BS2 3 kW R88M-W3K010T-BS2 2.9 kW R88M-W2K915T-BS2 4 kW R88M-W4K010T-BS2 4.4 kW R88M-W4K415T-BS2 5.5 kW R88M-W5K510T-BS2 11 kW R88M-W11K015T-BS2 Note: "S2" at the end of a model name represents models with key and tap. Motors with a speed of 1,000 r/min do not have the S1 or S3 type. 15 kW R88M-W15K015T-BS2 Flat-style Motors with Incremental Encoders 7.5 kW R88M-W7K515T-BS2 Note: "S2" at the end of a model name represents models with key and tap. Motors with a speed of 1,500 r/min do not have the S1 or S3 type. Cylinder-style Motors (1,000 r/min) with Incremental Encoders Specifications Specifications Straight shafts without key Without brake Model 200 VAC 100 W R88M-WP10030H 200 W R88M-WP20030H 400 W R88M-WP40030H 750 W R88M-WP75030H 1.5 kW R88M-WP1K530H Model 200 VAC 300 W R88M-W30010H-S2 100 VAC 100 W 600 W R88M-W60010H-S2 200 W 900 W R88M-W90010H-S2 With brake 1.2 kW R88M-W1K210H-S2 R88M-WP10030L R88M-WP20030L 200 VAC 100 W R88M-WP10030H-B 200 W R88M-WP20030H-B 2 kW R88M-W2K010H-S2 400 W R88M-WP40030H-B 3 kW R88M-W3K010H-S2 750 W R88M-WP75030H-B 4 kW R88M-W4K010H-S2 1.5 kW R88M-WP1K530H-B 5.5 kW R88M-W5K510H-S2 With brake Model 200 VAC 300 W 1.8 kW R88M-W1K815T-S2 5.5 kW R88M-W5K515T-BS2 Without Straight shafts with brake key Cylinder-style Motors (1,000 r/min) with Absolute Encoders 300 W R88M-W30010H-BS2 600 W R88M-W60010H-BS2 900 W R88M-W90010H-BS2 1.2 kW R88M-W1K210H-BS2 100 VAC 100 W 200 W Straight shafts with key Without brake R88M-WP10030L-B R88M-WP20030L-B 200 VAC 100 W R88M-WP10030H-S1 200 W R88M-WP20030H-S1 400 W R88M-WP40030H-S1 R88M-WP75030H-S1 2 kW R88M-W2K010H-BS2 750 W 3 kW R88M-W3K010H-BS2 1.5 kW R88M-WP1K530H-S1 4 kW R88M-W4K010H-BS2 100 VAC 100 W 5.5 kW R88M-W5K510H-BS2 200 W Note: "S2" at the end of a model name represents models with key and tap. Motors with a speed of 1,000 r/min do not have the S1 or S3 type. With brake R88M-WP10030L-S1 R88M-WP20030L-S1 200 VAC 100 W R88M-WP10030H-BS1 200 W R88M-WP20030H-BS1 400 W R88M-WP40030H-BS1 750 W R88M-WP75030H-BS1 1.5 kW R88M-WP1K530H-BS1 100 VAC 100 W R88M-WP10030L-BS1 200 W R88M-WP20030L-BS1 69 Ordering Information Flat-style Motors with Absolute Encoders Specifications Straight shafts without key Without brake Model Flat-style Motors (Waterproof Type) with Incremental Encoders 200 VAC 100 W R88M-WP10030T 200 W R88M-WP20030T 400 W R88M-WP40030T 750 W R88M-WP75030T Specifications Straight shafts without key Without brake Without brake 750 W R88M-WP75030H-W 100 VAC 100 W R88M-WP10030S 1.5 kW R88M-WP1K530H-W 200 W R88M-WP20030S 100 VAC 100 W R88M-WP10030L-W 200 VAC 100 W R88M-WP10030T-B 200 W R88M-WP20030T-B 400 W R88M-WP40030T-B Straight shafts with key 200 W R88M-WP20030L-W With brake 200 VAC 100 W R88M-WP10030H-BW 200 W R88M-WP20030H-BW 750 W R88M-WP75030T-B 400 W R88M-WP40030H-BW 1.5 kW R88M-WP1K530T-B 750 W R88M-WP75030H-BW 100 VAC 100 W R88M-WP10030S-B 1.5 kW R88M-WP1K530H-BW 200 W R88M-WP20030S-B 100 VAC 100 W R88M-WP10030L-BW 200 VAC 100 W R88M-WP10030T-S1 200 W R88M-WP20030T-S1 400 W R88M-WP40030T-S1 750 W R88M-WP75030T-S1 200 W R88M-WP20030L-BW Without Straight shafts with brake key 1.5 kW R88M-WP1K530T-S1 With brake 200 W R88M-WP20030H-W 400 W R88M-WP40030H-W 1.5 kW R88M-WP1K530T With brake Model 200 VAC 100 W R88M-WP10030H-W 200 VAC 100 W R88M-WP10030H-WS1 200 W R88M-WP20030H-WS1 400 W R88M-WP40030H-WS1 750 W R88M-WP75030H-WS1 100 VAC 100 W R88M-WP10030S-S1 1.5 kW R88M-WP1K530H-WS1 200 W R88M-WP20030S-S1 100 VAC 100 W R88M-WP10030L-WS1 200 VAC 100 W R88M-WP10030T-BS1 200 W R88M-WP20030T-BS1 400 W R88M-WP40030T-BS1 750 W R88M-WP75030T-BS1 1.5 kW R88M-WP1K530T-BS1 100 VAC 100 W R88M-WP10030S-BS1 200 W R88M-WP20030S-BS1 200 W R88M-WP20030L-WS1 With brake 200 VAC 100 W R88M-WP10030HBWS1 200 W R88M-WP20030HBWS1 400 W R88M-WP40030HBWS1 750 W R88M-WP75030HBWS1 1.5 kW R88M-WP1K530HBWS1 100 VAC 100 W R88M-WP10030L-BWS1 200 W R88M-WP20030L-BWS1 Note: Precautions When Selecting Products 1. The standard cable (R88A-CAW@) can be connected, but it is not water resistant. Use a water-resistant cable in locations subject to water. 2. The cable attached to the Motor is water resistant, but the connector is not. Do not allow water to come into contact with the connector to protect the terminals. 70 Ordering Information Flat-style Motors (Waterproof Type) with Absolute Encoders Specifications Straight shafts without key Without brake With brake Model 200 VAC 100 W R88M-WP10030T-W 200 W R88M-WP20030T-W 400 W R88M-WP40030T-W 750 W R88M-WP75030T-W 1.5 kW R88M-WP1K530T-W 100 VAC 100 W R88M-WP10030S-W 200 W R88M-WP20030S-W 200 VAC 100 W R88M-WP10030T-BW 200 W R88M-WP20030T-BW 400 W R88M-WP40030T-BW 750 W Straight shafts with key Without brake With brake AC Servodrivers Specifications 200 VAC Common to analog and pulse train inputs Common to incremental and absolute encoders Model 30 W R88D-WTA3H 50 W R88D-WTA5H 100 W R88D-WT01H 200 W R88D-WT02H 400 W R88D-WT04H 500 W R88D-WT05H 750 W R88D-WT08H 1 kW R88D-WT10H 1.5 kW R88D-WT15H R88M-WP75030T-BW 2 kW R88D-WT20H 3 kW R88D-WT30H R88D-WT50H R88D-WT60H (See note.) 1.5 kW R88M-WP1K530T-BW 5 kW 100 VAC 100 W R88M-WP10030S-BW 6 kW 200 W R88M-WP20030S-BW 7.5 kW R88D-WT75H (See note.) 15 kW R88D-WT150H (See note.) 200 VAC 100 W R88M-WP10030T-WS1 200 W R88M-WP20030T-WS1 100 VAC 30 W R88D-WTA3HL 400 W R88M-WP40030T-WS1 50 W R88D-WTA5HL 750 W R88M-WP75030T-WS1 100 W R88D-WT01HL 1.5 kW R88M-WP1K530T-WS1 200 W R88D-WT02HL 100 VAC 100 W R88M-WP10030S-WS1 200 W R88M-WP20030S-WS1 200 VAC 100 W R88M-WP10030T-BWS1 200 W R88M-WP20030T-BWS1 400 W R88M-WP40030T-BWS1 750 W R88M-WP75030T-BWS1 1.5 kW R88M-WP1K530T-BWS1 100 VAC 100 W R88M-WP10030S-BWS1 200 W R88M-WP20030S-BWS1 Note: When ordering the R88D-WT60H/75H/150H, a regenerative resistor must also be ordered. Note: Precautions When Selecting Products 1. The standard cable (R88A-CAW@) can be connected, but it is not water resistant. Use a water-resistant cable in locations subject to water. 2. The cable attached to the Motor is water resistant, but the connector is not. Do not allow water to come into contact with the connector to protect the terminals. 71 Ordering Information Power Cables Specification For motors without brakes 3m 100-W to 750-W flat-style motors 1.5-kW flat-style motors 300-W to 900-W cylinder-style motors (1,000 r/min) 450-W to 1.3-kW cylinder-style motors (1,500 r/min) 1-kW to 2-kW cylinder-style motors (3,000 r/min) 1.2-kW to 3-kW cylinder-style motors (1,000 r/min) 1.8-kW to 4.4-kW cylinder-style motors (1,500 r/min) 3-kW to 5-kW cylinder-style motors (3,000 r/min) 72 Model 30-W to 750-W cylinder-style motors (3,000 r/min) R88A-CAWA003S 5m R88A-CAWA005S 10 m R88A-CAWA010S 15 m R88A-CAWA015S 20 m R88A-CAWA020S 30 m Specification Motors with brakes Model 30-W to 750-W cylinder-style motors (3,000 r/min) 3m 100-W to 750-W flat-style motors R88A-CAWA003B 5m R88A-CAWA005B 10 m R88A-CAWA010B 15 m R88A-CAWA015B 20 m R88A-CAWA020B R88A-CAWA030S 30 m R88A-CAWA030B 40 m R88A-CAWA040S 40 m R88A-CAWA040B 50 m R88A-CAWA050S 50 m R88A-CAWA050B 3m R88A-CAWB003S 3m R88A-CAWB003B 1.5-kW flat-style motors 5m R88A-CAWB005S 5m R88A-CAWB005B 10 m R88A-CAWB010S 10 m R88A-CAWB010B 15 m R88A-CAWB015S 15 m R88A-CAWB015B 20 m R88A-CAWB020S 20 m R88A-CAWB020B 30 m R88A-CAWB030S 30 m R88A-CAWB030B 40 m R88A-CAWB040S 40 m R88A-CAWB040B 50 m R88A-CAWB050S 50 m R88A-CAWB050B 3m R88A-CAWC003S 3m R88A-CAWC003B 5m R88A-CAWC005S 300-W to 900-W cylinder-style motors (1,000 r/min) 10 m R88A-CAWC010S 15 m R88A-CAWC015S 450-W to 1.3-kW cylinder-style motors (1,500 r/min) 20 m R88A-CAWC020S 30 m R88A-CAWC030S 40 m R88A-CAWC040S 50 m R88A-CAWC050S 3m R88A-CAWD003S 5m R88A-CAWD005S 10 m R88A-CAWD010S 15 m R88A-CAWD015S 20 m R88A-CAWD020S 30 m R88A-CAWD030S 40 m R88A-CAWD040S 50 m R88A-CAWD050S 5m R88A-CAWC005B 10 m R88A-CAWC010B 15 m R88A-CAWC015B 20 m R88A-CAWC020B 30 m R88A-CAWC030B 40 m R88A-CAWC040B 50 m R88A-CAWC050B 1.2-kW to 3-kW cylinder-style motors (1,000 r/min) 3m R88A-CAWD003B 1-kW to 2-kW cylinder-style motors (3,000 r/min) 5m R88A-CAWD005B 10 m R88A-CAWD010B 1.8-kW to 4.4-kW cylinder-style motors (1,500 r/min) 15 m R88A-CAWD015B 20 m R88A-CAWD020B 30 m R88A-CAWD030B 3-kW to 5-kW cylinder-style motors (3,000 r/min) 40 m R88A-CAWD040B 50 m R88A-CAWD050B Ordering Information Encoder Cables Specification Model 4-kW cylinder-style mo- Power con- 3 m tors (1,000 r/min) nector for 5m the motor 10 m R88A-CAWE003S 15 m R88A-CAWE015S 20 m R88A-CAWE020S 30 m R88A-CAWE030S 40 m R88A-CAWE040S 50 m R88A-CAWE050S Brake con- 3 m nector for the motor 5 m 10 m 15 m 20 m Power con5.5-kW cylinder-style nector for motors (1,000 r/min) 5.5-kW/11-kW cylinder- the motor style motors (1,500 r/min) R88A-CAWE005S R88A-CAWE010S R88A-CAWE003B (See note 1.) Specification 30-W to 750-W cylinder-style motors (3,000 r/min) 100-W to 1.5-kW flat-style motors 1-kW to 5-kW cylinder-style motors (3,000 r/min) 450-W to 15-kW cylinder-style motors (1,500 r/min) 300-W to 5.5-kW cylinder-style motors (1,000 r/min) Model 3m R88A-CRWA003C 5m R88A-CRWA005C 10 m R88A-CRWA010C 15 m R88A-CRWA015C 20 m R88A-CRWA020C 30 m R88A-CRWA030C 40 m R88A-CRWA040C 50 m R88A-CRWA050C 3m R88A-CRWB003N 5m R88A-CRWB005N 10 m R88A-CRWB010N 15 m R88A-CRWB015N 20 m R88A-CRWB020N R88A-CAWE015B (See note 1.) 30 m R88A-CRWB030N 40 m R88A-CRWB040N R88A-CAWE020B (See note 1.) 50 m R88A-CRWB050N R88A-CAWE005B (See note 1.) R88A-CAWE010B (See note 1.) Encoder Cable for 70-m connec- 1 m tion (cable line material only) R88A-CRW001 30 m R88A-CAWE030B (See note 1.) 40 m R88A-CAWE040B (See note 1.) Note: All these cables are common to incremental and absolute encoders. 50 m R88A-CAWE050B (See note 1.) Control Cables and Relay Units 3m R88A-CAWF003S 5m R88A-CAWF005S 10 m R88A-CAWF010S 15 m R88A-CAWF015S 20 m R88A-CAWF020S 30 m R88A-CAWF030S 40 m R88A-CAWF040S 50 m R88A-CAWF050S Brake con- --nector for the motor R88A-CAWE@@@B (See notes 1 and 2.) Note: 1. When using a motor with brake, a cable for the power connector is required in addition to the cable for the brake connector. 2. The boxes (@@@) indicate cable length. Specification Model 1m For Mo- Control cables for 1 axis tion Con- (common to SYSMAC CS1, 2 m trol Units C200H, and CV-series 3m PCs) 5m R88A-CPW001M1 1m Control cables for 2 axes (common to SYSMAC CS1, 2 m C200H, and CV-series 3m PCs) 5m R88A-CPW001M2 For Posi- Servo Relay tion Con- Units trol Units and SYSMAC CQM1 R88A-CPW002M1 R88A-CPW003M1 R88A-CPW005M1 R88A-CPW002M2 R88A-CPW003M2 R88A-CPW005M2 XW2B-20J6-1B For CS1W-NC113/ 133, CJ1W-NC113/ 133, C200HWNC113, and 3F88MDRT141 XW2B-40J6-2B For CS1W-NC213/ 413/233/433, CJ1WNC213/413/233/433, and C200HWNC213/413 For CQM1-CPU43, CQM1H-PLB21 XW2B-20J6-3B For CJ1M-CPU22/23 XW2B-20J6-8A (1 axis) For CJ1M-CPU22/23 XW2B-40J6-9A (2 axes) XW2B-40J6-4A For CJ1W-NC213/ 413/223/423 (with communications support) For CS1W-HCPP22- XW2B-80J7-1A V1 Servodriver Relay Units cable other than those listed below 1m XW2Z-100J-B4 2m XW2Z-200J-B4 73 Ordering Information Specification For Posi- Servodriver XW2B-40J64A tion Con- cable trol Units Communicaand SYStions support MAC type CQM1 XW2B-80J71A For customizable counters Cables on Position Control Unit end Model 1m XW2Z-100J-B8 2m XW2Z-200J-B8 1m XW2Z-100J-B11 2m XW2Z-200J-B11 Model R88A-BAT01W R88D-WT60H/75H/150H R88A-BAT02W External Regenerative Resistors Model 220 W, 47 R88A-RR22047S 880 W, 6.25 R88A-RR88006 DC Reactors Specification For R88D-WT30H Model R88A-PX5059 For CS1WNC133 0.5 m XW2Z-050J-A10 For R88D-WT15H/WT20H R88A-PX5060 1m For R88D-WT05H/WT08H/WT10H R88A-PX5061 For CS1WNC233/433 0.5 m XW2Z-050J-A11 For R88D-WT02HL R88A-PX5062 1m For R88D-WTA3HL/WTA5HL/WT01HL R88A-PX5063 For CJ1WNC113 0.5 m XW2Z-050J-A14 For R88D-WT50H R88A-PX5068 1m XW2Z-100J-A14 For R88D-WT04H R88A-PX5069 For CJ1WNC213/413 0.5 m XW2Z-050J-A15 For R88D-WT02H R88A-PX5070 1m For R88D-WTA3H/WTA5H/WT01H R88A-PX5071 For CJ1WNC133 0.5 m XW2Z-050J-A18 For CJ1WNC233/433 0.5 m XW2Z-050J-A19 1m 1m XW2Z-100J-A10 XW2Z-100J-A11 XW2Z-100J-A15 XW2Z-100J-A18 XW2Z-100J-A19 0.5 m XW2Z-050J-A3 For CQM1CPU43-V1 1m XW2Z-100J-A3 and CQM1HPLB21 For 3F88MDRT141 0.5 m XW2Z-050J-A24 For CS1WHCP22-V1 (For 24-pin connectors) (See note.) 0.5 m XW2Z-050J-A29 For CS1WHCP22-V1 (For 40-pin connectors) (See note.) 0.5 m XW2Z-050J-A32 1m 1m 1m XW2Z-100J-A24 XW2Z-100J-A29 XW2Z-100J-A32 For CJ1M-CPU22/23 XW2Z-100J-A27 Control cables with connec- 1 m tor at one end 2m R88A-CPW001S Cables for relay terminal block R88A-CTW001N Relay terminal block 1m 2m R88A-CPW002S R88A-CTW002N XW2B-50G5 Note: When using the CS1W-HCP22-V1, cables for both 24-pin connectors and 40-pin connectors are required. Parameter Units Specification Model Handy type for OMNUC W-series (with 1-m cable) R88A-PR02W Cable for U-series (2 m) (See note.) R88A-CCW002C Note: This cable can be used to connect the R88A-PR02U Parameter Unit for U-series to the W-series Servodriver. 74 Specification R88D-WT@H (@: 50 or less) Specification For C200HW- 0.5 m XW2Z-050J-A6 NC113 and 1m XW2Z-100J-A6 CS1WNC113 For C200HW- 0.5 m XW2Z-050J-A7 NC213/413 1m XW2Z-100J-A7 and CS1WNC213/413 For general-purpose controllers Backup Battery Unit for Absolute Encoder Front Panel Mounting Brackets Specification For R88D-WTA3@ to WT10H Model R88A-TK01W For R88D-WT15H R88A-TK02W For R88D-WT20H/WT30H/WT50H R88A-TK03W Other Peripheral Cables and Connectors Specification Model Analog monitoring cable (1 m) R88A-CMW001S Personal computer monitoring cable (2 m) R88A-CCW002P2 Control I/O connector CN1 R88A-CNU11C Encoder connector CN2 R88A-CNW01R Encoder connector (for R88A-CRWA motor side) R88A-CNW02R Ordering Information Equipment for Replacing S/R/H/M-series Products Mounting Brackets Specifications Model R Series, 60 W/110 W R88A-MF01W S Series, 50 W/100 W; R Series, 100 W; H Series, 50 W/100 W R88A-MF02W S Series, 500 W/750 W; R Series, 450 W min., H Series, 500 W/750 W/1,100 W R88A-MF03W Power Cables Specifications Model S Series, 50 W/100 W/200 W/300 W, without R88A-CAWR0R5S1 brake; R Series, 60 W/100 W/110 W/200 W/300 W/ 450 W, without brake S Series, 500 W/750 W, without brake; R Series, 500 W/600 W/750 W/820 W, without brake R88A-CAWR0R5S2 R Series, 820 W/1,100 W, with brake R88A-CAWR0R5S3 R88A-CAWR0R5B1 S Series, 50 W/100 W/200 W/300 W, with brake; R Series, 60 W/100 W/110 W/200 W/300 W/ 450 W, with brake S Series, 500 W/750 W, with brake; R Series, 500 W/600 W/750 W/820 W, with brake R88A-CAWR0R5B2 R Series, 820 W/1,100 W, with brake R88A-CAWR0R5B3 H Series, 50 W/100 W/200 W/300 W/500W/ 750 W, without brake R88A-CAWH0R5S1 H Series, 1,100 W, without brake R88A-CAWH0R5S2 H Series, 50 W/100 W/200 W/300 W/500 W/ R88A-CAWH0R5B1 750 W, with brake H Series, 1,100 W, with brake R88A-CAWH0R5B2 Encoder Cables Specifications S Series, Servodriver side Model R88A-CRWS0R3D S Series, 50 W/100 W/200 W/300 W, Servo- R88A-CRWR0R5M1 motor side; R Series, 100 W/200 W/300 W/450 W, Servomotor side S Series, 500 W/750 W, Servomotor side R88A-CRWS0R5M R Series, Servodriver side R88A-CRWR0R3D R Series, 60 W/110 W, Servomotor side; H Series, Servomotor side R88A-CRWH0R5M R Series, 500 W/600 W/750 W/820 W/ 1,100 W, Servomotor side R88A-CRWR0R5M2 H Series, Servodriver side R88A-CRWH0R3D Control Cables Specifications Model S/R Series, analog input R88A-CPWR0R3A S/R Series, pulse train input R88A-CPWR0R3P H Series, analog/pulse train input R88A-CPWH0R3C M Series, analog/pulse train input R88A-CPWM0R3C Note: Refer to Replacement Set for S, R, and H Series (I806-E1-@) for detailed specifications. 75 Unit Descriptions DeviceNet Option Unit for OMNUC W-series AC Servo Drivers R88A-NCW152-DRT DeviceNet Option Unit for OMNUC W-series AC Servo Drivers R88A-NCW152-DRT Distributed control with a built-in Single-axis Position Control Unit, information management via DeviceNet, and a failure prediction function for servo systems, can all be added to OMNUC W-series AC Servo Drivers with just one Unit. * Two Roles Performed by One Unit The Option Unit has both DeviceNet communications functions and the positioning functions of a Position Control Unit. These functions can be added to a W-series AC Servo Driver simply by mounting the Option Unit directly to it. * Distributed Control of up to 63 Units Using Option Units allows up to 63 W-series AC Servo Drivers to be connected as DeviceNet slaves to an open field network with a total network length of 500 m. * Batch Handling of Operating Information for Servo Systems Information that can be displayed at W-series AC Servo Drivers using monitor functions (e.g., speed commands and speed feedback) can be read by a PLC using remote I/O functions. * Failure Prediction and Diagnosis Up to 1,000 samples of sequential data, such as speed feedback and torque commands, can be recorded in units as small as 250 s to approx. 8 seconds. Comparison with data recorded during normal operation allows failure prediction and effective cause analysis for incorrect operation. Ordering Information List of Models Product name Model number DeviceNet Option Unit R88A-NCW152-DRT External I/O Connector R88A-CNU01R Cable for Setup Tool (IBM PC/AT or compatible: 2 m) R88A-CCW002P4 76 Unit Descriptions DeviceNet Option Unit for OMNUC W-series AC Servo Drivers R88A-NCW152-DRT Specifications Position Control Function Specifications Item Number of control axes Control system Controlled driver Positioning unit Operating Memory operaspecifications tion Direct operation Move comType mand specifications Position commands Speed commands Acceleration/ deceleration method Acceleration/ deceleration time Coordinate system settings Speed changes Origin search opOperation management/ eration compensation functions Backlash compensation Jog operation Indexing operation Software limits Specifications 1 axis per slave Semi-closed loop/full closed-loop control R88D-WT Servo Drivers User-specified position units (set freely). The amount moved per step can be set as an electronic gear ratio (setting range: 10,000,000 to 0.0000001) Step operation and point table operation Direct operation, interrupt feeding, notch signal output positioning, and multi-speed positioning Incremental (positioning according to relative coordinates) or absolute (positioning according to absolute coordinates) Signed, 32-bit data (setting range: -99,999,999 to 99,999,999 steps) Unsigned, 32-bit data (units: step/min; setting range: 1 to 240,000 steps) Fixed acceleration/ Single-step linear acceleration/deceleration, 2-step linear acceleration/deceleration, asymdeceleration metric linear acceleration/deceleration, S-curve acceleration/deceleration, asymmetric Scurve acceleration/deceleration Fixed acceleration/ Exponential acceleration/deceleration, exponential acceleration/deceleration with bias, sindeceleration time gle-step linear acceleration/deceleration 1 to 10,000 ms (time taken to reach maximum speed) Set whether to use the AC Servomotor as a linear axis or a rotary axis. The speed can be switched between 16 settings while positioning during multi-speed operation. Without lim- Use the ON/OFF signal of any of the following: Origin proximity signal + origin signal, origin signal, it reversal origin proximity signal + phase Z, or phase Z With limit Use the ON/OFF signal of any of the following: Origin proximity signal + origin signal, origin signal, reversal or origin proximity signal + Phase Z 0 to 32,767 steps Based on the origin position when power is turned ON and after origin search Positioning performed with 1 motor revolution divided equally by a specified number (range: 1 to 32,767). Decelerates to a stop at a specified position. (The direction can be specified as either positive or negative in the range -99,999,999 to 99,999,999.) Emergency stop/ Possible via remote I/O communications or using input signal. deceleration stop Present position Possible via remote I/O communications. preset Trace function Analog trace Command pulse speed (r/min), position deviation (command units), speed feedback (r/min), or data (Select up torque commands (%) to 2 elements.) ON/OFF trace Sensor-ON input, alarm output, positioning completed output 1, speed coincidence output, data (Select up motor revolution detection output, servo ready output, current limit detection output, speed to 2 elements.) control detection output, brake interlock output, warning output, positioning completed output 2, alarm code output 1, alarm code output 2, alarm code output 3 Trigger data Analog trace data (rising edge, falling edge, or rising/falling edge) ON/OFF trace data (rising edge, falling edge, or rising/falling edge) Data sampling Sampling cycle: Set in 250-s units (range: 250 to 8,191,750 s) Number of samples: 1,000 samples (fixed) Reading monitor MoniSpeed feedback (r/min), torque commands (%), number of pulses from phase Z (pulses), electrical anitems tor gle (), input signal monitor (no units), output signal monitor (no units), command pulse speed display items (r/min), position deviation (command units), cumulative load rate (%), regenerative load rate (%), dynamic brake resistance load rate (%), input pulse counter (rightmost 16 bits; command units), feedback pulse counter (rightmost 16 bits; pulses) 77 Unit Descriptions DeviceNet Option Unit for OMNUC W-series AC Servo Drivers R88A-NCW152-DRT DeviceNet Communications Specifications Item DeviceNet Communications Details Unit classification Slave Unit Baud rate 125, 250, or 500 kbps (selected with rotary switch) Communications functions Remote I/O communications (operates as slave) and explicit message communications (sends explicit messages) Communications contents Remote I/O communications * * * * * * Explicit message communications * Setting trace function * Reading trace data * Reading and writing Servo Driver and DeviceNet Option Unit parameters Move commands for positioning Origin compensation (when absolute encoder is used) Reading and writing Servo Driver and DeviceNet Option Unit parameters Reading monitor items Present position compensation Alarm reset Connection format Combinations of multi-drop method and T-branch method Maximum number of connectable nodes 64 (This figure includes the Master Unit, Slave Units, and Configurator (if connected).) Node address setting 0 to 63 (selected with rotary switch) General Specifications Item Applicable Servo Drivers Mounting method Basic Power supply voltage specifications Details R88D-WT@ (software version 14 or later) Mounted to the side of R88D-WT@ Servo Drivers Unit: Supplied from the Servo Driver DeviceNet: 11 to 25-VDC Isolated Power Supply Unit Power consumption 1.3 W (current consumption: 250 mA) Ambient operating temperature and humidity 0 to 55C, 90% max. (with no condensation or corrosive gases) Ambient storage temperature and humidity -20 to 85C, 90% max. (with no corrosive gases) Vibration resistance 4.9 m/s2 External dimensions 20 x 142 x 128 mm (W x H x D) Approximate weight 0.2 kg Dimensions (Unit: mm) R88A-NCW152-DRT 24 130 142 20 78 128 Unit Descriptions DeviceNet Option Unit for OMNUC W-series AC Servo Drivers R88A-NCW152-DRT Connection Diagram (for Mounting to OMNUC W-series Products) Three-phase (See *6.) +10% Three-phase 200 to 230 VAC -15% (50/60 Hz) *6 Main circuit power supply Main circuit contactor OFF ON 1MC 1MC X Noise filter Surge killer *5 B1 1MC B2 A (1) Servomotor U L1 B (2) V L2 L3 M C (3) W D (4) L1C L2C Connect a DC reactor for suppressing power supply harmonic waves between and terminals (No connecting terminal is provided for a capacity of 6 kW or more.) OMNUC W-series Servodriver + DeviceNet Option Unit Encoder RE CN2 Be sure to ground. CN1 Backup battery *3 2.8 to 4.5 V + - BAT *1 P BATGND Be sure to prepare the end of the shield wire properly. 21 37 22 38 39 1 AL01 AL02 Alarm Code Output (Maximum operating voltage: 30 VDC) (Maximum output current: 20 mA DC) AL03 GND +24VIN 47 24 VDC Not used 25 40 3.3k Origin Proximity ORG 41 3.3k Forward Run Prohibit POT 42 3.3k Reverse Run Prohibit NOT 43 26 27 28 29 3.3k EXTP 44 3.3k ZERO 45 Interrupt Origin Not used 30 31 3.3k 46 32 INP1 Positioning Completed INP1COM BKIR Brake Interlock BKIRCOM READY Servo Ready Maximum operating voltage: 30 VDC Maximum output current: 50 mA DC READYCOM ALM Alarm Output ALMCOM 3.3k Connector shell Frame ground (FG) Connect the shield wire to the connector shell. *1. represents a twisted-pair cable. *2. Primary filter *3. Connect when using an absolute encoder. *4. Used only with an absolute encoder. *5. When using an external regenerative resistor, connect it between B1 and B2. (When the capacity is 6 kW, connect a Regenerative Resistor Unit.) *6. For single-phase connection, refer to page 62. The wiring is different only around L1, L2, L3, L1C, L2C, the main circuit power supply, and the main circuit contactor. 79 Terms and Conditions of Sale 1. Offer; Acceptance. These terms and conditions (these "Terms") are deemed part of all quotes, agreements, purchase orders, acknowledgments, price lists, catalogs, manuals, brochures and other documents, whether electronic or in writing, relating to the sale of products or services (collectively, the "Products") by Omron Electronics LLC and its subsidiary companies ("Omron"). Omron objects to any terms or conditions proposed in Buyer's purchase order or other documents which are inconsistent with, or in addition to, these Terms. 2. Prices; Payment Terms. All prices stated are current, subject to change without notice by Omron. 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No. I805-E1-06............................5/07............Specifications subject to change without notice..............Printed in USA Mouser Electronics Authorized Distributor Click to View Pricing, Inventory, Delivery & Lifecycle Information: Omron: R88A-CAWE015B R88A-CAWF003S R88A-CCW002C R88A-CPW003M2 R88A-CPW002M1 R88A-PX5068 R88A-CAWE040B R88D-WT02HL R88A-RR88006 R88A-CAWE020S R88D-WT01HL R88A-CAWE030B R88APX5071 R88D-WT60H R88A-CTW002N R88A-CAWF050S R88A-PX5070 R88A-CAWE015S R88A-CPW005M1 R88A-CAWE050B R88A-CAWE010B R88A-CPW002S R88A-TK03W R88D-WT05H R88A-CAWE003B R88ATK02W R88A-CAWE005S R88A-CAWE050S R88A-CAWE020B R88A-CPW005M2 R88D-WTA5H R88A-CPW001S R88D-WTA3H R88D-WTA3HL R88A-CAWF015S R88A-CAWF040S R88A-CAWE005B R88A-CAWF020S R88ACPW002M2 R88A-CAWE003S R88D-WTA5HL R88A-CTW001N R88A-PX5069 R88A-CAWE040S R88ACAWE030S R88A-CAWF030S R88A-CAWF005S R88A-CPW003M1 R88A-CAWE010S R88A-CAWF010S R88ABAT02W R88D-WT75H