Omron r7d ap02h инструкция по применению

Thank you for choosing this SMARTSTEP A-series product. Proper use and handling

of the product will ensure proper product performance, will lengthen product life, and

may prevent possible accidents.

Please read this manual thoroughly and handle and operate the product with care.

Please keep this manual handy for reference after reading it.

1. To ensure safe and proper use of the OMRON Inverters, please read this USER’S MANUAL (Cat. No.

I533-E1) to gain sufficient knowledge of the devices, safety information, and precautions before actual

use.

2. The products are illustrated without covers and shieldings for closer look in this USER’S MANUAL. For

actual use of the products, make sure to use the covers and shieldings as specified.

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

products.

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

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

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

SMARTSTEP A-series Servomotors and Servo Drivers. For information about actual operating proce-

dures using a Parameter Unit, refer to the SMARTSTEP A Series Operation Manual (I534).

2. Be sure that this manual accompanies the product to its final user.

3. Although care has been given in documenting the product, please contact your OMRON representative

if you have any suggestions on improving this manual.

4. Assume that anything not specifically described in this manual is not possible.

5. Do not allow the Servomotor or Servo Driver to be wired, set, or operated (from a Parameter Unit) by

anyone that is not a profession electrical engineer or the equivalent.

6. We recommend that you add the following precautions to any instruction manuals you prepare for the

system into which the product is being installed.

• Precautions on the dangers of high-voltage equipment.

• Precautions on touching the terminals of the product even after power has been turned OFF. (These

terminals are live even with the power turned OFF.)

7. Specifications and functions may be changed without notice in order to improve product performance.

8. Positive and negative rotation of AC Servomotors described in this manual are defined as looking at the

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

tion is negative.

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

nal components.

10. Servomotors and Servo Drivers have a finite service life. Be sure to keep replacement products on hand

and to consider the operating environment and other conditions affecting the service life.

11. Do not set values for any parameters not described in this manual. Operating errors may result. Consult

your OMRON representative if you have questions.

12. Before using the product under conditions which are not described in the manual or applying the product

to nuclear control systems, railroad systems, aviation systems, vehicles, combustion systems, medical

equipment, amusement machines, safety equipment, and other systems, machines, and equipment that

may have a serious influence on lives and property if used improperly, consult your OMRON represen-

tative.

Items to Check Before Unpacking

1. Check the following items before removing the product from the package:

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

• Has the product been damaged in shipping?

2. Check that the following accessories have been delivered.

• Safety Precautions

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

NOTICE

Источник

Thank you for choosing this SMARTSTEP A-series product. Proper use and handling

of the product will ensure proper product performance, will lengthen product life, and

may prevent possible accidents.

Please read this manual thoroughly and handle and operate the product with care.

Please keep this manual handy for reference after reading it.

1. To ensure safe and proper use of the OMRON Inverters, please read this USER’S MANUAL (Cat. No.

I533-E1) to gain sufficient knowledge of the devices, safety information, and precautions before actual

use.

2. The products are illustrated without covers and shieldings for closer look in this USER’S MANUAL. For

actual use of the products, make sure to use the covers and shieldings as specified.

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

products.

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

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

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

SMARTSTEP A-series Servomotors and Servo Drivers. For information about actual operating proce-

dures using a Parameter Unit, refer to the SMARTSTEP A Series Operation Manual (I534).

2. Be sure that this manual accompanies the product to its final user.

3. Although care has been given in documenting the product, please contact your OMRON representative

if you have any suggestions on improving this manual.

4. Assume that anything not specifically described in this manual is not possible.

5. Do not allow the Servomotor or Servo Driver to be wired, set, or operated (from a Parameter Unit) by

anyone that is not a profession electrical engineer or the equivalent.

6. We recommend that you add the following precautions to any instruction manuals you prepare for the

system into which the product is being installed.

• Precautions on the dangers of high-voltage equipment.

• Precautions on touching the terminals of the product even after power has been turned OFF. (These

terminals are live even with the power turned OFF.)

7. Specifications and functions may be changed without notice in order to improve product performance.

8. Positive and negative rotation of AC Servomotors described in this manual are defined as looking at the

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

tion is negative.

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

nal components.

10. Servomotors and Servo Drivers have a finite service life. Be sure to keep replacement products on hand

and to consider the operating environment and other conditions affecting the service life.

11. Do not set values for any parameters not described in this manual. Operating errors may result. Consult

your OMRON representative if you have questions.

12. Before using the product under conditions which are not described in the manual or applying the product

to nuclear control systems, railroad systems, aviation systems, vehicles, combustion systems, medical

equipment, amusement machines, safety equipment, and other systems, machines, and equipment that

may have a serious influence on lives and property if used improperly, consult your OMRON represen-

tative.

Items to Check Before Unpacking

1. Check the following items before removing the product from the package:

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

• Has the product been damaged in shipping?

2. Check that the following accessories have been delivered.

• Safety Precautions

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

NOTICE

Cat. No. I533-E1-04

SMARTSTEP A SERIES

R7M-A@ (Servomotors)

R7D-AP@ (Servo Drivers)

Servomotors/Servo Drivers

USER’S MANUAL

Thank you for choosing this SMARTSTEP A-series product. Proper use and handling of the product will ensure proper product performance, will lengthen product life, and may prevent possible accidents.

Please read this manual thoroughly and handle and operate the product with care. Please keep this manual handy for reference after reading it.

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

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

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

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

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

NOTICE

1.This manual describes information about installation, wiring, switch setting, and troubleshooting of the SMARTSTEP A-series Servomotors and Servo Drivers. For information about actual operating procedures using a Parameter Unit, refer to the SMARTSTEP A Series Operation Manual (I534).

2.Be sure that this manual accompanies the product to its final user.

3.Although care has been given in documenting the product, please contact your OMRON representative if you have any suggestions on improving this manual.

4.Assume that anything not specifically described in this manual is not possible.

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

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

•Precautions on the dangers of high-voltage equipment.

•Precautions on touching the terminals of the product even after power has been turned OFF. (These terminals are live even with the power turned OFF.)

7.Specifications and functions may be changed without notice in order to improve product performance.

8.Positive and negative rotation of AC Servomotors described in this manual are defined as looking at the end of the output shaft of the motor as follows: Counterclockwise rotation is positive and clockwise rotation is negative.

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

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

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

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

Items to Check Before Unpacking

1.Check the following items before removing the product from the package:

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

•Has the product been damaged in shipping?

2.Check that the following accessories have been delivered.

•Safety Precautions

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

USER’S MANUAL

SMARTSTEP ASERIES

MODELS R7M-A@ (Servomotors)

R7D-AP@ (Servo Drivers)

Servomotors/Servo Drivers

Notice:

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

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

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

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

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

OMRON Product References

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

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

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

Visual Aids

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

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

OMRON, 2001

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

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

General Warnings

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

•Locations subject to direct sunlight.

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

•Locations subject to condensation as the result of severe changes in temperature.

•Locations subject to corrosive or flammable gases.

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

•Locations subject to shock or vibration.

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

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

Storage and Transportation Precautions

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

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

Installation and Wiring Precautions

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

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

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

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

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

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

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

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

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

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

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

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

•Locations subject to static electricity or other forms of noise.

•Locations subject to strong electromagnetic fields and magnetic fields.

•Locations subject to possible exposure to radioactivity.

•Locations close to power supplies.

Operation and Adjustment Precautions

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

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

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

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

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

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

Maintenance and Inspection Precautions

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

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

Warning Labels

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

Warning label

Example from R7D-AP01L

Example from R7D-AP01L

Read and Understand this Manual

Please read and understand this manual before using the product. Please consult your OMRON representative if you have any questions or comments.

Warranty and Limitations of Liability

WARRANTY

OMRON’s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON.

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NONINFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.

LIMITATIONS OF LIABILITY

OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY.

In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.

IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON’S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.

Application Considerations

SUITABILITY FOR USE

OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer’s application or use of the products.

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

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

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

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

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

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

NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

PROGRAMMABLE PRODUCTS

OMRON shall not be responsible for the user’s programming of a programmable product, or any consequence thereof.

Disclaimers

CHANGE IN SPECIFICATIONS

Product specifications and accessories may be changed at any time based on improvements and other reasons.

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

DIMENSIONS AND WEIGHTS

Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown.

PERFORMANCE DATA

Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON’s test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.

ERRORS AND OMISSIONS

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

Table of Contents

Chapter 1. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-1

1-1

Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2

1-2

System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-4

1-3

Servo Driver Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-5

1-4

Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-6

1-5

System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-7

Chapter 2. Standard Models and Specifications. . . . . . . . . . . . . . . .

2-1

2-1

Standard Models. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2

2-2

External and Mounted Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6

2-3

Servo Driver Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-17

2-4

Servomotor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-31

2-5

Reduction Gear Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-39

2-6

Cable and Connector Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-43

2-7

Servo Relay Units and Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-58

2-8

Parameter Unit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-111

2-9

External Regeneration Resistor Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-113

2-10

DC Reactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-114

Chapter 3. System Design and Installation . . . . . . . . . . . . . . . . . . . .

3-1

3-1

Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3

3-2

Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-8

3-3

Regenerative Energy Absorption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-37

Chapter 4. Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-1

4-1

Operational Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3

4-2

Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4

4-3

Preparing for Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-7

4-4

Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-9

4-5

Gain Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11

4-6

User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-15

4-7

Operating Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-26

Chapter 5. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1

5-1

Measures when Trouble Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2

5-2

Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-5

5-3

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-7

5-4

Overload Characteristics (Electron Thermal Characteristics) . . . . . . . . . . . . . . . . . . . . . . . .

5-15

5-5

Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-16

Chapter 6. Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-1

6-1

Connection Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2

Revision History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

R-1

Chapter 1

Introduction

1-1 Features

1-2 System Configuration

1-3 Servo Driver Nomenclature

1-4 Applicable Standards

1-5 System Block Diagrams

1-1 Features

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

■ Faster Response and Rotation Speed

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

■ Constant Accuracy

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

■ Minimal Setting with Servo Driver Front Panel Switches

The SMARTSTEP A Series can be operated immediately without time-consuming parameter setting. The A-series Servo Drivers’ front panel switches enable easier alteration of function or positioning resolution settings.

● Resolution Settings

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

● Command Pulse Input Setting

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

● Dynamic Brake Setting

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

● Gain Setting

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

1-2

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

■ Cylinder-style and Flat-style Servomotors

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

■ A Wider Selection of Programming Devices

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

1-3

1-2 System Configuration

SYSMAC + Position Control Unit with pulse string output

B.B INP

TGON

REF POWER

VCMP

NC413

MACHINE

No.

CN1 CN2

R7A–PR02A PARAMETER UNIT

RESET

SCROLL

MODE/SET

Pulse String

SYSMAC CJ/CS/C/CV

Position Control Units

JOG

DATA

RUN

Programmable Controller

CJ1W-NC113/213/413

CJ1W-NC133/233/433

READ

WRITE

CS1W-NC113/213/413

DRIVER

PR PR

DRIVER

CS1W-NC133/233/433

R7A-PR02A Parameter Unit

C200HW-NC113/213/413

(Hand-held)

C500-NC113/211

SYSMAC Programmable Controllers with pulse outputs

SYSMAC CPM2A

SYSMAC CPM2C

PA203

POWER

/

SYSMAC CQM1H

Single-shaft Positioner with pulse string output

MS

OP

EN

NS

No.

OPEN

13F88M-

LINE

M0

DRT141

LINE

AXIS

CW

M1

POSITIONER

CCW

M2

ALARM

2

34

NA

M2

LS

IT

9

M1

FT LIM

78

×10

M0

SO SRH NG

ORG

R ALM

2

34

CODE

9

EN

STOP M

87

×1

DRIVE

R AL

R

1

DR0

OTHE

2 ON

3 ↓

DR1

N

L/R

ED :

)

MUNICATIO

(R

COM

H

SPEEDbps

DIP SW

ITC

125k

DR1

250kbps

DR0

O

FF

F

500kbps

OFF

OF

−

ON

LOCAL/REMOTE

ON

ON

OFF

H

MODE

ON

ITC

REMOTEL

MODE

P SW

DI

L/R

LOCA

OFF

ON

I/O

3F88M-DRT141 Single-shaft Positioner for DeviceNet

SMARTSTEP A-series

R7D-AP@ Servo Driver

SMARTSTEP A-series

R7M-A@ Servomotor

1-4

1-3 Servo Driver Nomenclature

Main-circuit power supply

indicator

Main-circuit power

supply input terminals

DC reactor connection terminals

Control-circuit power supply

input terminals

External regeneration

resistance terminals

Servomotor power terminals

FG terminals for power supply and servomotor power

Rotary switch for unit No. selection

Rotary switch for gain adjustment

Function selection switches:

• Switch/parameter setting enable switch

• Resolution setting

• Command pulse input setting

•Dynamic braking setting

•Online autotuning switch

Alarm display

Control-circuit power supply indicator

Communications connector (CN3)

Monitor output connector (CN4)

Control I/O connector (CN1)

Encoder input connector (CN2)

1-5

Introduction

Chapter 1

1-4 Applicable Standards

■ EC Directives

EC Directives

Product

Applicable standards

Remarks

Low Voltage

AC Servo Drivers

EN50178

Safety requirements for electrical

Directive

devices for measurement, control,

and research facilities

AC Servomotors

IEC60034-1, -5, -8, -9

Rotating electrical equipment

EN60034-1, -9

EMC Directives

AC Servo Drivers and

EN55011 class A group 1

Wireless interference and measure-

AC Servomotors

ment methods for radio-frequency

devices for industry, science, and

medical application

EN61000-6-2

Electromagnetic compatibility and

immunity standards for industrial

environments

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

■ UL and cUL Standards

Standards

Product

Applicable standards

File No.

Remarks

UL

AC Servo Drivers

UL508C

E179149

Power conversion devices

AC Servomotors

UL1004

E179189

Electric motors

cUL

AC Servo Drivers

cUL C22.2

No. 14

E179149

Industrial control devices

AC Servomotors

cUL C22.2

No. 100

E179189

Motors and generators

1-6

1-5 System Block Diagrams

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

AC Servo Driver

1

B1

B2

2

AC Servomotor

Fuse

P1

P2

U

U

R

CHARGE

V

L1

V

W

M

T

W

L2

+

(See note.)

−

N2

N1

Relay

Voltage

Gate drive

overcurrent protection

CN2

drive

detection

Gate drive

Interface

E

Voltage

detection

L1C

Current

+

+

±5 V

PWM

ASIC

detection

−

−

DC/DC

+16.5 V

generation

L2C

conversion

+5 V

Digital

Encoder signal

CN1

±15 V

current amp

processing

Command

+5 V

pulse

Command

processing

pulse input

POWER

Analog

Current

Position

command

voltage

processing

control

0 V

conversion

Speed

Serial port

control

I/O

Control I/O

Alarm code display

CPU

RS-422

CN4

CN3

Note

Only on R7D-AP04H/AP04L.

Analog monitor output

Parameter Unit/computer

1-7

Omron R7D-AP, R7M-A User Manual

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

AC Servo Driver

1

B1

B2

2

P1

AC Servomotor

Fuse

P2

U

U

CHARGE

R

V

+

V

L1

W

M

T

−

W

L2

(See note.)

N2

N1

Relay

Voltage

Gate drive

Gate drive

overcurrent protection

drive

detection

CN2

Interface

E

Voltage

detection

L1C

Current

+

±5 V

PWM

ASIC

detection

+

−

DC/DC

+16.5 V

generation

−

L2C

conversion

+5 V

Digital

Encoder signal

CN1

±15 V

current amp

processing

Command

+5 V

pulse

Command

processing

pulse input

POWER

Analog

Current

Position

command

voltage

processing

control

0 V

conversion

Speed

Serial port

control

I/O

Control I/O

Alarm code display

CPU

RS-422

CN4

CN3

Note

Only on R7D-AP04H/AP04L.

Analog monitor output

Parameter Unit/computer

■ 200 V AC: R7D-AP08H

AC Servo Driver

1

B1 B2 B3

FAN

±12 V

2

AC Servomotor

P

P

U

U

R

Fuse

CHARGE

V

L1

+

V

W

M

S

−

W

L2

L3

T

N

N

Relay

Voltage

Gate

Gate drive over-

current protection

CN2

drive

detection

drive

Ther-

mistor

E

Voltage

Interface

detection

L1C

Current

ASIC

detection

+

±5 V

PWM

+

−

−

DC/DC

+16.5 V

generation

conversion

CN1

L2C

+5 V

Digital

Encoder

current amp

signal

±15 V

processing

Command

Command

pulse

+5 V

processing

pulse input

Position

POWER

Analog

Current

command

voltage

control

processing

0 V

conversion

Speed

Serial port

control

I/O

Control I/O

Alarm code display

CPU

RS-422

CN4

CN3

Analog monitor output

Parameter Unit/computer

1-8

Chapter 2

Standard Models and

Specifications

2-1 Standard Models

2-2 External and Mounted Dimensions

2-3 Servo Driver Specifications

2-4 Servomotor Specifications

2-5 Reduction Gear Specifications

2-6 Cable and Connector Specifications

2-7 Servo Relay Units and Cable Specifications

2-8 Parameter Unit Specifications

2-9 External Regeneration Resistor Specifications

2-10 DC Reactors

Standard Models and Specifications

Chapter 2

2-1 Standard Models

■ Servomotors

● 3,000-r/min Cylinder-style Servomotors

Specifications

Model

Without

Straight shaft

30 W

R7M-A03030

brake

without key

50 W

R7M-A05030

100 W

R7M-A10030

200 W

R7M-A20030

400 W

R7M-A40030

750 W

R7M-A75030

Straight shaft

30 W

R7M-A03030-S1

with key

50 W

R7M-A05030-S1

100 W

R7M-A10030-S1

200 W

R7M-A20030-S1

400 W

R7M-A40030-S1

750 W

R7M-A75030-S1

With

Straight shaft

30 W

R7M-A03030-B

brake

without key

50 W

R7M-A05030-B

100 W

R7M-A10030-B

200 W

R7M-A20030-B

400 W

R7M-A40030-B

750 W

R7M-A75030-B

Straight shaft

30 W

R7M-A03030-BS1

with key

50 W

R7M-A05030-BS1

100 W

R7M-A10030-BS1

200 W

R7M-A20030-BS1

400 W

R7M-A40030-BS1

750 W

R7M-A75030-BS1

● 3,000-r/min Flat-style Servomotors

Specifications

Model

Without

Straight shaft

100 W

R7M-AP10030

brake

without key

200 W

R7M-AP20030

400 W

R7M-AP40030

750 W

R7M-AP75030

Straight shaft

100 W

R7M-AP10030-S1

with key

200 W

R7M-AP20030-S1

400 W

R7M-AP40030-S1

750 W

R7M-AP75030-S1

With

Straight shaft

100 W

R7M-AP10030-B

brake

without key

200 W

R7M-AP20030-B

400 W

R7M-AP40030-B

750 W

R7M-AP75030-B

Straight shaft

100 W

R7M-AP10030-BS1

with key

200 W

R7M-AP20030-BS1

400 W

R7M-AP40030-BS1

750 W

R7M-AP75030-BS1

■ Servo Drivers

Specifications

Model

Single-phase

30 W

R7D-APA3L

100 V AC

50 W

R7D-APA5L

100 W

R7D-AP01L

200 W

R7D-AP02L

400 W

R7D-AP04L

Single-phase

30 W

R7D-APA3H

200 V AC

50 W

R7D-APA5H

100 W

R7D-AP01H

200 W

R7D-AP02H

400 W

R7D-AP04H

750 W

R7D-AP08H

2-2

Standard Models and Specifications

Chapter 2

■ Reduction Gears (Straight Shaft with Key)

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

Specifications

Model

Servomotor

Reduction gears

capacity

(deceleration ratio)

50 W

1/5

R7G-VRSFPB05B50

1/9

R7G-VRSFPB09B50

1/15

R7G-VRSFPB15B50

1/25

R7G-VRSFPB25B50

100 W

1/5

R7G-VRSFPB05B100

1/9

R7G-VRSFPB09B100

1/15

R7G-VRSFPB15B100

1/25

R7G-VRSFPB25B100

200 W

1/5

R7G-VRSFPB05B200

1/9

R7G-VRSFPB09C400

1/15

R7G-VRSFPB15C400

1/25

R7G-VRSFPB25C200

400 W

1/5

R7G-VRSFPB05C400

1/9

R7G-VRSFPB09C400

1/15

R7G-VRSFPB15C400

1/25

R7G-VRSFPB25D400

750 W

1/5

R7G-VRSFPB05C750

1/9

R7G-VRSFPB09D750

1/15

R7G-VRSFPB15D750

1/25

R7G-VRSFPB25E750

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

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

Specifications

Model

Servomotor

Reduction gears

capacity

(deceleration ratio)

50 W

1/5

R7G-RGSF05B50

1/9

R7G-RGSF09B50

1/15

R7G-RGSF15B50

1/25

R7G-RGSF25B50

100 W

1/5

R7G-RGSF05B100

1/9

R7G-RGSF09B100

1/15

R7G-RGSF15B100

1/25

R7G-RGSF25B100

200 W

1/5

R7G-RGSF05B200

1/9

R7G-RGSF09C400

1/15

R7G-RGSF15C400

1/25

R7G-RGSF25C400

400 W

1/5

R7G-RGSF05C400

1/9

R7G-RGSF09C400

1/15

R7G-RGSF15C400

1/25

R7G-RGSF25C400

750 W

1/5

R7G-RGSF05C750

1/9

R7G-RGSF09C750

1/15

R7G-RGSF15C750

1/25

R7G-RGSF25C750

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

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

Specifications

Model

Servomotor

Reduction gears

capacity

(deceleration ratio)

100 W

1/5

R7G-VRSFPB05B100P

1/9

R7G-VRSFPB09B100P

1/15

R7G-VRSFPB15B100P

1/25

R7G-VRSFPB25C100P

200 W

1/5

R7G-VRSFPB05B200P

1/9

R7G-VRSFPB09C400P

1/15

R7G-VRSFPB15C400P

1/25

R7G-VRSFPB25C200P

400 W

1/5

R7G-VRSFPB05C400P

1/9

R7G-VRSFPB09C400P

1/15

R7G-VRSFPB15C400P

1/25

R7G-VRSFPB25D400P

750 W

1/5

R7G-VRSFPB05C750P

1/9

R7G-VRSFPB09D750P

1/15

R7G-VRSFPB15D750P

1/25

R7G-VRSFPB25E750P

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

Specifications

Model

Servomotor

Reduction gears

capacity

(deceleration ratio)

100 W

1/5

R7G-RGSF05B100P

1/9

R7G-RGSF09B100P

1/15

R7G-RGSF15B100P

1/25

R7G-RGSF25B100P

200 W

1/5

R7G-RGSF05B200P

1/9

R7G-RGSF09C400P

1/15

R7G-RGSF15C400P

1/25

R7G-RGSF25C400P

400 W

1/5

R7G-RGSF05C400P

1/9

R7G-RGSF09C400P

1/15

R7G-RGSF15C400P

1/25

R7G-RGSF25C400P

750 W

1/5

R7G-RGSF05C750P

1/9

R7G-RGSF09C750P

1/15

R7G-RGSF15C750P

1/25

R7G-RGSF25C750P

2-3

Standard Models and Specifications

Chapter 2

■ Servo Relay Units for CN1

Specifications

Model

Servo

For CS1W-NC113/133

XW2B-20J6-1B

Relay Unit

CJ1W-NC113/133

C200HW-NC113

C200H-NC112

3F88M-DRT141

(No communications supported.)

For CS1W-NC213/233/413/433

XW2B-40J6-2B

CJ1W-NC213/233/413/433

C200HW-NC213/413

C500-NC113/211

C200H-NC211

(No communications supported.)

For CS1W-HCP22

XW2B-20J6-3B

CQM1H-PLB21

CQM1-CPU43-V1

(No communications supported.)

For CS1W-NC213/233/413/433

XW2B-40J6-4A

CJ1W-NC213/233/413/433

(Communications supported.)

For CJ1M-CPU21/CPU22/

XW2B-20J6-8A

CPU23

XW2B-40J6-9A

For CS1W-HCP22-V1 and

XW2B-80J7-1A

FQM1-MMP21

Servo

No communications

1 m

XW2Z-100J-B5

Driver

supported.

2 m

XW2Z-200J-B5

Cable

Communications sup-

1 m

XW2Z-100J-B7

ported.

2 m

XW2Z-200J-B7

For FQM1-MMP21

1 m

XW2Z-100J-B10

2 m

XW2Z-200J-B10

For CS1W-HCP22-V1

1 m

XW2Z-100J-B12

2 m

XW2Z-200J-B12

Position

For CQM1H-PLB21,

0.5 m

XW2Z-050J-A3

Control

CQM1-CPU43-V1

1 m

XW2Z-100J-A3

Unit Cable

For C200H-NC112

0.5 m

XW2Z-050J-A4

1 m

XW2Z-100J-A4

For C200H-NC211,

0.5 m

XW2Z-050J-A5

C500-NC113/211

1 m

XW2Z-100J-A5

For CS1W-NC113,

0.5 m

XW2Z-050J-A8

C200HW-NC113

1 m

XW2Z-100J-A8

For CS1W-NC213/413,

0.5 m

XW2Z-050J-A9

C200HW-NC213/413

1 m

XW2Z-100J-A9

For CS1W-NC133

0.5 m

XW2Z-050J-A12

1 m

XW2Z-100J-A12

For CS1W-NC233/433

0.5 m

XW2Z-050J-A13

1 m

XW2Z-100J-A13

For CJ1W-NC113

0.5 m

XW2Z-050J-A16

1 m

XW2Z-100J-A16

For CJ1W-NC213/413

0.5 m

XW2Z-050J-A17

1 m

XW2Z-100J-A17

For CJ1W-NC133

0.5 m

XW2Z-050J-A20

1 m

XW2Z-100J-A20

For CJ1W-NC233/433

0.5 m

XW2Z-050J-A21

1 m

XW2Z-100J-A21

For CS1W-HCP22

0.5 m

XW2Z-050J-A22

(1 axis)

1 m

XW2Z-100J-A22

For CS1W-HCP22

0.5 m

XW2Z-050J-A23

(2 axes)

1 m

XW2Z-100J-A23

For 3F88M-DRT141

0.5 m

XW2Z-050J-A25

1 m

XW2Z-100J-A25

Specifications

Model

Position

For CJ1M-CPU21/

1 m

XW2Z-100J-A26

Control

CPU22/CPU23

Unit Cable

For FQM1-MMP21 for

0.5 m

XW2Z-050J-A28

general-purpose I/O

1 m

XW2Z-100J-A28

For CS1W-HCP22-V1

0.5 m

XW2Z-050J-A29

for general-purpose I/O

1 m

XW2Z-100J-A29

For FQM1-MMP21 for

0.5 m

XW2Z-050J-A30

special I/O

1 m

XW2Z-100J-A30

For CS1W-HCP22-V1

0.5 m

XW2Z-050J-A32

for special I/O

1 m

XW2Z-100J-A32

■ Control Cables for CN1

Specifications

Model

General-purpose Control Cable

1 m

R88A-CPU001S

(with Connector on one end)

2 m

R88A-CPU002S

Connector Terminal Block Cable

1 m

R88A-CTU001N

2 m

R88A-CTU002N

Connector Terminal Blocks

XW2B-40F5-P

■ Integrated Servomotor Cables

Specifications

Model

For Servomotors without

3 m

R7A-CEA003S

brakes (both Cylinderand

5 m

R7A-CEA005S

Flat-style)

10 m

R7A-CEA010S

15 m

R7A-CEA015S

20 m

R7A-CEA020S

For Servomotors with

3 m

R7A-CEA003B

brakes (both Cylinderand

5 m

R7A-CEA005B

Flat-style)

10 m

R7A-CEA010B

15 m

R7A-CEA015B

20 m

R7A-CEA020B

■ Separate Servomotor Cables

● Power Cables

Specifications

Standard cable

Robot cable

model

model

For Servo-

3 m

R88A-CAWA003S

R88A-CAWA003SR

motors with-

5 m

R88A-CAWA005S

R88A-CAWA005SR

out brakes

(both Cylin-

10 m

R88A-CAWA010S

R88A-CAWA010SR

derand

15 m

R88A-CAWA015S

R88A-CAWA015SR

Flat-style)

20 m

R88A-CAWA020S

R88A-CAWA020SR

For Servo-

3 m

R88A-CAWA003B

R88A-CAWA003BR

motors with

5 m

R88A-CAWA005B

R88A-CAWA005BR

brakes (both

10 m

R88A-CAWA010B

R88A-CAWA010BR

Cylinder-

and Flat-

15 m

R88A-CAWA015B

R88A-CAWA015BR

style)

20 m

R88A-CAWA020B

R88A-CAWA020BR

● Encoder Cables

Specifications

Standard cable

Robot cable

model

model

For Servo-

3 m

R7A-CRA003C

R7A-CRA003CR

motors (Cyl-

5 m

R7A-CRA005C

R7A-CRA005CR

inder-style or

Flat-style)

10 m

R7A-CRA010C

R7A-CRA010CR

15 m

R7A-CRA015C

R7A-CRA015CR

20 m

R7A-CRA020C

R7A-CRA020CR

Note Use a robot cable if cable flexibility is required.

2-4

Standard Models and Specifications

Chapter 2

■ Peripheral Cable Connectors

Specifications

Model

Analog Monitor Cable (CN4)

1 m

R88A-CMW001S

Computer Monitor Cable (CN3)

DOS

2 m

R7A-CCA002P2

PC98

2 m

R7A-CCA002P3

Control I/O Connector (CN1)

R88A-CNU01C

Encoder Connector (CN2)

R7A-CNA01R

Encoder Connector (Servomotor end)

R7A-CNA02R

Communications Cable

1 m

XW2Z-100J-C1

2 m

XW2Z-200J-C1

■ Parameter Units

Specifications

Model

Hand-held (with 1-m cable)

R7A-PR02A

■ External Regeneration Resistors

Specifications

Model

Resistor

220 W 47 Ω

R88A-RR22047S

■ DC Reactors

Specifications

Model

For R7D-APA3L/APA5L/APA01L

R88A-PX5063

For R7D-AP02L

R88A-PX5062

For R7D-AP04L

R88A-PX5061

For R7D-APA3H/APA5H/AP01H

R88A-PX5071

For R7D-AP02H

R88A-PX5070

For R7D-AP04H

R88A-PX5069

For R7D-AP08H

R88A-PX5061

■ Front-panel Brackets

Specifications

Model

For the SMARTSTEP A Series

R88A-TK01W

2-5

Standard Models and Specifications

Chapter 2

2-2 External and Mounted Dimensions

2-2-1 Servo Drivers

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

● Wall Mounting

External dimensions

Mounted dimensions

17

● Front Panel Mounting (Using Mounting Brackets)

External dimensions

195

180

Mounted dimensions

7.5

Two, M4

6

10

195

180±0.5

(168)

(7.5) 6

2-6

Standard Models and Specifications

Chapter 2

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

● Wall Mounting

External dimensions

Mounted dimensions

5.5

5 dia.

5.5

160

149.5

160

149.5±0.5

(5)

5

(5)

12

(75)

130

75

17

● Front Panel Mounting (Using Mounting Brackets)

External dimensions

5 dia.

24.5

7.5

52

1.5

2

195

180

Mounted dimensions

7.5

Two, M4

6

10

195

180±0.5

(168)

(7.5) 6

2-7

Standard Models and Specifications

Chapter 2

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

● Wall Mounting

External dimensions

Mounted dimensions

5.5

5 dia.

5.5

160

149.5

160

149.5±0.5

(5)

90

(5)

17

● Front Panel Mounting (Using Mounting Brackets)

External dimensions

5 dia.

24.5

7.5

52

12.5

2

195

180

(7.5)

5

43.5

42

22.5

Mounted dimensions

7.5

Two, M4

6

10

195

180±0.5

(168)

(7.5) 6

2-8

Standard Models and Specifications

Chapter 2

2-2-2 Parameter Unit

■ R7A-PR02A Hand-held Parameter Unit

17 0.8

B.B

INP TGON REF POWER

VCMP

R7A–PR02A PARAMETER UNIT

SCROLL MODE/SET

RESET

JOG

DATA

RUN

READ WRITE

4.8 dia.

2-9

Standard Models and Specifications

Chapter 2

2-2-3 Servomotors

■ Cylinder-style Servomotors without a Brake

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

300±30

19.5

20

300±30

21.5

5

9.5

Two, 4.3 dia.

Dimensions of shaft end with key (-S1)

11

dia.S

dia.30h7

46

40

h

dia.

b

14

t1

5

2.5

40

LL

25

Model

Dimensions (mm)

LL

S

b

h

t1

R7M-A03030-@

69.5

6h6

2

2

1.2

R7M-A05030-@

77

6h6

2

2

1.2

R7M-A10030-@

94.5

8h6

3

3

1.8

■ Cylinder-style Servomotors with a Brake

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

300±30

6 dia.

7 dia.

300±30

19.5

27

21.5

5

9.5

Two, 4.3 dia.

Dimensions of shaft end with key (-BS1)

11

dia.S

dia.30h7

46

40

h

dia.

b

14

t1

5

2.5

40

LL

25

Model

Dimensions (mm)

LL

S

b

h

t1

R7M-A03030-B@

101

6h6

2

2

1.2

R7M-A05030-B@

108.5

6h6

2

2

1.2

R7M-A10030-B@

135

8h6

3

3

1.8

2-10

Standard Models and Specifications

Chapter 2

■ Cylinder-style Servomotors without a Brake

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

300±30

6 dia.

Dimensions of output section of 750-W Servomotors

13

7 dia.

20

300±30

21.5

9

Four, Z dia.

2

11

dia.

D1

dia.

Dimensions of shaft end with key (-S1)

S

D2dia.

C

5

5

G

3

C

QK

3

LL

LR

Model

Dimensions (mm)

LL

LR

C

D1

D2

G

Z

S

QK

R7M-A20030-@

96.5

30

60

70

50h7

6

5.5

14h6

20

R7M-A40030-@

124.5

30

60

70

50h7

6

5.5

14h6

20

R7M-A75030-@

145

40

80

90

70h7

8

7

16h6

30

■ Cylinder-style Servomotors with a Brake

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

300±30

6 dia.

7 dia.

13

27

300±30

21.5

9

Four, Z dia.

11

dia.

D

1

dia.

S

D2 dia.

C

G

3

C

LL

LR

Dimensions of output section of 750-W Servomotors

2

Dimensions of shaft end with key (-BS1)

Model

Dimensions (mm)

LL

LR

C

D1

D2

G

Z

S

QK

R7M-A20030-B@

136

30

60

70

50h7

6

5.5

14h6

20

R7M-A40030-B@

164

30

60

70

50h7

6

5.5

14h6

20

R7M-A75030-B@

189.5

40

80

90

70h7

8

7

16h6

30

2-11

Standard Models and Specifications

Chapter 2

■ Flat-style Servomotors without a Brake

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

13

dia.

7

300±30

A2

A1

A5

D1

Dimensions of shaft end with key (-S1)

dia.

h

b

C

QK

t1

Model

Dimensions (mm)

Basic servomotor dimensions

With key (shaft

Cable outlet dimensions

end dimensions)

LL

LR

C

D1

D2

F

G

Z

S

QK

b

h

t1

A1

A2

A3

A4

A5

R7M-AP10030-@

62

25

60

70

50h7

3

6

5.5

8h6

14

3

3

1.8

9

18

25

21

14

R7M-AP20030-@

67

30

80

90

70h7

3

8

7

14h6

16

5

5

3

R7M-AP40030-@

87

R7M-AP75030-@

86.5

40

120

145

110h7

3.5

10

10

16h6

22

5

5

3

28

38

19

■ Flat-style Servomotors with a Brake

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

300±30

6 dia.

7 dia.

13

300±30

A2

A1

A5

S dia.

D1

Dimensions of shaft end with key (-BS1)

dia.

h

D2 dia.

C

b

QK

t1

Model

Dimensions (mm)

Basic servomotor dimensions

With key (shaft

Cable outlet dimensions

end dimensions)

LL

LR

C

D1

D2

F

G

Z

S

QK

b

h

t1

A1

A2

A3

A4

A5

R7M-AP10030-B@

91

25

60

70

50h7

3

6

5.5

8h6

14

3

3

1.8

9

18

25

21

23

R7M-AP20030-B@

98.5

30

80

90

70h7

3

8

7

14h6

16

5

5

3

R7M-AP40030-B@

118.5

R7M-AP75030-B@

120

40

120

145

110h7

3.5

10

10

16h6

22

5

5

3

28

38

26

2-12

Standard Models and Specifications

Chapter 2

2-2-4

Reduction Gears

■ For Cylinder-style Servomotors (Backlash = 3′

Max.)

Model

Dimensions (mm)

Weight

(kg)

LM

LR

C1

C2

D1

D2

D3

D4

E3

F

G

S

T

Z1

Z2

AT*

l

Key dimensions

QK

b

h

t1

50 W

1/5

R7G-VRSFPB05B50

67.5

32

52

40

46

60

50

45

10

3

6

12

20

M4

M5

M3

12

16

4

4

2.5

0.55

1/9

R7G-VRSFPB09B50

67.5

32

52

40

46

60

50

45

10

3

6

12

20

M4

M5

M3

12

16

4

4

2.5

0.55

1/15

R7G-VRSFPB15B50

78

32

52

40

46

60

50

45

10

3

6

12

20

M4

M5

M3

12

16

4

4

2.5

0.7

1/25

R7G-VRSFPB25B50

78

32

52

40

46

60

50

45

10

3

6

12

20

M4

M5

M3

12

16

4

4

2.5

0.7

100 W

1/5

R7G-VRSFPB05B100

67.5

32

52

40

46

60

50

45

10

3

6

12

20

M4

M5

M3

12

16

4

4

2.5

0.55

1/9

R7G-VRSFPB09B100

67.5

32

52

40

46

60

50

45

10

3

6

12

20

M4

M5

M3

12

16

4

4

2.5

0.55

1/15

R7G-VRSFPB15B100

78

32

52

40

46

60

50

45

10

3

6

12

20

M4

M5

M3

12

16

4

4

2.5

0.7

1/25

R7G-VRSFPB25C100

92

50

78

40

46

90

70

62

17

3

6

19

30

M4

M6

M3

20

22

6

6

3.5

1.7

200 W

1/5

R7G-VRSFPB05B200

72.5

32

52

60

70

60

50

45

10

3

10

12

20

M5

M5

M4

12

16

4

4

2.5

0.72

1/9

R7G-VRSFPB09C400

89.5

50

78

60

70

90

70

62

17

3

8

19

30

M5

M6

M4

20

22

6

6

3.5

1.7

1/15

R7G-VRSFPB15C400

100

50

78

60

70

90

70

62

17

3

8

19

30

M5

M6

M4

20

22

6

6

3.5

2.1

1/25

R7G-VRSFPB25C400

100

50

78

60

70

90

70

62

17

3

8

19

30

M5

M6

M4

20

22

6

6

3.5

2.1

400 W

1/5

R7G-VRSFPB05C400

89.5

50

78

60

70

90

70

62

17

3

8

19

30

M5

M6

M4

20

22

6

6

3.5

1.7

1/9

R7G-VRSFPB09C400

89.5

50

78

60

70

90

70

62

17

3

8

19

30

M5

M6

M4

20

22

6

6

3.5

1.7

1/15

R7G-VRSFPB15C400

100

50

78

60

70

90

70

62

17

3

8

19

30

M5

M6

M4

20

22

6

6

3.5

2.1

1/25

R7G-VRSFPB25D400

104

61

98

60

70

115

90

75

18

5

8

24

40

M5

M8

M4

20

30

8

7

4

3.2

750 W

1/5

R7G-VRSFPB05C750

93.5

50

78

80

90

90

70

62

17

3

10

19

30

M6

M6

M4

20

22

6

6

3.5

2.1

1/9

R7G-VRSFPB09D750

97.5

61

98

80

90

115

90

75

18

5

10

24

40

M6

M8

M4

20

30

8

7

4

3.4

1/15

R7G-VRSFPB15D750

110

61

98

80

90

115

90

75

18

5

10

24

40

M6

M8

M4

20

30

8

7

4

3.8

1/25

R7G-VRSFPB25E750

135

75

125

80

90

135

110

98

17

5

10

32

55

M6

M10

M4

20

45

10

8

5

7.2

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

External Diagrams

Four, Z1 dia.

Set bolt (AT)

E3

F

Sh6 dia.

D4 dia.

D3h7 dia.

G

T

LM

LR

Key dimensions

b

Four, Z2 dia. (effective depth: l)

2-13

Standard Models and Specifications

Chapter 2

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

Model

Dimensions (mm)

Weight

(kg)

LM

LR

C1

C2

D1

D2

D3

D4

E3

F

G

S

T

Z1

Z2

AT*

l

Key dimensions

QK

b

h

t1

50 W

1/5

R7G-RGSF05B50

67.5

32

52

40

46

60

50

45

10

3

6

12

20

M4

M5

M3

12

16

4

4

2.5

0.55

1/9

R7G-RGSF09B50

67.5

32

52

40

46

60

50

45

10

3

6

12

20

M4

M5

M3

12

16

4

4

2.5

0.55

1/15

R7G-RGSF15B50

78

32

52

40

46

60

50

45

10

3

6

12

20

M4

M5

M3

12

16

4

4

2.5

0.70

1/25

R7G-RGSF25B50

78

32

52

40

46

60

50

45

10

3

6

12

20

M4

M5

M3

12

16

4

4

2.5

0.70

100 W

1/5

R7G-RGSF05B100

67.5

32

52

40

46

60

50

45

10

3

6

12

20

M4

M5

M3

12

16

4

4

2.5

0.55

1/9

R7G-RGSF09B100

67.5

32

52

40

46

60

50

45

10

3

6

12

20

M4

M5

M3

12

16

4

4

2.5

0.55

1/15

R7G-RGSF15B100

78

32

52

40

46

60

50

45

10

3

6

12

20

M4

M5

M3

12

16

4

4

2.5

0.70

1/25

R7G-RGSF25B100

78

32

52

40

46

60

50

45

10

3

6

12

20

M4

M5

M3

12

16

4

4

2.5

0.70

200 W

1/5

R7G-RGSF05B200

72.5

32

52

60

70

60

50

45

10

3

10

12

20

M5

M5

M4

12

16

4

4

2.5

0.72

1/9

R7G-RGSF09C400

89.5

50

78

60

70

90

70

62

17

3

8

19

30

M5

M6

M4

20

22

6

6

3.5

1.7

1/15

R7G-RGSF15C400

100

50

78

60

70

90

70

62

17

3

8

19

30

M5

M6

M4

20

22

6

6

3.5

2.1

1/25

R7G-RGSF25C400

100

50

78

60

70

90

70

62

17

3

8

19

30

M5

M6

M4

20

22

6

6

3.5

2.1

400 W

1/5

R7G-RGSF05C400

89.5

50

78

60

70

90

70

62

17

3

8

19

30

M5

M6

M4

20

22

6

6

3.5

1.7

1/9

R7G-RGSF09C400

89.5

50

78

60

70

90

70

62

17

3

8

19

30

M5

M6

M4

20

22

6

6

3.5

1.7

1/15

R7G-RGSF15C400

100

50

78

60

70

90

70

62

17

3

8

19

30

M5

M6

M4

20

22

6

6

3.5

2.1

1/25

R7G-RGSF25C400

100

50

78

60

70

90

70

62

17

3

8

19

30

M5

M6

M4

20

22

6

6

3.5

2.1

750 W

1/5

R7G-RGSF05C750

93.5

50

78

80

90

90

70

62

17

3

10

19

30

M6

M6

M4

20

22

6

6

3.5

2.1

1/9

R7G-RGSF09C750

93.5

50

78

80

90

90

70

62

17

3

10

19

30

M6

M6

M4

20

22

6

6

3.5

2.1

1/15

R7G-RGSF15C750

110

50

78

80

90

90

70

62

17

3

10

19

30

M6

M6

M4

20

22

6

6

3.5

2.5

1/25

R7G-RGSF25C750

110

50

78

80

90

90

70

62

17

3

10

19

30

M6

M6

M4

20

22

6

6

3.5

2.5

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

External Diagrams

Four, Z1 dia.

Set bolt (AT)

E3

F

Sh6 dia.

D4 dia.

D3h7 dia.

G

T

LM

LR

Key dimensions

b

Four, Z2 dia. (effective depth: l)

2-14

Standard Models and Specifications

Chapter 2

■ For Flat-style Servomotors (Backlash = 3′

Max.)

Model

Dimensions (mm)

Weight

(kg)

LM

LR

C1

C2

D1

D2

D3

D4

E3

F

G

S

T

Z1

Z2

AT*

l

Key dimensions

QK

b

h

t1

100 W

1/5

R7G-VRSFPB05B100P

72.5

32

52

60

70

60

50

45

10

3

10

12

20

M5

M5

M4

12

16

4

4

2.5

0.72

1/9

R7G-VRSFPB09B100P

72.5

32

52

60

70

60

50

45

10

3

10

12

20

M5

M5

M4

12

16

4

4

2.5

0.72

1/15

R7G-VRSFPB15B100P

83

32

52

60

70

60

50

45

10

3

10

12

20

M5

M5

M4

12

16

4

4

2.5

0.77

1/25

R7G-VRSFPB25C100P

92

50

78

60

70

90

70

62

17

3

10

19

30

M5

M6

M3

20

22

6

6

3.5

1.8

200 W

1/5

R7G-VRSFPB05B200P

72.5

32

52

80

90

60

50

45

10

3

12

12

20

M6

M5

M4

12

16

4

4

2.5

0.85

1/9

R7G-VRSFPB09C400P

93.5

50

78

80

90

90

70

62

17

3

12

19

30

M6

M6

M4

20

22

6

6

3.5

1.8

1/15

R7G-VRSFPB15C400P

100

50

78

80

90

90

70

62

17

3

12

19

30

M6

M6

M4

20

22

6

6

3.5

2.2

1/25

R7G-VRSFPB25C200P

100

50

78

80

90

90

70

62

17

3

12

19

30

M6

M6

M4

20

22

6

6

3.5

2.2

400 W

1/5

R7G-VRSFPB05C400P

93.5

50

78

80

90

90

70

62

17

3

10

19

30

M6

M6

M4

20

22

6

6

3.5

1.8

1/9

R7G-VRSFPB09C400P

93.5

50

78

80

90

90

70

62

17

3

12

19

30

M6

M6

M4

20

22

6

6

3.5

1.8

1/15

R7G-VRSFPB15C400P

100

50

78

80

90

90

70

62

17

3

12

19

30

M6

M6

M4

20

22

6

6

3.5

2.2

1/25

R7G-VRSFPB25D400P

109

61

98

80

90

115

90

75

18

5

12

24

40

M6

M8

M4

20

30

8

7

4

3.4

750 W

1/5

R7G-VRSFPB05C750P

98

50

78

120

145

90

70

62

17

3

15

19

30

M8

M6

M4

20

22

6

6

3.5

2.6

1/9

R7G-VRSFPB09D750P

97.5

61

98

120

145

115

90

75

18

5

15

24

40

M8

M8

M4

20

30

8

7

4

3.8

1/15

R7G-VRSFPB15D750P

110

61

98

120

145

115

90

75

18

5

15

24

40

M8

M8

M4

20

30

8

7

4

4.2

1/25

R7G-VRSFPB25E750P

155

75

125

120

145

135

110

98

17

5

15

32

55

M8

M10

M4

20

45

10

8

5

7.8

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

External Diagrams

E3

Four, Z1 dia.

F

Four, Z2 dia.

(effective depth: l)

D1

dia.

D2

dia.

Sh6 dia.

D4 dia.

D3h7 dia.

Set bolt (AT)

Key dimensions

b

2-15

Standard Models and Specifications

Chapter 2

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

Model

Dimensions (mm)

Weight

(kg)

LM

LR

C1

C2

D1

D2

D3

D4

E3

F

G

S

T

Z1

Z2

AT*

l

Key dimensions

QK

b

h

t1

100 W

1/5

R7G-RGSF05B100P

72.5

32

52

60

70

60

50

45

10

3

10

12

20

M5

M5

M4

12

16

4

4

2.5

0.72

1/9

R7G-RGSF09B100P

72.5

32

52

60

70

60

50

45

10

3

10

12

20

M5

M5

M4

12

16

4

4

2.5

0.72

1/15

R7G-RGSF15B100P

78

32

52

60

70

60

50

45

10

3

8

12

20

M5

M5

M4

12

16

4

4

2.5

0.77

1/25

R7G-RGSF25B100P

78

32

52

60

70

60

50

45

10

3

8

12

20

M5

M5

M4

12

16

4

4

2.5

0.77

200 W

1/5

R7G-RGSF05B200P

72.5

32

52

80

90

60

50

45

10

3

12

12

20

M6

M5

M4

12

16

4

4

2.5

0.85

1/9

R7G-RGSF09C400P

89.5

50

78

80

90

90

70

62

17

3

12

19

30

M6

M6

M4

20

22

6

6

3.5

1.8

1/15

R7G-RGSF15C400P

100

50

78

80

90

90

70

62

17

3

12

19

30

M6

M6

M4

20

22

6

6

3.5

2.2

1/25

R7G-RGSF25C400P

100

50

78

80

90

90

70

62

17

3

12

19

30

M6

M6

M4

20

22

6

6

3.5

2.2

400 W

1/5

R7G-RGSF05C400P

89.5

50

78

80

90

90

70

62

17

3

12

19

30

M6

M6

M4

20

22

6

6

3.5

1.8

1/9

R7G-RGSF09C400P

89.5

50

78

80

90

90

70

62

17

3

12

19

30

M6

M6

M4

20

22

6

6

3.5

1.8

1/15

R7G-RGSF15C400P

100

50

78

80

90

90

70

62

17

3

12

19

30

M6

M6

M4

20

22

6

6

3.5

2.2

1/25

R7G-RGSF25C400P

100

50

78

80

90

90

70

62

17

3

12

19

30

M6

M6

M4

20

22

6

6

3.5

2.2

750 W

1/5

R7G-RGSF05C750P

93.5

50

78

120

145

90

70

62

17

3

15

19

30

M8

M6

M4

20

22

6

6

3.5

2.5

1/9

R7G-RGSF09C750P

93.5

50

78

120

145

90

70

62

17

3

15

19

30

M8

M6

M4

20

22

6

6

3.5

2.5

1/15

R7G-RGSF15C750P

110

50

78

120

145

90

70

62

17

3

15

19

30

M8

M6

M4

20

22

6

6

3.5

2.9

1/25

R7G-RGSF25C750P

110

50

78

120

145

90

70

62

17

3

15

19

30

M8

M6

M4

20

22

6

6

3.5

2.9

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

External Diagrams

Four, Z1 dia.

Set bolt (AT)

E3

F

Four, Z2 dia.

(effective depth: l)

D2

dia.

Sh6 dia.

D4 dia.

D3h7 dia.

G

T

@C1

LM

LR

Key dimensions

b

2-16

Standard Models and Specifications

Chapter 2

2-3 Servo Driver Specifications

■ SMARTSTEP A-series R7D-AP@ Servo Drivers

Select a Servo Driver to match the Servomotor to be used.

2-3-1 General Specifications

Item

Specifications

Ambient operating temperature

0 to 55°C

Ambient operating humidity

90% max. (with no condensation)

Ambient storage temperature

–20 to 85°C

Ambient storage humidity

90% max. (with no condensation)

Storage and operating atmo-

No corrosive gasses.

sphere

Vibration resistance

10 to 55 Hz in X, Y, and Z directions with 0.1-mm double amplitude; accel-

eration: 4.9 m/s2 max.

Impact resistance

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

Insulation resistance

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

Dielectric strength

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

Between each control signal and case: 500 V AC for 1 min

Protective structure

Built into panel (IP10).

Note

1.

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

conditions.

Note

2.

Absolutely do not conduct a withstand voltage test with a Megger tester on the Servo Driver.

If such tests are conducted, internal elements may be damaged.

Note

3.

Depending on the operating conditions, some Servo Driver parts will require maintenance.

Refer to 5-5 Periodic Maintenance for details.

Note

4.

The service life of the Servo Driver is 50,000 hours at an average ambient temperature of

40°C at 80% of the rated torque.

2-17

Standard Models and Specifications

Chapter 2

2-3-2 Performance Specifications

■ Control Specifications

● 100-V AC Input Type

Item

R7D-APA3L

R7D-APA5L

R7D-AP01L

R7D-AP02L

R7D-AP04L

Continuous output cur-

0.42 A

0.6 A

0.89 A

2.0 A

2.6 A

rent (rms)

Momentary maximum out-

1.3 A

1.9 A

2.8 A

6.0 A

8.0 A

put current (rms)

Input power

Main cir-

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

supply

cuits

Control

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

circuits

Heating value

Main cir-

3.1 W

4.6 W

6.7 W

13.3 W

20.0 W

cuits

Control

13 W

13 W

13 W

13 W

13 W

circuits

Control method

All-digital servo

Speed feedback

2,000 pulses/revolution, incremental encoder

Inverter method

PWM method based on IGBT

PWM frequency

11.7 kHz

Maximum applicable fre-

250 kpps

quency (command pulse

application)

Weight

Approx. 0.8 kg

Approx. 0.8 kg

Approx. 0.8 kg

Approx. 0.8 kg

Approx. 1.1 kg

Applicable Servomotor

30 W

50 W

100 W

200 W

400 W

wattage

Applicable

Cylinder-

A03030

A05030

A10030

A20030

A40030

Servomotor

style

(R7M-)

Flat-style

–

–

AP10030

AP20030

AP40030

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

Item

R7D-

R7D-

R7D-

R7D-

R7D-

R7D-

APA3H

APA5H

AP01H

AP02H

AP04H

AP08H

Continuous output cur-

0.42 A

0.6 A

0.89 A

2.0 A

2.6 A

4.4 A

rent (rms)

Momentary maximum

1.3 A

1.9 A

2.8 A

6.0 A

8.0 A

13.9 A

output current (rms)

Input power

Main cir-

Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz (for R7D–AP08H only, three-

supply

cuits

phase input possible)

Control

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

circuits

Heating

Main cir-

3.1 W

4.6 W

6.7 W

13.3 W

20 W

47 W

value

cuits

Control

20 W

20 W

20 W

20 W

20 W

20 W

circuits

Control method

All-digital servo

2-18

Standard Models and Specifications

Chapter 2

Item

R7D-

R7D-

R7D-

R7D-

R7D-

R7D-

APA3H

APA5H

AP01H

AP02H

AP04H

AP08H

Speed feedback

2,000 pulses/revolution, incremental encoder

Inverter method

PWM method based on IGBT

PWM frequency

11.7 kHz

Maximum applicable

250 kpps

frequency (command

pulse application)

Weight

Approx.

Approx.

Approx.

Approx.

Approx.

Approx.

0.8 kg

0.8 kg

0.8 kg

0.8 kg

1.1 kg

1.7 kg

Applicable Servomotor

30 W

50 W

100 W

200 W

400 W

750 W

wattage

Applicable

Cylinder-

A03030

A05030

A10030

A20030

A40030

A75030

Servomotor

type

(R7M-)

Flat-type

–

–

AP10030

AP20030

AP40030

AP75030

2-3-3

Terminal Block Specifications

Signal

Function

Condition

L1

Main circuits power

R7D–AP@H: Single-phase 200/230 V AC (170 to 253 V AC) 50/60 Hz

supply input

R7D–AP@L: Single-phase 100/115 V AC (85 to 127 V AC) 50/60 Hz

L2

Note: Only the R7D–AP08H (750 W) has an L3 terminal, enabling three-

L3

phase input: Three-phase 200/230 V AC (170 to 253 V AC) 50/60 Hz

+1

DC Reactor termi-

Normally short-circuit between +1 and +2.

nal for power sup-

If harmonic control measures are required, connect a DC Reactor between +1

+2

ply harmonic

and +2.

control

–Main circuit DC outDo not connect anything. put (Reverse)

L1C

Control circuits

R7D-AP@H: Single-phase 200/230 V AC (170 to 253 V AC) 50/60 Hz

power supply input

R7D-AP@L: Single-phase 100/115 V AC (85 to 127 V AC) 50/60 Hz

L2C

B1

External regenera-

30 to 200 W: No External Regeneration Resistor can be connected.

tion resistance con-

400 W: This terminal does not normally need to be connected. If regenerative

B2

nection terminals

energy is high, connect an External Regeneration Resistor between B1 and

B3

B2.

750 W: Normally shorted between B2 and B3. If there is high regenerative

energy, remove the short bar between B2 and B3 and connect an External

Regeneration Resistor between B1 and B2.

U

Servomotor con-

Red

These are the terminals for outputs to the Servomotor. Be sure to

nection terminals

wire these terminals correctly.

V

White

W

Blue

Green/

Yellow

Frame ground

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

2-19

Standard Models and Specifications

Chapter 2

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

■ Control I/O and External Signals for Position Control

Reverse pulse

+CW

1 200 Ω

8

INP

Positioning

−CW

2

completed output

3 200 Ω

(See

Maximum operating

+CCW

7

BKIR

voltage: 30 V DC

Forward pulse

note 2.)

Brake interlock

Maximum Output

Current:

−CCW

4

10

OGND

Phase Z: 20 mA DC

Deviation

(See

Other than Phase Z:

5 200 Ω

50 mA DC

counter reset

+ECRST

note 2.)

32

Z

Phase Z

−ECRST

6

33

ZCOM

(See

note 2.)

34

ALM

Alarm output

35

ALMCOM

(See

note 2.)

24 V DC

+24VIN

13

22

TXD+

Transmission data

(See note 1.)

RUN command

RUN

14

3.3 k

23

TXD−

20

RXD+

Alarm reset

Reception data

RESET

18

3.3 k

21

RXD−

24

RT

Terminating

resistance terminal

Shell

FG

Frame ground

Note

1. Interface for RS-422:

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

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

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

2-20

Standard Models and Specifications

Chapter 2

■ Control I/O Signals

● CN1 Control Inputs

Pin

Signal name

Function

Contents

No.

1

+PULS/CW/A

Feed pulses, reverse

Pulse string input terminals for position commands.

pulses, or 90° phase

Line-driver input: 7 mA at 3 V

2

–PULS/CW/A

difference pulses

Maximum response frequency: 250 kpps

(phase A)

Open-collector input: 7 to 15 mA

3

+SIGN/CCW/B

Direction signal, for-

Maximum response frequency: 250 kpps

ward pulses, or 90°

4

–SIGN/CCW/B

Any of the following can be selected by means of a Pn200.0

phase difference

setting: feed pulses or direction signals (PULS/SIGN); forward

pulses (phase B)

or reverse pulses (CW/CCW); 90° phase difference (phase A/B)

signals (A/B).

5

+ECRST

Deviation counter

Line-driver input: 7 mA at 3 V

reset

Open-collector input: 7 to 15 mA

6

–ECRST

ON: Pulse commands prohibited and deviation counter cleared.

Note Input for at least 20 s.

13

+24VIN

+24-V power supply

Power supply input terminal (+24 V DC) for sequence inputs

input for control DC

(pins 14 and 18).

14

RUN

RUN command input

ON: Servo ON (Starts power to Servomotor.)

18

RESET

Alarm reset input

ON: Servo alarm status is reset.

● CN1 Control Outputs

Pin

Signal

Function

Contents

No.

name

32

Z

Phase Z output

Outputs the Encoder’s phase Z. (1 pulse/revolution)

Open collector output (maximum output voltage: 30 V DC max;

33

ZCOM

maximum output current: 20 mA)

34

Alarm output

When the Servo Driver generates an alarm, the output turns

ALM

OFF. Open collector output (maximum operating voltage: 30 V

35

ALMCOM

DC; maximum output current: 50 mA)

7

BKIR

Brake interlock output

Outputs the holding brake timing signals.

8

INP

Positioning completed

ON when the position error is within the positioning completed

output

range (Pn500).

10

OGND

Output ground common

Ground common for sequence outputs (pins 7 and 8).

Note

An open-collector output interface is used for pin-7 and -8 sequence outputs. (Maximum operating volt-

age: 30 V DC; maximum output current: 50 mA)

2-21

Standard Models and Specifications

Chapter 2

● Interface for RS-422

Pin

Signal name

Function

Contents

No.

20

RXD+

Reception data

Interface for RS-422A transmission and reception.

21

RXD–

22

TXD+

Transmission data

23

TXD–

24

RT

Terminating resistance terminal

Connect to pin 21 (RXD–) on the end Unit.

19

GND

RS-422A ground

Ground for RS-422A.

■ CN1: Pin Arrangement

1

+PULS

+ feed pulse,

+ reverse pulse,

− feed pulse,

/+CW/+A

−PULS

+ phase A

2

− reverse pulse,

/−CW/−A

+ direction

− phase A

+SIGN

signal,

3

− direction

+ forward pulse,

/+CCW/+B

4

−SIGN

signal,

+ phase B

/−CCW

− forward pulse,

/−B

− phase B

+ deviation

5

+ECRST

6

−ECRST

Deviation

counter reset

counter reset

7

BKIR

Brake interlock

output

Positioning

8

INP

completed

output

9

10

OGND

Output ground

common

11

12

13

+24VIN

Control DC

RUN command

+24-V input

14

RUN

input

15

16

17

18

RESET

Alarm reset

input

20

RXD+

Reception

data +

22

TXD+

Transmission

data +

Terminating

24

resistance

RT

terminal

26

28

30

Encoder

32

Z

phase-Z

output

34

Alarm output

ALM

36

19

GND

Ground for

RS-422A

21

RXD−

Reception

data −

23

TXD−

Transmission

data −

25

27

29

31

33

ZCOM

Phase-Z

output ground

35

ALMCOM

Alarm output

ground

Note Do not wire the empty pins.

● CN1 Connectors (36P)

Servo Driver receptacle

10236-52A2JL (Sumitomo 3M)

Cable solder plug

10136-3000VE (Sumitomo 3M)

Cable case

10336-52A0-008 (Sumitomo 3M)

2-22

Standard Models and Specifications

Chapter 2

■ Control Input Circuits

● Position Command Pulse Inputs and Deviation Counter Reset Inputs

Line Driver Input

Controller

+

−

Applicable line driver: AM26LS31A or equivalent

Servo Driver

+

200 Ω

Input current: 7 mA, 3 V

−

Open Collector Input

Using External Power Supply

Vcc

R

+

200

Ω

Input current: 7 to 15 mA

−

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

Vcc

R

24 V

1.6 to 2.4 kΩ

12 V

750 to 1.1 kΩ

5 V

None

● Sequence Inputs

Servo Driver

External power supply:

24 V + 1 V DC

Power supply capacity: 50 mA min. (per Unit)

+24VIN

13

Photocoupler input: 24 V DC, 7 mA

14

3.3 k

Minimum ON time: 2 ms

To other input circuit GNDs

To other input circuits

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

2-23

Standard Models and Specifications

Chapter 2

■ Control Output Circuits

● Sequence and Alarm Outputs

Servo Driver

To other output circuits

+

X

External power supply

Maximum operating voltage:

30 V DC

−

Di

24 V DC ± 1 V

Maximum output current:

50 mA

(See note.)

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

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

● Phase-Z Output

Servo Driver

Controller

32

Z

33

ZCOM

Maximum operating voltage: 30 V DC

Maximum output current:

20 mA

(See note.)

FG

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

2-24

Loading…

Table of Contents for Omron R7D-AP:

  • Chapter 4 4-2 Operation Precautions !Caution Confirm that there will be no effect on the equipment, and then perform a test operation. Not doing so may result in equipment damage. !Caution Check the newly set parameters and switches with their switches for proper exe- cution before actually running them. Not doing so may result in equipment dam- age. !Caution Do not make any extreme adjustments or setting chan

  • Chapter 3 3-27 System Design and Installation ■ Wiring Method ● Single-phase Power Supply Input NFB L1 L2 U V W CN2 CN1 R7D-A@ E M B R7M-A@ L1C L2C 2 m max. 2 m max. Control panel Metal plate AC power supply Metal duct or conduit Surge absorber Class D ground (Class 3 ground: 100 Ω or less) Noise filter Brake power supply Noise filter Contactor Ground plate Controller power supply Ferrite core Ferrite core Clamp Ferrite core Clamp Fer

  • Chapter 2 2-98 Standard Models and Specifications ■ Position Control Unit Cables ([email protected]) These Position Control Unit Cables connect a 3F88M-DRT141 Single-shaft Positioner (for DeviceNet) and an XW2B-20J6-1B Servo Relay Unit. ● Cable Models ● Connection Configuration and External Dimensions Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A25 50 cm 10.0 dia. Approx. 0.1 kg XW2Z-100J-A25 1 m Approx. 0.2 kg Position Control Unit 3F88M-DRT141 Servo Relay Unit XW2B-20J6-1B 38 L 647 83 t=11 20J6-1B 500 150

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

  • Chapter 2 2-78 Standard Models and Specifications ■ Position Control Unit Cables ([email protected]) These Position Control Unit Cables connect a C200H-NC112 Position Control Unit and an XW2B- 20J6-1B Servo Relay Unit. ● Cable Models ● Connection Configuration and External Dimensions ● Wiring Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A1 50 cm 8.0 dia. Approx. 0.1 kg XW2Z-100J-A1 1 m Approx. 0.1 kg Position Control Unit C200H-NC112 Servo Relay Unit XW2

  • Chapter 2 2-39 Standard Models and Specifications 2-5 Reduction Gear Specifications ■ Reduction Gears for SMARTSTEP A-series Servomotors (R7G-@) There are two kinds of reduction gears for SMARTSTEP A-series Servomotors: • Reduction gears for 3,000-r/min Cylinder-style Servomotors (Backlash 3 ′ max. and backlash 45′ max.) • Reduction gears for 3,000-r/min Flat-style Servomotors (Backlash 3 ′ max. and backlash 45′ max.) There are four reduction ratios: 1/5, 1/9, 1/15, and 1/25. Select a reduction ratio to

  • Chapter 2 2-57 Standard Models and Specifications ■ Encoder Connector ([email protected]) This is the connector for the Encoder Cable. This connector is used when the cable is prepared by the user. It is a soldered-type connector, and the applicable cable is as follows. • Applicable cable: AWG16 max. • Outer diameter of coating: 2.1 mm dia. max. • Outer diameter of sheath: 6.7 ± 0.5 mm dia. ● External Dimensions R7A-CNA01R (Servo Driver CN2) R7A-CNA02R

  • Chapter 2 2-72 Standard Models and Specifications 2-7-2 Cables for Servo Relay Units ■ Servo Driver Cables ([email protected]) These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit. These Cables are used when connecting a Servo Relay Unit that does not support communications. ● Cable Models ● Connection Configuration and External Dimensions ● Wiring Model Length (L) Outer diameter of sheath Weight XW2Z-100J-B5 1 m 8.0 dia. Approx

  • Chapter 2 2-80 Standard Models and Specifications ● Wiring Position Control Unit Cable: AWG28 × 6P + AWG28 × 19C Servo Relay Unit No. 1 23 13 2 4 5 9 11 22 6 7 8 17 18 19 15 24 26 27 31 33 20 21 29 28 30 10 32 12 No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 34 33

  • Chapter 3 3-12 System Design and Installation Encoder Cables 5. Computer Monitor Cable A Computer Monitor Cable and the Computer Monitor Software for Servo Drivers (run on Windows) are required to make Servo Driver parameter settings and perform monitoring from a personal com- puter. 6. Analog Monitor Cable This is the cable for connecting to the Servo Driver’s analog monitor connector (CN4). It is required for connecting analog monitor outputs to an external device (such as a measuring instrument). Specifications Cable model number Remarks

  • Chapter 4 4-18 Operation • This gain adjusts the speed loop response. • Increase the setting (i.e., increase the gain) to increase servo rigidity. Generally, the greater the inertia ratio, the higher the setting. There is a risk of vibration, however, if the gain is too high. When the speed loop gain is manipulated, the response will change as shown in the following dia- gram. Note This parameter is enabled only if the gain adjustment rotary switch is set to 0. • Sets the speed lo

  • Chapter 2 2-8 Standard Models and Specifications ■ Single-phase/Three-phase 200 V AC: R7D-AP08H (750 W) ● Wall Mounting ● Front Panel Mounting (Using Mounting Brackets) External dimensions Mounted dimensions 5 dia. 90 160 (75) 180 17 Two, M4 149.5±0.5 160 5.5 (5) 90 27 149.5 5.5(5) External dimensions Mounted dimensions 5 dia. 7.5(7.5) 5 42 24.5 2 180 195 180±0.5 195 7.5(7.5) Two, M4 10 22.5 43.5 52 12.5 (168) 66

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Types of Manuals:

The main types of Omron R7D-AP instructions:

  • User guide — rules of useing and characteristics
  • Service manual — repair, diagnostics, maintenance
  • Operation manual — description of the main functions of equipment

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Download Operation & user’s manual of Omron R7D-AP Amplifier, Servo Drives for Free or View it Online on All-Guides.com.

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Servomotors/Servo Drivers

Cat. No. I533-E1-04

SMARTSTEP A SERIES

R7M-A@ (Servomotors)

R7D-AP@ (Servo Drivers)

USER’S MANUAL

Источник

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