R88D-GN@, R88D-GT@ G-Series servo drive * * * * * * * * AC Servo systems A compact servo drive family for motion control. Compact size and integrated MECHATROLINK-II motion bus. ML2 and Analog/ Pulse servo drive models High-response frequency of 1 kHZ Auto-tuning for easy and quick start-up Vibration suppression Positioning, speed or torque control Separate power and control power supply Fast and accurate positioning Incremental and absolute encoder Ratings * 230 VAC Single-phase 100 W to 1.5 kW (8.62 Nm) System configuration MECHATROLINK-II control Motion controllers CJ1W-NC MECHATROLINK-II Trajexia stand-alone Trajexia in PLC 5 6 G G X1 X10 01 9 01 ADR 9 01 78 ADR 78 4 78 78 5 6 IM X10 X1 23 SP IM 23 01 23 SP 23 23 4 78 AC SE RVO DRIVER 9 01 COM COM MECHATROLINK-II ADR X10 X1 23 23 5 6 Power cable 01 9 01 23 23 23 G ADR X10 4 01 X1 G-Series ML2 Servo drive AC SE RVO DRIVER AC SE RVO DRIVER AC SE RVO DRIVER 9 01 5 6 ADR X10 4 01 G-Series ML2 Servo drive 5 6 AC SE RVO DRIVER COM IM G-Series ML2 Servo drive 4 G-Series ML2 Servo drive G-Series ML2 Servo drive SP Personal computer software: CX-One X1 COM COM SP SP IM IM G G Terminator Encoder cable Open Analogue/Pulse control G-Series servo motors Personal computer: Sofware CX-One Power cable Motion control unit Cylindric servo motors (50 W - 1.5 kW) Encoder cable Flat servo motors (100-400 W) G-Series servo drive Position control unit G-Series Analogue/ Pulse Servo drive General purpose cable Terminal block for Servo drive I/O general purpose signals 103 Servo motor supported Family Cylindric Servo motor Voltage Speed Rated torque 230 V 3000 min-1 0.16 Nm 0.32 Nm 0.64 Nm 1.3 Nm 2.4 Nm 3.18 Nm 4.77 Nm 2000 min-1 4.8 Nm 7.15 Nm 1000 min-1 8.62 Nm 3000 min-1 0.32 Nm 50 - 750 W 900 - 1500 W Flat 100-400 W Capacity 50 W 100 W 200 W 400 W 750 W 1000 W 1500 W 1000 W 1500 W 900 W 100 W Model R88M-G05030@-@S2 R88M-G10030@-@S2 R88M-G20030@-@S2 R88M-G40030@-@S2 R88M-G75030@-@S2 R88M-G1K030T-@S2 R88M-G1K530T-@S2 R88M-G1K020T-@S2 R88M-G1K520T-@S2 R88M-G90010T-@S2 R88M-GP10030@-@S2 G-Series servo drive MECHATROLINK-II Analog/ Pulse R88D-GN01H-ML2 R88D-GT01H R88D-GN01H-ML2 R88D-GT01H R88D-GN02H-ML2 R88D-GT02H R88D-GN04H-ML2 R88D-GT04H R88D-GN08H-ML2 R88D-GT08H R88D-GN15H-ML2 R88D-GT15H R88D-GN15H-ML2 R88D-GT15H R88D-GN10H-ML2 R88D-GT10H R88D-GN15H-ML2 R88D-GT15H R88D-GN15H-ML2 R88D-GT15H R88D-GN01H-ML2 R88D-GT01H 0.64 Nm 200 W R88M-GP20030@-@S2 R88D-GN02H-ML2 R88D-GT02H 1.3 Nm 400 W R88M-GP40030@-@S2 R88D-GN04H-ML2 R88D-GT04H Type designation Servo drive R88D-GN04H-ML2 G-Series servo drive Model Drive type Blank: Analogue/ pulse type ML2: MECHATROLINK-II communications T: Analogue/ pulse type N: Network type Source voltage Capacity 01 02 04 08 10 15 H: 230 V 100 W 200 W 400 W 750 W 1.0 kW 1.5 kW Servo drive specifications General specifications Basic specifications R88D-G@ R88M-G@ 01H@ 05030@/10030@ 02H@ 20030@ 04H@ 40030@ 08H@ 75030@ 1.1 1.5 10H@ G1K020T@ 15H@ 90010T@ / 1K030T@ / 1K5@0T@ R88M-GP@ 10030@ 20030@ 40030@ Max. applicable motor capacity W 100 200 400 750 1000 1500 Continuous output current Arms 1.16 1.6 2.7 4.0 5.9 9.8 Max. output current Arms 3.5 5.3 7.1 14.1 21.2 28.3 Input power Main circuit For single-phase, 200 to 240 VAC +10 to -15% For single-phase/ three-phase, 200 to 240 VAC +10 to -15% (50/60 Hz) (50/60 Hz) Supply Control circuit For single-phase, 200 to 240 VAC + 10 to -15% (50/60 Hz) Control method IGBT-driven PWM method Feedback Serial encoder (incremental/absolute) Usage/storage temperature 0 to +55 C / -20 to 65 C Usage/storage humidity 90% RH or less (non-condensing) Altitude 1000m or less above sea level Vibration/shock resistance 5.88 m/s2 / 19.6 m/s2 Conditions Servo drive type Applicable servomotor Configuration Approx. weight 104 Base mounted Kg 0.8 1.7 AC servo systems Load variance Voltage variance Temperature variance Frequency characteristics Torque control accuracy (reproducibility) Soft start time setting MECHATROLINK Communication During 0 to 100% load 0.01 max. (at rated speed) 0% at 10% of rated voltage (at rated speed) 0 to 50C 0.1% max. (at rated speed) 1 kHz 3% (at 20% to 100% of rated torque) 0 to 10 s (acceleration time and deceleration time can be set) MECHATROLINK-II commands (for sequence, motion, data setting/reference, monitor, adjustament and other commands) Sequence input signal Emergency stop, 3 external latch signals, forward/reverse torque limit, forward/reverse run prohibit, origin proximity, 3 general-purpose inputs Sequence output signal It is possible to output three types of signals: positioning completed, speed coincidence, rotation speed detection, servo ready, current limit, speed limit, brake release and warning signal RS-232 Interface Personal computer communications Transmission rate From 2400 to 57600 bps Functions Parameter setting, status display, alarm display (monitor, clear, history), servo drive data tracing function, test run/autotuning operations, real time trace, absolute encoder setting, default values function MECHATROLINK Communications protocol MECHATROLINK-II communications Transmission rate 10 Mbps Data length 32 bytes Functions Parameter setting, status display, alarm display (monitor, clear, history), default values function Tuning Horizontal and vertical axis mode. One parameter rigidity setting. Load inertia detection. Dynamic brake (DB) Operates when main power OFF, servo alarm, overtravel or servo OFF Regenerative processing Built-in regeneration resistor in models from 750 W to 1.5 kW. External regeneration resistor optionally. Overtravel (OT) prevention function Dynamic brake, disables torque or emergency stop torque during POT and NOT operation Emergency stop (STOP) Emergency stop input Encoder divider function Optional division pulses possible Electronic gearing 0,01<Numerator/Denominator<100 Internal speed setting function 8 internal speeds Protective functions Overvoltage, undervoltage, overcurrent, overload, regeneration overload, servo drive overheat Analog monitor Ouput The actual servomotor speed, command speed, torque and number of accumulated pulses can be measured using an oscilloscope or other device. Panel operator Display functions A 2-digit 7-segment LED display shows the servo drive status, alarm codes, parameters, etc. MECHATROLINK-II communications status LED indicator (COM) Switches Rotary switch for setting the MECHATROLINK-II node address Integrated functions Analog/pulse servo drive specifications Input signal Load variance Voltage variance Temperature dependence Frequency characteristics Torque control accuracy (reproducibility) Soft start time setting Command pulse Input pulse type Input pulse frequency Electronic gearing Speed control Input signal I/O signal Speed/torque control Position control Performance Control mode Speed variance Torque control Speed reference voltage Torque limit Preset speed control Torque reference voltage Speed limit Sequence input signal Sequence output signal G-Series servo drive Position, speed and torque control mode During 0 to 100% load 0.01 max. (at rated speed) 0% at 10% of rated voltage (at rated speed) 0 to 50C 0.1% max. (at rated speed) 1 kHz 3% (at 20% to 100% of rated torque) 0 to 10 s (acceleration time and deceleration time can be set) Signal + pulse, 90 phase displacement 2-phase pulse (phase A/B) or reverse and forward pulses (CW/CCW) 500 kpps max. line-driver input, 200 kpps max. open-collector input 0,01<Numerator/Denominator<100 10 VDC at 3000 r/min: set at delivery (the scale can be set by parameters) 3 VDC at rated torque (torque can be limited separately in positive/negative direction) Preset speed is selectable from 8 internal settings by digital inputs. 3 VDC at rated torque: set at delivery (the scale and polarity can be set by parameters). Speed limit can be set by parameter. Forward/reverse run prohibit, deviation counter reset, alarm reset, control mode switch, pulse prohibited, speed selection, gain switch, zero speed designation, origin proximity Brake release, servo ready and alarm output. It is possible also to output two types of configurable signals: current limit, rotation speed detection, warning signal, speed coincidence, positioning completed 105 AC Servo systems Performance Command Input Speed variance Communications I/O signal Position/Speed/torque control mode MECHATROLINK-II servo drive specifications Communications Integrated functions RS-232 communications Interface Transmission rate Functions RS-485 communications data Interface Transmission rate Functions Personal computer From 2400 to 57600 bps Parameter setting, status display, alarm display (monitor, clear, history), servo drive data tracing function, test run/autotuning operations, real time trace, absolute encoder setting, default values function Communication data interface between servo drives.and personal computer. From 2400 to 57600 bps Parameter setting, status display, alarm display (monitor, clear, history), servo drive data tracing function, test run/autotuning operations, real time trace, absolute encoder setting, default values function Horizontal and vertical axis mode. One parameter rigidity setting. Load inertia detection. Operates when main power OFF, servo alarm, overtravel or servo OFF Built-in regeneration resistor in models from 750 W to 1.5 kW. External regeneration resistor optionally. Dynamic brake, disables torque or emergency stop torque during POT and NOT operation Emergency stop input Optional division pulses possible Overvoltage, undervoltage, overcurrent, overload, regeneration overload, servo drive overheat The actual servomotor speed, command speed, torque and number of accumulated pulses can be measured using an oscilloscope or other device. A 6-digit 7-segment LED display shows the servo drive status, alarm codes, parameters, etc. Unit No. switch for serial communications. Value from 0 to F. To identify which servo drive the computer is accesing in RS232 communications when multiple servo drives. Tuning Dynamic brake (DB) Regenerative processing Overtravel (OT) prevention function Emergency stop (STOP) Encoder divider function Protective functions Analog monitor Ouput Panel operator Display functions Switches Servo drive part names Display area Rotary switches for ML-II node address Display area AC SERVO DRIVE 2 3 2 3 X10 9 0 1 7 8 ADR 4 5 6 0 1 X1 COM Analog monitor 1 & 2 check pins (SP, IM, G) SP ML-II comms status LED indicator IM G Unit No. switch RS-232 comms connector (CN3) ML-II comms connector (CN6A, CN6B) Settings area Analog monitor 1 check pin (IM) Analog monitor 2 check pin (SP) Main-circuit power terminals (L1, L2, L3) Main-circuit power terminals (L1, L2, L3) Control-circuit power terminals (L1C, L2C) Control-circuit power terminals (L1C, L2C) Check pin (G: GND) RS-485 comms connector (CN3A) RS-232 Comms connector/ Parameter Unit connector (CN3B) Control I/O connector (CN1) External regenerative resistor connection terminals (B1, B2, B3) Control I/O connector (CN1) Servo motor connection terminals (U, V, W) External regeneration resistor connection terminals (B1, B2, B3) Servo motor connection terminals (U, V, W) Encoder connector (CN2) Encoder connector (CN2) Protective ground terminals MECHATROLINK-II servo drive 106 Protective ground terminals Analogue/ pulse servo drive AC servo systems I/O specifications Symbol L1 L2 L3 L1C L2C Name Main circuits power supply input Function AC power input terminals for the main circuit Note: for single-phase connect the power supply input to L1 and L3 Control circuit power supply input AC power input terminals for the control circuit Servomotor connector (CNB) specifications Symbol B1 B2 B3 Name Function External regeneration resistor connection terminals Up to 400 W: U V W Servo motor connection terminals If regenerative energy is high, connect an external regeneration resistor between B1 and B2. From 750 W to 1.5kW: Normally B2 and B3 are connected. If regenerative energy is high, remove the short-circuit bar between B2 and B3 and connect an external regeneration resistor between B1 and B2. Terminals for outputs to the servomotor. Frame ground Ground terminal. Ground to 100 or less. I/O signals (CN1) - Input signals (for MECHATROLINK-II servo drives) Pin No. 1 Signal name +24VIN 2 3 4 5 22 6 23 7 8 19 STOP EXT3 EXT2 EXT1 20 21 34 33 Function Control power supply input for sequence signals: users must provide the +24 V power supply. Allowable voltage range: 12 to 24 VDC Emergency Stop Input Input for emergency stop. Emergency stop function factory default: enable. External Latch Signals This external signal input latches the current value feedback pulse counter. Minimal signal width must be 1 ms. IN1 IN0 IN2 PCL NCL External general-purpose Input 0 External general-purpose Input 1 External general-purpose Input 2 Forward Torque Limit Input Reverse Torque Limit Input Forward Run Prohibit Input Reverse Run Prohibit Input Origin Proximity Input Battery backup input for absolute encoder POT NOT DEC BAT BATCOM This input is used as external general-purpose input. This signal input selects the torque limit. Forward/ reverse drive rotation overtravel input. Stops servomotor when movable part travels beyond the allowable range of motion. Connect the origin proximity input signal in the origin search operation. Connecting pin for the absolute backup battery. Do not connect when a battery is connected to the servomotor encoder cable. I/O signals (CN1) - output signals (for MECHATROLINK-II servo drives) Pin No. 15 16 29 30 31 32 36 35 Signal name /ALM ALMCOM OUTM2 OUTM2COM OUTM3 OUTM3COM OUTM1 OUTM1COM Function The output turns OFF when an alarm is generated in the Servo drive. General-purpose output. The fucntion for this output is selected by changing the parameter: INP1 (Positioning completed), VCMP (Speed conformity signal), TGON (Servomotor rotation speed detection), READY (Servo ready), CLIM (Current limit detection), VLIM (Speed limit detection), BKIR (Brake interlock), WARN (Warning signal) I/O signals (CN1) - Input signals (for analog/pulse servo drives) Pin No. 1 3 4 2 5 6 44 45 46 47 14 15 16 Control mode Signal name Position +24 VCW +CW -CW +24 VCW +CCW -CCW +CWLD -CWLD +CCWLD -CCWLD Speed REF Torque TREF1 VLIM AGND1 Torque TREF2 Position/Speed PCL 18 17 NCL - G-Series servo drive AGND Function Reference pulse input for line driver and open collector according to parameter setting. Input mode: Sign + pulse string Reverse/forward pulse (CCW/CW pulse) Two-phase pulse (90 phase differential) Reference pulse input for line driver only. Input mode: Reverse/forward pulse (CW/CCW pulse) Speed reference input: 10 V/rated motor speed (input gain can be modified using a parameter). Torque reference input: 10 V/rated motor torque (input gain can be modified using a parameter). Speed limit input: 10 V/rated motor speed (input gain can be modified using a parameter). Analog signal ground Torque reference input: 10 V/rated motor torque (input gain can be modified using a parameter). Forward torque limit input: 10 V/rated motor torque (input gain can be modified using a parameter). Reverse torque limit input: 10 V/rated motor torque (input gain can be modified using a parameter). Analog signal ground 107 AC Servo systems Main circuit connector (CNA) specifications Pin No. 7 Control mode Signal name Common +24 VIN RUN Position DFSEL Speed PNSEL Speed/Torque VZERO GSEL Common TLSEL Position GESEL VSEL3 Speed 29 26 27 28 Position 30 ECRST VSEL2 Speed 31 Common RESET TVSEL 32 Function Control power supply input for sequence signals: users must provide the +24 V power supply (12 to 24 V). Servo ON: this turn ON the servo. Vibration filter switching Enables vibration filter according parameter setting. Speed command rotation direction switch Zero speed designation Speed command is regarder as 0. This function is enable/disabled by parameter. Gain switching Enables gain value according parameter setting. Torque limit switch. Electronic gear switching Switches the numerator fro electronic gear ratio. Internal speed selection 3 Input to select the desired speed setting during internally speed operation. The speed selecton is combining this input with VSEL1 and VSEL2 inputs. Error counter reset input. Resets the position error counter. Internal speed selection 2 Input to select the desired speed setting during internally speed operation. The speed selecton is combining this input with VSEL1 and VSEL3 inputs. Alarm reset input. Release the alarm status. The error counter is reset when the alarm is reset. Control mode switching Position speed Position torque Position/ Speed/Torque Position 33 IPG VSEL1 Speed 8 9 20 13 42 43 50 NOT POT SEN SENGND BAT (+) BATGND (-) FG Common Common Common Enables control mode switching Torque speed Pulse prohibition input. Digital input to inhibit the position reference pulse. Internal speed selection 1 Input to select the desired speed setting during internally speed operation. The speed selecton is combining this input with VSEL2 and VSEL3 inputs. Reverse run prohibited Overtravel prohibited: stops servomotor when movable part travels beyond the allowable range of motion. Forward run prohibited Sensor ON input. Initial data request signal when using an absolute encoder. Sensor ON signal ground. Backup battery connection terminals when the absolute encoder power is interrupted. Do not connect when an absolute encoder battery cable for backup is used. Frame ground I/O signals (CN1) - Output signals (for analog/pulse servo drives) Pin No. 21 22 49 48 23 24 19 25 11 10 35 34 37 36 39 38 39 38 - Control mode Common 12 40 41 Common 108 Signal name +A -A +B -B +Z -Z Z Speed/torque Position - ZCOM BKIR BKIRCOM READY READYCOM /ALM ALMCOM TGON TGONCOM INP INPCOM INP2 P-CMD ZSP WARN1 WARN2 ALM-ATB VCMP V-CMD V-LIMIT T-LIMIT OUTM1 OUTM2 COM Function Encoder phase A+ Encoder phase AEncoder phase B+ Encoder phase BEncoder phase Z+ Encoder phase ZEncoder phase-Z output Encoder signals are output according Encoder Dividing Numerator parameter. This is the line-driver output (equivalent to R422). Phase Z is output for encoder signals. Open-collector output. Encoder phase-Z common Brake release signal output Timing signal for operating the electromagnetic brake on a motor. Servo ready: ON if there is not servo alarm when the control/main circuit power supply is turned ON. Servo alarm: turns OFF when an error is detected. Motor rotation speed detection. This output turns ON when the motor rotation speed reaches the speed set in a parameter. Positioning complete output: turns ON when position error is equal to setting parameter. Position complete output 2 Position command status Zero speed Warning 1 Warning 2 Alarm output Speed conformity output speed command status Speed limit detection Torque limit detection General-purpose Output 1 General-purpose Output2 General-purpose common The function of output signals allocated to pins 11,10, 34 to 39 can be changed with these options by parameters settings. Use the parameter settings to assign the desired function Output ground common AC servo systems Dimensions Servo drives R88D-GN01/02H-ML2, R88D-GT01/02H (200 V, 100 to 200 W) 70 40 132 (for ML2 models) 130 (for analogue/ pulse models) 4 Two, M4 ADR 0 1 9 0 1 7 8 2 3 2 3 AC Servo systems AC SERVO DRIVER 4 5 6 X10 X1 COM SP IM 150 150 1400.5 G 6 280.5 40 R88D-GN04H-ML2, R88D-GT04H (200 V, 400 W) 70 55 132 (for ML2 models) 130 (for analogue/ pulse models) 4 Two, M4 AC SERVO DRIVER ADR 9 0 1 2 3 2 3 7 8 0 1 4 5 6 X10 X1 COM SP IM 150 150 1400.5 G 6 430.5 55 R88D-GN08H-ML2, R88D-GT08H (200 V, 750 W) 70 65 172 (for ML2 models) 170 (for analogue/ pulse models) Two, M4 4 AC SERVO DRIVER ADR 9 0 1 2 3 2 3 7 8 0 1 4 5 6 X10 X1 COM SP IM 1400.5 150 150 G 7.5 500.5 65 G-Series servo drive 109 R88D-GN10/15H-ML2, R88D-GT10/15H (200 V, 1 kW to 1,5 kW ) 172 (for ML2 models) 170 (for analogue/ pulse models) 70 85 4 Two, M4 AC SERVO DRIVER ADR 9 01 2 3 2 3 7 8 0 1 4 5 6 X10 X1 COM SP IM 1400.5 150 150 G 7.5 700.5 85 Filters W M2 OM D drive mounts H M1 output flexes Filter model R88A-FIK102-RE R88A-FIK104-RE R88A-FIK107-RE R88A-FIK114-RE 110 Rated current 2.4 A 4.1 A 6.6 A 14.2 A Leakage current 3.5 mA 3.5 mA 3.5 mA 3.5 mA External dimensions H W 190 42 190 57 190 64 190 86 D 44 30 35 35 Mount dimensions M1 M2 180 20 180 30 180 40 180 60 FIlter Fixing Rated voltage M4 M4 M4 M4 250 VAC single-phase AC servo systems Installation Single-phase, 230 VAC L1 L2 L3 N Thermal switch L1 Noise filter CNB L3 CNA L2C B1 *2 B3 Servo motor U V W G-Series Servo drive ML2 model L1C Single-Phase 200 to 230 VAC AC Servo systems Contactor Encoder CN2 CNB B2 CN1 12 to 24 VDC 24VIN 1 4.7k 15 /ALM Alarm Output 1k Emergency Stop STOP 2 4.7k External Latch 3 1k 36 OUTM1 General-purpose Output 1 EXT3 3 4.7k External Latch 2 16 ALMCOM 1k EXT2 4 35 OUTM1COM 29 OUTM2 General-purpose Output 2 4.7k External Latch 1 1k EXT1 5 4.7k 30 OUTM2COM 31 OUTM3 General-purpose Output 3 General-purpose Input 1 1k IN1 6 32 OUTM3COM 4.7k Forword Torque Limit Input 1k PCL 7 4.7k Reverse Torque Limit Input 1k NCL 8 4.7k Forward run Prohibit Input 1k POT 19 4.7k Reverse run Prohibit Input 1k NOT 20 4.7k Origin Proximity Input 1k DEC 21 4.7k General-purpose Input0 1k 4.7k General-purpose Input 2 34 BAT IN0 22 33 Backup Battery*1 BATCOM 1k IN2 23 Shell FG *1 For use only with an absolute encoder. If a backup battery is connected to CN1 I/O connector, an encoder cable with a battery is not required. *2 For servo drives from 750 W, B2 and B3 are short-circuited. If the internal regenerative resistor is insufficient, remove the wire between B2 and B3 and connect an external resistor between B1 and B2. G-Series servo drive 111 Single-phase, 230 VAC L1 L2 L3 N *2 B1 B3 B2 Thermal switch Servo motor U V CNB W Contactor G-Series servo drive Analogue/ Pulse model L1 Noise filter L3 CNA Encoder CN2 L1C Single-Phase 200 to 230 VAC L2C +24 VCW 1 2.2 k CN1 +CW 3 Reverse pulse 11 BKIR Brake release signal output 10 BKIRCOM -CW 4 220 500 kpps max. +24 VCCW 2 2.2 k 35 READY Servo ready output +CCW 5 Forward pulse 34 READYCOM -CCW 6 220 Position reference*3 -CWLD 45 2 Mpps max. Forward pulse 110 3k 43 k +CCWLD 46 3k 43 k -CCWLD 47 Maximum output current: 50 mADC 37 /ALM Alarm output 36 ALMCOM +CWLD 44 3 k 43 k Reverse pulse External power supply 12 to 24 VDC Maximum service voltage: 30 VDC 39 INP Positioning completed output 110 38 INPCOM 3 k 43 k 12 OUTM1 General purpose Output 1 12 to 24 VDC +24 VIN 7 Servo ON Vibration filter switching 4.7 k 40 OUTM2 General purpose Output 2 4.7 k 41 COM 4.7 k 19 Z Phase-Z output (open-collector output) 25 ZCOM RUN 29 DFSEL 26 Gain switching 21 +A GSEL 27 4.7 k 22 -A Electronic gear switching GESEL 28 method (load resistance 120 min.) 49 +B Encoder phase-B output 4.7 k 48 -B 4.7 k 24 -Z Deviation counter reset 23 +Z ECRST 30 Encoder phase-Z output Alarm reset 100 20 SEN RESET 31 4.7 k 1 F Control mode switching Encoder phase-A output Line-driver output corresponding with the EIA RS-422A communications 4.7 k 13 Sensor ON SENGND TVSEL 32 4.7 k 42 Pulse prohibition 43 IPG 33 BAT BATGND Backup battery*1 (3.6 V) 4.7 k 20 k 14 REF/TREF1/VLIM Reverse run prohibited 3.83 k NOT 8 Speed/Torque command or Speed limit 15 AGND 4.7 k Forward run prohibited *4 (10 V/rated speed or torque) 10 k 16 PCL/TREF2 POT 9 3.83 k Forward torque limit/Torque command 17 AGND 10 k 18 NCL *4 (12 V/rated speed or torque) Reverse torque limit 3.83 k *4 Reverse torque limit 50 FG Frame ground (12 V/rated speed or torque) *1 For use only with an absolute encoder. If a backup battery is connected to CN1 I/O connector, an encoder cable with a battery is not required. *2 For servo drives from 750 W, B2 and B3 are short-circuited. If the internal regenerative resistor is insufficient, remove the wire between B2 and B3 and connect an external resistor between B1 and B2. *3 Only available in Position control mode. *4 The input function depends on control mode used (Position, speed or torque control). 112 AC servo systems Ordering information G-Series MECHATROLINK-II model reference configuration A G-Series Cylindrical type servo motor B G-Series MECHATROLINK-II J AC SE RVO DRIVER 9 01 5 6 23 23 78 ADR X10 4 01 X1 COM CN3 SP 3000 rpm (50-750W) 3000 rpm (1000-1500 W) 2000 rpm (1000-1500 W) 1000 rpm (900 W) A G-Series Flat type IM I G CN6 L Filter K MECHATROLINK-II cables M External regenerative resistor D Power cable servo motor Position control unit: CJ1W-NC MECHATROLINK- E Servo drive I/O signals F I/O signals cable Motion controller unit: Trajexia stand-alone Trajexia in PLC CN1 H G C Encoder cable 3000 rpm (100-400 W) MECHATROLINK-II Motion controllers Terminal block for Servo drive I/O signals Note: The symbols ABCDE... show the recommended sequence to select the components in a G-Series servo system Servo motors, power & encoder cables Note: ACD Refer to the G-Series servo motor chapter for servomotor, motor cables or connectors selection Servo drives Specifica- Servo drive model A Compatible rotary servo motors tions Cylindric type Flat type 100 W R88D-GN01H-ML2 R88M-G05030@ R88M-GP10030@ R88M-G10030@ 200 W R88D-GN02H-ML2 R88M-G20030@ R88M-GP20030@ 400 W R88D-GN04H-ML2 R88M-G40030@ R88M-GP40030@ 750 W R88D-GN08H-ML2 R88M-G75030@ 1.0 kW R88D-GN10H-ML2 R88M-G1K020T@ 1.5 kW R88D-GN15H-ML2 R88M-G90010T@ R88M-G1K030T@ R88M-G1K520T@ R88M-G1K530T@ - Symbol K Specifications MECHATROLINK-II Terminator resistor MECHATROLINK-II cables 1 phase 200 VAC B MECHATROLINK-II cables (for CN6) Symbol F General purpose cable G Terminal block cable H Terminal block Connect to Servo drive I/O signals 1m 2m 1m 2m - Model R88A-CNU01C R88A-CPGB001S-E R88A-CPGB002S-E XW2Z-100J-B33 XW2Z-200J-B33 XW2B-20G4 XW2B-20G5 XW2D-20G6 Symbol Name Computer cable RS232 I 2m Model R88A-CCG002P2 Trajexia-PLC motion controller Position Controller Unit for CJ1 PLC Position Controller Unit for CS1 PLC G-Series servo drive 0.5 m 1m 3m 5m 10 m 20 m 30 m JEPMC-W6003-A5-E JEPMC-W6003-01-E JEPMC-W6003-03-E JEPMC-W6003-05-E JEPMC-W6003-10-E JEPMC-W6003-20-E JEPMC-W6003-30-E Applicable servodrive Filter model Rated Leak- Rated current age voltage current R88D-GN01H@ R88D-GN02H@ R88D-GN04H@ R88D-GN08H@ R88D-GN10H@ R88D-GN15H@ R88A-FIK102-RE 2.4 A R88A-FIK104-RE 4.1 A R88A-FIK107-RE 6.6 A R88A-FIK114-RE 14.2 A 3.5 mA 250 VAC single3.5 mA phase 3.5 mA 3.5 mA External regenerative resistor Symbol Regenerative resistor unit model R88A-RR08050S R88A-RR080100S R88A-RR22047S R88A-RR50020S Specifications 50 , 80 W 100 , 80 W 47 , 220 W 20 , 500 W Computer software MECHATROLINK-II Motion controllers Symbol Name Trajexia stand-alone motion controller J L M Computer cable (for CN3) Model JEPMC-W6022-E Filters Control cables (for CN1) Symbol Name I/O connector kit E Length - Model TJ2-MC64 (64 axes) TJ1-MC16 (16 axes) TJ1-MC04 (4 axes) CJ1W-MCH72 (30 axes) CJ1W-MC472 (4 axes) CJ1W-NCF71 (16 axes) CJ1W-NC471 (4 axes) CJ1W-NC271 (2 axes) CS1W-NCF71 (16 axes) CS1W-NC471 (4 axes) CS1W-NC271 (2 axes) Specifications Configuration and monitoring software tool for servo drives and inverters. (CX-drive version 1.70 or higher) Complete OMRON software package including CX-drive. (CX-One version 3.10 or higher) Model CX-drive CX-One 113 AC Servo systems Personal computer: Sofware CX-One Servo drive Ordering information G-Series Analog/pulse model reference configuration B A G-Series Cylindrical type servo motor G-Series Analogue/ Pulse Servo drive P Filter 3000 rpm (50-750W) Q D Power cable External regenerative resistor CN3 O CN1 E 3000 rpm (1000-1500 W) 2000 rpm (1000-1500 W) 1000 rpm (900 W) Personal computer: Sofware CX-One RS232 computer cable Motion control unit F Position control unit -High-speed type- H Terminal block for external signals K I C Encoder cable G Position control unit A G-Series Flat type servo motor J L General purpose cable M 3000 rpm (100-400 W) N Terminal block for Servo drive I/O general purpose signals Note: The symbols ABCDE... show the recommended sequence to select the components in a G-Series servo system Servo motors, power & encoder cables Note: ACD Refer to the G-Series servo motor chapter for servomotor, motor cables or connectors selection Servo drives Specifications B 1 phase 200 VAC Servo drive model 100 W R88D-GT01H 200 W 400 W 750 W 1.0 kW 1.5 kW R88D-GT02H R88D-GT04H R88D-GT08H R88D-GT10H R88D-GT15H A Compatible rotary servo motors Cylindric type R88M-G05030@ R88M-G10030@ R88M-G20030@ R88M-G40030@ R88M-G75030@ R88M-G1K020T@ R88M-G90010T@ R88M-G1K030T@ R88M-G1K520T@ R88M-G1K530T@ Flat type R88M-GP10030@ R88M-GP20030@ R88M-GP40030@ - Control cables (for CN1) Symbol Description Control cable E (1 axis) Connect to Motion control units CS1W-MC221 CS1W-MC421 Control cable (2 axis) Motion control units CS1W-MC221 CS1W-MC421 Control cable (line-driver output for 1 axis) Position control units (high-speed type) CJ1W-NC234 CJ1W-NC434 Control cable (open-collector output for 1 axis) Position control units (high-speed type) CJ1W-NC214 CJ1W-NC414 Position control units (high-speed type) CJ1W-NC234 CJ1W-NC434 F Control cable (line-driver output for 2 axis) Control cable (open-collector output for 2 axis) 114 Position control units (high-speed type) CJ1W-NC214 CJ1W-NC414 1m 2m 3m 5m 1m 2m 3m 5m 1m 5m 10 m 1m 3m Model R88A-CPG001M1 R88A-CPG002M1 R88A-CPG003M1 R88A-CPG005M1 R88A-CPG001M2 R88A-CPG002M2 R88A-CPG003M2 R88A-CPG005M2 XW2Z-100J-G9 XW2Z-500J-G9 XW2Z-10MJ-G9 XW2Z-100J-G13 XW2Z-300J-G13 1m 5m 10 m 1m 3m XW2Z-100J-G1 XW2Z-500J-G1 XW2Z-10MJ-G1 XW2Z-100J-G5 XW2Z-300J-G5 AC servo systems H I J K Connect to Position control units (high-speed type) CJ1W-NC234 CJ1W-NC434 CJ1W-NC214 CJ1W-NC414 Terminal block for external signals (M3 screw, pin terminals) Terminal block for ext. signals (M3.5 screw, fork/round terminals) Terminal block for ext. signals (M3 screw, fork/round terminals) Cable from servo relay unit to servo drive CS1W-NC1@3, CJ1W-NC1@3, C200HW-NC113, CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3, C200HW-NC213/413, CQM1H-PLB21 or CQM1-CPU43 CJ1M-CPU21/22/23 Servo relay unit Position control units CS1W-NC1@3, CJ1W-NC1@3 or C200HW-NC113 Position control units CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3 or C200HW-NC213/413 CQM1H-PLB21 or CQM1-CPU43 CJ1M-CPU21/22/23 Position control unit connecting cable CQM1H-PLB21 or CQM1-CPU43 CS1W-NC113 or C200HW-NC113 CS1W-NC213/413 or C200HW-NC213/413 CS1W-NC133 CS1W-NC233/433 CJ1W-NC113 CJ1W-NC213/413 CJ1W-NC133 CJ1W-NC233/433 CJ1M-CPU21/22/23 L General purpose cable For general purpose controllers M Terminal block cable For general purpose controllers N Terminal block (M3 screw and for pin terminals) Terminal block (M3.5 screw and for fork/round terminals) Terminal block (M3 screw and for fork/round terminals) Computer cable (for CN3) Model R88A-CCG002P2 2m 1m 2m - XW2Z-100J-B31 XW2Z-200J-B31 XW2B-20J6-1B (1 axis) - XW2B-40J6-2B (2 axes) - XW2B-20J6-3B (1 axis) XW2B-20J6-8A (1 axis) XW2B-40J6-9A (2 axes) XW2Z-050J-A3 XW2Z-100J-A3 XW2Z-050J-A6 XW2Z-100J-A6 XW2Z-050J-A7 XW2Z-100J-A7 XW2Z-050J-A10 XW2Z-100J-A10 XW2Z-050J-A11 XW2Z-100J-A11 XW2Z-050J-A14 XW2Z-100J-A14 XW2Z-050J-A15 XW2Z-100J-A15 XW2Z-050J-A18 XW2Z-100J-A18 XW2Z-050J-A19 XW2Z-100J-A19 XW2Z-050J-A33 XW2Z-100J-A33 R88A-CPG001S R88A-CPG002S XW2Z-100J-B24 XW2Z-200J-B24 XW2B-50G4 XW2B-50G5 XW2D-50G6 0.5 m 1m 0.5 m 1m 0.5 m 1m 0.5 m 1m 0.5 m 1m 0.5 m 1m 0.5 m 1m 0.5 m 1m 0.5 m 1m 0.5 m 1m 1m 2m 1m 2m - Specifications I/O connector kit, 50 pins (for CN1) Model R88A-CNU11C Computer software Filters P Model XW2Z-C50X XW2Z-100X XW2Z-200X XW2Z-300X XW2Z-500X XW2Z-010X XW2B-20G4 XW2B-20G5 XW2D-20G6 XW2Z-100J-B25 XW2Z-200J-B25 Connectors Symbol Name Computer cable RS232 O Symbol 0.5 m 1m 2m 3m 5m 10 m 1m 2m Applicable servodrive Filter model Rated Leak- Rated current age voltage current R88D-GT01H R88D-GT02H R88D-GT04H R88D-GT08H R88D-GT10H R88D-GT15H R88A-FIK102-RE 2.4 A R88A-FIK104-RE 4.1 A R88A-FIK107-RE 6.6 A R88A-FIK114-RE 14.2 A 3.5 mA 250 VAC single3.5 mA phase 3.5 mA 3.5 mA Specifications Configuration and monitoring software tool for servo drives and inverters. (CX-drive version 1.70 or higher) Complete OMRON software package including CX-drive. (CX-One version 3.10 or higher) Model CX-drive CX-One External regenerative resistor Symbol Q Regenerative resistor unit model R88A-RR08050S R88A-RR080100S R88A-RR22047S R88A-RR50020S G-Series servo drive Specifications 50 , 80 W 100 , 80 W 47 , 220 W 20 , 500 W 115 AC Servo systems Symbol Description G Terminal block cable for external signals (for input common, forward/reverse run prohibited inputs, emergency stop input, origin proximity input and interrupt input) ALL DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527. Cat. No. I108E-EN-02 116 In the interest of product improvement, specifications are subject to change without notice. AC servo systems Mouser Electronics Authorized Distributor Click to View Pricing, Inventory, Delivery & Lifecycle Information: Omron: R88M-G20030H-BOS2 R88M-G10030S-O R88M-G10030T-B R88M-G10030H-BO R88M-G3K010T-S2 R88MG40030H-BS2 R88M-G2K010T-B R88M-GP10030S-BO R88M-GP20030S-B R88M-G90010T-BOS2 R88MG1K520T-S2 R88M-G2K020T-BOS2 R88M-G20030L-BOS2 R88M-G20030T R88M-G20030T-S2 R88M-G10030H-O R88M-GP40030H-O R88M-G75030H-S2 R88M-G10030L-BS2 R88M-GP20030H-S2 R88M-G10030L-S2 R88MG40030T R88M-G05030T R88M-GP10030T-BS2 R88M-G1K020T-BOS2 R88M-GP40030T-B R88M-G90010T-OS2 R88M-G40030L-OS2 R88M-GP10030L R88M-G10030S-OS2 R88M-G3K030T-B R88M-G20030H-S2 R88MG2K030T-O R88M-GP20030T-BOS2 R88M-G40030T-BOS2 R88M-G1K030T-O R88M-G40030H R88M-G20030H-B R88M-G20030L-OS2 R88M-G20030S-O R88M-G05030T-OS2 R88M-G40030T-OS2 R88M-G3K010T R88MGP40030L R88M-G3K020T-O R88M-G20030H-BS2 R88M-GP40030S-O R88M-GP10030L-BOS2 R88M-G75030TBO R88M-G05030H-B R88M-G10030T-BS2 R88M-G3K020T-BO R88M-GP20030T-OS2 R88M-G1K020T-OS2 R88M-G20030S-B R88M-G75030H-BOS2 R88M-G3K020T-BOS2 R88M-G90010T-S2 R88M-GP20030T-BS2 R88MG40030S-BS2 R88M-G75030T-O R88M-G2K020T-S2 R88M-GP20030S-BO R88M-G20030L-S2 R88M-GP20030SBS2 R88M-GP10030S-O R88M-G75030H-B R88M-GP20030T-S2 R88M-GP10030T-O R88M-G2K020T-BS2 R88M-G75030T-BOS2 R88M-G10030H-OS2 R88M-G1K530T-BOS2 R88M-G20030T-BOS2 R88M-GP10030T-S2 R88M-G75030H R88M-GP10030L-B R88M-GP40030S-BOS2 R88M-G20030H-O R88M-G1K530T R88M-G1K020TBS2 R88M-G2K010T-O R88M-GP40030L-B R88M-GP40030T-O R88M-G3K020T-OS2 R88M-G05030H-BS2 R88M-GP40030H-OS2 R88M-G40030T-BS2 R88M-G05030T-BS2 R88M-GP20030H R88M-G40030S-O R88MG2K030T-OS2 R88M-G2K020T R88M-G40030S-BO R88M-G20030T-B R88M-GP10030H-O R88M-G2K010T-BO R88M-G3K010T-BS2 R88M-G10030T-BO R88M-G90010T