Complete Solutions
Omron’s new line of servomotors and
drives completes your Omron industrial
automation solution. The ’U’ series servo
system combines an ultra-small brushless
servomotor matched with a flexible,
rugged servo drive. Whether you require
100VAC or 200VAC, incremental or
absolute encoder feedback, pulse or analog
input, Omron has a servo system to meet
your requirements. The ‘U’ series is fully
complemented by Omron’s broad product
line which includes PLCs, power supplies,
operator interfaces, sensors, automatic
identification solutions, and temperature
and process controllers. Our ‘plug and
play’ connections to Omron PLC motion
control units give system designers and
machine builders a high performance,
flexible servo system that can be set up
quickly for a variety of applications.
Omron’s Solutions in Motion
Satisfying a Variety
of Applications
Cut to Length
Winding
Indexing
Packaging
Part Transfer
Material Handling
Lathes
Precision Grinding
Point to Point Positioning
Servo Selection Options
The ‘U’ series gives you the choice of digital or analog drives
so you can choose the best product for your application.
Small Sized and Lightweight
The use of small power modules and integration of electronic
circuits, make a lightweight, small sized servo drive a reality.
The small package size provides the designer an economical
use of panel space.
Easy Operation
The drive parameters are divided into groups so that they
can be easily set and monitored. Make changes to the
parameters using either hand held or mounted parameter
units or PC-based software.
Easy Wiring
We offer several special cables and plug-and-play capability,
facilitating quick connections to Omron PLC Position and
Motion Control Units.
Quick Adjustments
The auto-tuning function automatically adjusts the control
system gain according to machine characteristics, reducing
system start up time.
Quiet Operation
Using Insulated Gate Bi-Polar Transistors (IGBT) reduces
audible noises.
Multi-Functional
Our servos are packed with several standard features, making
them ideal for several different applications. Standard features
include: soft start, torque control, reverse mode, internal
speed control settings, encoder resolution, electrical gears,
position lock, brake interlock and overtravel.
PC Compatible Communications
Use the dedicated software package for saving, reading and
writing parameters from a personal computer. Easily perform
system checks, make adjustments and evaluate operating
status using the electric current, speed and I/O signal
information graphically displayed on a PC.
Durable and Ultra Small
The ‘U’ series motors are the AC brushless type that are
built for a long, trouble-free life. Using rare-earth magnets
and innovative magnetic circuits minimizes the motor’s size
and weight.
Smooth Rotation
Cogging torque has been reduced, so the motor rotates smoothly
at low speeds.The motor’s speed control range is 5,000:1.
High-Speed Positioning
The maximum rotational speed of 4,500 r/min. shortens
positioning time and improves productivity.
Customize Your System
Available options include incremental or absolute encoders,
straight or keyed shafts and a brake for holding when power
is off. Users can choose the motor that best suits their
application.
Low Inertia and High Power Rate
The low rotor inertia design yields a very high power rate
and makes the ‘U’ series well suited for high speed
positioning applications.
APPROVED
Functions 4
System Configuration 6
Using Parameter Units 8
Servomotor Specifications 11
Torque and Rotation Speed Characteristics 14
Servo Driver Specifications 15
Options Specifications 18
External Dimensions 19
Terminal and Connector Functions (30 to 750 W) 23
Special Cables 27
Model Number Legend 28
Standard Models 29
Important Information 31
TABLE OF CONTENTS
NOTE: Specifications to change without notice.
Warranty: Omron certifies all of its products either meet
or exceed stipulated specifications. Omron is not liable
for stenographic and/or clerical errors.
Omron's obligation under this warranty is limited solely
to repair or replacement at Omron's discretion. Omron
will not be liable for any design furnished by Buyer and
incorporated into equipment.
This warranty is voided if the product is altered in any
way or suffers consequential damage due to negligence
or misuse.
Omron is not to suffer risk due to the suitability or
unsuitability or the results of the use of its products
used in combination with any electrical or electronic
components, circuits, systems assemblies or any other
materials or substances or environments.
The foregoing warning is the only warranty which
Omron Electronics, Inc., provides with respect to the
products listed herein. No other warranties, expressed,
implied, or statutory shall apply, whether as to
merchantability, fitness for a particular purpose,
description, or otherwise.
Limitation of Liability: Notwithstanding any other
statement herein, Omron Electronics, Inc., its
contractors and suppliers, shall not be liable for any
special, indirect, incidental or consequential damages.
The remedies of the purchaser set forth herein are
exclusive where so stated and the total cumulative
liability of Omron Electronics, Inc., its contractors and
suppliers, with respect to this contract or anything done
in connection therewith, shall not exceed replacement
price reimbursement as to the product on which such
liability is based.
Functions
All your Servomotor functional needs combined -- to make optimal operation a reality.
Soft Start
Speed Control
This function stops and starts the Servo-
motor within the setacceleration and de-
celeration times. A positioning system
can be easily established, without the
need for a positioner or host controller.
External
speed
command
Servo Driver
internal
speed
command
Torque Control
Torque Control
Controls the Servomotor using a torque
proportionaltotheanaloginputvoltage.It
can be used for tension control and con-
trolled stopping.
Reverse Rotation Mode
Position Control Speed Control
Torque Control
The forward and reverse rotation com-
mands can be switched at the parameter
level,withoutchangingtheServomotoror
encoder wiring.
Command Default
setting Reverse
rotation
mode
Forward
rotation
command
CCW CW
Reverse
rotation
command
CW CCW
Forward
rotation
Reverse rotation
Forward
rotation
Reverse rotation
Internal Speed Control
Position Control Speed Control
With this function, the motor can be ro-
tated at the first through third speeds set
in the user parameters, makingit easy to
achieve positioning and speed switching
operations.
Speed Rotation
direction
command
Internal speed
setting
Speed 1 Forward
t
t
i
First speed
Speed 2 rotation Second speed
Speed 3 Third speed
Speed 4 Reverse
t
t
i
First speed
Speed 5 rotation Second speed
Speed 6 Third speed
Stop Servolock engaged
Controller
Encoder Resolution
Position Control Speed Control
Torque Control
The number ofencoder pulses per motor
rotationcanbesettomatchtheresponse
frequency of the host controller.
Controller A
1,000
pulses/rotation
Controller B
Controller C
720
pulses/rotation
500
pulses/rotation
Position Lock
Speed Control
WhentheServomotorstops,thisfunction
setsoffthepositionloopandactivatesthe
position lock. It prevents drifts peculiarto
analog input.
Motor U-series
Electrical Gears
Position Control
The degree of movement per pulse can
be set for each command.
1,000 pulses
Servo
Driver
Electrical gears
One rotation Servomotor
8,192 pulses
Speed
Positioning
completion Speed
command
Servomotor speed
with bias
Servomotor
speed
without bias
Reduced
time
Time
Speed command Without
feed-forward
function
With feed forward
function
Reduced
time
Time
Speed
Functions
Rich Command Pulse Mode
Position Control
Available for all types of command pulse.
Logic setting Command pulse mode Motor forward
command Motor reverse
command
Positive logic setting Feed pulse and direction signal
“H” “L”
90
phase difference signals
A-, B-phase feed pulse
(Multiplication by 1, 2, & 4 possible)
90°90°
Reverse pulse and forward pulse “L” “L”
Negative logic setting Feed pulse and direction signal
“L” “H”
90
phase difference signals
A-, B-phase feed pulse
(Multiplication by 1, 2, & 4 possible)
90°90°
Reverse pulse and forward pulse “H”
“H”
Alarm History Display
Position Control Speed Control
Torque Control
Stores the past ten errors, even if the
power supply is cut off, making accurate
troubleshooting possible.
Display
(Alarm history) Description
:--
A40 Overvoltage detected
A51 Overspeed detected
A71 Overload detected
:--
Torque Command Filter
Position Control Speed Control
Torque Control
If the appropriate time constant is set,
resonance with the load can be pre-
vented.
Bias Function
Position Control
This function can be used to reduce the
position control time, according to the
load conditions.
Brake Interlock
Position Control Speed Control
Torque Control
Outputs a special signal, making the
holding magnetic brake operating se-
quence easy.
Feed-forward Function
Position Control
The stabilization period is reduced by
using the feed-forward function.
Emergency Stop Torque
Position Control Speed Control
Torque Control
Thecontroltorqueforovertraveltimecan
be set, preventingdamage to machinery.
Servomotor
U-Series
System Configuration
Our product synergy meets a variety of needs. When an OMRON Position Control Unit
is used, the system configuration remains the same.
Position Control
in a Mid-size System Position Control
in a Large-rack System
R88D-UP

HA
(Single-phase 200 VAC)
R88D-UP

LA
(Single-phase 100 VAC)
R88M-U

HA
(30 to 750 W: 200 V)
R88M-U

LA
(30 to 300 W: 100 V)
Pulse Train Input Models
Pulse train input
AC Servo Driver AC Servomotor
with Incremental Encoder
C500-NC113
C500-NC211
Position
Control Unit
C200HW-NC113
C200HW-NC213
C200HW-NC413
Position
Control Unit
SYSMAC αC200HX/HG/HE
Programmable Controller SYSMAC
CVM1/CV/C1000H/C2000H
Programmable Controller
System Configuration
Multi-axis Control Using the G Language
CV500-MC421
CV500-MC221
Motion Control
Unit
C200H-MC221
Motion Control
Unit
SYSMAC αC200HX/HG/HE
Programmable Controller
Analog Input Models
Analog input
command
AC Servo Driver AC Servomotor
with Incremental Encoder
R88M-U

HA
(30 to 750 W: 200 V)
R88M-U

LA
(30 to 300 W: 100 V)
R88D-UA

HA
(Single-phase 200 VAC)
R88D-UA

LA
(Single-phase 100 VAC)
Using Parameter Units
Parameter Unit Keys and Functions
Hand-held type
R88A-PR02U Mounted-type
R88A-PR03U
Display
Displays motor rotation
speed, speed commands,
torque command monitoring
values, user parameter set
values and the Servo Driver
status.
Keys
PR02U PR03U Function
RESET +Alarm reset
Mode switching
Data memory
SERVO DATA Servo ON/OFF during jog
operations
DATA DATA Switching between parameter
display and data display; data
memory
Increments parameter numbers
and data values.
Decrements parameter
numbers and data values.
Left shift for operation digits
Right shift for operation digits
Changing Modes
Power ON
(Display example)
Status display
mode Settings mode Monitor mode Alarm history
display mode
Baseblock System check mode Speed feedback No alarm
   
To change modes, press the MODE/SET Key.
Status Display Mode
Rotation detected/Current limit detected
Speed conformity (for speed control)
In position (for position control)
Inputting speed command (for speed control)
Inputting command pulse (for position control)
Baseblock
Power ON/Control
circuit power ON Inputting torque command (for torque control)
Inputting deviation counter reset signal (for position
control)
Bit data display Symbol display
Main circuit power ON 
Symbol display Contents

Baseblock (no power to motor)

In operation (running)

Forward rotation prohibited

Reverse rotation prohibited

Alarm display (Refer to alarm table.)
Using Parameter Units
Mode Changes and Display Contents
Reverse mode / Origin error mask
Input command mode / Command pulse mode
Deviation counter clear
Command pulse logic return
Parameter Unit monitoring level switch
Torque command filter time constant (HA/LA Models)
Monitoring switch 1/2
Torque feed forward selection
TREF switch (HA/LA Models)
Power ON
Status display
mode
Bit Displays
Power ON / Control circuit power ON
Baseblock (motor not receiving power)
Speed conformity / In position
Inputting torque command
Inputting deviation counter reset signal
Inputting speed command / Inputting command pulse
Motor rotation detected / Current limit detected
Symbol Displays
Baseblock / In operation (running)
Forward rotation prohibited / Reverse rotation prohibited
Alarm display
Speed feedback / Speed command / Torque command
Number of pulses from U-phase edge / Electrical angle
Internal status bit display 1 /Internal status bit display 2
Command pulse speed display / position deviation / input pulse counter
Settings mode Jog operation
Command offset automatic adjustment
Clear alarm history data
Command offset manual adjustment
Motor parameters check
Auto-tuning
Sequence input signal switch
Process selection following momentary stop reset
Abnormal stop selection / Control mode selection
Deviation counter processing / P control selection
P control switch conditions / Encoder selection
Torque feed-forward function selection
Pulse prohibit switch
Monitor mode
Alarm
history
display
mode
System check mode (Cn-00)
User parameters (Cn-03 onwards)
Error number 0: Error one time before
Error number 9: Error ten times before
Setup parameter no. 1 (Cn-01)
Setup parameter no. 2 (Cn-02)
Note: Items which can beset andmonitored differaccording tothetype ofServo DriverorServomotor used. Referto the User’s Manual for
details.
Using Parameter Units
Monitor Mode
Monitor no. Monitor contents Unit Explanation
Un-00 Speed feedback r/min Displays actual rotational speed of motor.
Un-01 Speed command r/min Displays commands to speed loop when controlling via internally set
speeds.
“0” will be displayed when controlling with pulse trains.
Un-02 Torque command %The command to the current loop is displayed as 100% of the rated
torque.
Un-03 Number of pulses from
U-phase edge Pulses The number of pulses from the U-phase edge is displayed in units of
encoder resolution.
Un-04 Electrical angle Degrees Displays the electrical angle of the motor.
Un-05 Internal status bit display 1 --- Displays Servo Driver internal information as either lit or not lit.
Un-06 Internal status bit display 2 ---
y
Un-07 Command pulse speed display r/min Displays the command pulse counter converted to a frequency (r/min).
Un-08 Position deviation (deviation
counter) Command
units Displays the pulse count (position deviation) remaining on the deviation
counter in command units (based on input pulses).
Un-09 Input pulse counter Command
units Counts and displays the input pulses.
Alarm Table
Display Alarm code Alarm Error detection
f
t
i
Detection contents --
f
Remarks
p
y
ALO1 ALO2 ALO3 ALM function cause of error

OFF OFF OFF OFF Parameter corruption The checksum for the parameters read
from the EEPROM does not match.

OFF OFF OFF OFF Parameter setting error Incorrect parameter setting.

ON OFF OFF OFF Overcurrent Overcurrent or overheating detected.

ON ON OFF OFF Deviation counter
overflow The pulses remaining on the deviation
counter exceed the deviation counter
overflow level set in Cn-1E.
For position
control only.

OFF OFF ON OFF Overvoltage Main circuit DC voltage exceeded the
allowable value.

ON OFF ON OFF Over speed Detected at 4,950 r/min.

ON ON ON OFF Overload Detected at reverse limit characteristics
when the output torque exceeds120% of
the rated torque.

OFF OFF OFF OFF Command input
reading error The final signal from the AC Convertor
was not output within the fixed time. For speed and
torque control
only.

ON OFF ON OFF Runaway detected Faulty power or encoder wiring.

ON OFF ON OFF Phase error detected Connector not properly connected.
Encoder not properly wired.

ON OFF ON OFF Encoder A or B phase
wire disconnection Either Phase A or Phase B signal was
disconnected or short circuited.

ON OFF ON OFF Encoder S phase wire
disconnection Encoder S phase was disconnected or
short circuited.

OFF ON OFF OFF Momentary power
failure alarm The power supply was re-started within
the power retention period.

OFF OFF OFF ON Alarm reset power
supply turned on This is history data only, and is not an
alarm.

OFF OFF OFF OFF Parameter Unit
transmission error 1 Data could not be transmitted after the
power supply was turned on. (It no longer
exists in the alarm history.)

--- --- --- --- Parameter Unit
transmission error 2 Transmission timeout error (It no longer
exists in the alarm history.)
Note: “---” means indefinite.
Servomotor Specifications
Performance Specifications
200-VAC Servomotors
Item Symbol
I
E
C
Unit With Incremental Encoder (R88M-)
I
t
e
m
S
y
m
b
o
l
IEC
U
n
i
t
U03030HA U05030HA U10030HA U20030HA U40030HA U75030HA
Rated output (see note 1)
P
r W 30 50 100 200 400 750
Rated torque (see note 1)
T
rkgf
cm 0.974 1.62 3.25 6.49 13.0 24.3
R
a
t
e
d
t
o
r
q
u
e
(
s
e
e
n
o
t
e
1
)
T
r
N
m0.095 0.159 0.318 0.637 1.27 2.39
Rated rotational speed ωrr/min 3000
Momentary maximum rotational speed ωmr/min 4500
Momentary maximum torque (see note 1)
T
mkgf
cm 2.92 4.87 9.75 19.5 39.0 72.9
M
o
m
e
n
t
a
r
y
m
a
x
i
m
u
m
t
o
r
q
u
e
(
s
e
e
n
o
t
e
1
)
T
m
N
m0.29 0.48 0.96 1.91 3.82 7.10
Momentary maximum/rated current ratio
I
m/r %310 317 322 300 308 316
Rated current (see note 1)
I
rA (rms) 0.42 0.60 0.87 2.0 2.6 4.4
Momentary maximum current (see note 1)
I
mA (rms) 1.3 1.9 2.8 6.0 8.0 13.9
Rotor inertia
I
N
C
(
t
4
)
J
rkgf
cm
s20.21 ×10-- 4 0.27 ×10-- 4 0.41 ×10-- 4 1.26 ×10-- 4 1.95 ×10-- 4 6.85 ×10-- 4
R
o
t
o
r
i
n
e
r
t
i
a
INC (see note 4)
J
r
kg
m2(GD2/4) 0.21 ×10-- 5 0.26 ×10-- 5 0.40 ×10-- 5 1.23 ×10-- 5 1.91 ×10-- 5 6.71 ×10-- 5
Torque constant (see note 1)
K
tkgf
cm/A 2.60 2.92 4.16 3.62 5.44 6.01
T
o
r
q
u
e
c
o
n
s
t
a
n
t
(
s
e
e
n
o
t
e
1
)
K
t
N
m/A 0.255 0.286 0.408 0.355 0.533 0.590
Induced voltage constant (see note 1)
K
imV/ (r/min) 8.89 9.98 14.0 12.4 18.6 20.6
Power rate (see note 1)
Q
p kW/s 4.36 9.63 25.4 32.8 84.6 85.1
Mechanical time constant
mms 1.5 0.9 0.5 0.4 0.3 0.3
Winding resistance
R
wΩ15.8 9.64 6.99 1.34 1.23 0.45
Winding inductance
L
wmH 23.1 16.9 13.2 7.2 7.9 5.7
Electrical time constant
ems 1.5 1.8 1.9 5.4 6.4 13
Momentary allowable radial load
I
N
C
(
t
4
)
F
mr kgf 19 19 19 50 50 75
M
o
m
e
n
t
a
r
y
a
l
l
o
w
a
b
l
e
r
a
d
i
a
l
l
o
a
d
INC (see note 4)
F
m
r
N186 186 186 490 490 735
Momentary allowable thrust load
I
N
C
(
t
4
)
F
mt kgf 13 13 13 18 18 40
M
o
m
e
n
t
a
r
y
a
l
l
o
w
a
b
l
e
t
h
r
u
s
t
l
o
a
d
INC (see note 4)
F
m
t
N127 127 127 176 176 392
Allowable radial load
I
N
C
(
t
4
)
F
rkgf 77825 25 40
A
l
l
o
w
a
b
l
e
r
a
d
i
a
l
l
o
a
d
INC (see note 4)
F
r
N68 68 78 245 245 392
Allowable thrust load
I
N
C
(
t
4
)
F
tkgf 5.5 5.5 5.5 7.5 7.5 15
A
l
l
o
w
a
b
l
e
t
h
r
u
s
t
l
o
a
d
INC (see note 4)
F
t
N54 54 54 74 74 147
Weight
I
N
C
(
t
4
Without brakes mkg Approx. 0.3 Approx. 0.4 Approx. 0.5 Approx. 1.1 Approx. 1.7 Approx. 3.4
W
e
i
g
h
t
INC (see note 4) With brakes
m
kg Approx. 0.6 Approx. 0.7 Approx. 0.8 Approx. 1.6 Approx. 2.2 Approx. 4.3
Corresponding
S
e
r
v
o
D
r
i
v
e
r
Analog output UA02HA UA03HA UA04HA UA08HA UA12HA UA20HA
Servo Driver
(R88D-) Pulse train output UP02HA UP03HA UP04HA UP08HA UP12HA UP20HA
Brake
i
f
i
t
i
Brake inertia
J
bkgf
cm
s20.09 ×10-- 4 0.59 ×10-- 4 1.43 ×10-- 4
B
r
a
k
e
specifications
(
see note 2
)
B
r
a
k
e
i
n
e
r
t
i
a
J
b
kg
m2(GD2/4) 0.09 ×10-- 5 0.58 ×10-- 5 1.40 ×10-- 5
(
s
e
e
n
o
t
e
2
)
Magnetized voltage
U
b V 24 VDC
10% (no polarity)
Power consumption
(at 20°C)
P
b W 6 6.5 6
Current consumption
(at 20°C)
I
b A 0.25 0.27 0.25
Static friction torque
T
bkgf
cm 2.0 min. 3.5 min. 15.0 min. 25.0 min.
S
t
a
t
i
c
f
r
i
c
t
i
o
n
t
o
r
q
u
e
T
b
N
m0.2 min. 0.34 min. 1.5 min. 2.5 min.
Absorption time
(see note 3)
t
ba ms 40 max. 60 max. 100 max. 200 max.
Release time
(see note 3)
t
br ms 20 max. 30 max. 40 max. 50 max.
Backlash --- ±1
(reference value)
Rating --- Continuous
Insulation grade --- Type F
Servomotor Specifications
100-VAC Servomotors
Item Symbol
I
E
C
Unit With Incremental Encoder (R88M-)
I
t
e
m
S
y
m
b
o
l
IEC
U
n
i
t
U03030LA U05030LA U10030LA U20030LA U30030LA
Rated output (see note 1)
P
r W 30 50 100 200 300
Rated torque (see note 1)
T
rkgf
cm 0.974 1.62 3.25 6.49 9.74
R
a
t
e
d
t
o
r
q
u
e
(
s
e
e
n
o
t
e
1
)
T
r
N
m0.095 0.159 0.318 0.637 0.954
Rated rotational speed ωrr/min 3000
Momentary maximum rotational speed ωmr/min 4500
Momentary maximum torque (see note 1)
T
mkgf
cm 2.92 4.87 9.75 19.5 38.0
M
o
m
e
n
t
a
r
y
m
a
x
i
m
u
m
t
o
r
q
u
e
(
s
e
e
n
o
t
e
1
)
T
m
N
m0.29 0.48 0.96 1.91 3.72
Momentary maximum/rated current ratio
I
m/r %317 322 323 311 400
Rated current (see note 1)
I
rA (rms) 0.63 0.9 2.2 2.7 3.7
Momentary maximum current (see note 1)
I
mA (rms) 2.0 2.9 7.1 8.4 14.8
Rotor inertia
I
N
C
(
t
4
)
J
rkgf
cm
s20.21 ×10-- 4 0.27 ×10-- 4 0.41 ×10-- 4 1.26 ×10-- 4 1.95 ×10-- 4
R
o
t
o
r
i
n
e
r
t
i
a
INC (see note 4)
J
r
kg
m2(GD2/4) 0.21 ×10-- 5 0.26 ×10-- 5 0.40 ×10-- 5 1.23 ×10-- 5 1.91 ×10-- 5
Torque constant (see note 1)
K
tkgf
cm/A 1.72 1.98 1.59 2.60 2.85
T
o
r
q
u
e
c
o
n
s
t
a
n
t
(
s
e
e
n
o
t
e
1
)
K
t
N
m/A 0.168 0.194 0.156 0.255 0.279
Induced voltage constant (see note 1)
K
imV/ (r/min) 5.87 6.79 5.43 8.9 9.74
Power rate (see note 1)
Q
p kW/s 4.36 9.63 25.4 32.8 47.3
Mechanical time constant
mms 1.6 0.9 0.6 0.4 0.3
Winding resistance
R
wΩ7.22 4.34 1.22 0.706 0.435
Winding inductance
L
wmH 9.7 6.9 2.0 4.0 2.3
Electrical time constant
ems 1.3 1.6 1.6 5.7 5.3
Momentary allowable radial load
I
N
C
(
t
4
)
F
mr kgf 19 19 19 50 50
M
o
m
e
n
t
a
r
y
a
l
l
o
w
a
b
l
e
r
a
d
i
a
l
l
o
a
d
INC (see note 4)
F
m
r
N186 186 186 490 490
Momentary allowable thrust load
I
N
C
(
t
4
)
F
mt kgf 13 13 13 18 18
M
o
m
e
n
t
a
r
y
a
l
l
o
w
a
b
l
e
t
h
r
u
s
t
l
o
a
d
INC (see note 4)
F
m
t
N127 127 127 176 176
Allowable radial load
I
N
C
(
t
4
)
F
rkgf 77825 25
A
l
l
o
w
a
b
l
e
r
a
d
i
a
l
l
o
a
d
INC (see note 4)
F
r
N68 68 78 245 245
Allowable thrust load
I
N
C
(
t
4
)
F
tkgf 5.5 5.5 5.5 7.5 7.5
A
l
l
o
w
a
b
l
e
t
h
r
u
s
t
l
o
a
d
INC (see note 4)
F
t
N54 54 54 74 74
Weight
I
N
C
(
t
4
)
Without brakes mkg Approx. 0.3 Approx. 0.4 Approx. 0.5 Approx. 1.1 Approx. 1.7
W
e
i
g
h
t
INC (see note 4) With brakes
m
kg Approx. 0.6 Approx. 0.7 Approx. 0.8 Approx. 1.6 Approx. 2.2
Corresponding
S
D
i
(
R
8
8
D
)
Analog output UA03LA UA04LA UA10LA UA12LA UA15LA
C
o
r
r
e
s
o
n
d
i
n
g
Servo Driver (R88D-) Pulse train output UP03LA UP04LA UP10LA UP12LA UP15LA
Brake specifications
(
t
2
)
Brake inertia
J
bkgf
cm
s20.09 ×10-- 4 0.59 ×10-- 4
B
r
a
k
e
s
e
c
i
f
i
c
a
t
i
o
n
s
(see note 2)
B
r
a
k
e
i
n
e
r
t
i
a
J
b
kg
m2(GD2/4) 0.09 ×10-- 5 0.58 ×10-- 5
Magnetized voltage
U
b V 24 VDC
10% (no polarity)
Power consumption
(at 20°C)
P
b W 6 6.5
Current consumption
(at 20°C)
I
b A 0.25 0.27
Static friction torque
T
bkgf
cm 2.0 min. 3.5 min. 15.0 min.
S
t
a
t
i
c
f
r
i
c
t
i
o
n
t
o
r
q
u
e
T
b
N
m0.2 min. 0.34 min. 1.5 min.
Absorption time
(see note 3)
t
ba ms 40 max. 60 max. 100 max.
Release time
(see note 3)
t
br ms 20 max. 30 max. 40 max.
Backlash --- ±1
(reference value)
Rating --- Continuous
Insulation grade --- Type F
Note: 1. Valuesfortheseitems,aswellasthosefortorque,therotationalspeedcharacteristics,arethevaluesatanarmaturewindingtem-
peratureof100°C,combinedwiththeServoDriver. Othervaluesareat normalconditions (20°C,65%).The momentarymaximum
torque value is the reference value.
2. ThebrakesinstalledintheServomotorshavenon-magnetizedoperation.(Themagneticbrakeisreleasedwhenamagneticcurrent
is applied.)
3. The operation time measurement is the measured value with a surge killer (CR50500, by Okaya Electric Industrial Co.) installed.
4. INC: Servomotor with Incremental Encoder attached.
5. Themagnetic brakesinstalled in Servomotors with brakesarestatus-holdingbrakes.Themagnetic brake is not meant to beused
for braking. Using it for braking will damage it. During Servomotor operation, be sure to release the magnetic brake by applyinga
magnetic voltage.
6. AbsolutelydonotimpacttheServomotorortheoutputshaftbystrikingwithanimplementsuchasahammer.Doingsowilldamage
the Servomotor and encoder bearings.
Servomotor Specifications
General Specifications
Item Specifications
Operating ambient temperature 0°Cto40°C
Operating ambient humidity 20% to 80% RH (with no condensation)
Storage ambient temperature -- 10°Cto75°C
Storage ambient humidity 20% to 80% RH (with no condensation)
Storage and operating atmosphere No corrosive gasses.
Vibration resistance 10 to 150 Hz in X, Y, and Z directions with 0.2-mm double amplitude; acceleration: 2.5G {24.5
m/s2} max.; time coefficient: 8 min; 4 sweeps (see note 1)
Impact resistance Acceleration 10G {98 m/s2} max., in X, Y, and Z directions, three times
Insulation resistance Between power line terminals and case: 10 MΩmin. (500 VDC megger)
Dielectric strength Between power line terminals and case: 1,500 VAC for 1 min (10 mA max.) at 50/60 Hz
(JEC2121)
Run position All directions
Insulation grade Type B (JIS C4004)
Structure Totally-enclosed self-cooling
Protective structure IP-42 (JEM1030) (Cannot be used in environment with water-soluble cutting fluids.) (See note
2)
Vibration grade V-15 (JEC2121)
Mounting method Flange-mounting
Note: 1. Vibration may beamplified duetosympathetic resonance ofmachinery, so use the Servomotor Driver underconditions whichwill
not exceed 2G {19.6 m/s2} over a long period of time.
2. The drip-proofing specifications are special specifications covered by IP-44. (Models with drip-proof specifications provide drip-
proofing on Servomotors with oil seals.)
3. The above items reflect individual evaluation testing. The results may differ under compounded conditions.
4. The Servomotor cannot be used in a misty atmosphere.
Servomotor Shaft Tolerance Load
Radial load
Thrust load
5mm
•The allowable radial load is the value at a point 5 mm from the end of the shaft.
•The allowable radial and thrust loads are values determined with a service life of 20,000 hours taken as a criteria.
Radiant Heat Conditions
When the AC Servomotor is operated continuously at a rated current, a radiant heat board, as noted here, must be fitted to the Servomotor
flange. 30 to 750 W: t6
250 mm angle aluminium board or the above equivalent.
Torque and Rotation Speed Characteristics
Intermittent duty
Continuous duty
R88M-U03030HA R88M-U05030HA R88M-U10030HA
R88M-U20030HA R88M-U40030HA R88M-U75030HA
Intermittent duty
Continuous duty
Intermittent duty
Continuous duty
Intermittent duty
Continuous duty
Intermittent duty
Continuous duty
Intermittent duty
Continuous duty
100 VAC Specifications (With 3-m Standard Cable and 100-VAC Input)
R88M-U03030LA R88M-U05030LA R88M-U10030LA
R88M-U20030LA R88M-U30030LA
Intermittent duty
Continuous duty
Intermittent duty
Continuous duty
Intermittent duty
Continuous duty
Intermittent duty
Continuous duty
Intermittent duty
Continuous duty
Servo Driver Specifications
General Specifications (For 30- to 750-W Models)
Item Specifications
Operating ambient temperature 0°Cto55°C
Operating ambient humidity 35% to 85% RH (with no condensation)
Storage ambient temperature -- 10°Cto75°C
Storage ambient humidity 35% to 85% RH (with no condensation)
Storage and operating atmosphere No corrosive gasses.
Vibration resistance 10 to 55 Hz in X, Y, and Z directions with 0.10-mm double amplitude; acceleration: 0.5 G {4.9 m/s2} max.; time coefficient: 8 min; 4 sweeps
(See note 1.)
Impact resistance Acceleration2G{19.6m/s
2} max., in X, Y, and Z directions, three times
Insulation resistance Between power line terminals and case: 5 MΩmin. (at 1,000 VDC)
Dielectric strength Between power line terminals and case: 1,000 VAC for 1 min (20 mA max.) at 50/60 Hz
Protective structure Built into panel.
Note: 1. Vibration may be amplified due to sympathetic resonance of machinery, so use the Servomotor under conditions which will not exceed 0.5 G {4.9 m/s2} over a long
period of time.
2. The above items reflect individual evaluation testing. The results may differ under compounded conditions.
3. Absolutely do not conduct a withstand voltage test or other Megger tester tests on the Servo driver. If such tests are conducted, internal elements may be damaged.
4. Depending on the operating conditions, some Servo Driver parts will require maintenance. Refer to the relevant operation manual for details.
Performance Specifications (30- to 750-W Analog Input Models)
Model 200 V 100 V
M
o
d
e
l
R88D
-UA02HA R88D
-UA03HA R88D
-UA04HA R88D
-UA08HA R88D
-UA12HA R88D
-UA20HA R88D
-UA03LA R88D
-UA04LA R88D
-UA10LA R88D
-UA12LA R88D
-UA15LA
Continuous output current
(0-P) 0.6 A 0.85 A 1.2 A 2.8 A 3.7 A 6.2 A 0.9 A 1.3 A 3.1 A 3.8 A 4.8 A
Momentary maximum
output current (0-P) 1.8 A 2.7 A 4.0 A 8.5 A 11.3 A 19.7 A 2.8 A 4.1 A 10 A 12 A 15 A
Input power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz
Control method All-digital servo
Speed feedback Incremental encoder (magnetic), 2,048 pulses/revolution
Applicable load inertia
INC (see note) Maximum of 30 times motor’s rotor inertia Maximum of 20 times
motor’s rotor inertia Maximum of 30 times motor’s rotor inertia Maximum
of 20
times mo-
tor’s rotor
inertia
Inverter method PWM method based on IGBT
PWM frequency 11 kHz 7.8 kHz 11 kHz 7.8 kHz
Applicable Servomotor
INC (see note) R88M-
U03030H
A
R88M-
U05030HA R88M-
U10030HA R88M-
U20030HA R88M-
U40030HA R88M-
U75030HA R88M-
U03030LA R88M-
U05030LA R88M-
U10030LA R88M-
U20030LA R88M-
U30030LA
Applicable Servomotor
wattage 30 W 50 W 100 W 200 W 400 W 750 W 30 W 50 W 100 W 200 W 300 W
Weight Approx. 0.9 kg Approx.
1.2 kg Approx.
1.5 kg Approx. 0.9 kg Approx.
1.2 kg Approx.
1.5 kg
Capacity Speed
control range 1:5000
Speed
fluctuation
rate (load
character--
istic)
0.01% at 0 to 100% (at rated rotation speed)
Speed
fluctuation
rate (voltage
character--
istic)
0% at input voltage of 170 to 253 VAC 0% at input voltage of 85 to 127 VAC
Speed
fluctuation
rate
(tempera--
ture
character--
istic)
±0.2% max. at 0 to 50°C
Frequency
character--
istics
250 Hz (at the same load as the rotor inertia)
Torque
control
reprodu-
cibility
±2.0%
Accelera--
tion time
setting
0 to 10 s (Acceleration and deceleration times are set separately)
(This table continues on the next page.)
Servo Driver Specifications
Specifications Table -- continued from previous page
Input
signal Speed
command
voltage
±2 to 10 VDC (motor rotation by +command) / rated rotation speed
Input impedance: Approx. 30 kΩ; circuit time constant: Approx. 47 µs
Torque
command
voltage
±1 to 10 VDC / rated torque
Input impedance: Approx. 30 kΩ; circuit time constant: Approx. 47 µs
Sequence
input Run command, gain deceleration, forward/reverse current limit, forward/reverse drive prohibit, alarm reset, 24-VDC, 5-mA photocoupler input, external
power supply: 24±1 VDC, 50 mA min.
Output
signal Position
feedback
output
A-, B-, Z-phase line driver output (EIA RS-422A)
A-phase and B-phase (dividing rate setting): 16 to N pulses/revolution, N=2,048 (incremental)
Z-phase: 1 pulse/revolution
Speed
monitor
output
0.5 V/1000 r/min
Current
monitor
output
0.5 V/100%
Sequence
output Alarm output, alarm code output, motor rotation detection, brake interlock, speed conformity, open collector output, 30 VDC, 50 mA (except for alarm
code output, which is 30 VDC, 20 mA)
Dynamic brake stopping Operates when the power supply turns off, a servo alarm is generated or an overrun occurs.
Protective functions Overcurrent, grounding, overload, overvoltage, overspeeding, A/D errors, transmission errors, encoder errors, overrun prevention
Note: INC: Servomotor with Incremental Encoder attached.
Performance Specifications (30- to 750-W Pulse Train Input Models)
Model 200 V 100 V
M
o
d
e
l
R88D
-UP02HA R88D
-UP03HA R88D
-UP04HA R88D
-UP08HA R88D
-UP12HA R88D
-UP20HA R88D
-UP03LA R88D
-UP04LA R88D
-UP10LA R88D
-UP12LA R88D
-UP15LA
Continuous output
current (0-P) 0.6 A 0.85 A 1.2 A 2.8 A 3.7 A 6.2 A 0.9 A 1.3 A 3.1 A 3.8 A 4.8 A
Momentary maximum
output current (0-P) 1.8 A 2.7 A 4.0 A 8.5 A 11.3 A 19.7 A 2.8 A 4.1 A 10 A 12 A 15 A
Input power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz
Control method All-digital servo
Speed feedback Incremental encoder (magnetic), 2,048 pulses/revolution
Applicable load inertia Maximum of 30 times motor’s rotor inertia Maximum of 20 times
motor’s rotor inertia Maximum of 30 times motor’s rotor inertia Maximum
of 20
times
motor’s
rotor
inertia
Inverter method PWM method based on IGBT
PWM frequency 11 kHz 7.8 kHz 11 kHz 7.8 kHz
Applicable Servomotor R88M-
U03030HA R88M-
U05030HA R88M-
U10030HA R88M-
U20030HA R88M-
U40030HA R88M-
U75030HA R88M-
U03030LA R88M-
U05030LA R88M-
U10030LA R88M-
U20030LA R88M-
U30030LA
Applicable Servomotor
wattage 30 W 50 W 100 W 200 W 400 W 750 W 30 W 50 W 100 W 200 W 300 W
Weight Approx. 0.9 kg Approx.
1.2 kg Approx.
1.5 kg Approx. 0.9 kg Approx.
1.2 kg Approx.
1.5 kg
Capacity Maximum
response
pulse
frequency
200 kpps
Position
loop gain 1to500(1/s)
Electrical
gear
function
Electrical gear ratio range: 0.01
(G1/G2)
100 (G1, G2 = 1 to 65, 535)
Positioning
completed
width
0 to 250 (command units)
Feed
forward
compen-
sation
0 to 100% of the speed command (pulse frequency)
Bias
setting 0 to 450 r/min
Position
accel/
decel time
constant
setting
0 to 64 ms (acceleration and deceleration are set the same)
(This table continues on the next page.)
Servo Driver Specifications
Specifications Table -- continued from previous page
Input signal Position
command
pulse input
(See note.)
TTL line driver input photo isolation input power supply 6 mA to 3 V. Feed pulse/forward, reverse signal, forward pulse/reverse pulse,
90
disparity (A-, B-phase) signal.
Deviation
counter
reset
TTL line driver input photo isolation input power supply 6 mA to 3 V.
Sequence
input Run command, gain deceleration, forward/reverse current limit, forward/reverse drive prohibit, alarm reset, 24-VDC, 5-mA photocoupler input,
external power supply: 24±1 VDC, 50 mA min.
Output signal Position
feedback
output
A-, B-, Z-phase line driver output (EIA RS-422A)
A-phase and B-phase (dividing rate setting): 16 to 2,048 pulses/revolution
Z-phase: 1 pulse/revolution
Speed
monitor
output
0.5 V/1000 r/min
Current
monitor
output
0.5 V/100%
Sequence
output Alarm output, alarm code output, motor rotation detection, brake interlock, positioning complete, open collector output, 30 VDC, 50 mA (except for
alarm code output, which is 30 VDC, 20 mA)
Dynamic brake stopping Operates when the power supply turns off, a servo alarm is generated or an overrun occurs.
Protective functions Overcurrent, grounding, overload, overvoltage, overspeeding, overrun prevention, transmission errors, encoder errors, deviation counter overrun
TIL,T
IH ≥2.5 µs
Note: Ensure that the input pulse width meets the following conditions.
U-Series Servomotors and Servo Drivers Are
UL and cUL Approved
Standard Model Applicable Standard File No.
UL AC Servo Driver UL508C E179149
AC Servomotor UL1004 E179189
cUL AC Servo Driver cUL C22.2 No. 14 E179149
AC Servomotor cUL C22.2 No. 100 E179189
Options Specifications
Regeneration Unit Specifications (For
30- to 750-W Models)
General Specifications
Item Specifications
Operating ambient
temperature 0°Cto55°C
Storage ambient
temperature -- 10 °Cto75°C
Operating ambient
humidity 35% to 85% RH (with no condensation)
Storage ambient humidity 35% to 85% RH (with no condensation)
Storage and operating
atmosphere No corrosive gasses.
Vibration resistance 0.5 G {4.9 m/s2}max.
Impact resistance Acceleration2G{19.6m/s
2}max.
Performance Specifications
Model R88A-RG08U
Regeneration operating
voltage 380 VDC
Regeneration processing
current 8A
DC
Average regeneration
power 12 W (internal resistance: 50 Ω,60W)
Error detection function Regeneration resistance disconnection,
regeneration transistor damage, overvoltage
Alarm output 1b contact (open contact at time of protective
function operation)
(200 VAC drive possible.)
Weight Approx. 1 kg
Indicator LED Specifications
Item Specifications
POWER Lit while power flows through PN terminal.
REGEN Lit during regeneration operation.
ALARM-REGEN Lit for regeneration resistance disconnection or
regeneration transistor damage.
ALARM-OV Lit when overvoltage occurs.
Note: 1. When the error detection function operates, an alarm is
output from the Unit.
2. Create a sequence so that the power supply (R--T) to
the Servo Driver is cut off when an alarm is generated.
3. When the error detection function operates and the Servo
Driver’s power supply is cut off, the Regeneration Unit
won’t be restored to its normal status until 2 to 3 seconds
have elapsed, even if the power supply is turned on
again. (Normal status is restored after the electrolytic
capacitor in the Servo Driver has been discharged and
the voltage between signals P and N drops.)
Parameter Unit Specifications
General Specifications
Item Specifications
Operating ambient
temperature 0°Cto55°C
Storage ambient
temperature -- 10 °Cto75°C
Operating ambient
humidity 35% to 85% RH (with no condensation)
Storage ambient humidity 35% to 85% RH (with no condensation)
Storage and operating
atmosphere No corrosive gasses.
Vibration resistance 0.5 G {4.9 m/s2}max.
Impact resistance Acceleration2G{19.6m/s
2}max.
Performance Specifications
Item R88A-PR02U R88A-PR03U
Type Handy type Mounted type
Accessory cable 1m (Connected by con-
nectors.)
Connectors 7910-7500SC (10 pins) D sub-connector
(9 pins)
Display 7-segment LED, 5 digits
Weight Approx. 0.18 kg Approx. 0.02 kg
Commu-
i
t
i
Standard RS-232C RS-422A
C
o
u
nications
specifi-
c
a
t
i
o
n
s
Communica-
tions method Asynchronous (ASYNC)
ca
t
i
ons Baud rate 2,400 bps
Start bits 1bit
Data 8bits
Parity None
Stop bits 1bit
Errors detected by
Parameter Unit Dis-
play CPF00 Cannot transmit even after 5
seconds have elapses since
power supply was turned on.
CPF01 A BCC error or faulty recep-
tion data has occurred for five
consecutive times, or a time
overrun (1 s) has occurred for
three consecutive times.
External Dimensions
Unit: mm
AC Servomotors
•30 to 100 W INC
30 W R88M-U03030HA/U03030LA
50 W R88M-U05030HA/U05030LA
100 W R88M-U10030HA/U10030LA
Model LLL S
R88M-U03030HA 94.5 69.5 6
R88M-U03030LA
R88M-U05030HA 102 77 6
R88M-U05030LA
R88M-U10030HA 119.
5
94.5 8
R88M-U10030LA 5
•30 to 100 W INC With B
30 W R88M-U03030HA-
B/U03030LA-B
50 W R88M-U05030HA-
B/U05030LA-B
100 W R88M-U10030HA-
B/U10030LA-B
Model LLL LB S
R88M-U03030HA-B 126 101 31.5 6
R88M-U03030LA-B
R88M-U05030HA-B 133.5 108.5 31.5 6
R88M-U05030LA-B
R88M-U10030HA-B 160 135 40.5 8
R88M-U10030LA-B
•200 to 400 W INC
200 W R88M-U20030HA/U20030LA
300 W R88M-U30030LA
400 W R88M-U40030HA
Model LLL
R88M-U20030HA 126.5 96.5
R88M-U20030LA
R88M-U30030LA 154.5 124.5
R88M-U40030HA
Note: INC : Incremental Encoder Attached
With B :Withbrakes
Encoder plug
Motor plug
30h7 dia.
Sh6 dia. Two, 4.3-mm dia.
holes
Radius at
4 corners: 3.7
46 dia.
14 dia.
18
Encoder plug
Motor plug
30h7 dia.
Sh6 dia.
Two, 4.3-mm dia.
holes
Radius at
4 corners: 3.7
46 dia.
14 dia.
Encoder plug
Motor plug
50h7 dia.
14h6 dia.
Four, 5.5-mm dia.
holes
Radius at
4 corners: 5.3
70 dia.
14 dia.
External Dimensions
Unit: mm
•200 to 400 W INC With B
200 W R88M-U20030HA-
B/U20030LA-B
300 W R88M-U30030LA-B
400 W R88M-U40030HA-B
Model LLL
R88M-U20030HA-B 166 136
R88M-U20030LA-B
R88M-U30030LA-B 194 164
R88M-U40030HA-B
•750 W INC
R88M-U75030HA
•750 W INC With B
R88M-U75030HA-B
Note: INC : Incremental Encoder Attached With B :Withbrake
50h7 dia.
14h6 dia.
Four, 5.5-mm dia.
holes
Radius at
4 corners: 5.3
70 dia.
Encoder plug
Motor plug
14 dia.
70h7 dia.
16h6 dia.
Four, 7-mm dia.
holes
Radius at
4 corners: 8.2
90 dia.
Encoder plug
Motor plug
14 dia.
70h7 dia.
16h6 dia.
Four, 7-mm dia.
holes
Radius at
4 corners: 8.2
90 dia.
Encoder plug
Motor plug
14 dia.
External Dimensions
Unit: mm
AC Servo Drivers
•200 VAC, 30 to 200 W
R88D-UA02HA/UA03HA/UA04HA/
UA08HA
R88D-UP02HA/UP03HA/UP04HA/
UP08HA
•100 VAC, 30 to 100 W
R88D-UA03LA/UA04LA/UA10LA
R88D-UP03LA/UP04LA/UP10LA
•200 VAC, 400 W
R88D-UA12HA
R88D-UP12HA
•100 VAC, 200 W
R88D-UA12LA
R88D-UP12LA
•200 VAC, 750 W
R88D-UA20HA
R88D-UP20HA
•100 VAC, 300 W
R88D-UA15LA
R88D-UP15LA
Two, 6-mm dia.
holes
4
160
Two, 6-mm dia.
holes
4
Two, 6-mm dia.
holes
Radius at
2 corners: 3
External Dimensions
Unit: mm
Regeneration Unit
•R88A-RG08UA
6dia.
Parameter Units
•R88A-PR02U •R88A-PR03U
Two, 4.5-mm dia.
holes 54
57.5
15 6.9
Terminal and Connector Functions (30 to 750 W)
Terminal Block Specifications
Signal Name Function
R
TPower supply
input Power input terminal for the main
circuit and control circuit. (The
voltage differs according to the
model type.)
P
NMain circuit DC
output These are the connection terminals
for the Regeneration Unit
(R88A-RG08U).
Connect these when the
regeneration energy is high.
UServomotor
U-phase output Red These are the terminals for
outputs to the Servomotor.
VServomotor
V-phase output White
WServomotor
W-phase output Blue
Frame ground Green This is the connection
terminal.Useaclass-3or
higher ground.
It is used in common for
Servomotor output and
power supply input.
Encoder Input CN2
(Incremental Encoder)
Pin
no. Signal Name Interface
1, 2, 3 E0V Encoder power
supply GND Power supply outlet
for encoder: 5 V,
120 mA.
4, 5, 6 E5V Encoder power
supply +5 V
7DIR Rotation direction
switch input Connects to GND
when reverse
rotation is executed
by + input.
8, 9,
10, 11,
12, 13
NC Not used Do not connect.
14 S+ Encoder + S-phase
input Line driver input
(conforming to EIA
R
S
4
2
2
A
)
(
I
t
15 S-- Encoder -- S-phase
input
(
g
RS-422A) (Input
impedance: 220 Ω)
16 A+ Encoder + A-phase
input Line driver input
(conforming to EIA
R
S
4
2
2
A
)
(
I
t
17 A-- Encoder -- A-phase
input
(
g
RS-422A) (Input
impedance: 220 Ω)
18 B+ Encoder + B-phase
input Line driver input
(conforming to EIA
R
S
4
2
2
A
)
(
I
t
19 B-- Encoder -- B-phase
input
(
g
RS-422A) (Input
impedance: 220 Ω)
20 FG Shielded ground Cable shielded
ground.
Terminal
block
Power supply
indicator
Alarm indicator
CN3: Parameter
Unit connector
CN1: Control I/O
connector
CN2: Encoder
connector
Terminal and Connector Functions (30 to 750 W)
Control Input CN1 (Analog Input/Pulse Train Input)
Pin no. Signal Name Function, Interface Specified driver
type:
A: R88D-UA
P: R88D-UP
1TREF Torque command
input ±1to±10 V / rated torque
Changeable by means of user parameter Cn-13 torque
d
l
A
2AGND Torque command
input ground
g
y
q
command scale.
3REF Speed command
input ±2to±10 V / rated torque
Changeable by means of user parameter Cn-03 speed
d
l
4AGND Speed command
input ground
g
y
command scale.
5-- -- Do not connect.
6-- --
1+PULS/CW/A Feed pulse, reverse
pulse, or 90
phase
d
i
f
f
l
Line driver input 6 mA to 3 V.
S
e
t
u
pp
a
r
a
m
e
t
e
r
C
n
-
0
2
b
i
t
s
3
,
4
,
a
n
d
5
a
l
l
o
w
f
e
e
d
P
2--PULS/CW/A
,
difference pulse
(A-phase)
S
e
t
u
a
r
a
m
e
t
e
r
C
n
-
0
2
b
i
t
s
3
,
4
,
a
n
d
5
a
l
l
o
w
f
e
e
d
pulse/forward, reverse signal, forward pulse/reverse
pulse,
9
0
h
d
i
f
f
l
(
A
B
h
)
i
l
(
X
1
X
2
3+SIGN/CCW/B Forward/reverse
signal, forward
rotation pulse, or
,
90
phase difference pulse (A-, B-phase) signal (X1, X2,
X4) to be switched.
Maximum response frequency: 200 kpps
4--SIGN/CCW/B
r
o
t
a
t
i
o
n
u
l
s
e
,
o
r
90
phase
difference pulse
(B-phase)
M
a
x
i
m
u
m
r
e
s
o
n
s
e
f
r
e
q
u
e
n
c
y
:
2
0
0
k
s
5+ECRST + deviation counter
reset Line driver input 6 mA to 3 V. Resets the deviation counter
when command input is prohibited.
6--ECRST -- deviation counter
reset
11 PCL/SPD1 Forward rotation
current limit input /
Speed selection
command 1 input
Forward/reverse rotation current limit (PCL/NCL) when
setup parameter Cn-02 bit no. 2 = 0.
(ON: Current limit)
I
n
t
e
r
n
a
l
s
e
t
t
i
n
g
s
p
e
e
d
(
C
n
-
1
F
,
2
0
,
2
1
)
s
e
l
e
c
t
o
r
s
w
i
t
c
h
A/P
12 NCL/SPD2 Forward rotation
current limit input /
Speed selection
command 2 input
I
n
t
e
r
n
a
l
s
e
t
t
i
n
g
s
p
e
e
d
(
C
n
-
1
F
,
2
0
,
2
1
)
s
e
l
e
c
t
o
r
s
w
i
t
c
h
when setup parameter Cn-02 bit no. 2 = 1.
13 +24VIN +24-V power supply
input for control DC Power supply for pin nos. 11, 12, 14, 15, 16, 17, 18; +24-V
input A/P
14 RUN Run command input ON: Servo ON, when setup parameter Cn-01 bit no. 0 = 0.
When setup parameter Cn-01 bit no. 0 = 1, this signal is
not used. (Automatically set to Servo ON.)
A/P
15
(See
t
h
MING/PLOCK
TVSEL/RDIR Gain deceleration
input ON: Decrease speed loop gain, when setup parameter
Cn-01bitnos.b,A=0,0. A
(
the
next
page
for
m
o
r
e
Position lock
command input When setup parameter Cn-01 bit nos. b, A = 0, 1, then,
when this bit is ON, position lock goes in effect if the motor
rotation speed is no more than the position lock rotation
speed (Cn-0F).
m
o
r
e
info on
this Pin
No.)
Torque / Speed
control switch input When setup parameter Cn-01 bit nos. b, A = 1, 1, then,
when this bit is ON, the mode changes from the torque
command (TREF) mode to the speed command (REF)
mode. When in torque command mode, speed command
(REF) inputs become forward/reverse rotation speed
limits.
Rotation direction
command inputs When setup parameter Cn-02 bit no. 2 = 1, this is the
rotation direction command for internal speed settings
1to3.
(This table continues on the next page.)
Terminal and Connector Functions (30 to 750 W)
Specifications Table -- continued from previous page
Pin no. Signal Name Function, Interface Specified driver
type:
A: R88D-UA
P: R88D-UP
15
(Prior
page
h
MING/IPG/RDIR Gain deceleration
input When setup parameter Cn-02 bit no. 2 = 0 and setup
parameter Cn-01 bit no. F = 0 then, when this bit is ON,
speed loop gain decreases.
P
g
has
other
info on
t
h
i
s
p
i
n
Pulse prohibit When setup parameter Cn-02 bit no. 2 = 0 and setup
parameter Cn-01 bit no. F = 1 then, when this bit is ON,
input command pulse is prohibited.
t
h
i
s
p
i
n
no.) Rotation direction
command input When setup parameter Cn-02 bit no. 2 = 1, this is the
rotation direction command for internal speed settings
1to3.
16 POT Forward drive
prohibit input Forward rotation overtravel input (OFF when prohibited).
When setup parameter Cn-01 bit no. 2 = 1, this signal is
not used.
A/P
17 NOT Reverse drive
prohibit input Reverse rotation overtravel input (OFF when prohibited).
When setup parameter Cn-01 bit no. 3 = 1, this signal is
not used.
A/P
18 RESET Alarm reset input ON: Servo alarm status is reset. A/P
28 -- -- Do not connect --
29 -- --
Note: Those input specifications which are not recorded in the above table are 5 mA for 24 V power supply input.
CN1: Control Output (Analog Input/Pulse Train Input)
Pin no. Signal Name Function, Interface Specified driver
type:
A: R88D-UA
P: R88D-UP
7BKIR Brake interlock
output Outputs external brake interlock signal. (See Note.) A/P
8VCMP Speed conformity
output Output when the Servomotor rotation speed conforms to
the speed command. (See Note.) A
INP Positioning
completed output Turned ON when the pulse count remaining in the
deviation counter is equal to or less than the positioning
completed range set in user parameter Cn-1b. (See Note.)
P
9TGON/CLIMT Servomotor rotation
detection output When setup parameter Cn-01 bit no. 4 = 0, this turns ON if
the Servomotor rotation speed exceeds the value set for
the Servomotor rotation detection speed (Cn-0b).
(See Note.)
A/P
Current limit
detection output When bit 4 of setup parameter Cn-01 is set to “1,” the
CLIMT signal will turned ON in any of the following 3
cases:
The output torque reaches the value set for the torque
limit (Cn-08, -09)
The forward/reverse rotation current limit (PCL/NCL) is
ON and the output torque reaches the external current
limit set in Cn-18 or Cn-19.
When the forward/reverse rotation power supply limit is
OFF, and the output torque reaches the torque limit set in
Cn-08, -09. (See Note.)
10 OGND Output ground
common Output ground common for BKIR, VCMP, INP,
TGON/CLIMT A/P
19 EGND Encoder signal
output GND This is the ground for encoder signal outputs. A/P
20 +A Encoder + A-phase
input Outputs encoder pulses divided according to user
parameter Cn-0A. Line driver output (conforming to
R
S
4
2
2
A
)
A/P
21 -- A Encoder -- A-phase
input
(
g
RS-422A).
(This table continues on the next page.)
Terminal and Connector Functions (30 to 750 W)
Specifications Table -- continued from previous page
Pin no. Signal Name Function, Interface Specified driver
type:
A: R88D-UA
P: R88D-UP
22 -- B Encoder -- B-phase
input Outputs encoder pulses divided according to user
parameter Cn-0A. Line driver output (conforming to
R
S
4
2
2
A
)
A/P
23 +B Encoder + B-phase
input
(
g
RS-422A).
24 +Z Encoder + Z-phase
input Encoder Z-phase output (1 pulse/revolution). Line driver
output (conforming to RS-422A). A/P
25 -- Z Encoder + Z-phase
input
(
g
)
26 -- -- Do not connect. --
27 -- --
30 ALO1 Alarm code output 1 When an alarm is generated for the Servo Driver, the
contents of the alarm are output in code. Open collector
output:
30 VDC, 20 mA max.
A/P
31 ALO2 Alarm code output 2 When an alarm is generated for the Servo Driver, the
contents of the alarm are output in code. Open collector
output:
30 VDC, 20 mA max.
A/P
32 ALO3 Alarm code output 3 When an alarm is generated for the Servo Driver, the
contents of the alarm are output in code. Open collector
output:
30 VDC, 20 mA max.
A/P
33 ALOCOM Alarm code output
GND When an alarm is generated for the Servo Driver, the
contents of the alarm are output in code. Open collector
output:
30 VDC, 20 mA max.
A/P
34 ALM Alarm output When an alarm is generated for the Servo Driver, the
t
t
i
O
F
F
O
l
l
t
t
t
(
S
N
t
)
A/P
35 ALMCOM Alarm output GND
g
,
output is OFF. Open collector output. (See Note.) A/P
36 FG Frame ground Ground terminal for shield wire of cable and FG line. A/P
Note: These functions are open collector output 30 V/50 mA maximum.
Special Cables
R88A-CRUC Encoder Cables
For connection between a U-series AC Servomotor Encoder
Connector and a Servo Driver.
R88D-U-series
AC Servo Driver R88M-U-series
AC Servomotor
Model Specifications
R88A-CRU

CFor a Servomotor with 30- to 750-W
incremental encoder attached.
Note: The three blank squares in the model number are for the
cable length. The length will be3, 5, 10, 15 or 20 m. Forex-
ample, for a 3-m cable it would be: R88A-CRU003C.
R88A-CAU Power Cables
For connection between a U-series Servomotor Power Connector
and a Servo Driver.
R88D-U-series
AC Servo Driver R88M-U-series
AC Servomotor
Model Specifications
R88A-CAU

SFor a Servomotor without brakes with
30 to 750 W capabilities.
R88A-CAU

BFor a Servomotor with brakes with 30
to 750 W capabilities.
Note: The three blank squares in the model number are for the
cable length. The length will be3, 5, 10, 15 or 20 m. Forex-
ample, for a 3-m cable it would be: R88A-CAU003S.
R88A-CNU Connector for the
Control Cable
Since the ConnectorfortheControlCableisnot attached,besure to
purchase a connector kit, use a special control cable, or use a
general-purpose control cable.
Sumitomo 3M
Model Specifications
R88A-CNU01C For a 30- to 750-W Servo Driver
(Half-pitch 36P)
R88A-CPUMConnecting
Cables for a CV500-MC221/421
C200H-MC221 Motion Control Unit
For connection between the Motion Control Unit and U-series AC
Servomotor.
CV500-MC221/421
C200H-MC221
Motion Control Unit
R88D-U-series
AC Servo Driver
Model Specifications
R88A-CPU

M1 For 1
axis For a 30- to 750-W Servo
Driver.
R88A-CPU

M2 For 2
axes For a 30- to 750-W Servo
Driver.
Note: The three blank squares in the model number are for the
cable length. The length will be 1 or 2 m. For example, for a
1-m cable it would be: R88A-CPU001M1.
R88A-CPUS General-purpose
Control Cable
For connection between a SYSMAC Position Control Unit or a
general controller and a U-series AC Servo Driver.
Position Control Unit
or General Controller R88D-U-series
AC Servo Driver
Model Specifications
R88A-CPU

SFor a 30 to 750 W Servo Driver.
Note: The three blank squares in the model number are for the
cable length. The length will be 1 or 2 m. For example, for a
1-m cable it would be: R88A-CPU001S.
Model Number Legend
AC Servomotors
R88M-U10030H- Motor shaft status
Blank: Thrust axis (standard)
S1: With Key
With or without brakes
Blank: Without brakes
B: With brakes
Design changes
A: Design changes log (latest version)
Servomotor power supply specifications,
Encoder specifications
H: 200 VAC, with Incremental Encoder
L: 100 VAC, with Incremental Encoder
T: 200 VAC, with an Absolute Encoder
Rated rotation speed
30: 3000 r/min
Servomotor capacity
(Example) 050: 50 W; 100: 100 W
U-series model
Servomotor code
AC Servo Drivers
R88D-UA02HDesign changes
A: Design changes log (latest version)
Servo Driver power supply specifications
H: 200-VAC power supply inputs
L: 100-VAC power supply inputs
Maximum output current
(Example) 02: 2 A; 12: 12A
Input command signal specifications
A: Analog inputs
P: Pulse train inputs
U-series model
Servo Driver code
Standard Models
AC Servomotor
(Incremental Encoder Attached)
Specifications Model
Straight
i
i
t
h
Servo-
t
For 200 VAC 30 W R88M-U03030HA
S
a
g
axis with
n
o
k
e
y
S
e
o
motor
w
i
t
h
o
u
t
o
0
0
C
50 W R88M-U05030HA
no
k
ey w
i
t
h
ou
t
brakes 100 W R88M-U10030HA
b
r
a
k
e
s
200 W R88M-U20030HA
400 W R88M-U40030HA
750 W R88M-U75030HA
For 100 VAC 30 W R88M-U03030LA
o
0
0
C
50 W R88M-U05030LA
100 W R88M-U10030LA
200 W R88M-U20030LA
300 W R88M-U30030LA
Servo-
t
For 200 VAC 30 W R88M-U03030HA-B
S
e
o
motor
w
i
t
h
o
0
0
C
50 W R88M-U05030HA-B
w
i
t
h
brakes 100 W R88M-U10030HA-B
b
r
a
k
e
s
200 W R88M-U20030HA-B
400 W R88M-U40030HA-B
750 W R88M-U75030HA-B
For 100 VAC 30 W R88M-U03030LA-B
o
0
0
C
50 W R88M-U05030LA-B
100 W R88M-U10030LA-B
200 W R88M-U20030LA-B
300 W R88M-U30030LA-B
Straight
i
i
t
h
Servo-
t
For 200 VAC 30 W R88M-U03030HA-S1
S
a
g
axis with
k
e
y
S
e
o
motor
w
i
t
h
o
u
t
o
0
0
C
50 W R88M-U05030HA-S1
k
ey w
i
t
h
ou
t
brakes 100 W R88M-U10030HA-S1
b
r
a
k
e
s
200 W R88M-U20030HA-S1
400 W R88M-U40030HA-S1
750 W R88M-U75030HA-S1
For 100 VAC 30 W R88M-U03030LA-S1
o
0
0
C
50 W R88M-U05030LA-S1
100 W R88M-U10030LA-S1
200 W R88M-U20030LA-S1
300 W R88M-U30030LA-S1
Servo-
t
For 200 VAC 30 W R88M-U03030HA-BS1
S
e
o
motor
w
i
t
h
o
0
0
C
50 W R88M-U05030HA-BS1
w
i
t
h
brakes 100 W R88M-U10030HA-BS1
b
r
a
k
e
s
200 W R88M-U20030HA-BS1
400 W R88M-U40030HA-BS1
750 W R88M-U75030HA-BS1
For 100 VAC 30 W R88M-U03030LA-BS1
o
0
0
C
50 W R88M-U05030LA-BS1
100 W R88M-U10030LA-BS1
200 W R88M-U20030LA-BS1
300 W R88M-U30030LA-BS1
AC Servo Driver
Specifications Model
Analog Input
M
d
l
For 200 VAC 30 W R88D-UA02HA
a
o
g
u
Models
(
I
n
c
r
e
m
e
n
t
a
l
o
0
0
C
50 W R88D-UA03HA
(
I
ncremen
t
a
l
Encoder) 100 W R88D-UA04HA
E
n
c
o
d
e
r
)
200 W R88D-UA08HA
400 W R88D-UA12HA
750 W R88D-UA20HA
For 100 VAC 30 W R88D-UA03LA
o
0
0
C
50 W R88D-UA04LA
100 W R88D-UA10LA
200 W R88D-UA12LA
300 W R88D-UA15LA
Pulse Train
I
t
M
d
l
For 200 VAC 30 W R88D-UP02HA
u
s
e
a
Input Models
(
I
n
c
r
e
m
e
n
t
a
l
o
0
0
C
50 W R88D-UP03HA
(
I
ncremen
t
a
l
Encoder) 100 W R88D-UP04HA
E
n
c
o
d
e
r
)
200 W R88D-UP08HA
400 W R88D-UP12HA
750 W R88D-UP20HA
For 100 VAC 30 W R88D-UP03LA
o
0
0
C
50 W R88D-UP04LA
100 W R88D-UP10LA
200 W R88D-UP12LA
300 W R88D-UP15LA
AC Servomotor
(Absolute Encoder Attached)
Specifications Model
Straight
i
Servomotor
i
t
h
t
For
2
0
0
30 W R88M-U03030TA
S
a
g
axis
w
i
t
h
n
o
S
e
o
o
o
without
b
r
a
k
e
s
o
200
V
A
C
50 W R88M-U05030TA
w
i
t
h
no
key
b
ra
k
es
V
A
C
100 W R88M-U10030TA
k
e
y
200 W R88M-U20030TA
400 W R88M-U40030TA
750 W R88M-U75030TA
Servomotor
i
t
h
b
k
For
2
0
0
30 W R88M-U03030TA-B
S
e
o
o
o
with brakes
o
200
V
A
C
50 W R88M-U05030TA-B
V
A
C
100 W R88M-U10030TA-B
200 W R88M-U20030TA-B
400 W R88M-U40030TA-B
750 W R88M-U75030TA-B
Standard Models
Parameter Units
Specifications Model
Hand-held type R88A-PR02U
Mounted type R88A-PR03U
Regeneration Unit
Specifications Model
Regeneration processing current 8 ADC R88A-RG08UA
Encoder Cables
Specifications Model
For 30 to
7
5
0
W
For Servomotors
i
t
h
3m R88A-CRU003C
o
3
0
o
750 W
o
S
e
o
o
o
s
with an
I
n
c
r
e
m
e
n
t
a
l
5m R88A-CRU005C
I
ncremen
t
a
l
Encoder
(
C
10 m R88A-CRU010C
E
n
c
o
d
e
r
(Connectors on
e
a
c
h
s
i
d
e
)
15 m R88A-CRU015C
eac
h
s
i
d
e
)
20 m R88A-CRU020C
For Servomotors
i
t
h
A
b
l
t
3m R88A-CSU003C
o
S
e
o
o
o
s
with an Absolute
E
n
c
o
d
e
r
5m R88A-CSU005C
E
nco
d
er
(Connectors on
h
i
d
)
10 m R88A-CSU010C
(
C
o
n
n
e
c
t
o
r
s
o
n
each side) 15 m R88A-CSU015C
20 m R88A-CSU020C
Power Cables
Specifications Model
For 30 to
7
5
0
W
For Servomotors
i
t
h
t
b
k
3m R88A-CAU003S
o
3
0
o
750 W
o
S
e
o
o
o
s
without brakes 5m R88A-CAU005S
10 m R88A-CAU010S
15 m R88A-CAU015S
20 m R88A-CAU020S
For Servomotors
i
t
h
b
k
3m R88A-CAU003B
o
S
e
o
o
o
s
with brakes 5m R88A-CAU005B
10 m R88A-CAU010B
15 m R88A-CAU015B
20 m R88A-CAU020B
Special Control Cables
Specifications Model
For 30 to
750 W For the
CV500-MC221/
C
V
5
0
0
-
M
C
4
2
1
/
F
or
1
1m R88A-CPU001M1
C
V
500-
M
C
421
/
C200H-MC221
Motion Control Unit
(
C
o
n
n
e
c
t
o
r
s
o
n
1
ax
is 2m R88A-CPU002M1
(Connectors on
each side) F
or
2
1m R88A-CPU001M2
2
ax
es 2m R88A-CPU002M2
General-purpose Control Cables
Specifications Model
For 30 to
7
5
0
W
For a general-purpose
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r
(
C
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e
c
t
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1m R88A-CPU001S
750 W controller (Connector
on one side) 2m R88A-CPU002S
Connector for the Control Cable
Specifications Model
For 30 to 750 W (Sumitomo 3M: Half pitch
36P) R88A-CNU01C
Connectors and Terminal Blocks (30-
to 750-W Servo Drivers)
Specifications Model
Terminal Block Connector XW2B-40F5-P
Conversion Cables for
C
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T
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l
C
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U
i
t
1m R88A-CTU001N
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o
C
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b
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s
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Connector--Terminal Conversion Unit 2m R88A-CTU002N
Front Panel Mounting Brackets
(30- to 750-W Servo Drivers)
Specifications Model
200 VAC: 30 to 400 W
100 VAC: 30 to 200 W For Servo Drivers R88A-TK01U
200 VAC: 750 W
100 VAC: 300 W For Servo Drivers R88A-TK02U
Note: For information on any products which are not listed here,
contact your local sales office.
Important Information
Cat. No. GCSMD1 10/98 Specifications subject to change without notice. Printed in U.S.A.
OMRON ELECTRONICS, INC.
OneEastCommerceDrive
Schaumburg, IL 60173
NOTE: DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters to inches divide by 25.4.
1-800-55-OMRON
OMRON CANADA, INC.
885 Milner Avenue
Scarborough, Ontario M1B 5V
8
416-286-6465
NOTICE
Before using the product under the conditions listed below
,consult your OMRON representative; makesure
that the ratings and performance characteristics of the product are appropriate for the systems machines, or
equipment; and, ensure that you have provided the systems, machines, or equipment with double safety
mechanisms.
1. Applications under conditions or environments not specified in the manual.
2. Applicationsfornuclearreactorcontrol,trainfacilities,aviationfacilities,motorizedvehicles,furnaces,medical
equipment, amusement equipment, and safety equipment.
3. Applications strongly related to human life or property, particularly those requiring safety.
ATTENTION
You must read the relevant user’s manuals
carefully before attempting to operate any
of the equipment described in this catalog.