Kpp Smartstep2 En Int01a

Transcript

SMARTSTEP 2 SERVO SYSTEM A new step in servodrive simplicity » Precise and cost-effective » U l t ra - c o m p a c t d e s i g n » Simple to use and set up SmartStep 2 – the right step forward... Omron knows that simplicity and precision are vital in your positioning application. Features at a glance: • Pulse control servo drive • Ultra-compact size The new SmartStep offers an ideal solution for • Auto-tuning point-to-point motion applications where • Vibration suppression • Adaptive resonance suppression filter • Two programmable torque limits • Feedback pulse output • Power range from 50 W to 750 W • Cylindrical and flat servo motors SmartStep 2 has a completely new compact • Electronic gear design that gives a 50% space saving compared • 10,000 steps per revolution simplicity is essential. SmartStep 2 keeps things simple whilst combining high performance in a cost-effective solution. with the previous model. It also has new features and functionality to help you to make your machines more efficient and cost-effective. …to faster development with great drive simplicity Getting started quickly CX-Drive is a single, easy-to-use software tool for configuring, commissioning and maintaining both inverters and servos. SmartStep 2 is fully supported with a wide range of features making the servo drive set-up easier and faster than ever: • Auto-tuning • Parameter editing and monitoring Real-time data trace • Speed and position diagrams • I/O status and alarms • Real-time data trace Frequency analysis A compact design that’s easy to connect Although it has more functionality than previous models, SmartStep 2 has a compact design with an ultra-small footprint that saves considerable space. In addition, SmartStep 2 can be easily integrated with other automation devices such as the CP1L compact machine controller and NS operator terminals, helping to make an efficient and cost-effective machine design. Additional features: • Position control via pulse input 500 kpps • Rated speed 4,000 rpm; peak 5,000 rpm • Wide range of pulse configurations • Four internal speed settings switched by external signal for easy control Servomotors compatible with SmartStep 130 mm 105 mm 120 mm Command pulse 160 mm • AUTO Feedback pulse CP1H-Yxx 35 mm Vibration Quickly suppression vibration 55 mm Compact space-saving design Feedback pulse output Adjustment-free operation Vibration suppression SmartStep 2 has a footprint 48% smaller than that of previous models and the volume is 39% smaller, saving cabinet space and costs. Enables servo position feedback to the controller for close control position loop and monitor real positioning; it can be also used to synchronise with another axis. Depending on load variations, the real-time auto-tuning function automatically calculates and adjusts the optimum gain values for the machine. An adaptive filter ensures that resonant frequency changes are automatically followed to reduce the effect of vibration due to low mechanical rigidity. A further filter minimises vibration for better positioning when stopping the load. R7D-BP@, R88D-GP@, R88M-G@ SmartStep 2 servo system Another step forward in drive simplicity • On-line Auto-tuning and Easy set up • Ultra-compact size. The footprint is only 48% that of the SmartStep series • Two torque limits • Electronic gear, four internal speed settings and wide range of pulse settings • Adaptive filters for suppresion of vibration and resonance • Servomotors with IP65 as standard and shaft oil seal available • Motors with brake as option Ratings • 230 VAC single-phase 50 W to 750 W (0.16 to 2.4 Nm) System configuration (Refer to chapter SmartStep servo motors) SmartStep 2 Servo Drive SmartStep 2 Servo Motor Personal computer software: CX-One Encoder cable Position control unit Power cable Position control unit Terminal block General purpose controller (with pulse output) 6 AC servo systems Servo drive type designation R7D-BP01H SmartStep 2 Servo Drive Drive Type Source voltage P: Pulse input control H: HH: Capacity 01 02 04 Single-phase 230 VAC for 100/400 W Single-phase 230 VAC for 200 W 100 W 200 W 400 W R88D-GP08H SmartStep 2 Servo Drive (750 W) Drive Type Source voltage P: Pulse input control H: 230 V Capacity 08 750 W Servo drive specifications General specifications Item Ambient operating temperature Ambient operating humidity Ambient storage temperature Ambient storage humidity Storage/operating atmosphere Vibration resistance Impact resistance Insulation resistance Dielectric strength Protective structure International standards Specification 0 to 55°C 90% max. (with no condensation) -20 to 65°C 90% max. (with no condensation) No corrosive gases. 10 to 60 Hz; acceleration : 5.9 m/s² (0.6G) max. Acceleration 19.6 m/s2 max., 3 times each in X, Y, and Z directions, Between power supply/power line terminals and frame ground: 0.5 MΩ min. (at 500 VDC) Between power supply/power terminals and frame ground: 1,500 VAC for 1 min at 50/60 Hz Between each control signal and frame ground: 500 VAC for 1 min Built into panel (IP10). Approval obtained for UL: UL 508C; cUL: cUL C22.2 No 14 Approval EC : EMC EN55011 class A Group 1, EN 61000-6-2, low voltage EN50178 Performance specifications Item Continuous output current (rms) Momentary maximum output current (rms) Main-circuit power supply SmartStep 2 servo system 200 VAC input type 100 W 200 W R7D-BP01H R7D-BP02HH 1.0 A 1.6 A 3.3 A 4.9 A Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz 400 W R7D-BP04H 2.5 A 7.8 A 750 W R88D-GP08H 4A 14.1 A Single-phase/three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz 7 Item 200 VAC input type 100 W R7D-BP01H - Control circuit input power Control method Feedback Inverter method PWM frequency Weight Compatible motor voltage Command pulse response Compatible motor capacity 200 W R7D-BP02HH 400 W R7D-BP04H All-digital method 10,000 pulses/revolution incremental encoder PWM method based on IGBT 12 kHz 0.35 kg 0.42 kg 200 V Line drive: 500 kpps 50 W 200 W 100 W G05030H G020030H G10030H GP20030H GP10030H Applicable servo motor (R88M-) 750 W R88D-GP08H Single-phase 200 to 240 VAC (170 to 264 V) 6 kHz 0.42 kg 1.5 kg 400 W 750 W G40030H GP40030H G75030H Servodrive part names SmartStep2 Servo Drive (100 - 400 W models) Alarm indicator (ALM) Power supply indicator Communications connector (CN3) PWR ALM C N 3 Control I/O connector (CN1) C N 1 Encoder input connector (CN2) C N 2 Motor connector (CNB) C N B Main circuit connector (CNA) C N A FG terminals for power supply and Servomotor power SmartStep2 Servo Drive (750 W model) AC SERVO DRIVER Display area UNIT No. Analog monitor outputs Main-circuit power terminals Control-circuit power terminals Settings area DATA RS-485 Communications connector (CN3A) RS-232 Communications connector/ Parameter Unit connector (CN3B) Control I/O connector (CN1) External Regeneration Resistor connection terminals Servomotor connection terminals Encoder connector (CN2) Protective ground terminals 8 AC servo systems Servomotor type designation R88M-GP10030H-BOS2 Shaft end specifications SmartStep2 Servomotor Blank Straigth shaft, no key S2 Straigth, key, tapped Motor Type Blank: Cylinder type P: Oil seal specifications Flat type Blank No oil seal Oil seal O Capacity 050 100 200 400 750 Brake specifications 50 W 100 W 200 W 400 W 750 W Blank No brake Brake B Rated Speed (r/min) 30 Voltage and encoder specifications 3000 H: 230 V with incremental encoder Servo motor / servo drive combination Servo motor Family Cylindric Flat 50-750 W 100-400 W SmartStep 2 servo system Voltage Speed Rated torque Capacity Model 230 V 3000 min-1 0.16 Nm 50 W R88M-G05030H-@S2 0.32 Nm 100 W R88M-G10030H-@S2 0.64 Nm 200 W R88M-G20030H-@S2 1.3 Nm 400 W R88M-G40030H-@S2 2.4 Nm 750 W R88M-G75030H-@S2 0.32 Nm 100 W R88M-GP10030H-@S2 0.64 Nm 200 W R88M-GP20030H-@S2 1.3 Nm 400 W R88M-GP40030H-@S2 9 Servo motor specifications General specifications Item Ambient operating temperature Ambient operating humidity Ambient storage temperature Ambient storage humidity Storage/operating atmosphere Vibration resistance Impact resistance Insulation resistance Dielectric strength Run position Insulation grade Structure Protective structure Vibration grade Mounting method International standards Specification 0 to 40°C 85% max. (with no condensation) −20 to 65°C 85% max. (with no condensation) No corrosive gases 49 m/s2 max. in the X, Y, and Z directions Acceleration of 98 m/s2 max. 3 times each in the X, Y, and Z directions 20 MΩ min. at 500 VDC between the power terminals and FG terminal 1,500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal Any direction Type B Totally-enclosed, self-cooling IP65 (excluding the through-shaft portion) V-15 Flange-mounting Approval obtained for UL, cUL, and EN (EMC directive and low-voltage directive) Performance specifications Cylindric servo motors Item Rated output Rated torque Rated rotation speed Momentary maximum rotation speed Momentary maximum torque Rated current Momentary maximum current Rotor inertia Unit R88M-G05030H W 50 N·m 0.16 r/min r/min N·m 0.48 A (rms) A (rms) Power rate Allowable radial load Allowable thrust load Weight Without brake With brake Encoder resolution Radiation shield dimensions Brake Brake inertia specifications Excitation voltage Power consumption (at 20 °C) Current consumption (at 20 °C) Static friction torque Attraction time Release time Backlash Rating Brake life Applicable servo driver kg·m2 kW/s N N kg kg ----- 2.5 × 10-6 10.4 kg·m2 V W A N·m ms ms - 2.0 × 10-7 R88M-G10030H 100 0.32 0.95 1.1 3.4 R88M-G20030H 200 0.64 3000 5000 1.78 1.6 4.9 5.1 × 10-6 20.1 R88M-G75030H 750 2.4 R88M-G40030H 400 1.3 4500 7.05 4 12.1 3.60 2.6 7.9 1.4 × 10-5 30.3 2.6× 10-5 62.5 68 58 245 98 0.3 0.5 0.5 0.8 1.2 0.7 1.3 1.7 Phase A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation 100 × 80 × t10 (Al) 130 × 120 × t12 (Al) 2.0 × 10-7 1.8 × 10-6 24 VDC ±10% 7 0.30 0.29 min. 35 max. 20 max. 7.5 × 10-6 25 × 10-6 9 0.36 1.27 min. 50 max. 15 max. 10 0.42 2.45 min. 70 max. 20 max. ±1° max. Continuous 10,000,000 operations min. R7D-BP02HH R7D-BP04H R7D-BP01H 8.7× 10-5 66 392 147 2.3 3.1 R88D-GP08H Torque-speed characteristics R88M-G05030H R88M-G10030H (N·m) (N·m) 0.5 0.48 R88M-G20030H 1.0 0.95 R88M-G40030H (N·m) 2.0 1.82 1.82 (4300) R88M-G75030H (N·m) (N·m) 4.0 3.60 3.60 (3200) 1.65 0.4 1.5 0.8 Repetitive usage 0.3 Repetitive usage Repetitive usage 1.0 0.2 0.16 0.4 0.16 0.32 Continuous usage 0.09 0.2 0.64 0.32 Continuous usage 7.05 (3600) 0.64 1.3 Continuous usage 4.0 4.0 1.3 1.0 0.19 Repetitive usage 2.1 2.0 0.5 0.1 7.05 3.0 Repetitive usage 0.6 8.0 2.4 2.4 0.88 0.36 Continuous usage Continuous usage 1.0 0 10 1000 2000 3000 4000 5000 (r/min) 0 1000 2000 3000 4000 5000 (r/min) 0 1000 2000 3000 4000 5000 (r/min) 0 1000 2000 3000 4000 5000 (r/min) 0 1000 2000 3000 4000 5000 (r/min AC servo systems Flat servo motors Item Rated output Rated torque Rated rotation speed Momentary maximum rotation speed Momentary maximum torque Rated current Momentary maximum current Rotor inertia Unit R88M-GP10030H 100 0.32 W N·m r/min r/min N·m A (rms) A (rms) 0.90 1.0 4.3 9.0 × 10-6 kg·m2 kW/s N N kg kg ----- Power rate Allowable radial load Allowable thrust load Weight Without brake With brake Encoder resolution Radiation shield dimensions Brake Brake inertia specifications Excitation voltage R88M-G40030H 400 1.3 3.60 4.4 18.6 6.4 × 10-5 11.4 11.8 25.5 68 245 58 98 0.7 1.3 1.8 0.9 2.0 2.5 Phase A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation 130 × 120 × t10 (Al) 170 × 160 × t12 (Al) 3.0 × 10-6 9.0 × 10-6 9.0 × 10-6 kg·m2 V W A N·m ms ms - Power consumption (at 20 °C) Current consumption (at 20 °C) Static friction torque Attraction time Release time Backlash Rating Brake life Applicable servo driver (R7D-) R88M-G20030H 200 0.64 3000 5000 1.82 1.6 6.8 3.4 × 10-5 24 VDC ±10% 7 0.29 10 0.41 0.29 min. 1.27 min. 50 max. 60 max. 15 max. ±1° max. Continuous 10,000,000 operations min. BP02HH BP01H BP04H Torque-speed characteristics R88M-GP10030H R88M-GP40030H R88M-GP20030H (N·m) (N·m) 2.0 1.82 1.0 1.82 (4700) 0.90 0.90 3.0 Repetitive usage 0.6 Repetitive usage Repetitive usage 2.0 1.0 0.4 0.32 0.64 0.32 Continuous usage 0 SmartStep 2 servo system 1.3 1.0 0.16 1000 2000 3000 4000 5000 (r/min) 2.0 1.3 0.64 0.5 0.2 3.60 (3600) 1.75 1.5 0.8 (N·m) 4.0 3.60 Continuous usage 0 0.28 1000 2000 3000 4000 5000 (r/min) Continuous usage 0 0.64 1000 2000 3000 4000 5000 (r/min) 11 Dimensions Servo drives R7D-BP01H R7D-BP02HH/ 04H 35 40 Mounting Hole Dimensions 15 20 15 5 20 Mounting Hole Dimensions . dia Two, M4 5 5 5.2 5 Two, M4 5.2 5 dia . 5 PWR ALM PWR ALM C N 3 C N 3 C N 1 140 C N 2 C N B 130±0.5 140 130 120 140 C N 2 130±0.5 140 130 120 C N 1 C N B C N A C N A 5 105 15 5.1 20 5.2 5 5.1 70 5.2 70 105 15 25 R88D-GP08H 70 65 170 4 Two, M4 AC SERVO DRIVER UNIT No. DATA G 150 140 ±0.5 SP 150 IM 7.5 50 ±0.5 65 Filters R7A-FIB104-RE R88A-FIK107-RE 40±1 44±1 64 40 drive mounts 2 x M4 drive mounts 165±1 179±1 output flexes 2 x 170 mm 1 x 130 mm connector to servo drive power supply input 190 180 output flexes 20 M4 Filter model R7A-FIB104-RE R88A-FIK107-RE 12 35 input terminals input terminals output flexes Rated current 4A 6.6 A Leakage current 3.5 mA 3.5 mA Rated voltage 250 VAC single-phase 250 VAC single-phase AC servo systems Servo motors Cylindrical type 3000 r/min (230 V, 50 - 100W) Dimensions (mm) Model R88M-G05030H-@S2 R88M-G10030H-@S2 Without brake LL 72 92 With brake LL 102 122 LN Aprox. Mass (Kg) Without brake With brake 0.3 0.5 0.5 0.7 26.5 46.5 Brake Connector Motor Connector 25 3 1.8 (Dimensions of shaft end with key and tap) 12.5 3, height: 9 40 × 40 3 200 230 8 dia., height: 6 6 32 LL 30 dia., height: 7 Encoder Connector LN 46 dia M3 (depth: 6) . Two, 4.3 dia. Cylindrical type 3000 r/min (230 V, 200 - 750W) KL1 Flange surface Shaft end 30 43 D1 70 D2 50 C 60 G 6.5 Z 4.5 35 53 90 70 80 8 6 S 11 14 19 LL S dia., height: 6 200 220 QK t1 2.5 3 3.5 M M4 M5 M5 L 8 10 10 Without brake 0.8 1.2 2.3 With brake 1.3 1.7 3.1 b LR 3 G h 4 5 6 (Straight shaft with key) Brake connector Servomotor connector Encoder connector QK b 18 4h9 22.5 5h9 22 6h9 Aprox. Mass (Kg) t1 LR h With brake LL 116 135.5 149.2 M (depth: L) Four, Z dia. C×C KL1 Model R88M-G20030H-@S2 R88M-G40030H-@S2 R88M-G75030H-@S2 Without brake LL 79.5 99 112.2 D2 dia., height: 7 Dimensions (mm) D1 dia. Flat type 3000 r/min (230 V, 100 W - 400 W) 25 30 connector 43 53 D1 D2 C F G Z 70 90 50 70 60 80 3 5 7 8 4.5 5.5 LR G (7) 200 220 SmartStep 2 servo system Shaft end S QK b 8 12.5 3h9 11 18 4h9 14 22.5 5h9 Aprox. Mass (Kg) h t1 3 4 5 1.8 2.5 3.0 Tap x Without brake depth M3x6 0.7 M4x8 1.3 M5x10 1.8 With brake 0.9 2 2.5 Servomotor connector LL (7) Flange surface Break connector F Four, Z-dia. CxC (Straight shaft with key) QK ia 1d . b t1 84.5 100 115 KL1 h 60.5 67.5 82.5 LR KL1 R88M-GP10030H-@S2 R88M-GP20030H-@S2 R88M-GP40030H-@S2 With brake LL D2 dia., height: 7 Model Without brake LL S dia., height: 6 Dimensions (mm) D Tap x Depth 13 Installation Single-phase, 230 VAC L1 L2 L3 N Thermal switch Contactor L1 Noise filter CNB L3 CNA P Servo motor U V W SMARTSTEP2 Servo drive (100-400 W) Regeneration resistor *1 Optical encoder CN2 B1 CN1 Reverse pulse +CW 22 Forward pulse +CCW 24 4.7 kΩ 9 /ALM Alarm Output −CW 23 220 Ω −CCW 25 220 Ω 12 to 24 VDC 24VIN 1 RUN Command Input 10 INP Positioning Completed Output 11 BKIR Brake Interlock 4.7 . kΩ Maximum operating voltage: 30 VDC Maximum Output Current: 50 mA DC 12 WARN Warning Output 13 RUN 2 OGND 4.7 kΩ 21 Alarm Reset Input 14 RESET 3 Z Z-phase Output (open collector output) GND 4.7 kΩ Deviation Counter Reset Input ECRST 4 4.7 kΩ Gain Switch Input 15 +A Encoder A-phase 16 −A Output GSEL 5 4.7 kΩ 18 +B Electronic Gear Switch Input GESEL 6 Encoder B-phase 17 −B Output 4.7 kΩ Reverse Drive Prohibit Input 19 +Z Line driver output Conforms to EIA RS-422A (Load resistance: 220 Ω min.) Encoder Z-phase 20 −Z Output NOT 7 4.7 kΩ Forward Drive Prohibit Input POT 8 Shell, 26 FG Frame ground *1. An External Regeneration Resistor can be connected. Connect this resistor if the regenerative energy exceeds regeneration absorption capacity in the Servo Drive. Note: 1.The dynamic brake operates when the main circuit power supply or the control circuit power supply is turned OFF. Note: 2.When turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN) signal at the same time. 14 AC servo systems L1 L2 L3 N *1 B1 B3 B2 Thermal switch Servo motor U V CNB W Contactor SMARTSTEP2 Servo drive (750W) L1 Noise filter L3 CNA Optical encoder CN2 L1C Single-Phase 200 to 230 VAC L2C +24 VCW 1 2.2 kΩ CN1 +CW 3 Reverse pulse 11 BKIR -CW 4 220 Ω 500 kpps max. Brake release signal output +24 VCCW 2 2.2 kΩ Servo ready output 34 READYCOM -CCW 6 220 Ω Position reference -CWLD 45 2 Mpps max. Forward pulse Alarm output 36 ALMCOM 110 Ω 3k Ω 43 kΩ +CCWLD 46 3k Ω 43 kΩ -CCWLD 47 12 to 24 VDC +24 VIN 7 39 INP Positioning completed output 110 Ω 38 INPCOM 3 kΩ 43 kΩ 12 OUTM1 General-purpose output 1 *3 4.7 kΩ 40 OUTM2 Servo ON General-purpose output 2 *3 RUN 29 41 COM- 4.7 kΩ Vibration filter switching Maximum output current: 50 mADC 37 /ALM +CWLD 44 3 kΩ 43 kΩ Reverse pulse Maximum service voltage: 30 VDC 35 READY +CCW 5 Forward pulse External power supply 12 to 24 VDC 10 BKIRCOM 19 Z DFSEL 26 25 ZCOM 4.7 kΩ Phase-Z output (open collector output) Gain switching GSEL 27 21 +A 4.7 kΩ Electronic gear switching Encoder phase-A output 22 -A GESEL 28 Line-driver output corresponding with the EIA RS-422A communications method (load resistance 120 W min.) 49 +B 4.7 kΩ Encoder phase-B output 48 -B Deviation counter reset ECRST 30 23 +Z 4.7 kΩ Encoder phase-Z output 24 -Z Alarm reset RESET 31 4.7 kΩ 100Ω 20 Control mode switching TVSEL 32 1 µF 4.7 kΩ 4.7 kΩ 13 42 Pulse prohibition SEN SENGND BAT IPG 33 43 4.7 kΩ Reverse run prohibited Sensor ON BATGND Backup battery *2 (3.6 V) NOT 8 4.7 kΩ Forward run prohibited 50 POT 9 Shell *1 B3-B2 are short-circuited. If the internal regenerative resistor is insufficient, remove the wire between B2 and B3 and connect an external regenerative resistor between B1 and B2. *2 Use only when an absolute encoder. If a backup battery is connected, an encoder cable with a battery is not required. *3 The default values are ZSP (zero-speed detection) for OUTM1 and T-LIMIT (at torque limit) for OUTM2. SmartStep 2 servo system 15 Ordering information SmartStep2 Servo Drive Configuration (100-400 W) (Refer to chapter SmartStep servo motors) E O SmartStep 2 Servo Motor A Personal computer software: CX-One SmartStep 2 Servo Drive (100-400W models) Position control unit -High-speed type- F D Encoder cable I K B Power cable C Brake cable Position control unit P J K L M Filter H G N Position control unit Terminal block General purpose signals (with pulse output) Note: The symbols ABCDE... show the recommended sequence to select the components in a SmartStep 2 servo system Servo motor Cylindrical servo motors (3,000-r/min) Symbol Specifications Design Straight shaft with key and tap A Servo motor model Without brake With brake Rated torque 0.16 Nm 0.32 Nm 0.64 Nm 1.3 Nm 0.16 Nm 0.32 Nm 0.64 Nm 1.3 Nm Capacity 50 W 100 W 200 W 400 W 50 W 100 W 200 W 400 W Rated torque 0.32 Nm 0.64 Nm 1.3 Nm 0.32 Nm 0.64 Nm 1.3 Nm Capacity 100 W 200 W 400 W 100 W 200 W 400 W R88M-G05030H-S2 R88M-G10030H-S2 R88M-G20030H-S2 R88M-G40030H-S2 R88M-G05030H-BS2 R88M-G10030H-BS2 R88M-G20030H-BS2 R88M-G40030H-BS2 Compatible servo drives SmartStep 2 R7D-BP01H E R7D-BP02HH R7D-BP04H R7D-BP01H R7D-BP02HH R7D-BP04H Flat servo motors (3,000-r/min) Symbol Specifications Design Straight shaft with key and tap A Servo motor model Without brake With brake R88M-GP10030H-S2 R88M-GP20030H-S2 R88M-GP40030H-S2 R88M-GP10030H-BS2 R88M-GP20030H-BS2 R88M-GP40030H-BS2 Compatible servo drives SmartStep 2 R7D-BP01H R7D-BP02HH R7D-BP04H R7D-BP01H R7D-BP02HH R7D-BP04H E Servo drives Symbol Specifications E 200 VAC SmartStep 2 drive model 100 W R7D-BP01H 200 W 400 W R7D-BP02HH R7D-BP04H Compatible servo motors A Cylindrical type Flat type R88M-G05030H-@ R88M-G10030H-@ R88M-GP10030H-@ R88M-G20030H-@ R88M-GP20030H-@ R88M-G40030H-@ R88M-GP40030H-@ Power Supply cables (for CNA) Symbol Specifications Power Supply Input Cable for Single-Phase Power (connectors atE tached) 16 Model R7A-CLB002S2 Appearance AC servo systems Servo motor cables Power cables (for CNB) Symbol Specifications Power cables for SmartStep 2 Servo motors B Model R7A-CAB001-5SR-E R7A-CAB003SR-E R7A-CAB005SR-E R7A-CAB010SR-E R7A-CAB015SR-E R7A-CAB020SR-E Appearance 1.5 m 3m 5m 10 m 15 m 20 m Model R88A-CAGA001-5BR-E R88A-CAGA003BR-E R88A-CAGA005BR-E R88A-CAGA010BR-E R88A-CAGA015BR-E R88A-CAGA020BR-E Appearance 1.5 m 3m 5m 10 m 15 m 20 m Model R88A-CRGB001-5CR-E R88A-CRGB003CR-E R88A-CRGB005CR-E R88A-CRGB010CR-E R88A-CRGB015CR-E R88A-CRGB020CR-E Appearance 1.5 3m 5m 10 m 15 m 20 m Brake cables Symbol Specifications Brake cables for SmartStep 2 Servo motors C Encoder cables (for CN2) Symbol Specifications Encoder cables for SmartStep 2 Servo motors D Note: B, D Flexible and shielded cable C Flexible cable Control cables (for CN1) Symbol Description Control cable F (line-driver output for 1 axis) Control cable (open-collector output for 1 axis) Control cable (line-driver output for 2 axis) Control cable (open-collector output for 2 axis) Connect to Position control unit (high-speed type) CJ1W-NC234 CJ1W-NC434 Position control unit (high-speed type) CJ1W-NC214 CJ1W-NC414 Position control unit (high-speed type) CJ1W-NC234 CJ1W-NC434 Position control unit (high-speed type) CJ1W-NC214 CJ1W-NC414 Position control units (high-speed type) CJ1W-NC234 CJ1W-NC434 CJ1W-NC214 CJ1W-NC414 G Terminal block cable for external signals (for input common, forward/reverse run prohibited inputs, emergency stop input, origin proximity input and interrupt input) H Terminal block for external signals ( with M3 screw and for pin terminals) Terminal block ext. signals ( with M3.5 screw and for fork/round terminals) Terminal block ext. signals ( with M3 screw and fork/round pin 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-V1 CJ1M-CPU21/22/23 I J Servo relay unit SmartStep 2 servo system CS1W-NC1@3, CJ1W-NC1@3 or C200HW-NC113 position control unit CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3 or C200HW-NC213/413 position control unit CQM1H-PLB21 or CQM1-CPU43-V1 CJ1M-CPU21/22/23 1m 5m 10 m 1m 3m Model XW2Z-100J-G12 XW2Z-500J-G12 XW2Z-10MJ-G12 XW2Z-100J-G16 XW2Z-300J-G16 1m 5m 10 m 1m 3m XW2Z-100J-G4 XW2Z-500J-G4 XW2Z-10MJ-G4 XW2Z-100J-G8 XW2Z-300J-G8 0.5 m 1m 2m 3m 5m 10 m 1m XW2Z-C50X XW2Z-100X XW2Z-200X XW2Z-300X XW2Z-500X XW2Z-010X XW2B-20G4 XW2B-20G5 XW2D-20G6 XW2Z-100J-B29 2m XW2Z-200J-B29 1m 2m - XW2Z-100J-B32 XW2Z-200J-B32 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) 17 Symbol Description Position control unit connecting cable K Connect to CJ1W-NC133 CJ1W-NC233/433 CS1W-NC133 CS1W-NC233/433 CJ1W-NC113 CJ1W-NC213/413 CS1W-NC113 C200HW-NC113 CS1W-NC213/413 C200HW-NC213/413 CJ1M-CPU21/22/23 CQM1H-PLB21 CQM1-CPU43-V1 L General purpose cable For general purpose controllers M Terminal block cable For general purpose controllers N Terminal block ( with M3 screw and for pin terminals) Terminal block ( with M3.5 screw and for fork/round terminals) Terminal block ( with M3 screw and fork/round pin terminals) 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 - Model XW2Z-050J-A18 XW2Z-100J-A18 XW2Z-050J-A19 XW2Z-100J-A19 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-A6 XW2Z-100J-A6 XW2Z-050J-A7 XW2Z-100J-A7 XW2Z-050J-A33 XW2Z-100J-A33 XW2Z-050J-A3 XW2Z-100J-A3 R7A-CPB001S R7A-CPB002S XW2Z-100J-B28 XW2Z-200J-B28 XW2B-34G4 XW2B-34G5 XW2D-34G6 Cable for CN3 Symbol Name Personal Computer Monitor Cable O Lengh 2m Model R88A-CCG002P2 Rated voltage 1 pH, 230 V Filter model R7A-FIB104-RE Filters Symbol Applicable servo drive R7D-BP01H/ 02HH/ 04H P Rated current 4A Connectors Specifications Main Circuit Connector (CNA) Servomotor Connector (CNB) Control I/O Connector (CN1) Encoder Input Connector (CN2) Servomotor Connector for Encoder Cable Servomotor Connector for Servomotor Power Cable Brake Cable Connector Model R7A-CNB01P R7A-CNB01A R88A-CNW01C R88A-CNW01R R88A-CNG02R R88A-CNG01A R88A-CNG01B External regeneration resistor Specification 80 W, 50 Ω 80 W, 100 Ω 220 W, 47 Ω Model R88A-RR08050S R88A-RR080100S R88A-RR22047S External regeneration resistor cable Specifications External Regenerative Resistor Connection Cable, 2 meters Model R7A-CLB002RG Parameter unit & computer software Specifications Parameter copy unit (with cable) Configuration and monitoring software tool for servo drives and inverters. (CX-drive version 1.8 or higher) 18 Model R88A-PR02G CX-drive AC servo systems SmartStep2 Servo Drive Configuration (750W) (Refer to chapter SmartStep servo motors) B Personal computer software: CX-One SmartStep 2 Servo Drive (750W model) O A SmartStep 2 Servo Motor (750W) Q H External regenerative resistor F D Power cable I Position control unit C Encoder cable E Brake cable Terminal block for external signals Position control unit -High-speed type- P Filter G J K L M N Position control unit Terminal block General purpose signals (with pulse output) Note: The symbols ABCDE... show the recommended sequence to select the components in a SmartStep 2 servo system. Servo drives Symbol Specifications B 1 phase 200 VAC Servo drive model 750 W R88D-GP08H A Compatible rotary servo motors Cylindric type R88M-G75030H-@ Encoder Cables Symbol C Specifications Encoder cable R88M-G75030H-@ 1.5 m 3m 5m 10 m 15 m 20 m Model R88A-CRGB001-5CR-E R88A-CRGB003CR-E R88A-CRGB005CR-E R88A-CRGB010CR-E R88A-CRGB015CR-E R88A-CRGB020CR-E Appearance Power cables Symbol D Specifications For 750W servomotors without brake R88M-G75030H-S2 For servomotors with brake, a separate cable (R88A-CAGA@BR-E) is needed Model R88A-CAGA001-5SR-E R88A-CAGA003SR-E R88A-CAGA005SR-E R88A-CAGA010SR-E R88A-CAGA015SR-E R88A-CAGA020SR-E Appearance 1.5 m 3m 5m 10 m 15 m 20 m Model R88A-CAGA001-5BR-E R88A-CAGA003BR-E R88A-CAGA005BR-E R88A-CAGA010BR-E R88A-CAGA015BR-E R88A-CAGA020BR-E Appearance 1.5 m 3m 5m 10 m 15 m 20 m Brake cable Symbol E Specifications Brake cable only. For R88M-G75030H-BS2 servomotors. Control cables (for CN1) Symbol F Description Control cable (line-driver output for 1 axis) Connect to 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 Control cable (line-driver output for 2 axis) Control cable (open-collector output for 2 axis) SmartStep 2 servo system Position control units (high-speed type) CJ1W-NC214 CJ1W-NC414 1m 5m 10 m 1m 3m Model 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 19 Symbol G H I J K Description Terminal block cable for external signals (for input common, forward/reverse run prohibited inputs, emergency stop input, origin proximity input and interrupt input) Connect to Position control units (high-speed type) CJ1W-NC234 CJ1W-NC434 CJ1W-NC214 CJ1W-NC414 0.5 m 1m 2m 3m 5m 10 m Terminal block for external signals (M3 screw, pin terminals) Terminal block ext. signals(M3.5 screw, fork/round terminals) Terminal block ext. signals(M3 screw, fork/round terminals) Cable from servo relay unit to servo drive CS1W-NC1@3, CJ1W-NC1@3, C200HW-NC113/213/413, 1 m CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3 or 2m CQM1H-PLB21 CJ1M-CPU21/22/23 1m 2m Servo relay unit CS1W-NC1@3, CJ1W-NC1@3 or C200HW-NC113 position control unit CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3 or C200HW-NC213/413 position control unit CQM1H-PLB21 CJ1M-CPU21/22/23 Position control unit connecting cable CQM1H-PLB21 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/found terminals) Computer cable (for CN3) Symbol O Name Computer cable RS232 P Applicable servodrive R88D-GP08H 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 Connectors 2m Model R88A-CCG002P2 Filter Symbol 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 - 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 Rated Leak- Rated current age voltage current R88A-FIK107-RE 6.6 A 3.5 mA 250 VAC singlephase Specifications I/O connector kit -50 pins- (for CN1) Power cable connector (motor side) Encoder connector (Servo drive side CN2) Incremental encoder cable connector (motor side) Model R88A-CNU11C R88A-CNG01A R88A-CNW01R R88A-CNG02R Filter model Computer software Specifications Model Configuration and monitoring software tool for servo drives CX-Drive and inverters (CX-drive version 1.91 or higher). External regenerative resistor Symbol Q 20 Regenerative resistor unit model R88A-RR08050S R88A-RR080100S R88A-RR22047S R88A-RR50020S Specifications 50 Ω, 80 W 100 Ω, 80 W 47 Ω, 220 W 20 Ω, 500 W AC servo systems Omron Europe B.V. Wegalaan 67-69, NL-2132 JD, Hoofddorp, The Netherlands. 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