R88M-G05030T-OS2 - Omron Automation and Safety

Cat. No. I562-E1-03

USER’S MANUAL

OMNUC G SERIES

R88M-G@

(AC Servomotors)

R88D-GT@

(AC Servo Drives)

AC SERVOMOTORS/SERVO DRIVES

Trademarks and Copyrights

•

 OMRON, 2008

form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permis-

sion 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 chang

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 informa-

tion contained in this

ublication.

Product names and system names in this manual are trademarks or registered trademarks of their

respective companies.

Introduction

Thank you for choosing the OMNUC G Series. This User’s Manual describes installation/wiring

methods and parameter setting procedures required for the operation of the OMNUC G Series as

well as troubleshooting and inspection methods.

Intended Readers

This manual is intended for the following personnel.

Those with knowledge of electrical systems (a qualified electrical engineer or the equivalent) as

follows:

• Personnel in charge of introducing FA equipment

• Personnel in charge of designing FA systems

• Personnel in charge of managing FA systems and facilities

NOTICE

This manual contains information necessary to ensure safe and proper use of the OMNUC G Series

and its peripheral devices. Please read this manual thoroughly and understand its contents before

using the products.

Please keep this manual handy for future reference.

Make sure this User’s Manual is delivered to the actual end user of the products.

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

NON-INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE

PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS

DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR

INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.

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.

Read and Understand This Manual

Application Considerations

Disclaimers

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.

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.

Read and Understand This Manual

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.

Precautions for Safe Use

To ensure safe and proper use of the OMNUC G Series and its peripheral devices, read the “Precautions for

Safe Use” and the rest of the manual thoroughly to acquire sufficient knowledge of the devices, safety

information, and precautions before using the products.

Make sure this User’s Manual is delivered to the actual end users of the products.

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

Explanation of Signal Words

The precautions indicated here provide important information for safety. Be sure to heed the information

provided with the precautions.

The following signal words are used to indicate and classify precautions in this manual.

Failure to heed the precautions classified as “Caution” may also lead to serious results. Always

heed these precautions.

Safety Precautions

This manual may include illustrations of the product with protective covers or shields removed in order to show

the components of the product in detail. Make sure that these protective covers and shields are put in place as

specified before using the product.

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

Always connect the frame ground terminals of the Servo Drive and the Servomotor to 100 Ω

or less.

Incorrect grounding may result in electric shock.

Do not touch the inside of the Servo Drive.

Doing so may result in electric shock.

When turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN)

at the same time. Residual voltage may cause the Servomotor to continue rotating and result

in injury or equipment damage even if the main circuit power supply is turned OFF externally,

e.g., with an emergency stop.

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

Caution

Indicates a potentially hazardous situation which, if not

avoided, could result in death or serious injury.

Additionally, there may be severe property damage.

Indicates a potentially hazardous situation which, if not

avoided, may result in minor or moderate injury, or property

damage.

WARNING

Precautions for Safe Use

Installation, operation, maintenance, or inspection must be performed by authorized

personnel.

Not doing so may result in electric shock or injury.

Wiring or inspection must not be performed for at least 15 minutes after turning OFF the

power supply.

Doing so may result in electric shock.

Do not damage or pull on the cables, place heavy objects on them, or subject them to

excessive stress.

Doing so may result in electric shock, stopping product operation, or burning.

Do not touch the rotating parts of the Servomotor during operation.

Doing so may result in injury.

Do not modify the product.

Doing so may result in injury or damage to the product.

Provide a stopping mechanism on the machine to ensure safety.

*The holding brake is not designed as a stopping mechanism for safety purposes.

Not doing so may result in injury.

Provide an external emergency stopping mechanism that can stop operation and shut off the

power supply immediately.

Not doing so may result in injury.

Do not come close to the machine immediately after resetting momentary power interruption

to avoid an unexpected restart.

Doing so may result in injury.

Take appropriate measures to secure safety against an unexpected restart.

Confirm safety after an earthquake has occurred.

Failure to do so may result in electric shock, injury, or fire.

Do not use external force to drive the Servomotor.

Doing so may result in fire.

Precautions for Safe Use

Storage and Transportation Precautions

Do not place any flammable materials near the Servomotor, Servo Drive, or Regeneration

Resistor.

Doing so may result in fire.

Mount the Servomotor, Servo Drive, and Regeneration Resistor on metal or other non-

flammable materials.

Failure to do so may result in fire.

Do not frequently and repeatedly turn the main power supply ON and OFF.

Doing so may result in product failure.

Use the Servomotors and Servo Drives in a specified combination.

Using them incorrectly may result in fire or damage to the products.

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 outside the specified range.

• Locations subject to humidity outside the specified range.

• 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 exposure to water, oil, or chemicals.

• Locations subject to shock or vibration.

Do not touch the Servo Drive radiator, Servo Drive regeneration resistor, or Servomotor

while the power is being supplied or soon after the power is turned OFF.

Doing so may result in burn injuries.

Do not hold the product by the cables or motor shaft while transporting it.

Doing so may result in injury or malfunction.

Do not place any load exceeding the figure indicated on the product.

Doing so may result in injury or malfunction.

Use the motor eye-bolts only for transporting the Servomotor.

Using them for transporting the machinery may result in injury or malfunction.

WARNING

Caution

Precautions for Safe Use

Installation and Wiring Precautions

Do not step on or place a heavy object on the product.

Doing so may result in injury.

Do not cover the inlet or outlet ports and prevent any foreign objects from entering the

product.

Covering them or not preventing entry of foreign objects may result in fire.

Be sure to install the product in the correct direction.

Not doing so may result in malfunction.

Provide the specified clearances between the Servo Drive and the control panel or with other

devices.

Not doing so may result in fire or malfunction.

Do not subject Servomotor shaft or Servo Drive to strong impacts.

Doing so may result in malfunction.

Be sure to wire correctly and securely.

Not doing so may result in motor runaway, injury, or malfunction.

Be sure that all the mounting screws, terminal screws, and cable connector screws are

tightened properly.

Incorrect tightening torque may result in malfunction.

Use crimp terminals for wiring.

Do not connect bare stranded wires directly to the protective ground terminal.

Doing so may result in burning.

Always use the power supply voltage specified in the User’s Manual.

An incorrect voltage may result in malfunction or burning.

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 equipment damage.

Install external breakers and take other safety measures against short-circuiting in external

wiring.

Insufficient safety measures against short-circuiting may result in burning.

Take appropriate and sufficient shielding measures 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.

Connect an emergency stop cutoff relay in series with the brake control relay.

Failure to do so may result in injury or product failure.

Do not reverse the polarity of the battery when connecting it.

Reversing the polarity may damage the battery or cause it to explode.

Caution

Precautions for Safe Use

Operation and Adjustment Precautions

Maintenance and Inspection Precautions

Confirm that no adverse effects will occur in the system before performing the test operation.

Not doing so may result in equipment damage.

Check the newly set parameters for proper operation before actually running them.

Not doing so may result in equipment damage.

Do not make any extreme adjustments or setting changes.

Doing so may result in unstable operation and injury.

Separate the Servomotor from the machine, check for proper operation, and then connect to

the machine.

Not doing so may cause injury.

When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then

resume operation.

Not doing so may result in injury.

Do not use the built-in brake of the Servomotor for ordinary braking.

Doing so may result in malfunction.

Do not operate the Servomotor connected to a load that exceeds the applicable load

moment of inertia.

Doing so may result in malfunction.

Resume operation only after transferring to the new Unit the contents of the data required

for operation.

Not doing so may result in equipment damage.

Do not attempt to disassemble or repair any of the products.

Any attempt to do so may result in electric shock or injury.

Caution

Precautions for Safe Use

Warning Label Position

Warning labels are located on the product as shown in the following illustration.

Be sure to follow the instructions given there.

Warning Label Contents

Disposing of the Product

• Dispose of the batteries according to local ordinances and regulations. Wrap the batteries in tape

or other insulative material before disposing of them.

• Dispose of the product as industrial waste.

(R88D-GT01H)

Location of warning label

Items to Check When Unpacking

Check the following items after removing the product from the package.

• Has the correct product been delivered?

• Has the product been damaged in shipping?

Accessories Provided with Product

Safety Precautions document × 1

• No connectors or mounting screws are provided. They have to be prepared by the user.

• Should you find any problems (missing parts, damage to the Servo Drive, etc.), please contact

your local sales representative or OMRON sales office.

Understanding Servo Drive Model Numbers

The model number provides information such as the Servo Drive type, the applicable Servomotor

capacity, and the power supply voltage.

R88D-GT01H

OMNUC G-Series

Servo Drive

Drive Type

T: Three-mode type

Power Supply Voltage

L: 100 VAC

H: 200 VAC

Applicable Servomotor Capacity

: 50 W

01: 100 W

02: 200 W

04: 400 W

08: 750 W

10: 1 kW

15: 1.5 kW

20: 2 kW

30: 3 kW

50: 5 kW

75: 7.5 kW

Items to Check When Unpacking

Understanding Servomotor Model Numbers

R88M-GP10030H-BOS2

G-Series

Servomotor

Servomotor Capacity

Rated Rotation Speed

Motor Type

Blank: Cylinder type

P: Flat type

050:

100:

200:

400:

750:

900:

1K0:

1K5:

2K0:

3K0:

4K0:

4K5:

5K0:

6K0:

7K5:

10:

15:

20:

30:

50 W

100 W

200 W

400 W

750 W

900 W

1 kW

1.5 kW

2 kW

3 kW

4 kW

4.5 kW

5 kW

6 kW

7.5 kW

1,000 r/min

1,500 r/min

2,000 r/min

3,000 r/min

Applied Voltage

200 VAC with incremental encoder specifications

100 VAC with incremental encoder specifications

200 VAC with absolute encoder specifications

100 VAC with absolute encoder specifications

Option

Blank: Straight shaft

S2:

With brake

With oil seal

With key and tap

Items to Check When Unpacking

Understanding Decelerator Model Numbers (Backlash = 3' Max.)

R88G-HPG14A05100PBJ

Decelerator for

G-Series Servomotors

Applicable Servomotor Capacity

050

100

200

400

750

900

1K0

1K5

2K0

3K0

4K0

4K5

5K0

6K0

7K5

: 50 W

:100 W

:200 W

:400 W

:750 W

:900 W

:1 kW

:1.5 kW

:2 kW

:3 kW

:4 kW

:4.5 kW

:5 kW

:6 kW

:7.5 kW

Backlash = 3’ Max.

Gear Ratio

:1/5

:1/9 (only frame number 11A)

:1/11 (except frame number 65A)

:1/12 (only frame number 65A)

:1/20 (only frame number 65A)

:1/21 (except frame number 65A)

:1/25 (only frame number 65A)

:1/33

:1/45

Flange Size Number

11B

14A

20A

32A

50A

65A

:@40

:@60

:@90

:@120

:@170

:@230

Motor Type

Blank

:3,000-r/min cylindrical Servomotors

:flat Servomotors

:2,000-r/min Servomotors

:1,000-r/min Servomotors

Backlash

B :3’ max.

Option

Blank

:Straight shaft

:With key and tap

Items to Check When Unpacking

Understanding Decelerator Model Numbers (Backlash = 15' Max.)

R88G-VRSF09B100PCJ

Applicable Servomotor Capacity

050

100

200

400

750

: 50 W

:100 W

:200 W

:400 W

:750 W

Option

J :With key

Backlash

C :15’ max.

Motor Type

Blank

:3,000-r/min cylindrical Servomotors

:flat Servomotors

Decelerator for

G-Series Servomotors

Backlash = 15’ Max.

Gear Ratio

:1/5

:1/9

:1/15

:1/25

Flange Size Number

:@52

:@78

:@98

About This Manual

This manual consists of the following chapters. Refer to this table and chose the required chapters

of the manual.

Overview

Chapter 1 Features and System

Configuration

Describes the features and names of parts of the product as well

as the EC Directives and the UL standards.

Chapter 2 Standard Models and

Dimensions

Provides the model numbers, external and mounting hole dimen-

sions for Servo Drives, Servomotors, Decelerators, and peripheral

devices.

Chapter 3 Specifications

Provides the general specifications, characteristics, connector

specifications, and I/O circuit specifications for Servo Drives, and

the general specifications and characteristics for Servomotors, as

well as specifications for accessories such as encoders.

Chapter 4 System Design

Describes the installation conditions for Servo Drives, Servomo-

tors, and Decelerators, EMC conforming wiring methods, calcula-

tions of regenerative energy, and performance information on the

External Regeneration Resistor.

Chapter 5 Operating Functions Describes the control functions, parameter settings, and operation.

Chapter 6 Operation Describes operating procedures and operating methods for each

mode.

Chapter 7 Adjustment Functions Describes gain adjustment functions, setting methods, and precau-

tions.

Chapter 8 Troubleshooting

Describes items to check for troubleshooting, error diagnoses us-

ing alarm LED displays and the countermeasures, error diagnoses

based on the operation status and the countermeasures, and peri-

odic maintenance.

Chapter 9 Appendix Provides examples of connections with OMRON PLCs and Posi-

tion Controllers, and the parameter tables.

Table of Contents

Introduction ...................................................................................... 1

Read and Understand This Manual .................................................2

Precautions for Safe Use................................................................. 5

Items to Check When Unpacking ....................................................11

About This Manual...........................................................................15

Chapter 1 Features and System Configuration

1-1 Overview........................................................................................... 1-1

1-2 System Configuration ....................................................................... 1-2

1-3 Names of Parts and Functions ......................................................... 1-3

1-4 System Block Diagrams ................................................................... 1-5

1-5 Applicable Standards........................................................................ 1-10

Chapter 2 Standard Models and Dimensions

2-1 Standard Models .............................................................................. 2-1

2-2 External and Mounting Hole Dimensions ......................................... 2-25

Chapter 3 Specifications

3-1 Servo Drive Specifications................................................................ 3-1

3-2 Servomotor Specifications................................................................ 3-32

3-3 Decelerator Specifications................................................................ 3-47

3-4 Cable and Connector Specifications ................................................ 3-57

3-5 Servo Relay Units and Cable Specifications .................................... 3-99

3-6 Parameter Unit Specifications .......................................................... 3-129

3-7 External Regeneration Resistor Specifications ................................ 3-130

3-8 Reactor Specifications...................................................................... 3-131

Chapter 4 System Design

4-1 Installation Conditions ...................................................................... 4-1

4-2 Wiring ............................................................................................... 4-11

4-3 Wiring Conforming to EMC Directives.............................................. 4-27

4-4 Regenerative Energy Absorption...................................................... 4-45

Chapter 5 Operating Functions

5-1 Position Control ................................................................................ 5-1

5-2 Speed Control................................................................................... 5-3

5-3 Internally Set Speed Control............................................................. 5-5

5-4 Torque Control.................................................................................. 5-8

5-5 Switching the Control Mode.............................................................. 5-11

5-6 Forward and Reverse Drive Prohibit ................................................ 5-14

5-7 Encoder Dividing .............................................................................. 5-15

5-8 Electronic Gear................................................................................. 5-16

5-9 Overrun Limit.................................................................................... 5-18

Table of Contents

5-10 Brake Interlock ................................................................................. 5-20

5-11 Gain Switching ................................................................................. 5-24

5-12 Torque Limit ..................................................................................... 5-25

5-13 Soft Start .......................................................................................... 5-27

5-14 Position Command Filter.................................................................. 5-28

5-15 Speed Limit ...................................................................................... 5-29

5-16 User Parameters .............................................................................. 5-30

Chapter 6 Operation

6-1 Operational Procedure ..................................................................... 6-1

6-2 Preparing for Operation.................................................................... 6-2

6-3 Using the Parameter Unit................................................................. 6-6

6-4 Setting the Mode .............................................................................. 6-7

6-5 Trial Operation ................................................................................. 6-28

Chapter 7 Adjustment Functions

7-1 Gain Adjustment............................................................................... 7-1

7-2 Realtime Autotuning......................................................................... 7-4

7-3 Normal Mode Autotuning ................................................................. 7-14

7-4 Disabling the Automatic Gain Adjustment Function ......................... 7-19

7-5 Manual Tuning ................................................................................. 7-21

Chapter 8 Troubleshooting

8-1 Error Processing .............................................................................. 8-1

8-2 Alarm Table...................................................................................... 8-3

8-3 Troubleshooting ............................................................................... 8-6

8-4 Overload Characteristics (Electronic Thermal Function).................. 8-20

8-5 Periodic Maintenance....................................................................... 8-21

Chapter 9 Appendix

9-1 Connection Examples ...................................................................... 9-1

9-2 Parameter Tables............................................................................. 9-11

Revision History...................................................................................... R-1

Chapter 1

Features and System Configuration

1-1 Overview ............................................................ 1-1

Overview of the G Series ......................................................1-1

Features of the G Series.......................................................1-1

1-2 System Configuration......................................... 1-2

1-3 Names of Parts and Functions........................... 1-3

Servo Drive Part Names .......................................................1-3

Servo Drive Functions...........................................................1-4

Forward and Reverse Motor Rotation...................................1-4

1-4 System Block Diagrams ..................................... 1-5

1-5 Applicable Standards ......................................... 1-10

EC Directives ........................................................................1-10

UL and CSA Standards.........................................................1-10

1-1

1-1 Overview

Features and System Configuration

1-1 Overview

Overview of the G Series

The OMNUC G Series has been developed for a wide range of applications with position control,

speed control, and torque control. The Series offers a wide variety of Servomotor capacities,

ranging from 50 W to 7.5 kW. Servomotors with 2,500-pulse incremental encoders and high-

resolution 17-bit absolute/incremental encoders are available as standard models.

The OMNUC G Series features realtime autotuning and adaptive filter functions that automatically

perform complicated gain adjustments. A notch filter can also be automatically set to suppress

machine vibration by reducing mechanical resonance during operation. The damping control

function of the OMNUC G Series realizes stable stopping performance in a mechanism which

vibrates because of the low rigidity of the load.

Features of the G Series

The OMNUC G Series has the following features.

High-speed Response

The G-Series AC Servomotors and Servo Drives have achieved high-speed response capabilities

exceeding OMRON’s W-Series models, with a high-response frequency of 1 kHz (compared to

400 Hz for the W Series).

Suppressing Vibration of Low-rigidity Mechanisms during Acceleration/

Deceleration

The damping control function suppresses vibration of low-rigidity mechanisms or devices whose

ends tend to vibrate. Two vibration filters are provided to enable switching the vibration frequency

automatically according to the direction of rotation and also via an external signal. In addition, the

settings can be made easily merely by just setting the vibration frequency and filter values, and you

are assured of stable operation even if the settings are inappropriate.

High-speed Positioning via Resonance Suppression Control

The realtime autotuning function automatically estimates the load inertia of the machine in realtime

and sets the optimal gain. The adaptive filter automatically suppresses vibration caused by

resonance. Also, two independent notch filters make it possible to reduce vibration of a mechanism

with multiple resonance frequencies.

Command Control Mode Switching

Operation can be performed by switching between two of the following control modes: Position

control, speed control (including internal speed) and torque control. Therefore, a variety of

applications can be supported by one Servo Drive.

Simplified Speed Control with Internal Speed Settings

Eight internal speed settings allow you to change the speed easily by using external signals.

1-2

1-2 System Configuration

Features and System Configuration

1-2 System Configuration

Servomotors with absolute encoders can be used in combination with CS1W-MC221/421(-V1)

Motion Control Units.

INC

ABS

Controller with Voltage Output

Flexible Motion Controller

SYSMAC PLC and Position Control Unit

with pulse output functions

SYSMAC CS-series

Programmable

Controller

SYSMAC CJ/CS-series

Programmable

Controller

Motion Control Unit

CS1W-MC221/421(-V1) Analog voltage

OMNUC G-Series

AC Servo Drive

R88D-G@

Pulse

string

OMNUC G-Series

AC Servomotor

R88M-G@

FQM1-MMA22

FQM1-MMP22

Position Control Unit

CJ1W-NC113/213/413

CJ1W-NC133/233/433

CS1W-NC113/213/413

CS1W-NC133/233/433

C200HW-NC113/213/413

1-3

1-3 Names of Parts and Functions

Features and System Configuration

1-3 Names of Parts and Functions

Servo Drive Part Names

Unit No. switch

Check pin (G: GND)

RS-485

Communications connector

(CN3A)

RS-232

Communications connector/

Parameter Unit connector

(CN3B)

Analog monitor 1 check pin (IM)

Analog monitor 2 check pin (SP)

External Regeneration Resistor

connection terminals

(B1, B2, B3)

Display area

Settings area

Encoder connector (CN2)

Control I/O connector (CN1)

Servomotor connection terminals

(U, V, W)

Protective ground terminals

Main-circuit power terminals

(L1, L2, L3)

Control-circuit power terminals

(L1C, L2C)

1-4

1-3 Names of Parts and Functions

Features and System Configuration

Servo Drive Functions

Display Area

A 6-digit 7-segment LED display shows the Servo Drive status, alarm codes, parameters, and other

information.

Check Pins (IM, SP, and G)

The actual Servomotor speed, command speed, torque, and number of accumulated pulses can be

measured based on the analog voltage level by using an oscilloscope. The type of signal to output

and the output voltage level are set in the SP Selection (Pn07) and IM Selection (Pn08) parameters.

For details, refer to 5-16 User Parameters on page 5-30.

Unit No. Switch

The Servo Drive number in serial communications is set to a value from 0 to F. This number is used

to identify which Servo Drive the computer is accessing in RS-232/485 communications between

multiple Servo Drives and a computer.

Forward and Reverse Motor Rotation

When the motor output shaft is viewed from the end,

counterclockwise (CCW) rotation is forward and clockwise

(CW) rotation is reverse.

Forward (CCW)

Reverse (CW)

1-5

1-4 System Block Diagrams

Features and System Configuration

1-4 System Block Diagrams

R88D-GTA5L/-GT01L/-GT02L/-GTA5H/-GT01H/-GT02H/-GT04H

+E5V

Internal

control

power

supply

CN3A

connector

CN3B

connector

MPU & ASIC

Position, speed, and torque processor,

PWM control

Control I/O interface

Encoder

communications

interface

Display/

setting circuits

E5V

Over-

current

detection

Regene-

rative

control

CN2 encoder signal connector

SW power

supply

Main circuit

control

Relay

drive Gate drive

Current

detection

CN1 control I/O connector

Voltage

detec-

tion

RS-232

interface

RS-485

interface

RS-

485

1-6

1-4 System Block Diagrams

Features and System Configuration

R88D-GT04L/-GT08H/-GT10H/-GT15H

E5V

+E5V

CN3A

connector CN3B

connector

MPU & ASIC

Position, speed, and torque processor,

PWM control

Control I/O interface

Encoder

communications

interface

Display/

setting circuits

Internal regeneration resistor

Over-

current

detection

Regene-

rative

control

CN2 encoder signal connector

SW power

supply

Main circuit

control

Relay

drive Gate drive

Current

detection

CN1 control I/O connector

Cooling fan

(except for the

R88D-GT04L/-GT08H)

Voltage

detec-

tion

Internal

control

power

supply

RS-232

interface

RS-485

interface

RS-

485

1-7

1-4 System Block Diagrams

Features and System Configuration

R88D-GT20H

+E5V

Terminals Terminals

CN3A

connector CN3B

connector

MPU & ASIC

Position, speed, and torque processor,

PWM control

Control I/O interface

Encoder

communications

interface

Display/

setting circuits

Internal regeneration resistor

Regene-

rative

control

CN2 encoder signal connector

SW power

supply

Main circuit

control

Relay

drive Gate drive

Current

detection

CN1 control I/O connector

Cooling fan

Voltage

detection

Internal

control

power

supply

RS-232

interface

RS-485

interface

RS-

485

E5V

1-8

1-4 System Block Diagrams

Features and System Configuration

R88D-GT30H/GT50H

E5V

+E5V

Terminals Terminals

CN3A

connector CN3B

connector

MPU & ASIC

Position, speed, and torque processor,

PWM control

Control I/O interface

Encoder

communications

interface

Display/

setting circuits

Internal regeneration resistor

Regene-

rative

control

CN2 encoder signal connector

SW power

supply

Main circuit

control

Relay

Gate drive Gate drive

Current

detection

CN1 control I/O connector

Cooling fan

Voltage

detection

Internal

control

power

supply

RS-232

interface

RS-485

interface

RS-

485

1-9

1-4 System Block Diagrams

Features and System Configuration

R88D-GT75H

E5V

+E5V

Terminals Terminals

CN3A

connector CN3B

connector

MPU & ASIC

Position, speed, and torque processor,

PWM control

Control I/O interface

Encoder

communications

interface

Display/

setting circuits

Regene-

rative

control

CN2 encoder signal connector

SW power

supply

Main circuit

control

Relay

Gate drive Gate drive

Current

detection

CN1 control I/O connector

Cooling fan

Voltage

detection

Internal

control

power

supply

RS-232

interface

RS-485

interface

RS-

485

1-10

1-5 Applicable Standards

Features and System Configuration

1-5 Applicable Standards

EC Directives

Note To conform to EMC Directives, the Servomotor and Servo Drive must be installed under the conditions

described in Wiring Conforming to EMC Directives on page 4-27.

UL and CSA Standards

*1 UL approval is pending for Servomotor capacities of 6 to 7.5 kW.

EC Directive Product Applicable standards Comments

Low Voltage

Directive

AC Servo Drive EN 50178 Safety requirements for electrical equipment for

measurement, control, or laboratory use

AC Servomotor IEC 60034-1/-5 Rotating electrical machines

EMC Directive AC Servo Drive and

AC Servomotor

EN 55011 Class A Group1

Limits of radio disturbance and measurement

methods for industrial, scientific, and medical

radio-frequency equipment

EN 61000-6-2 Electromagnetic compatibility (EMC) Immunity

standard for industrial environments

IEC 61000-4-2 Electrostatic discharge immunity testing

IEC 61000-4-3 Radio frequency radiation field immunity testing

IEC 61000-4-4 Electrical fast transient burst immunity testing

IEC 61000-4-5 Lightning surge immunity testing

IEC 61000-4-6 High-frequency conduction immunity testing

IEC 61000-4-11 Momentary power interruption immunity testing

Standard Product Applicable standards File number Comments

standard

AC Servo Drive UL 508C E179149 Power conversion equipment

AC Servomotor *1 UL1004 E179189 Electric motor

CSA

standard AC Servomotors*1 CSA22.2 No.100 E179189 Motor and generator

Chapter 2

Standard Models and Dimensions

2-1 Standard Models ................................................ 2-1

Servo Drives .........................................................................2-1

Servomotors..........................................................................2-2

Servo Drive-Servomotor Combinations ................................2-5

Decelerators..........................................................................2-7

Accessories and Cables .......................................................2-14

2-2 External and Mounting Hole Dimensions ........... 2-25

Servo Drives .........................................................................2-25

Servomotors..........................................................................2-35

Parameter Unit Dimensions ..................................................2-45

Servomotor and Decelerator Combinations..........................2-46

Decelerator Dimensions........................................................2-49

External Regeneration Resistor Dimensions ........................2-63

Reactor Dimensions..............................................................2-64

2-1

2-1 Standard Models

Standard Models and Dimensions

2-1 Standard Models

Servo Drives

Specifications Model

Single-phase 100 VAC

50 W R88D-GTA5L

100 W R88D-GT01L

200 W R88D-GT02L

400 W R88D-GT04L

Single-phase 200 VAC

50 W R88D-GT01H

100 W

200 W R88D-GT02H

400 W R88D-GT04H

Single-phase/three-phase 200 VAC

750 W R88D-GT08H

1 kW R88D-GT10H

900 W

R88D-GT15H1 kW

1.5 kW

Three-phase 200 VAC

2 kW R88D-GT20H

2 kW R88D-GT30H

3 kW

R88D-GT50H

4 kW

4.5 kW

5 kW

6 kW R88D-GT75H

7.5 kW

2-2

2-1 Standard Models

Standard Models and Dimensions

Servomotors

3,000-r/min Servomotors

Note Models with oil seals are also available.

Specifications

Model

With incremental encoder With absolute encoder

Straight shaft without

key

Straight shaft with key

and tap

Straight shaft without

key

Straight shaft with key

and tap

With-

out

brake

100 V

50 W R88M-G05030H R88M-G05030H-S2 R88M-G05030T R88M-G05030T-S2

100 W R88M-G10030L R88M-G10030L-S2 R88M-G10030S R88M-G10030S-S2

200 W R88M-G20030L R88M-G20030L-S2 R88M-G20030S R88M-G20030S-S2

400 W R88M-G40030L R88M-G40030L-S2 R88M-G40030S R88M-G40030S-S2

200 V

50 W R88M-G05030H R88M-G05300H-S2 R88M-G05030T R88M-G05030T-S2

100 W R88M-G10030H R88M-G10030H-S2 R88M-G10030T R88M-G10030T-S2

200 W R88M-G20030H R88M-G20030H-S2 R88M-G20030T R88M-G20030T-S2

400 W R88M-G40030H R88M-G40030H-S2 R88M-G40030T R88M-G40030T-S2

750 W R88M-G75030H R88M-G75030H-S2 R88M-G75030T R88M-G75030T-S2

1 kW --- --- R88M-G1K030T R88M-G1K030T-S2

1.5 kW --- --- R88M-G1K530T R88M-G1K530T-S2

2 kW --- --- R88M-G2K030T R88M-G2K030T-S2

3 kW --- --- R88M-G3K030T R88M-G3K030T-S2

4 kW --- --- R88M-G4K030T R88M-G4K030T-S2

5 kW --- --- R88M-G5K030T R88M-G5K030T-S2

With

brake

100 V

50 W R88M-G05030H-B R88M-G05030H-BS2 R88M-G05030T-B R88M-G05030T-BS2

100 W R88M-G10030L-B R88M-G10030L-BS2 R88M-G10030S-B R88M-G10030S-BS2

200 W R88M-G20030L-B R88M-G20030L-BS2 R88M-G20030S-B R88M-G20030S-BS2

400 W R88M-G40030L-B R88M-G40030L-BS2 R88M-G40030S-B R88M-G40030S-BS2

200 V

50 W R88M-G05030H-B R88M-G05030H-BS2 R88M-G05030T-B R88M-G05030T-BS2

100 W R88M-G10030H-B R88M-G10030H-BS2 R88M-G10030T-B R88M-G10030T-BS2

200 W R88M-G20030H-B R88M-G20030H-BS2 R88M-G20030T-B R88M-G20030T-BS2

400 W R88M-G40030H-B R88M-G40030H-BS2 R88M-G40030T-B R88M-G40030T-BS2

750 W R88M-G75030H-B R88M-G75030H-BS2 R88M-G75030T-B R88M-G75030T-BS2

1 kW --- --- R88M-G1K030T-B R88M-G1K030T-BS2

1.5 kW --- --- R88M-G1K530T-B R88M-G1K530T-BS2

2 kW --- --- R88M-G2K030T-B R88M-G2K030T-BS2

3 kW --- --- R88M-G3K030T-B R88M-G3K030T-BS2

4 kW --- --- R88M-G4K030T-B R88M-G4K030T-BS2

5 kW --- --- R88M-G5K030T-B R88M-G5K030T-BS2

2-3

2-1 Standard Models

Standard Models and Dimensions

3,000-r/min Flat Servomotors

Note Models with oil seals are also available.

2,000-r/min Servomotors

Note 1. Models with oil seals are also available.

Note 2. The rated rotation speed for 7.5-kW Servomotors is 1,500 r/min.

Specifications

Model

With incremental encoder With absolute encoder

Straight shaft without

key

Straight shaft with key

and tap

Straight shaft without

key

Straight shaft with key

and tap

With-

out

brake

100 V

100 W R88M-GP10030L R88M-GP10030L-S2 R88M-GP10030S R88M-GP10030S-S2

200 W R88M-GP20030L R88M-GP20030L-S2 R88M-GP20030S R88M-GP20030S-S2

400 W R88M-GP40030L R88M-GP40030L-S2 R88M-GP40030S R88M-GP40030S-S2

200 V

100 W R88M-GP10030H R88M-GP10030H-S2 R88M-GP10030T R88M-GP10030T-S2

200 W R88M-GP20030H R88M-GP20030H-S2 R88M-GP20030T R88M-GP20030T-S2

400 W R88M-GP40030H R88M-GP40030H-S2 R88M-GP40030T R88M-GP40030T-S2

With

brake

100 V

100 W R88M-GP10030L-B R88M-GP10030L-BS2 R88M-GP10030S-B R88M-GP10030S-BS2

200 W R88M-GP20030L-B R88M-GP20030L-BS2 R88M-GP20030S-B R88M-GP20030S-BS2

400 W R88M-GP40030L-B R88M-GP40030L-BS2 R88M-GP40030S-B R88M-GP40030S-BS2

200 V

100 W R88M-GP10030H-B R88M-GP10030H-BS2 R88M-GP10030T-B R88M-GP10030T-BS2

200 W R88M-GP20030H-B R88M-GP20030H-BS2 R88M-GP20030T-B R88M-GP20030T-BS2

400 W R88M-GP40030H-B R88M-GP40030H-BS2 R88M-GP40030T-B R88M-GP40030T-BS2

Specifications

Model

With absolute encoder

Straight shaft without

key

Straight shaft with key and

tap

With-

out

brake

200 V

1 kW R88M-G1K020T R88M-G1K020T-S2

1.5 kW R88M-G1K520T R88M-G1K520T-S2

2 kW R88M-G2K020T R88M-G2K020T-S2

3 kW R88M-G3K020T R88M-G3K020T-S2

4 kW R88M-G4K020T R88M-G4K020T-S2

5 kW R88M-G5K020T R88M-G5K020T-S2

7.5 kW R88M-G7K515T R88M-G7K515T-S2

With

brake 200 V

1 kW R88M-G1K020T-B R88M-G1K020T-BS2

1.5 kW R88M-G1K520T-B R88M-G1K520T-BS2

2 kW R88M-G2K020T-B R88M-G2K020T-BS2

3 kW R88M-G3K020T-B R88M-G3K020T-BS2

4 kW R88M-G4K020T-B R88M-G4K020T-BS2

5 kW R88M-G5K020T-B R88M-G5K020T-BS2

7.5 kW R88M-G7K515T-B R88M-G7K515T-BS2

2-4

2-1 Standard Models

Standard Models and Dimensions

1,000-r/min Servomotors

Note Models with oil seals are also available.

Specifications

Model

With absolute encoder

Straight shaft without key Straight shaft with key

and tap

With-

out

brake

200 V

900 W R88M-G90010T R88M-G90010T-S2

2 kW R88M-G2K010T R88M-G2K010T-S2

3 kW R88M-G3K010T R88M-G3K010T-S2

4.5 kW R88M-G4K510T R88M-G4K510T-S2

6 kW R88M-G6K010T R88M-G6K010T-S2

With

brake 200 V

900 W R88M-G90010T-B R88M-G90010T-BS2

2 kW R88M-G2K010T-B R88M-G2K010T-BS2

3 kW R88M-G3K010T-B R88M-G3K010T-BS2

4.5 kW R88M-G4K510T-B R88M-G4K510T-BS2

6 kW R88M-G6K010T-B R88M-G6K010T-BS2

2-5

2-1 Standard Models

Standard Models and Dimensions

Servo Drive-Servomotor Combinations

The tables in this section show the possible combinations of OMNUC G-Series Servo Drives and

Servomotors. The Servomotors and Servo Drives can only be used in the listed combinations. The

box (-@) at the end of the model number is for options, such as the shaft type, brake and

Decelerators.

3,000-r/min Servomotors and Servo Drives

3,000-r/min Flat Servomotors and Servo Drives

Voltage Servomotor Servo Drive

Rated output With incremental encoder With absolute encoder

100 V

50 W R88M-G05030H-@R88M-G05030T-@R88D-GTA5L

100 W R88M-G10030L-@R88M-G10030S-@R88D-GT01L

200 W R88M-G20030L-@R88M-G20030S-@R88D-GT02L

400 W R88M-G40030L-@R88M-G40030S-@R88D-GT04L

Single-

phase 200 V

50 W R88M-G05030H-@R88M-G05030T-@R88D-GT01H

100 W R88M-G10030H-@R88M-G10030T-@R88D-GT01H

200 W R88M-G20030H-@R88M-G20030T-@R88D-GT02H

400 W R88M-G40030H-@R88M-G40030T-@R88D-GT04H

Single-

phase/three-

phase 200 V

750 W R88M-G75030H-@R88M-G75030T-@R88D-GT08H

1 kW --- R88M-G1K030T-@R88D-GT15H

1.5 kW --- R88M-G1K530T-@R88D-GT15H

Three-phase

200 V

2 kW --- R88M-G2K030T-@R88D-GT20H

3 kW --- R88M-G3K030T-@R88D-GT30H

4 kW --- R88M-G4K030T-@R88D-GT50H

5 kW --- R88M-G5K030T-@R88D-GT50H

Voltage Servomotor Servo Drive

Rated output With incremental encoder With absolute encoder

100 V

100 W R88M-GP10030L-@R88M-GP10030S-@R88D-GT01L

200 W R88M-GP20030L-@R88M-GP20030S-@R88D-GT02L

400 W R88M-GP40030L-@R88M-GP40030S-@R88D-GT04L

Single-

phase 200 V

100 W R88M-GP10030H-@R88M-GP10030T-@R88D-GT01H

200 W R88M-GP20030H-@R88M-GP20030T-@R88D-GT02H

400 W R88M-GP40030H-@R88M-GP40030T-@R88D-GT04H

2-6

2-1 Standard Models

Standard Models and Dimensions

2,000-r/min Servomotors and Servo Drives

1,000-r/min Servomotors and Servo Drives

Voltage Servomotor Servo Drive

Rated output With absolute encoder

Single-phase/

three-phase 200 V

1 kW R88M-G1K020T-@R88D-GT10H

1.5 kW R88M-G1K520T-@R88D-GT15H

Three-phase

200 V

2 kW R88M-G2K020T-@R88D-GT20H

3 kW R88M-G3K020T-@R88D-GT30H

4 kW R88M-G4K020T-@R88D-GT50H

5 kW R88M-G5K020T-@R88D-GT50H

7.5 kW R88M-G7K515T-@R88D-GT75H

Voltage Servomotor Servo Drive

Rated output With absolute encoder

Single-phase/

three-phase 200 V 900 W R88M-G90010T-@R88D-GT15H

Three-phase 200 V

2 kW R88M-G2K010T-@R88D-GT30H

3 kW R88M-G3K010T-@R88D-GT50H

4.5 kW R88M-G4K510T-@R88D-GT50H

6 kW R88M-G6K010T-@R88D-GT75H

2-7

2-1 Standard Models

Standard Models and Dimensions

Decelerators

The following types of Decelerators are available for OMNUC G-Series Servomotors. Select a

Decelerator based on the Servomotor capacity.

Backlash = 3’ Max.

Decelerators for 3,000-r/min Servomotors

Specifications Model

Motor capacity Gear ratio

50 W

1/5 R88G-HPG11B05100B@

1/9 R88G-HPG11B09050B@

1/21 R88G-HPG14A21100B@

1/33 R88G-HPG14A33050B@

1/45 R88G-HPG14A45050B@

100 W

1/5 R88G-HPG11B05100B@

1/11 R88G-HPG14A11100B@

1/21 R88G-HPG14A21100B@

1/33 R88G-HPG20A33100B@

1/45 R88G-HPG20A45100B@

200 W

1/5 R88G-HPG14A05200B@

1/11 R88G-HPG14A11200B@

1/21 R88G-HPG20A21200B@

1/33 R88G-HPG20A33200B@

1/45 R88G-HPG20A45200B@

400 W

1/5 R88G-HPG14A05400B@

1/11 R88G-HPG20A11400B@

1/21 R88G-HPG20A21400B@

1/33 R88G-HPG32A33400B@

1/45 R88G-HPG32A45400B@

750 W

1/5 R88G-HPG20A05750B@

1/11 R88G-HPG20A11750B@

1/21 R88G-HPG32A21750B@

1/33 R88G-HPG32A33750B@

1/45 R88G-HPG32A45750B@

2-8

2-1 Standard Models

Standard Models and Dimensions

Note 1. The standard models have a straight shaft.

Note 2. Models with a key and tap are indicated with “J” at the end of the model number

(the suffix shown in the box). (Example: R88G-HPG11B05100BJ)

Specifications

Model

Motor

capacity Gear ratio

1 kW

1/5 R88G-HPG32A051K0B@

1/11 R88G-HPG32A111K0B@

1/21 R88G-HPG32A211K0B@

1/33 R88G-HPG32A331K0B@

1/45 R88G-HPG50A451K0B@

1.5 kW

1/5 R88G-HPG32A052K0B@

1/11 R88G-HPG32A112K0B@

1/21 R88G-HPG32A211K5B@

1/33 R88G-HPG50A332K0B@

1/45 R88G-HPG50A451K5B@

2 kW

1/5 R88G-HPG32A052K0B@

1/11 R88G-HPG32A112K0B@

1/21 R88G-HPG50A212K0B@

1/33 R88G-HPG50A332K0B@

3 kW

1/5 R88G-HPG32A053K0B@

1/11 R88G-HPG50A113K0B@

1/21 R88G-HPG50A213K0B@

4 kW 1/5 R88G-HPG32A054K0B@

1/11 R88G-HPG50A115K0B@

5 kW 1/5 R88G-HPG50A055K0B@

1/11 R88G-HPG50A115K0B@

2-9

2-1 Standard Models

Standard Models and Dimensions

Decelerators for 2,000-r/min Servomotors

Note 1. The standard models have a straight shaft.

Note 2. Models with a key and tap are indicated with “J” at the end of the model number

(the suffix shown in the box). (Example: R88G-HPG32A053K0BJ)

Specifications

Model

Motor

capacity Gear ratio

1 kW

1/5 R88G-HPG32A053K0B@

1/11 R88G-HPG32A112K0SB@

1/21 R88G-HPG32A211K0SB@

1/33 R88G-HPG50A332K0SB@

1/45 R88G-HPG50A451K0SB@

1.5 kW

1/5 R88G-HPG32A053K0B@

1/11 R88G-HPG32A112K0SB@

1/21 R88G-HPG50A213K0B@

1/33 R88G-HPG50A332K0SB@

2 kW

1/5 R88G-HPG32A053K0B@

1/11 R88G-HPG32A112K0SB@

1/21 R88G-HPG50A213K0B@

1/33 R88G-HPG50A332K0SB@

3 kW

1/5 R88G-HPG32A054K0B@

1/11 R88G-HPG50A115K0B@

1/21 R88G-HPG50A213K0SB@

1/25 R88G-HPG65A253K0SB@

4 kW

1/5 R88G-HPG50A054K0SB@

1/11 R88G-HPG50A114K0SB@

1/20 R88G-HPG65A204K0SB@

1/25 R88G-HPG65A254K0SB@

5 kW

1/5 R88G-HPG50A055K0SB@

1/11 R88G-HPG50A115K0SB@

1/20 R88G-HPG65A205K0SB@

1/25 R88G-HPG65A255K0SB@

7.5 kW 1/5 R88G-HPG65A057K5SB@

1/12 R88G-HPG65A127K5SB@

2-10

2-1 Standard Models

Standard Models and Dimensions

Decelerators for 1,000-r/min Servomotors

Note 1. The standard models have a straight shaft.

Note 2. Models with a key and tap are indicated with “J” at the end of the model number

(the suffix shown in the box). (Example: R88G-HPG32A05900TBJ)

Specifications

Model

Motor

capacity Gear ratio

900 W

1/5 R88G-HPG32A05900TB@

1/11 R88G-HPG32A11900TB@

1/21 R88G-HPG50A21900TB@

1/33 R88G-HPG50A33900TB@

2 kW

1/5 R88G-HPG32A052K0TB@

1/11 R88G-HPG50A112K0TB@

1/21 R88G-HPG50A212K0TB@

1/25 R88G-HPG65A255K0SB@

3 kW

1/5 R88G-HPG50A055K0SB@

1/11 R88G-HPG50A115K0SB@

1/20 R88G-HPG65A205K0SB@

1/25 R88G-HPG65A255K0SB@

4.5 kW

1/5 R88G-HPG50A054K5TB@

1/12 R88G-HPG65A127K5SB@

1/20 R88G-HPG65A204K5TB@

6 kW 1/5 R88G-HPG65A057K5SB@

1/12 R88G-HPG65A127K5SB@

2-11

2-1 Standard Models

Standard Models and Dimensions

Decelerators for 3,000-r/min Flat Servomotors

Note 1. The standard models have a straight shaft.

Note 2. Models with a key and tap are indicated with “J” at the end of the model number

(the suffix shown in the box). (Example: R88G-HPG11B05100PBJ)

Specifications Model

Motor capacity Gear ratio

100 W

1/5 R88G-HPG11B05100PB@

1/11 R88G-HPG14A11100PB@

1/21 R88G-HPG14A21100PB@

1/33 R88G-HPG20A33100PB@

1/45 R88G-HPG20A45100PB@

200 W

1/5 R88G-HPG14A05200PB@

1/11 R88G-HPG20A11200PB@

1/21 R88G-HPG20A21200PB@

1/33 R88G-HPG20A33200PB@

1/45 R88G-HPG20A45200PB@

400 W

1/5 R88G-HPG20A05400PB@

1/11 R88G-HPG20A11400PB@

1/21 R88G-HPG20A21400PB@

1/33 R88G-HPG32A33400PB@

1/45 R88G-HPG32A45400PB@

2-12

2-1 Standard Models

Standard Models and Dimensions

Backlash = 15’ Max.

Decelerators for 3,000-r/min Servomotors (Straight Shaft with Key)

Specifications Model

Motor capacity Gear ratio

50 W

1/5 R88G-VRSF05B100CJ

1/9 R88G-VRSF09B100CJ

1/15 R88G-VRSF15B100CJ

1/25 R88G-VRSF25B100CJ

100 W

1/5 R88G-VRSF05B100CJ

1/9 R88G-VRSF09B100CJ

1/15 R88G-VRSF15B100CJ

1/25 R88G-VRSF25B100CJ

200 W

1/5 R88G-VRSF05B200CJ

1/9 R88G-VRSF09C200CJ

1/15 R88G-VRSF15C200CJ

1/25 R88G-VRSF25C200CJ

400 W

1/5 R88G-VRSF05C400CJ

1/9 R88G-VRSF09C400CJ

1/15 R88G-VRSF15C400CJ

1/25 R88G-VRSF25C400CJ

750 W

1/5 R88G-VRSF05C750CJ

1/9 R88G-VRSF09D750CJ

1/15 R88G-VRSF15D750CJ

1/25 R88G-VRSF25D750CJ

2-13

2-1 Standard Models

Standard Models and Dimensions

Decelerators for 3,000-r/min Flat Servomotors (Straight Shaft with Key)

Specifications Model

Motor capacity Gear ratio

100 W

1/5 R88G-VRSF05B100PCJ

1/9 R88G-VRSF09B100PCJ

1/15 R88G-VRSF15B100PCJ

1/25 R88G-VRSF25B100PCJ

200 W

1/5 R88G-VRSF05B200PCJ

1/9 R88G-VRSF09C200PCJ

1/15 R88G-VRSF15C200PCJ

1/25 R88G-VRSF25C200PCJ

400 W

1/5 R88G-VRSF05C400PCJ

1/9 R88G-VRSF09C400PCJ

1/15 R88G-VRSF15C400PCJ

1/25 R88G-VRSF25C400PCJ

2-14

2-1 Standard Models

Standard Models and Dimensions

Accessories and Cables

Encoder Cables (Standard Cables)

Specifications Model

3,000-r/min Servomotors of 50 to 750 W with an absolute encoder,

3,000-r/min Flat Servomotors of 100 to 400 W with an absolute

encoder

3 m R88A-CRGA003C

5 m R88A-CRGA005C

10 m R88A-CRGA010C

15 m R88A-CRGA015C

20 m R88A-CRGA020C

30 m R88A-CRGA030C

40 m R88A-CRGA040C

50 m R88A-CRGA050C

3,000-r/min Servomotors of 50 to 750 W with an incremental

encoder,

3,000-r/min Flat Servomotors of 100 to 400 W with an incremental

encoder

3 m R88A-CRGB003C

5 m R88A-CRGB005C

10 m R88A-CRGB010C

15 m R88A-CRGB015C

20 m R88A-CRGB020C

30 m R88A-CRGB030C

40 m R88A-CRGB040C

50 m R88A-CRGB050C

3,000-r/min Servomotors of 1 to 5 kW,

2,000-r/min Servomotors of 1 to 5 kW,

1,500-r/min Servomotors of 7.5 kW,

1,000-r/min Servomotors of 900 W to 6 kW

3 m R88A-CRGC003N

5 m R88A-CRGC005N

10 m R88A-CRGC010N

15 m R88A-CRGC015N

20 m R88A-CRGC020N

30 m R88A-CRGC030N

40 m R88A-CRGC040N

50 m R88A-CRGC050N

2-15

2-1 Standard Models

Standard Models and Dimensions

Servomotor Power Cables (Standard Cables)

Specifications

Model

For Servomotor without

brake

For Servomotor with

brake

3,000-r/min Servomotors of 50 to 750 W,

3,000-r/min Flat Servomotors of 100 to

400 W

3 m R88A-CAGA003S ---

5 m R88A-CAGA005S ---

10 m R88A-CAGA010S ---

15 m R88A-CAGA015S ---

20 m R88A-CAGA020S ---

30 m R88A-CAGA030S ---

40 m R88A-CAGA040S ---

50 m R88A-CAGA050S ---

3,000-r/min Servomotors of 1 to 1.5 kW,

2,000-r/min Servomotors of 1 to 1.5 kW,

1,000-r/min Servomotors of 900 W

3 m R88A-CAGB003S R88A-CAGB003B

5 m R88A-CAGB005S R88A-CAGB005B

10 m R88A-CAGB010S R88A-CAGB010B

15 m R88A-CAGB015S R88A-CAGB015B

20 m R88A-CAGB020S R88A-CAGB020B

30 m R88A-CAGB030S R88A-CAGB030B

40 m R88A-CAGB040S R88A-CAGB040B

50 m R88A-CAGB050S R88A-CAGB050B

3,000-r/min Servomotors of 2 kW,

2,000-r/min Servomotors of 2 kW

3 m R88A-CAGC003S R88A-CAGC003B

5 m R88A-CAGC005S R88A-CAGC005B

10 m R88A-CAGC010S R88A-CAGC010B

15 m R88A-CAGC015S R88A-CAGC015B

20 m R88A-CAGC020S R88A-CAGC020B

30 m R88A-CAGC030S R88A-CAGC030B

40 m R88A-CAGC040S R88A-CAGC040B

50 m R88A-CAGC050S R88A-CAGC050B

3,000-r/min Servomotors of 3 to 5 kW,

2,000-r/min Servomotors of 3 to 5 kW,

1,000-r/min Servomotors of 2 to 4.5 kW

3 m R88A-CAGD003S R88A-CAGD003B

5 m R88A-CAGD005S R88A-CAGD005B

10 m R88A-CAGD010S R88A-CAGD010B

15 m R88A-CAGD015S R88A-CAGD015B

20 m R88A-CAGD020S R88A-CAGD020B

30 m R88A-CAGD030S R88A-CAGD030B

40 m R88A-CAGD040S R88A-CAGD040B

50 m R88A-CAGD050S R88A-CAGD050B

2-16

2-1 Standard Models

Standard Models and Dimensions

Note There are separate connectors for power and brakes for 3,000-r/min Servomotors of 50 to

750 W, Flat Servomotors, and Servomotors of 6 kW or higher. Therefore, when a

Servomotor with a brake is used, it will require both a Power Cable for a Servomotor without

a brake and a Brake Cable.

Specifications

Model

For Servomotor without

brake

For Servomotor with

brake

1,500-r/min Servomotors of 7.5 kW,

1,000-r/min Servomotors of 6 kW

3 m R88A-CAGE003S ---

5 m R88A-CAGE005S ---

10 m R88A-CAGE010S ---

15 m R88A-CAGE015S ---

20 m R88A-CAGE020S ---

30 m R88A-CAGE030S ---

40 m R88A-CAGE040S ---

50 m R88A-CAGE050S ---

2-17

2-1 Standard Models

Standard Models and Dimensions

Brake Cables (Standard Cables)

Specifications Model

3,000-r/min Servomotors of 50 to 750 W,

3,000-r/min Flat Servomotors of 100 to 400 W

3 m R88A-CAGA003B

5 m R88A-CAGA005B

10 m R88A-CAGA010B

15 m R88A-CAGA015B

20 m R88A-CAGA020B

30 m R88A-CAGA030B

40 m R88A-CAGA040B

50 m R88A-CAGA050B

1,500-r/min Servomotors of 7.5 kW,

1,000-r/min Servomotors of 6 kW

3 m R88A-CAGE003B

5 m R88A-CAGE005B

10 m R88A-CAGE010B

15 m R88A-CAGE015B

20 m R88A-CAGE020B

30 m R88A-CAGE030B

40 m R88A-CAGE040B

50 m R88A-CAGE050B

2-18

2-1 Standard Models

Standard Models and Dimensions

Encoder Cables (Robot Cables)

Specifications Model

3,000-r/min Servomotors of 50 to 750 W

with an absolute encoder,

3,000-r/min Flat Servomotors of 100 to 400 W

with an absolute encoder

3 m R88A-CRGA003CR

5 m R88A-CRGA005CR

10 m R88A-CRGA010CR

15 m R88A-CRGA015CR

20 m R88A-CRGA020CR

30 m R88A-CRGA030CR

40 m R88A-CRGA040CR

50 m R88A-CRGA050CR

3,000-r/min Servomotors of 50 to 750 W

with an incremental encoder,

3,000-r/min Flat Servomotors of 100 to 400 W

with an incremental encoder

3 m R88A-CRGB003CR

5 m R88A-CRGB005CR

10 m R88A-CRGB010CR

15 m R88A-CRGB015CR

20 m R88A-CRGB020CR

30 m R88A-CRGB030CR

40 m R88A-CRGB040CR

50 m R88A-CRGB050CR

3,000-r/min Servomotors of 1 to 5 kW,

2,000-r/min Servomotors of 1 to 5 kW,

1,500-r/min Servomotors of 7.5 kW

1,000-r/min Servomotors of 900 W to 6 kW

3 m R88A-CRGC003NR

5 m R88A-CRGC005NR

10 m R88A-CRGC010NR

15 m R88A-CRGC015NR

20 m R88A-CRGC020NR

30 m R88A-CRGC030NR

40 m R88A-CRGC040NR

50 m R88A-CRGC050NR

2-19

2-1 Standard Models

Standard Models and Dimensions

Servomotor Power Cables (Robot Cables)

Note There are separate connectors for power and brakes for 3,000-r/min Servomotors of 50 to

750 W and Flat Servomotors.

Therefore, when a Servomotor with a brake is used, it will require a Power Cable for a

Servomotor without a brake and a Brake Cable.

Specifications

Model

For Servomotor without

brake

For Servomotor with

brake

3,000-r/min Servomotors of 50 to 750 W,

3,000-r/min Flat Servomotors of

100 to 400 W

3 m R88A-CAGA003SR ---

5 m R88A-CAGA005SR ---

10 m R88A-CAGA010SR ---

15 m R88A-CAGA015SR ---

20 m R88A-CAGA020SR ---

30 m R88A-CAGA030SR ---

40 m R88A-CAGA040SR ---

50 m R88A-CAGA050SR ---

3,000-r/min Servomotors of 1 to 1.5 kW,

2,000-r/min Servomotors of 1 to 1.5 kW,

1,000-r/min Servomotors of 900 W

3 m R88A-CAGB003SR R88A-CAGB003BR

5 m R88A-CAGB005SR R88A-CAGB005BR

10 m R88A-CAGB010SR R88A-CAGB010BR

15 m R88A-CAGB015SR R88A-CAGB015BR

20 m R88A-CAGB020SR R88A-CAGB020BR

30 m R88A-CAGB030SR R88A-CAGB030BR

40 m R88A-CAGB040SR R88A-CAGB040BR

50 m R88A-CAGB050SR R88A-CAGB050BR

3,000-r/min Servomotors of 2 kW,

2,000-r/min Servomotors of 2 kW

3 m R88A-CAGC003SR R88A-CAGC003BR

5 m R88A-CAGC005SR R88A-CAGC005BR

10 m R88A-CAGC010SR R88A-CAGC010BR

15 m R88A-CAGC015SR R88A-CAGC015BR

20 m R88A-CAGC020SR R88A-CAGC020BR

30 m R88A-CAGC030SR R88A-CAGC030BR

40 m R88A-CAGC040SR R88A-CAGC040BR

50 m R88A-CAGC050SR R88A-CAGC050BR

3,000-r/min Servomotors of 3 to 5 kW,

2,000-r/min Servomotors of 3 to 5 kW,

1,000-r/min Servomotors of 2 to 4.5 kW

3 m R88A-CAGD003SR R88A-CAGD003BR

5 m R88A-CAGD005SR R88A-CAGD005BR

10 m R88A-CAGD010SR R88A-CAGD010BR

15 m R88A-CAGD015SR R88A-CAGD015BR

20 m R88A-CAGD020SR R88A-CAGD020BR

30 m R88A-CAGD030SR R88A-CAGD030BR

40 m R88A-CAGD040SR R88A-CAGD040BR

50 m R88A-CAGD050SR R88A-CAGD050BR

2-20

2-1 Standard Models

Standard Models and Dimensions

Brake Cables (Robot Cables)

Communications Cable

Absolute Encoder Battery Cable

Connectors

Specifications Model

3,000-r/min Servomotors of 50 to 750 W,

3,000-r/min Flat Servomotors of 100 to 400 W

3 m R88A-CAGA003BR

5 m R88A-CAGA005BR

10 m R88A-CAGA010BR

15 m R88A-CAGA015BR

20 m R88A-CAGA020BR

30 m R88A-CAGA030BR

40 m R88A-CAGA040BR

50 m R88A-CAGA050BR

Specifications Model

RS-232 Communications Cable 2 m R88A-CCG002P2

RS-485 Communications Cable

0.5 m R88A-CCG0R5P4

1 m R88A-CCG001P4

Specifications Model

Absolute Encoder Battery Cable 0.3 m R88A-CRGD0R3C

Specifications Model

Servomotor Connector for Encoder

Cable

Absolute Encoder R88A-CNG01R

Incremental Encoder R88A-CNG02R

Control I/O Connector (CN1) R88A-CNU11C

Encoder Connector (CN2) R88A-CNW01R

Power Cable Connector (750 W max.) R88A-CNG01A

Brake Cable Connector (750 W max.) R88A-CNG01B

2-21

2-1 Standard Models

Standard Models and Dimensions

Servo Relay Units (for CN1)

Servo Relay Unit Cables for Servo Drives

Specifications Model

Servo Relay Units

For CS1W-NC113/-NC133

For CJ1W-NC113/-NC133

For C200HW-NC113

XW2B-20J6-1B

For CS1W-NC213/-NC413/-NC233/-NC433

For CJ1W-NC213/-NC413/-NC233/-NC433

For C200HW-NC213/-NC413

XW2B-40J6-2B

For CJ1M-CPU21/-CPU22/-CPU23 XW2B-20J6-8A

XW2B-40J6-9A

For FQM1-MMA22

For FQM1-MMP22 XW2B-80J7-12A

For CQM1-CPU43-V1 XW2B-20J6-3B

Specifications Model

Servo Drive

Cables

For Position Control Unit (XW2B-@J6-@B)

For CQM1 (XW2B-20J6-3B)

1 m XW2Z-100J-B25

2 m XW2Z-200J-B25

For CJ1M (XW2B-20J6-8A/XW2B-40J6-9A)

1 m XW2Z-100J-B31

2 m XW2Z-200J-B31

For FQM1-MMA22 (XW2B-80J7-12A)

1 m XW2Z-100J-B27

2 m XW2Z-200J-B27

For FQM1-MMP22 (XW2B-80J7-12A)

1 m XW2Z-100J-B26

2 m XW2Z-200J-B26

2-22

2-1 Standard Models

Standard Models and Dimensions

Servo Relay Unit Cables for Position Control Units

Specifications Model

Position Control

Unit Cables

For CQM1-CPU43-V1 (XW2B-20J6-3B) 0.5 m XW2Z-050J-A3

1 m XW2Z-100J-A3

For CS1W-NC113, C200HW-NC113

(XW2B-20J6-1B)

0.5 m XW2Z-050J-A6

1 m XW2Z-100J-A6

For CS1W-NC213/-NC413, C200HW-NC213/

-NC413 (XW2B-20J6-2B)

0.5 m XW2Z-050J-A7

1 m XW2Z-100J-A7

For CS1W-NC133 (XW2B-20J6-1B) 0.5 m XW2Z-050J-A10

1 m XW2Z-100J-A10

For CS1W-NC233/-NC433 (XW2B-20J6-2B) 0.5 m XW2Z-050J-A11

1 m XW2Z-100J-A11

For CJ1W-NC113 (XW2B-20J6-1B) 0.5 m XW2Z-050J-A14

1 m XW2Z-100J-A14

For CJ1W-NC213/-NC413 (XW2B-20J6-2B) 0.5 m XW2Z-050J-A15

1 m XW2Z-100J-A15

For CJ1W-NC133 (XW2B-20J6-1B) 0.5 m XW2Z-050J-A18

1 m XW2Z-100J-A18

For CJ1W-NC233/-NC433 (XW2B-20J6-2B) 0.5 m XW2Z-050J-A19

1 m XW2Z-100J-A19

For CJ1M-CPU21/-CPU22/-CPU23

(XW2B-20J6-8A/XW2B-40J6-9A)

0.5 m XW2Z-050J-A33

1 m XW2Z-100J-A33

For FQM1-MMA22

(XW2B-80J7-12A)

General-purpose

I/O Cables

0.5 m XW2Z-050J-A28

1 m XW2Z-100J-A28

2 m XW2Z-200J-A28

Special I/O Cables

0.5 m XW2Z-050J-A31

1 m XW2Z-100J-A31

2 m XW2Z-200J-A31

For FQM1-MMP22

(XW2B-80J7-12A)

General-purpose

I/O Cables

0.5 m XW2Z-050J-A28

1 m XW2Z-100J-A28

2 m XW2Z-200J-A28

Special I/O Cables

0.5 m XW2Z-050J-A30

1 m XW2Z-100J-A30

2 m XW2Z-200J-A30

2-23

2-1 Standard Models

Standard Models and Dimensions

Control Cables

External Regeneration Resistors

Reactors

Specifications Model

Motion Control Unit Cables for 1 axis

CS1W-MC221-V1/-MC421-V1

1 m R88A-CPG001M1

2 m R88A-CPG002M1

3 m R88A-CPG003M1

5 m R88A-CPG005M1

Motion Control Unit Cables for 2 axes

CS1W-MC221-V1/-MC421-V1

1 m R88A-CPG001M2

2 m R88A-CPG002M2

3 m R88A-CPG003M2

5 m R88A-CPG005M2

General-purpose Control Cables with Connector on One End 1 m R88A-CPG001S

2 m R88A-CPG002S

Connector-Terminal Block Cables 1 m XW2Z-100J-B24

2 m XW2Z-200J-B24

Connector Terminal Block

M3 screw type XW2B-50G4

M3.5 screw type XW2B-50G5

M3 screw type XW2D-50G6

Specifications Model

Regeneration capacity: 20 W, 50 Ω (with 150°C thermal switch) R88A-RR08050S

Regeneration capacity: 20 W, 100 Ω (with 150°C thermal switch) R88A-RR080100S

Regeneration capacity: 70 W, 47 Ω (with 170°C thermal switch) R88A-RR22047S

Regeneration capacity: 180 W, 20 Ω (with 200°C thermal switch) R88A-RR50020S

Specifications Model

R88D-GTA5L/-GT01H 3G3AX-DL2002

R88D-GT01L/-GT02H 3G3AX-DL2004

R88D-GT02L/-GT04H 3G3AX-DL2007

R88D-GT04L/-GT08H/-GT10H 3G3AX-DL2015

R88D-GT15H 3G3AX-DL2022

R88D-GT08H/-GT10H/-GT15H 3G3AX-AL2025

R88D-GT20H/-GT30H 3G3AX-AL2055

R88D-GT50H 3G3AX-AL2110

R88D-GT75H 3G3AX-AL2220

2-24

2-1 Standard Models

Standard Models and Dimensions

Mounting Brackets (L Brackets for Rack Mounting)

Absolute Encoder Backup Battery

Specifications Model

R88D-GTA5L/-GT01L/-GT01H/-GT02H R88A-TK01G

R88D-GT02L/-GT04H R88A-TK02G

R88D-GT04L/-GT08H R88A-TK03G

R88D-GT10H/-GT15H R88A-TK04G

Specifications Model

2,000 mA·h 3.6 V R88A-BAT01G

2-25

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

2-2 External and Mounting Hole

Dimensions

Servo Drives

Single-phase 100 VAC: R88D-GTA5L/-GT01L (50 to 100 W)

Single-phase 200 VAC: R88D-GT01H/-GT02H (50 to 200 W)

Wall Mounting

External Dimensions Mounting Hole Dimensions

UNIT No.

AC SERVO DRIVER

DATA

IM SP G

130

7040

28±0.5

Two, M4

140

150

2-26

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Front Panel Mounting (Using Mounting Brackets)

External Dimensions Mounting Hole Dimensions (Reference)

(42)*

Two, M4

(158)*

170±0.5

Square

hole

5.2

13070

180

170

150

5.2 dia.

R2.6

2.6

2.6 8

Dimensions for front panel mounting are references values that provide leeway.

* The dimensions of

the square hole are

reference values.

2-27

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Single-phase 100 VAC: R88D-GT02L (200 W)

Single-phase 200 VAC: R88D-GT04H (400 W)

Wall Mounting

External Dimensions Mounting Hole Dimensions

Front Panel Mounting (Using Mounting Brackets)

External Dimensions Mounting Hole Dimensions (Reference)

UNIT No.

AC SERVO DRIVER

DATA

IM SP G

436

Two, M4

140

150

13070

150

(57)*

Two, M4

(158)*

170

Square hole

5.2

13070

180

170

150

5.2 dia.

R2.6

2.6

Dimensions for front panel mounting are references values that provide leeway.

* The dimensions of

the square hole are

reference values.

2-28

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Single-phase 100 VAC: R88D-GT04L (400 W)

Single-phase/Three-phase 200 VAC: R88D-GT08H (750 W)

Wall Mounting

External Dimensions Mounting Hole Dimensions

Front Panel Mounting (Using Mounting Brackets)

External Dimensions Mounting Hole Dimensions (Reference)

UNIT No.

AC SERVO DRIVER

DATA

IM SP G

507.5

Two, M4

140

150

17070

150

(67)*

Two, M4

(158)*

170

Square hole

5.2 2.6

17070

180

170

150

5.2 dia.

R2.6

2.6

Dimensions for front panel mounting are references values that provide leeway.

* The dimensions of

the square hole are

reference values.

2-29

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Single-phase/Three-phase 200 VAC: R88D-GT10H/-GT15H (900 W to 1.5 kW)

Wall Mounting

External Dimensions Mounting Hole Dimensions

Front Panel Mounting (Using Mounting Brackets)

External Dimensions Mounting Hole Dimensions (Reference)

UNIT No.

AC SERVO DRIVER

DATA

IM SP G

707.5

Two, M4

140

150

17070

150

(87)*

Four, M4

(158)*

170

Square hole

4011

5.25.2

17070

180

170

150

5.2 dia. 5.2

dia.

R2.6 R2.6

10 40

4010

2.6

Dimensions for front panel mounting are references values that provide leeway.

* The dimensions of

the square hole are

reference values.

2-30

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Three-phase 200 VAC: R88D-GT20H (2 kW)

Wall Mounting

External Dimensions

Mounting Hole Dimensions

UNIT No.

AC SERVO DRIVER

DATA

IM SP G

3.5

5.25.2

R2.6R2.6

R2.6 R2.6

5.2

dia.

5.2

dia.

20070

198

188

168

5017.5

42.5

Four, M4

168

188±0.5

17.5 50

2-31

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Front Panel Mounting (Using Mounting Brackets)

External Dimensions

Mounting Hole Dimensions (Reference)

UNIT No.

AC SERVO DRIVER

DATA

IM SP G

5.25.2

R2.6R2.6

R2.6 R2.6

5.2

dia.

5.2

dia.

20070

2.6

198

188

168

5017.5

42.5

(89)*

Four, M4

(176)*

Square hole

188

20.5 50

Dimensions for front panel mounting are references values that provide leeway.

* The dimensions of

the square hole are

reference values.

2-32

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Three-phase 200 VAC: R88D-GT30H/-GT50H (2 to 5 kW)

Wall Mounting

External Dimensions

Mounting Hole Dimensions

GSPIM

DATA

AC SERVO DRIVER

UNIT No.

5.25.2

10015

5.2

R2.6

R2.6 R2.6

5.2 dia.

5.2

dia.

5.2

20070

250

240

220

130

10015

3.5

130

Six, M4

220

240

100

2-33

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Front Panel Mounting (Using Mounting Brackets)

External Dimensions

Mounting Hole Dimensions (Reference)

GSPIM

DATA

AC SERVO DRIVER

UNIT No.

5.25.2

10015

5.2

R2.6

R2.6 R2.6

5.2 dia.

5.2

dia.

5.2

20070

32.3

2.6

250

240

220

130

10015

(132)*

Six, M4

(228)*

Square hole

240

100

Dimensions for front panel mounting are references values that provide leeway.

* The dimensions of

the square hole are

reference values.

2-34

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Three-phase 200 VAC: R88D-GT75H (7.5 kW)

Front Panel Mounting (Using Mounting Brackets)

External Dimensions

Mounting Hole Dimensions (Reference)

5.2 5.2 5.2

Four, 5.2 dia.

5.2 5.2 5.2

248

339.370

45.1

(4)

(2.3)

(4)

250

220

235

9082.5

9037.5

(250)*

Six, M4

(226)*

Square hole

38.5

235

9090

4.5

* The dimensions of

the square hole are

reference values.

Dimensions for front panel mounting are references values that provide leeway.

2-35

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Servomotors

3,000-r/min Servomotors

50 W/100 W

R88M-G05030H(-S2)/-G10030L(-S2)/-G10030H(-S2)/-G05030H-B(S2)

/-G10030L-B(S2)/-G10030H-B(S2)

R88M-G05030T(-S2)/-G10030S(-S2)/-G10030T(-S2)/-G05030T-B(S2)

/-G10030S-B(S2)/-G10030T-B(S2)

Note The standard models have a straight shaft. Models with a key and tap are indicated with

“S2” at the end of the model number.

Model Dimensions (mm)

LL LN

R88M-G05030@72 26.5

R88M-G10030@92 46.5

R88M-G05030@-B@102 26.5

R88M-G10030@-B@122 46.5

INC

ABS

230

200

LL 25

40 × 40

Motor connector

Encoder

connector

8 dia., h: 6

46 dia.

Two, 4.3 dia.

30 dia., h: 7

Brake connector

Three, h: 9

12.5

M3 (depth: 6)

1.8

(Dimensions of shaft end

with key and tap)

2-36

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

3,000-r/min Servomotors

200 W/400 W/750 W

R88M-G20030L(-S2)/-G40030L(-S2)/-G20030H(-S2)/-G40030H(-S2)

/-G75030H(-S2)/-G20030L-B(S2)/-G40030L-B(S2)

/-G20030H-B(S2)/-G40030H-B(S2)/-G75030H-B(S2)

R88M-G20030S(-S2)/-G40030S(-S2)/-G20030T(-S2)/-G40030T(-S2)

/-G75030T(-S2)/-G20030S-B(S2)/-G40030S-B(S2)

/-G20030T-B(S2)/-G40030T-B(S2)/-G75030T-B(S2)

Note The standard models have a straight shaft. Models with a key and tap are indicated with

“S2” at the end of the model number.

Model Dimensions (mm)

LL LR SD1 D2 C G KL1 ZQK b h M t1 L

R88M-G20030@79.5 30 11 70 50 60 6.5 43 4.5 18 4h9 4 M4 2.5 8

R88M-G40030@99 14 22.5 5h9 5 M5 310

R88M-G75030@112.2 35 19 90 70 80 8 53 6 22 6h9 6 3.5

R88M-G20030@-B@116 30 11 70 50 60 6.5 43 4.5 18 4h9 4 M4 2.5 8

R88M-G40030@-B@135.5 14 22.5 5h9 5 M5 310

R88M-G75030@-B@149.2 35 19 90 70 80 8 53 6 22 6h9 6 3.5

INC

ABS

220

200

LL LR

S dia., h: 6

D1 dia.

Motor connector

Encoder

connector

Four, Z dia.

D2 dia., h: 7

Brake connector

KL1

C × C

M(effective depth: L)

(Dimensions of shaft end

with key and tap)

2-37

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

3,000-r/min Servomotors

1 kW/1.5 kW/2 kW

R88M-G1K030T(-S2)/-G1K530T(-S2)/-G2K030T(-S2)/-G1K030T-B(S2)

/-G1K530T-B(S2)/-G2K030T-B(S2)

Note The standard models have a straight shaft. Models with a key and tap are indicated with

“S2” at the end of the model number.

3,000-r/min Servomotors

3 kW

R88M-G3K030T(-S2)/-G3K030T-B(S2)

Note The standard models have a straight shaft. Models with a key and tap are indicated with

“S2” at the end of the model number.

Model Dimensions (mm)

LL D1 D2 CD3 GKL1 Z

R88M-G1K030@175 100 80 90 120 7 98 6.6

R88M-G1K530@180 115 95 100 135 10 103 9

R88M-G2K030@205

R88M-G1K030@-B@200 100 80 90 120 7 98 6.6

R88M-G1K530@-B@205 115 95 100 135 10 103 9

R88M-G2K030@-B@230

Model Dimensions (mm)

R88M-G3K030@217

R88M-G3K030@-B@242

ABS

M5 (depth: 12)

Six, h: 9

3.5

(Dimensions of shaft end

with key and tap)

LL 55

KL1

C × C

Encoder

canon plug

Servomotor

canon plug

Four, Z dia.

D1 dia.

D2 dia., h: 7

19 dia., h: 6

D3 dia.

ABS

LL 55

12 3

111

120×120

Encoder

connector

Servomotor/brake

connector

110 dia., h: 7

22 dia., h: 6

130 dia.

145 dia.

162 dia.

M5 (depth: 12)

Eight, h: 9

(Dimensions of the shaft end

with key and tap)

2-38

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

3,000-r/min Servomotors

4 kW/5 kW

R88M-G4K030T(-S2)/-G5K030T(-S2)/-G4K030T-B(S2)/-G5K030T-B(S2)

Note The standard models have a straight shaft. Models with a key and tap are indicated with

“S2” at the end of the model number.

Model Dimensions (mm)

R88M-G4K030@240

R88M-G5K030@280

R88M-G4K030@-B@265

R88M-G5K030@-B@305

ABS

LL 65

12 6

118

130×130

Four, 9 dia.

110 dia., h: 7

24 dia., h: 6

165 dia.

Encoder

connector

Servomotor/brake

connector

145 dia.

51 Eight, h: 9

M8 (depth: 20)

(Dimensions of shaft end

with key and tap)

2-39

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

3,000-r/min Flat Servomotors

100 W/200 W/400 W

R88M-GP10030L(-S2)/-GP20030L(-S2)/-GP40030L(-S2)/-GP10030H(-S2)

/-GP20030H(-S2)/-GP40030H(-S2)/-GP10030L-B(S2)/-GP20030L-B(S2)

/-GP40030L-B(S2)/-GP10030H-B(S2)/-GP20030H-B(S2)/-GP40030H-B(S2)

R88M-GP10030S(-S2)/-GP20030S(-S2)/-GP40030S(-S2)/-GP10030T(-S2)

/-GP20030T(-S2)/-GP40030T(-S2)/-GP10030S-B(S2)/-GP20030S-B(S2)

/-GP40030S-B(S2)/-GP10030T-B(S2)/-GP20030T-B(S2)/-GP40030T-B(S2)

Note The standard models have a straight shaft. Models with a key and tap are indicated with “S2” at the end of

the model number.

Model Dimensions (mm)

LL LR SD1 D2 C F G KL1 ZQK b h t1 M L

R88M-GP10030L

R88M-GP10030H 60.5

2587050603 7434.512.53h931.8M3 6

R88M-GP10030S

R88M-GP10030T 87.5

R88M-GP20030L

R88M-GP20030H 67.5

90 70 80 5 8 53 5.5

18 4h9 4 2.5 M4 8

R88M-GP20030S

R88M-GP20030T 94.5

R88M-GP40030L

R88M-GP40030H 82.5

14 22.5 5h9 5 3 M5 10

R88M-GP40030S

R88M-GP40030T 109.5

R88M-GP10030L-B@

R88M-GP10030H-B@84.5

2587050603 7434.512.53h931.8M3 6

R88M-GP10030S-B@

R88M-GP10030T-B@111.5

R88M-GP20030L-B@

R88M-GP20030H-B@100

90 70 80 5 8 53 5.5

18 4h9 4 2.5 M4 8

R88M-GP20030S-B@

R88M-GP20030T-B@127

R88M-GP40030L-B@

R88M-GP40030H-B@115

14 22.5 5h9 5 3 M5 10

R88M-GP40030S-B@

R88M-GP40030T-B@142

INC

ABS

LL LR

200

220

KL1

C × C

Brake connector

Motor connector

(7) (7)

Encoder

connector

Four, Z dia.

D2 dia., h: 7

S dia., h: 6

D1 dia.

M (depth: L)

(Dimensions of shaft end

with key and tap)

2-40

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

2,000-r/min Servomotors

1 kW/1.5 kW

R88M-G1K020T(-S2)/-G1K520T(-S2)/-G1K020T-B(S2)/-G1K520T-B(S2)

Note The standard models have a straight shaft. Models with a key and tap are indicated with

“S2” at the end of the model number.

2,000-r/min Servomotors

2 kW/3 kW

R88M-G2K020T(-S2)/-G3K020T(-S2)/-G2K020T-B(S2)/-G3K020T-B(S2)

Note The standard models have a straight shaft. Models with a key and tap are indicated with

“S2” at the end of the model number.

Model Dimensions (mm)

R88M-G1K020@150

R88M-G1K520@175

R88M-G1K020@-B@

R88M-G1K520@-B@200

Model Dimensions (mm)

LL LR SLW QK M L

R88M-G2K020@20055224541M512

R88M-G3K020@25065245551M820

R88M-G2K020@-B@22555224541M512

R88M-G3K020@-B@27565245551M820

ABS

Encoder

connector

Servomotor/brake

connector

LL 55

12 6

118

130 × 130

Four, 9 dia.

145 dia.

110 dia., h: 7

22 dia., h: 6

165 dia.

41 Eight, h: 9

M5 (depth: 12)

(Dimensions of shaft end

with key and tap)

ABS

LL LR

12 6

S dia., h: 6

118

130 × 130

Four, 9 dia.

145 dia.

110 dia., h: 7

165 dia.

Encoder

connector

Servomotor/brake

connector

QK Eight, h: 9

M (depth: L)

(Dimensions of shaft end

with key and tap)

2-41

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

2,000-r/min Servomotors

4 kW/5 kW

R88M-G4K020T(-S2)/-G5K020T(-S2)/-G4K020T-B(S2)/-G5K020T-B(S2)

Note The standard models have a straight shaft. Models with a key and tap are indicated with

“S2” at the end of the model number.

Model Dimensions (mm)

LL LR SD1 D2 CD3 KL1 ZQK b h t1 M L

R88M-G4K020@242 65 28 165 130 150 190 128 11 51 8h9 7 4 M8 20

R88M-G5K020@225 70 35 200 114.3 176 233 143 13.5 50 10h9 8 5 M12 25

R88M-G4K020@-B@267 65 28 165 130 150 190 128 11 51 8h9 7 4 M8 20

R88M-G5K020@-B@250 70 35 200 114.3 176 233 143 13.5 50 10h9 8 5 M12 25

ABS

LL LR

18 3.2

KL1

C × C

D1 dia.

D2 dia., h: 7

S dia.,h: 6

D3 dia.

Four, Z dia.

Encoder

connector

Servomotor/brake

connector

M (depth: L)

(Dimensions of shaft end

with key and tap)

2-42

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

1,500-r/min Servomotors

7.5 kW

R88M-G7K515T(-S2)/-G7K515T-B(S2)

Note The standard models have a straight shaft. Models with a key and tap are indicated with

“S2” at the end of the model number.

Model Dimensions (mm)

R88M-G7K515@340.5

R88M-G7K515@-B@380.5

ABS

M16 (depth:32)

12, h: 9

(Dimensions of shaft end

with key and tap)

Eye-bolt

Nominal diameter: 10

Brake connector

LL 113

24 3.2

183

176 × 176

Four, 13.5 dia.

200 dia.

114.3 dia., h: 7

42 dia., h: 6

233 dia.

Motor

connector

Encoder

connector

2-43

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

1,000-r/min Servomotors

900 W/2 kW

R88M-G90010T(-S2)/-G2K010T(-S2)/-G90010T-B(S2)/-G2K010T-B(S2)

Note The standard models have a straight shaft. Models with a key and tap are indicated with “S2” at the end of

the model number.

1,000-r/min Servomotors

3 kW

R88M-G3K010T(-S2)/-G3K010T-B(S2)

Note The standard models have a straight shaft. Models with a key and tap are indicated with

“S2” at the end of the model number.

Model Dimensions (mm)

LL LR SD1 D2 CD3 F G KL1 ZQK b h t1 M L

R88M-G90010@175 70 22 145 110 130 165 6 12 118 9 41 8h9 7 4 M5 12

R88M-G2K010@182 80 35 200 114.3 176 233 3.2 18 143 13.5 50 10h9 8 5 M12 25

R88M-G90010@-B@200 70 22 145 110 130 165 6 12 118 9 41 8h9 7 4 M5 12

R88M-G2K010@-B@207 80 35 200 114.3 176 233 3.2 18 143 13.5 50 10h9 8 5 M12 25

Model Dimensions (mm)

R88M-G3K010@222

R88M-G3K010@-B@271

ABS

C × C

S dia., h: 6

D2 dia., h: 7

KL1

Encoder connector

Servomotor/brake connector

Four, Z dia.

D1 dia.

D3 dia.

QK b

M (depth: L)

(Dimensions of shaft end

with key and tap)

ABS

35 dia

h: 6

114.3 dia

h: 7

3.2

176 × 176

143

Four, 13.5 dia.

Encoder connector

Servomotor/brake

connector

233 dia.

200 dia.

10, h: 9

M12 (depth: 25)

(Dimensions of shaft end

with key and tap)

2-44

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

1,000-r/min Servomotors

4.5 kW

R88M-G4K510T(-S2)/-G4K510T-B(S2)

Note The standard models have a straight shaft. Models with a key and tap are indicated with

“S2” at the end of the model number.

1,000-r/min Servomotors

6 kW

R88M-G6K010T(-S2)/-G6K010T-B(S2)

Note The standard models have a straight shaft. Models with a key and tap are indicated with

“S2” at the end of the model number.

Model Dimensions (mm)

R88M-G4K510@300.5

R88M-G4K510@-B@337.5

Model Dimensions (mm)

R88M-G6K010@340.5

R88M-G6K010@-B@380.5

ABS

114.3 dia., h: 7

42 dia., h: 6

113

24 3.2

176 × 176

143

Four, 13.5 dia.

Encoder connector

Servomotor/brake

connector Eye-bolt

Nominal

diameter: 10

200 dia.

233 dia.

12, h: 9

M16 (depth: 32)

(Dimensions of shaft end

with key and tap)

ABS

Eye-bolt

Nominal diameter: 10

Motor

connector

Brake connector

Encoder

connector

176 × 176

Four, 13.5 dia.

42 dia., h: 6

114.3 dia., h: 7

233 dia.

200 dia.

M16 (depth: 32)

12, h: 9

(Dimensions of shaft end

with key and tap)

2-45

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Parameter Unit Dimensions

R88A-PR02G Hand-held Parameter Unit

Mini DIN 8-pin

MD connector

(62) (24)

(15)

(1500)

M3 (depth: 5)

(114)

(15)

2-46

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Servomotor and Decelerator Combinations

3,000-r/min Servomotors

Motor model 1/5

1/11

(1/9 for flange size

No.11)

1/21 1/33 1/45

R88M-

G05030@

R88G-

HPG11B05100B@

(Also used with

R88M-G10030@)

R88G-

HPG11B09050B@

(

Gear ratio 1/9

)

R88G-

HPG14A21100B@

(Also used with

R88M-G10030@)

R88G-

HPG14A33050B@

R88G-

HPG14A45050B@

R88M-

G10030@

R88G-

HPG11B05100B@

R88G-

HPG14A11100B@

R88G-

HPG14A21100B@

R88G-

HPG20A33100B@

R88G-

HPG20A45100B@

R88M-

G20030@

R88G-

HPG14A05200B@

R88G-

HPG14A11200B@

R88G-

HPG20A21200B@

R88G-

HPG20A33200B@

R88G-

HPG20A45200B@

R88M-

G40030@

R88G-

HPG14A05400B@

R88G-

HPG20A11400B@

R88G-

HPG20A21400B@

R88G-

HPG32A33400B@

R88G-

HPG32A45400B@

R88M-

G75030@

R88G-

HPG20A05750B@

R88G-

HPG20A11750B@

R88G-

HPG32A21750B@

R88G-

HPG32A33750B@

R88G-

HPG32A45750B@

R88M-

G1K030T

R88G-

HPG32A051K0B@

R88G-

HPG32A111K0B@

R88G-

HPG32A211K0B@

R88G-

HPG32A331K0B@

R88G-

HPG50A451K0B@

R88M-

G1K530T

R88G-

HPG32A052K0B@

(Also used with

R88M-G2K030T)

R88G-

HPG32A112K0B@

(Also used with

R88M-G2K030T)

R88G-

HPG32A211K5B@

R88G-

HPG50A332K0B@

(Also used with

R88M-G2K030T)

R88G-

HPG50A451K5B@

R88M-

G2K030T

R88G-

HPG32A052K0B@

R88G-

HPG32A112K0B@

R88G-

HPG50A212K0B@

R88G-

HPG50A332K0B@---

R88M-

G3K030T

R88G-

HPG32A053K0B@

R88G-

HPG50A113K0B@

R88G-

HPG50A213K0B@--- ---

R88M-

G4K030T

R88G-

HPG32A054K0B@

R88G-

HPG50A115K0B@

(Also used with

R88M-G5K030T)

--- --- ---

R88M-

G5K030T

R88G-

HPG50A055K0B@

R88G-

HPG50A115K0B@--- --- ---

2-47

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

3,000-r/min Flat Servomotors

2,000-r/min Servomotors

Motor

model 1/5 1/11 1/21 1/33 1/45

R88M-

GP10030@

R88G-

HPG11B05100PB@

R88G-

HPG14A11100PB@

R88G-

HPG14A21100PB@

R88G-

HPG20A33100PB@

R88G-

HPG20A45100PB@

R88M-

GP20030@

R88G-

HPG14A05200PB@

R88G-

HPG20A11200PB@

R88G-

HPG20A21200PB@

R88G-

HPG20A33200PB@

R88G-

HPG20A45200PB@

R88M-

GP40030@

R88G-

HPG20A05400PB@

R88G-

HPG20A11400PB@

R88G-

HPG20A21400PB@

R88G-

HPG32A33400PB@

R88G-

HPG32A45400PB@

Motor

model 1/5

1/11

(1/12 for flange size

No.65)

1/21

(1/20 for flange size

No.65)

1/33

(1/25 for flange size

No.65)

1/45

R88M-

G1K020T

R88G-

HPG32A053K0B@

(Also used with

R88M-G3K030T)

R88G-

HPG32A112K0SB@

(Also used with

R88M-G2K020T)

R88G-

HPG32A211K0SB@

R88G-

HPG50A332K0SB@

(Also used with

R88M-G2K020T)

R88G-

HPG50A451K0SB@

R88M-

G1K520T

R88G-

HPG32A053K0B@

(Also used with

R88M-G3K030T)

R88G-

HPG32A112K0SB@

(Also used with

R88M-G2K020T)

R88G-

HPG50A213K0B@

(Also used with

R88M-G3K030T)

R88G-

HPG50A332K0SB@

(Also used with

R88M-G2K020T)

---

R88M-

G2K020T

R88G-

HPG32A053K0B@

(Also used with

R88M-G3K030T)

R88G-

HPG32A112K0SB@

R88G-

HPG50A213K0B@

(Also used with

R88M-G3K030T)

R88G-

HPG50A332K0SB@---

R88M-

G3K020T

R88G-

HPG32A054K0B@

(Also used with

R88M-G4K030T)

R88G-

HPG50A115K0B@

(Also used with

R88M-G5K030T)

R88G-

HPG50A213K0SB@

R88G-

HPG65A253K0SB@---

R88M-

G4K020T

R88G-

HPG50A054K0SB@

R88G-

HPG50A114K0SB@

R88G-

HPG65A204K0SB@

R88G-

HPG65A254K0SB@---

R88M-

G5K020T

R88G-

HPG50A055K0SB@

R88G-

HPG50A115K0SB@

R88G-

HPG65A205K0SB@

R88G-

HPG65A255K0SB@---

R88M-

G7K515T

R88G-

HPG65A057K5SB@

R88G-

HPG65A127K5SB@--- --- ---

2-48

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

1,000-r/min Servomotors

Motor model 1/5

1/11

(1/12 for flange size

No.65)

1/21

(1/20 for flange size

No.65)

1/33

(1/25 for flange size

No.65)

R88M-

G90010T

R88G-

HPG32A05900TB@

R88G-

HPG32A11900TB@

R88G-

HPG50A21900TB@

R88G-

HPG50A33900TB@

R88M-

G2K010T

R88G-

HPG32A052K0TB@

R88G-

HPG50A112K0TB@

R88G-

HPG50A212K0TB@

R88G-

HPG65A255K0SB@

(Also used with R88M-

G5K020T)

R88M-

G3K010T

R88G-

HPG50A055K0SB@

(Also used with R88M-

G5K020T)

R88G-

HPG50A115K0SB@

(Also used with R88M-

G5K020T)

R88G-

HPG65A205K0SB@

(Also used with R88M-

G5K020T)

R88G-

HPG65A255K0SB@

(Also used with R88M-

G5K020T)

R88M-

G4K510T

R88G-

HPG50A054K5TB@

R88G-

HPG65A127K5SB@

(Also used with R88M-

G7K515T)

R88G-

HPG65A204K5TB@

---

R88M-

G6K010T

R88G-

HPG65A057K5SB@

(Also used with R88M-

G7K515T)

R88G-

HPG65A127K5SB@

(Also used with R88M-

G7K515T)

--- ---

2-49

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Decelerator Dimensions

Backlash = 3’ Max.

Decelerators for 3,000-r/min Servomotors

Note 1. The standard models have a straight shaft.

Note 2. Models with a key and tap are indicated with “J” at the end of the model number (the suffix shown in the

box). (Example: R88G-HPG11B05100BJ)

Model Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5 EF1 F2 G

50 W

1/5 R88G-HPG11B05100B@39.5 42 40 40×40 46 46 40.0 39.5 29 27 2.2 15 5

1/9 R88G-HPG11B09050B@39.5 42 40 40×40 46 46 40.0 39.5 29 27 2.2 15 5

1/21 R88G-HPG14A21100B@64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21 8

1/33 R88G-HPG14A33050B@64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21 8

1/45 R88G-HPG14A45050B@64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21 8

100 W

1/5 R88G-HPG11B05100B@39.5 42 40 40×40 46 46 40.0 39.5 29 27 2.2 15 5

1/11 R88G-HPG14A11100B@64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21 8

1/21 R88G-HPG14A21100B@64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21 8

1/33 R88G-HPG20A33100B@66.5 80 90

55 dia.

105 46 85.0 84.0 59 53 7.5 27 10

1/45 R88G-HPG20A45100B@66.5 80 90

55 dia.

105 46 85.0 84.0 59 53 7.5 27 10

200 W

1/5 R88G-HPG14A05200B@64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21 8

1/11 R88G-HPG14A11200B@64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21 8

1/21 R88G-HPG20A21200B@71.0 80 90

89 dia.

105 70 85.0 84.0 59 53 7.5 27 10

1/33 R88G-HPG20A33200B@71.0 80 90

89 dia.

105 70 85.0 84.0 59 53 7.5 27 10

1/45 R88G-HPG20A45200B@71.0 80 90

89 dia.

105 70 85.0 84.0 59 53 7.5 27 10

Model

Dimensions (mm)

S T Z1 Z2 AT*1 Key dimensions Tap

dimensions

QK b h t1 M L

50 W

1/5 R88G-HPG11B05100B@8 20 3.4 M4×9 M3 15 3 3 1.8 M3 6

1/9 R88G-HPG11B09050B@8 20 3.4 M4×9 M3 15 3 3 1.8 M3 6

1/21 R88G-HPG14A21100B@16 28 5.5 M4×10 M3 25 5 5 3 M4 8

1/33 R88G-HPG14A33050B@16 28 5.5 M4×10 M3 25 5 5 3 M4 8

1/45 R88G-HPG14A45050B@16 28 5.5 M4×10 M3 25 5 5 3 M4 8

100 W

1/5 R88G-HPG11B05100B@8 20 3.4 M4×9 M3 15 3 3 1.8 M3 6

1/11 R88G-HPG14A11100B@16 28 5.5 M4×10 M3 25 5 5 3 M4 8

1/21 R88G-HPG14A21100B@16 28 5.5 M4×10 M3 25 5 5 3 M4 8

1/33 R88G-HPG20A33100B@25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12

1/45 R88G-HPG20A45100B@25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12

200 W

1/5 R88G-HPG14A05200B@16 28 5.5 M4×10 M4 25 5 5 3 M4 8

1/11 R88G-HPG14A11200B@16 28 5.5 M4×10 M4 25 5 5 3 M4 8

1/21 R88G-HPG20A21200B@25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12

1/33 R88G-HPG20A33200B@25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12

1/45 R88G-HPG20A45200B@25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12

2-50

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

*1. This is the set bolt.

Outline Drawings

Model Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5 EF1 F2 G

400 W

1/5 R88G-HPG14A05400B@64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21 8

1/11 R88G-HPG20A11400B@71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27 10

1/21 R88G-HPG20A21400B@71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27 10

1/33 R88G-HPG32A33400B@104.0 133 120 122 dia. 135 70 115.0 114.0 84 98 12.5 35 13

1/45 R88G-HPG32A45400B@104.0 133 120 122 dia. 135 70 115.0 114.0 84 98 12.5 35 13

750 W

1/5 R88G-HPG20A05750B@78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27 10

1/11 R88G-HPG20A11750B@78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27 10

1/21 R88G-HPG32A21750B@104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35 13

1/33 R88G-HPG32A33750B@104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35 13

1/45 R88G-HPG32A45750B@104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35 13

Model

Dimensions (mm)

S T Z1 Z2 AT*1 Key dimensions Tap

dimensions

QK b h t1 M L

400 W

1/5 R88G-HPG14A05400B@16 28 5.5 M4×10 M4 25 5 5 3 M4 8

1/11 R88G-HPG20A11400B@25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12

1/21 R88G-HPG20A21400B@25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12

1/33 R88G-HPG32A33400B@40 82 11.0 M4×10 M4 70 12 8 5.0 M10 20

1/45 R88G-HPG32A45400B@40 82 11.0 M4×10 M4 70 12 8 5.0 M10 20

750 W

1/5 R88G-HPG20A05750B@25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12

1/11 R88G-HPG20A11750B@25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12

1/21 R88G-HPG32A21750B@40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20

1/33 R88G-HPG32A33750B@40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20

1/45 R88G-HPG32A45750B@40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20

C1 × C1

Four, Z1 dia.

S dia.,h: 7

D5 dia.

D4 dia.

C2 × C2

D2 dia.

D1 dia.

Four, Z2

Set bolt (AT)

C2 dia.

Four, Z2

Set bolt (AT)

D2 dia.

TF1

D3 dia.,h: 7

Key and Tap Dimensions

M (depth: L)

2-51

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Note 1. The standard models have a straight shaft.

Note 2. Models with a key and tap are indicated with “J” at the end of the model number (the suffix shown in the

box). (Example: R88G-HPG32A051K0BJ)

Model Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5 EF1 F2

1 kW

1/5 R88G-HPG32A051K0B@104 133 120 122 dia. 135 100 115 114 84 98 12.5 35

1/11 R88G-HPG32A111K0B@104 133 120 122 dia. 135 100 115 114 84 98 12.5 35

1/21 R88G-HPG32A211K0B@104 133 120 122 dia. 135 100 115 114 84 98 12.5 35

1/33 R88G-HPG32A331K0B@104 133 120 122 dia. 135 100 115 114 84 98 12.5 35

1/45 R88G-HPG50A451K0B@123 156 170 170 dia. 190 100 165 163 122 103 12.0 53

1.5 kW

1/5 R88G-HPG32A052K0B@110 133 120 135 dia. 135 115 115 114 84 98 12.5 35

1/11 R88G-HPG32A112K0B@110 133 120 135 dia. 135 115 115 114 84 98 12.5 35

1/21 R88G-HPG32A211K5B@110 133 120 135 dia. 135 115 115 114 84 98 12.5 35

1/33 R88G-HPG50A332K0B@123 156 170 170 dia. 190 115 165 163 122 103 12.0 53

1/45 R88G-HPG50A451K5B@123 156 170 170 dia. 190 115 165 163 122 103 12.0 53

2 kW

1/5 R88G-HPG32A052K0B@110 133 120 135 dia. 135 115 115 114 84 98 12.5 35

1/11 R88G-HPG32A112K0B@110 133 120 135 dia. 135 115 115 114 84 98 12.5 35

1/21 R88G-HPG50A212K0B@123 156 170 170 dia. 190 115 165 163 122 103 12.0 53

1/33 R88G-HPG50A332K0B@123 156 170 170 dia. 190 115 165 163 122 103 12.0 53

3 kW

1/5 R88G-HPG32A053K0B@107 133 120 130×130 135 145 115 114 84 98 12.5 35

1/11 R88G-HPG50A113K0B@123 156 170 170 dia. 190 145 165 163 122 103 12.0 53

1/21 R88G-HPG50A213K0B@123 156 170 170 dia. 190 145 165 163 122 103 12.0 53

4 kW 1/5 R88G-HPG32A054K0B@129 133 120 130×130 135 145 115 114 84 98 12.5 35

1/11 R88G-HPG50A115K0B@149 156 170 130×130 190 145 165 163 122 103 12.0 53

5 kW 1/5 R88G-HPG50A055K0B@149 156 170 130×130 190 145 165 163 122 103 12.0 53

1/11 R88G-HPG50A115K0B@149 156 170 130×130 190 145 165 163 122 103 12.0 53

2-52

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

*1. This is the set bolt.

Outline Drawings

*2. With the R88G-HPG50@, the height tolerance is 8 mm (D3 dia., h: 8).

Model

Dimensions (mm)

G S T Z1 Z2 AT*1 Key dimensions Tap

dimensions

QK b h t1 M L

1 kW

1/5 R88G-HPG32A051K0B@13 40 82 11 M6×12 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG32A111K0B@13 40 82 11 M6×12 M6 70 12 8 5.0 M10 20

1/21 R88G-HPG32A211K0B@13 40 82 11 M6×12 M6 70 12 8 5.0 M10 20

1/33 R88G-HPG32A331K0B@13 40 82 11 M6×12 M6 70 12 8 5.0 M10 20

1/45 R88G-HPG50A451K0B@16 50 82 14 M6×10 M6 70 14 9 5.5 M10 20

1.5 kW

1/5 R88G-HPG32A052K0B@13 40 82 11 M8×10 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG32A112K0B@13 40 82 11 M8×10 M6 70 12 8 5.0 M10 20

1/21 R88G-HPG32A211K5B@13 40 82 11 M8×10 M6 70 12 8 5.0 M10 20

1/33 R88G-HPG50A332K0B@16 50 82 14 M8×10 M6 70 14 9 5.5 M10 20

1/45 R88G-HPG50A451K5B@16 50 82 14 M8×10 M6 70 14 9 5.5 M10 20

2 kW

1/5 R88G-HPG32A052K0B@13 40 82 11 M8×10 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG32A112K0B@13 40 82 11 M8×10 M6 70 12 8 5.0 M10 20

1/21 R88G-HPG50A212K0B@16 50 82 14 M8×10 M6 70 14 9 5.5 M10 20

1/33 R88G-HPG50A332K0B@16 50 82 14 M8×10 M6 70 14 9 5.5 M10 20

3 kW

1/5 R88G-HPG32A053K0B@13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG50A113K0B@16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20

1/21 R88G-HPG50A213K0B@16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20

4 kW 1/5 R88G-HPG32A054K0B@13 40 82 11 M8×25 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG50A115K0B@16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20

5 kW 1/5 R88G-HPG50A055K0B@16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20

1/11 R88G-HPG50A115K0B@16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20

S dia.,h: 7

D5 dia.

D4 dia.

Four, Z2

Set bolt (AT)

C2 dia.

C1 × C1

D1 dia.

Four, Z1 dia.

D2 dia.

C2 × C2

Four, Z2

Set bolt (AT)

D2 dia.

TF1

D3 dia.,h: 7 *2

Key and Tap Dimensions

M (depth: L)

2-53

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Decelerators for 2,000-r/min Servomotors

Note 1. The standard models have a straight shaft.

Note 2. Models with a key and tap are indicated with “J” at the end of the model number (the suffix shown in the

box). (Example: R88G-HPG32A053K0BJ)

Model Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5 EF1 F2

1 kW

1/5 R88G-HPG32A053K0B@107 133 120 130×130 135 145 115 114 84 98 12.5 35

1/11 R88G-HPG32A112K0SB@107 133 120 130×130 135 145 115 114 84 98 12.5 35

1/21 R88G-HPG32A211K0SB@107 133 120 130×130 135 145 115 114 84 98 12.5 35

1/33 R88G-HPG50A332K0SB@123 156 170 170 dia. 190 145 165 163 122 103 12.0 53

1/45 R88G-HPG50A451K0SB@123 156 170 170 dia. 190 145 165 163 122 103 12.0 53

1.5 kW

1/5 R88G-HPG32A053K0B@107 133 120 130×130 135 145 115 114 84 98 12.5 35

1/11 R88G-HPG32A112K0SB@107 133 120 130×130 135 145 115 114 84 98 12.5 35

1/21 R88G-HPG50A213K0B@123 156 170 170 dia. 190 145 165 163 122 103 12.0 53

1/33 R88G-HPG50A332K0SB@123 156 170 170 dia. 190 145 165 163 122 103 12.0 53

2 kW

1/5 R88G-HPG32A053K0B@107 133 120 130×130 135 145 115 114 84 98 12.5 35

1/11 R88G-HPG32A112K0SB@107 133 120 130×130 135 145 115 114 84 98 12.5 35

1/21 R88G-HPG50A213K0B@123 156 170 170 dia. 190 145 165 163 122 103 12.0 53

1/33 R88G-HPG50A332K0SB@123 156 170 170 dia. 190 145 165 163 122 103 12.0 53

3 kW

1/5 R88G-HPG32A054K0B@129 133 120 130×130 135 145 115 114 84 98 12.5 35

1/11 R88G-HPG50A115K0B@149 156 170 130×130 190 145 165 163 122 103 12.0 53

1/21 R88G-HPG50A213K0SB@149 156 170 130×130 190 145 165 163 122 103 12.0 53

1/25 R88G-HPG65A253K0SB@231 222 230 130×130 260 145 220 214 168 165 12.0 57

Model

Dimensions (mm)

G S T Z1 Z2 AT*1 Key dimensions Tap

dimensions

QK b h t1 M L

1 kW

1/5 R88G-HPG32A053K0B@13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG32A112K0SB@13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20

1/21 R88G-HPG32A211K0SB@13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20

1/33 R88G-HPG50A332K0SB@16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20

1/45 R88G-HPG50A451K0SB@16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20

1.5 kW

1/5 R88G-HPG32A053K0B@13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG32A112K0SB@13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20

1/21 R88G-HPG50A213K0B@16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20

1/33 R88G-HPG50A332K0SB@16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20

2 kW

1/5 R88G-HPG32A053K0B@13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG32A112K0SB@13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20

1/21 R88G-HPG50A213K0B@16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20

1/33 R88G-HPG50A332K0SB@16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20

3 kW

1/5 R88G-HPG32A054K0B@13 40 82 11 M8×25 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG50A115K0B@16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20

1/21 R88G-HPG50A213K0SB@16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20

1/25 R88G-HPG65A253K0SB@25 80 130 18 M8×25 M8 110 22 14 9.0 M16 35

2-54

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

*1. This is the set bolt.

Outline Drawings

*2. With the R88G-HPG50@/-HPG65@, the height tolerance is 8 mm (D3 dia., h: 8).

Model Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5 EF1 F2

4 kW

1/5 R88G-HPG50A054K0SB@149 156 170 180×180 190 165 165 163 122 103 12.0 53

1/11 R88G-HPG50A114K0SB@149 156 170 180×180 190 165 165 163 122 103 12.0 53

1/20 R88G-HPG65A204K0SB@231 222 230 180×180 260 165 220 214 168 165 12.0 57

1/25 R88G-HPG65A254K0SB@231 222 230 180×180 260 165 220 214 168 165 12.0 57

5 kW

1/5 R88G-HPG50A055K0SB@149 156 170 180×180 190 200 165 163 122 103 12.0 53

1/11 R88G-HPG50A115K0SB@149 156 170 180×180 190 200 165 163 122 103 12.0 53

1/20 R88G-HPG65A205K0SB@231 222 230 180×180 260 200 220 214 168 165 12.0 57

1/25 R88G-HPG65A255K0SB@231 222 230 180×180 260 200 220 214 168 165 12.0 57

7.5 kW 1/5 R88G-HPG65A057K5SB@184.5 222 230 180×180 260 200 220 214 168 165 12.0 57

1/12 R88G-HPG65A127K5SB@254.5 222 230 180×180 260 200 220 214 168 165 12.0 57

Model

Dimensions (mm)

G S T Z1 Z2 AT*1 Key dimensions Tap

dimensions

QK b h t1 M L

4 kW

1/5 R88G-HPG50A054K0SB@16 50 82 14 M10×25 M6 70 14 9 5.5 M10 20

1/11 R88G-HPG50A114K0SB@16 50 82 14 M10×25 M6 70 14 9 5.5 M10 20

1/20 R88G-HPG65A204K0SB@25 80 130 18 M10×25 M8 110 22 14 9.0 M16 35

1/25 R88G-HPG65A254K0SB@25 80 130 18 M10×25 M8 110 22 14 9.0 M16 35

5 kW

1/5 R88G-HPG50A055K0SB@16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20

1/11 R88G-HPG50A115K0SB@16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20

1/20 R88G-HPG65A205K0SB@25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35

1/25 R88G-HPG65A255K0SB@25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35

7.5 kW 1/5 R88G-HPG65A057K5SB@25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35

1/12 R88G-HPG65A127K5SB@25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35

S dia.,h: 7

D5 dia.

D4 dia.

Four, Z2

Set bolt (AT)

C2 dia.

C1 × C1

D1 dia.

Four, Z1 dia.

D2 dia.

C2 × C2

Four, Z2

Set bolt (AT)

D2 dia.

TF1

D3 dia.,h: 7 *2

Key and Tap Dimensions

M (depth: L)

2-55

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Decelerators for 1,000-r/min Servomotors

Note 1. The standard models have a straight shaft.

Note 2. Models with a key and tap are indicated with “J” at the end of the model number (the suffix shown in the

box). (Example: R88G-HPG32A05900TBJ)

Model Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5 EF1 F2

900 W

1/5 R88G-HPG32A05900TB@129 133 120 130×130 135 145 115 114 84 98 12.5 35

1/11 R88G-HPG32A11900TB@129 133 120 130×130 135 145 115 114 84 98 12.5 35

1/21 R88G-HPG50A21900TB@149 156 170 130×130 190 145 165 163 122 103 12.0 53

1/33 R88G-HPG50A33900TB@149 156 170 130×130 190 145 165 163 122 103 12.0 53

2 kW

1/5 R88G-HPG32A052K0TB@129 133 120 180×180 135 200 115 114 84 98 12.5 35

1/11 R88G-HPG50A112K0TB@149 156 170 180×180 190 200 165 163 122 103 12.0 53

1/21 R88G-HPG50A212K0TB@149 156 170 180×180 190 200 165 163 122 103 12.0 53

1/25 R88G-HPG65A255K0SB@231 222 230 180×180 260 200 220 214 168 165 12.0 57

3 kW

1/5 R88G-HPG50A055K0SB@149 156 170 180×180 190 200 165 163 122 103 12.0 53

1/11 R88G-HPG50A115K0SB@149 156 170 180×180 190 200 165 163 122 103 12.0 53

1/20 R88G-HPG65A205K0SB@231 222 230 180×180 260 200 220 214 168 165 12.0 57

1/25 R88G-HPG65A255K0SB@231 222 230 180×180 260 200 220 214 168 165 12.0 57

4.5 kW

1/5 R88G-HPG50A054K5TB@149 156 170 180×180 190 200 165 163 122 103 12.0 53

1/12 R88G-HPG65A127K5SB@254.5 222 230 180×180 260 200 220 214 168 165 12.0 57

1/20 R88G-HPG65A204K5TB@254.5 222 230 180×180 260 200 220 214 168 165 12.0 57

6 kW 1/5 R88G-HPG65A057K5SB@184.5 222 230 180×180 260 200 220 214 168 165 12.0 57

1/12 R88G-HPG65A127K5SB@254.5 222 230 180×180 260 200 220 214 168 165 12.0 57

2-56

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

*1. This is the set bolt.

Outline Drawings

*2. With the R88G-HPG50@/-HPG65@, the height tolerance is 8 mm (D3 dia., h: 8).

Model

Dimensions (mm)

G S T Z1 Z2 AT*1 Key dimensions Tap

dimensions

QK b h t1 M L

900 W

1/5 R88G-HPG32A05900TB@13 40 82 11 M8×25 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG32A11900TB@13 40 82 11 M8×25 M6 70 12 8 5.0 M10 20

1/21 R88G-HPG50A21900TB@16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20

1/33 R88G-HPG50A33900TB@16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20

2 kW

1/5 R88G-HPG32A052K0TB@13 40 82 11 M12×25 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG50A112K0TB@16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20

1/21 R88G-HPG50A212K0TB@16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20

1/25 R88G-HPG65A255K0SB@25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35

3 kW

1/5 R88G-HPG50A055K0SB@16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20

1/11 R88G-HPG50A115K0SB@16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20

1/20 R88G-HPG65A205K0SB@25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35

1/25 R88G-HPG65A255K0SB@25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35

4.5 kW

1/5 R88G-HPG50A054K5TB@16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20

1/12 R88G-HPG65A127K5SB@25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35

1/20 R88G-HPG65A204K5TB@25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35

6 kW 1/5 R88G-HPG65A057K5SB@25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35

1/12 R88G-HPG65A127K5SB@25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35

Key and Tap Dimensions

M (depth: L)

C1 × C1

Four, Z1 dia.

S dia.,h: 7

D5 dia.

D4 dia.

D1 dia.

Four, Z2

Set bolt (AT)

D2 dia.

C2 × C2

TF1

D3 dia.,h: 7 *2

2-57

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Decelerators for 3,000-r/min Flat Servomotors

Note 1. The standard models have a straight shaft.

Note 2. Models with a key and tap are indicated with “J” at the end of the model number (the suffix shown in the

box). (Example: R88G-HPG11B05100PBJ)

Model Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5 EF1 F2

100 W

1/5 R88G-HPG11B05100PB@39.5 42 40 60×60 46 70 40.0 39.5 29 27 2.2 15

1/11 R88G-HPG14A11100PB@64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21

1/21 R88G-HPG14A21100PB@64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21

1/33 R88G-HPG20A33100PB@71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27

1/45 R88G-HPG20A45100PB@71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27

Model

Dimensions (mm)

G S T Z1 Z2 AT*1Key dimensions Tap

dimensions

QK b h t1 M L

100 W

1/5 R88G-HPG11B05100PB@5 8 20 3.4 M4×9 M3 15 3 3 1.8 M3 6

1/11 R88G-HPG14A11100PB@8 16 28 5.5 M4×10 M3 25 5 5 3.0 M4 8

1/21 R88G-HPG14A21100PB@8 16 28 5.5 M4×10 M3 25 5 5 3.0 M4 8

1/33 R88G-HPG20A33100PB@10 25 42 9.0 M4×10 M3 36 8 7 4.0 M6 12

1/45 R88G-HPG20A45100PB@10 25 42 9.0 M4×10 M3 36 8 7 4.0 M6 12

Model Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5 EF1 F2

200 W

1/5 R88G-HPG14A05200PB@65.0 58 60 80×80 70 90 56.0 55.5 40 37 2.5 21

1/11 R88G-HPG20A11200PB@78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27

1/21 R88G-HPG20A21200PB@78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27

1/33 R88G-HPG20A33200PB@78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27

1/45 R88G-HPG20A45200PB@78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27

Model

Dimensions (mm)

G S T Z1 Z2 AT *1 Key dimensions Tap

dimensions

QK b h t1 M L

200 W

1/5 R88G-HPG14A05200PB@8 16 28 5.5 M5×12 M4 25 5 5 3.0 M4 8

1/11 R88G-HPG20A11200PB@10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12

1/21 R88G-HPG20A21200PB@10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12

1/33 R88G-HPG20A33200PB@10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12

1/45 R88G-HPG20A45200PB@10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12

2-58

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

*1 This is the set bolt.

Outline Drawings

Model Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5 EF1 F2

400 W

1/5 R88G-HPG20A05400PB@78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27

1/11 R88G-HPG20A11400PB@78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27

1/21 R88G-HPG20A21400PB@78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27

1/33 R88G-HPG32A33400PB@104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35

1/45 R88G-HPG32A45400PB@104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35

Model

Dimensions (mm)

G S T Z1 Z2 AT*1 Key dimensions Tap

dimensions

QK b h t1 M L

400 W

1/5 R88G-HPG20A05400PB@10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12

1/11 R88G-HPG20A11400PB@10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12

1/21 R88G-HPG20A21400PB@10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12

1/33 R88G-HPG32A33400PB@13 40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20

1/45 R88G-HPG32A45400PB@13 40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20

C1 × C1

Four, Z1 dia.

S dia.,h: 7

D5 dia.

D4 dia.

C2 × C2

D2 dia.

D1 dia.

Four, Z2

Set bolt (AT)

C2 dia.

Four, Z2

Set bolt (AT)

D2 dia.

TF1

D3 dia.,h: 7

Key and Tap Dimensions

M (depth: L)

2-59

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Backlash = 15’ Max.

Decelerators for 3,000-r/min Servomotors

Note The standard models have a straight shaft with a key.

Outline Drawings

Model Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 E3 F G

50 W

1/5 R88G-VRSF05B100CJ 67.5 32 40 52 46 60 50 45 10 3 6

1/9 R88G-VRSF09B100CJ 67.5 32 40 52 46 60 50 45 10 3 6

1/15 R88G-VRSF15B100CJ 78.0 32 40 52 46 60 50 45 10 3 6

1/25 R88G-VRSF25B050CJ 78.0 32 40 52 46 60 50 45 10 3 6

100 W

1/5 R88G-VRSF05B100CJ 67.5 32 40 52 46 60 50 45 10 3 6

1/9 R88G-VRSF09B100CJ 67.5 32 40 52 46 60 50 45 10 3 6

1/15 R88G-VRSF15B100CJ 78.0 32 40 52 46 60 50 45 10 3 6

1/25 R88G-VRSF25B100CJ 78.0 32 40 52 46 60 50 45 10 3 6

200 W

1/5 R88G-VRSF05B200CJ 72.5 32 60 52 70 60 50 45 10 3 10

1/9 R88G-VRSF09C200CJ 89.5 50 60 78 70 90 70 62 17 3 8

1/15 R88G-VRSF15C200CJ 100.0 50 60 78 70 90 70 62 17 3 8

1/25 R88G-VRSF25C200CJ 100.0 50 60 78 70 90 70 62 17 3 8

400 W

1/5 R88G-VRSF05C400CJ 89.5 50 60 78 70 90 70 62 17 3 8

1/9 R88G-VRSF09C400CJ 89.5 50 60 78 70 90 70 62 17 3 8

1/15 R88G-VRSF15C400CJ 100.0 50 60 78 70 90 70 62 17 3 8

1/25 R88G-VRSF25C400CJ 100.0 50 60 78 70 90 70 62 17 3 8

750 W

1/5 R88G-VRSF05C750CJ 93.5 50 80 78 90 90 70 62 17 3 10

1/9 R88G-VRSF09D750CJ 97.5 61 80 98 90 115 90 75 18 5 10

1/15 R88G-VRSF15D750CJ 110.0 61 80 98 90 115 90 75 18 5 10

1/25 R88G-VRSF25D750CJ 110.0 61 80 98 90 115 90 75 18 5 10

Four, Z2 (effective depth: L)

C2 × C2

C1 × C1

D1 dia.

D3 dia., h: 7

D4 dia.

S dia., h: 6

Four, Z1

D2 dia.

G T

2-60

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Outline Drawings

Model

Dimensions (mm)

S T Z1 Z2 AT LKey dimensions

QK b h t1

50 W

1/5 R88G-VRSF05B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5

1/9 R88G-VRSF09B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5

1/15 R88G-VRSF15B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5

1/25 R88G-VRSF25B050CJ 12 20 M4 M5 M3 12 16 4 4 2.5

100 W

1/5 R88G-VRSF05B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5

1/9 R88G-VRSF09B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5

1/15 R88G-VRSF15B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5

1/25 R88G-VRSF25B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5

200 W

1/5 R88G-VRSF05B200CJ 12 20 M4 M5 M4 12 16 4 4 2.5

1/9 R88G-VRSF09C200CJ 19 30 M4 M6 M4 20 22 6 6 3.5

1/15 R88G-VRSF15C200CJ 19 30 M4 M6 M4 20 22 6 6 3.5

1/25 R88G-VRSF25C200CJ 19 30 M4 M6 M4 20 22 6 6 3.5

400 W

1/5 R88G-VRSF05C400CJ 19 30 M4 M6 M4 20 22 6 6 3.5

1/9 R88G-VRSF09C400CJ 19 30 M4 M6 M4 20 22 6 6 3.5

1/15 R88G-VRSF15C400CJ 19 30 M4 M6 M4 20 22 6 6 3.5

1/25 R88G-VRSF25C400CJ 19 30 M4 M6 M4 20 22 6 6 3.5

750 W

1/5 R88G-VRSF05C750CJ 19 30 M5 M6 M4 20 22 6 6 3.5

1/9 R88G-VRSF09D750CJ 24 40 M5 M8 M4 20 30 8 7 4

1/15 R88G-VRSF15D750CJ 24 40 M5 M8 M4 20 30 8 7 4

1/25 R88G-VRSF25D750CJ 24 40 M5 M8 M4 20 30 8 7 4

Set bolt (AT)

Key Dimensions

2-61

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Decelerators for 3,000-r/min Flat Servomotors

Note The standard models have a straight shaft with a key.

Outline Drawings

Model Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 E3 F G

100 W

1/5 R88G-VRSF05B100PCJ 67.5 32 60 52 70 60 50 45 10 3 8

1/9 R88G-VRSF09B100PCJ 67.5 32 60 52 70 60 50 45 10 3 8

1/15 R88G-VRSF15B100PCJ 78.0 32 60 52 70 60 50 45 10 3 8

1/25 R88G-VRSF25B100PCJ 78.0 32 60 52 70 60 50 45 10 3 8

200 W

1/5 R88G-VRSF05B200PCJ 72.5 32 80 52 90 60 50 45 10 3 12

1/9 R88G-VRSF09C200PCJ 89.5 50 80 78 90 90 70 62 17 3 12

1/15 R88G-VRSF15C200PCJ 100.0 50 80 78 90 90 70 62 17 3 12

1/25 R88G-VRSF25C200PCJ 100.0 50 80 78 90 90 70 62 17 3 12

400 W

1/5 R88G-VRSF05C400PCJ 89.5 50 80 78 90 90 70 62 17 3 12

1/9 R88G-VRSF09C400PCJ 89.5 50 80 78 90 90 70 62 17 3 12

1/15 R88G-VRSF15C400PCJ 100.0 50 80 78 90 90 70 62 17 3 12

1/25 R88G-VRSF25C400PCJ 100.0 50 80 78 90 90 70 62 17 3 12

Four, Z1

C1 × C1

D3 dia., h: 7

D4 dia.

S dia., h: 6

Four, Z2 (effective depth: L)

C2 × C2

D2 dia.

D1 dia.

G T

2-62

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Outline Drawings

Model

Dimensions (mm)

S T Z1 Z2 AT LKey dimensions

QK b h t1

100 W

1/5 R88G-VRSF05B100PCJ 12 20 M4 M5 M3 12 16 4 4 2.5

1/9 R88G-VRSF09B100PCJ 12 20 M4 M5 M3 12 16 4 4 2.5

1/15 R88G-VRSF15B100PCJ 12 20 M4 M5 M3 12 16 4 4 2.5

1/25 R88G-VRSF25B100PCJ 12 20 M4 M5 M3 12 16 4 4 2.5

200 W

1/5 R88G-VRSF05B200PCJ 12 20 M5 M5 M4 12 16 4 4 2.5

1/9 R88G-VRSF09C200PCJ 19 30 M5 M6 M4 20 22 6 6 3.5

1/15 R88G-VRSF15C200PCJ 19 30 M5 M6 M4 20 22 6 6 3.5

1/25 R88G-VRSF25C200PCJ 19 30 M5 M6 M4 20 22 6 6 3.5

400 W

1/5 R88G-VRSF05C400PCJ 19 30 M5 M6 M4 20 22 6 6 3.5

1/9 R88G-VRSF09C400PCJ 19 30 M5 M6 M4 20 22 6 6 3.5

1/15 R88G-VRSF15C400PCJ 19 30 M5 M6 M4 20 22 6 6 3.5

1/25 R88G-VRSF25C400PCJ 19 30 M5 M6 M4 20 22 6 6 3.5

Set bolt (AT)

Key Dimensions

2-63

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

External Regeneration Resistor Dimensions

External Regeneration Resistor

R88A-RR08050S/-RR080100S

R88A-RR22047S

R88A-RR50020S

t1.2 104

122

130

43.5

4.2

Thermal switch output

500

1.5 dia.

(0.3mm2)

3 dia.

(0.75mm2)

t1.2 200

220

230

4.2

500

Thermal switch output

1.5 dia.

(0.3mm2)

3 dia.

(0.75mm2)

360

386

402

4325 10

5.2

2-64

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Reactor Dimensions

3G3AX-DL2002

3G3AX-DL2004

Ground terminal

(M4) 66

Four, 5.2 × 8

Two, M4

Ground terminal

(M4)

Two, M4

Four, 5.2 × 8

2-65

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

3G3AX-DL2007

3G3AX-DL2015

105

Ground terminal

(M4)

Two, M4

Four, 5.2 × 8

115

Ground terminal

(M4)

Two, M4

Four, 5.2 × 8

2-66

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

3G3AX-DL2022

3G3AX-AL2025/-AL2055

Model Dimensions (mm)

A C Y

3G3AX-AL2025 130 82 67

3G3AX-AL2055 140 98 75

100

Four, 6 × 9

116

105

Ground terminal

(M4)

Two, M4

Ground terminal (M5)

Six, M4

terminal screws

Terminal

block

150

4060

Ro R So S To T

Connection Diagram

Y±1

50±1

Ro R So S To

9.5

Four, 6 dia.

(Notch)

2-67

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Chapter 3

Specifications

3-1 Servo Drive Specifications ................................. 3-1

General Specifications ..........................................................3-1

Characteristics ......................................................................3-2

Main Circuit and Servomotor Connections ...........................3-6

Control I/O Connector Specifications (CN1) .........................3-9

Control Input Circuits ............................................................3-17

Control Input Details .............................................................3-20

Control Output Circuits..........................................................3-26

Control Output Details...........................................................3-27

Encoder Connector Specifications (CN2) .............................3-30

Parameter Unit Connector Specifications (CN3B) ................3-31

3-2 Servomotor Specifications ................................. 3-32

General Specifications ..........................................................3-32

Characteristics ......................................................................3-33

Encoder Specifications .........................................................3-46

3-3 Decelerator Specifications ................................. 3-47

Standard Models and Specifications.....................................3-47

3-4 Cable and Connector Specifications .................. 3-57

Encoder Cable Specifications ...............................................3-57

Absolute Encoder Battery Cable Specifications....................3-63

Servomotor Power Cable Specifications...............................3-64

Communications Cable Specifications..................................3-84

Connector Specifications ......................................................3-86

Control Cable Specifications.................................................3-89

3-5 Servo Relay Units and Cable Specifications...... 3-99

Servo Relay Units Specifications ..........................................3-99

Servo Drive-Servo Relay Unit Cable Specifications .............3-112

Position Control Unit-Servo Relay Unit Cable

Specifications........................................................................3-116

3-6 Parameter Unit Specifications.......................... 3-129

3-7 External Regeneration Resistor

Specifications ................................................... 3-130

External Regeneration Resistor Specifications.....................3-130

3-8 Reactor Specifications ..................................... 3-131

3-1

3-1 Servo Drive Specifications

Specifications

3-1 Servo Drive Specifications

Select the Servo Drive matching the Servomotor to be used. (For details, refer to Servo Drive-

Servomotor Combinations on page 2-5.)

The same OMNUC G-Series Servo Drive can be used for either a pulse string input or analog input.

You can change the control mode according to the Controller. (The default setting is for position

control with pulse string commands.)

General Specifications

Note 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.

Note 2. Never perform withstand-voltage or other megameter tests on the Servo Drive. Doing so may damage the

internal elements.

Note 3. Depending on the operating conditions, some Servo Drive parts will require maintenance. Refer to 8-5

Periodic Maintenance on page 8-21.

Note 4. The service life of the Servo Drive is 28,000 hours at an average ambient temperature of 55°C at 100%

of the rated torque.

Item Specifications

Ambient operating temperature

and operating humidity 0 to 55°C, 90% RH max. (with no condensation)

Ambient storage temperature

and storage humidity −20 to 65°C, 90% RH max. (with no condensation)

Storage and operating

atmosphere No corrosive gasses

Vibration resistance Smaller of either 10 to 60 Hz with double amplitude of 0.1 mm or acceleration of

5.88 m/s2 max. in X, Y, and Z directions.

Impact resistance Acceleration of 19.6 m/s2 max. 2 times each in X, Y, and Z directions

Insulation resistance Between power supply/power line terminals and frame ground: 0.5 MΩ. min.

(at 500 VDC)

Dielectric strength

Between power supply/power line terminals and frame ground: 1,500 VAC for 1 min

at 50/60 Hz

Between each control signal and frame ground: 500 VAC for 1 min

Protective structure Built into panel (IP10).

Interna-

tional

standards

Direc-

tives

EMC

Directive

EN 55011 class A group 1

EN 61000-6-2, IEC 61000-4-2/-3/-4/-5/-6/-11

Low-

voltage

Directive

EN 50178

UL standards UL 508C

CSA standards CSA 22.2 No.14

3-2

3-1 Servo Drive Specifications

Specifications

Characteristics

Servo Drives with 100-VAC Input Power

Item R88D-GTA5L R88D-GT01L R88D-GT02L R88D-GT04L

Continuous output current (rms) 1.3 A 1.8 A 2.4 A 4.9 A

Momentary maximum output current (rms) 3.9 A 5.4 A 7.2 A 14.7 A

Input power

supply

Main circuit

Power

supply

capacity

0.4 KVA 0.4 KVA 0.5 KVA 0.9 KVA

Power

supply

voltage

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

Rated

current 1.4 A 2.2 A 3.7 A 6.6 A

Control circuit

Power

supply

voltage

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

Rated

current 0.09 A 0.09 A 0.09 A 0.09 A

Heat

generated

Main circuit 10.1 W 14.4 W 18.4 W 41.4 W

Control circuit 4.4 W 4.4 W 4.4 W 4.4 W

Control method All-digital servo

Inverter method IGBT-driven PWM method

PWM frequency 12.0 kHz 6.0 kHz

Weight Approx. 0.8 kg Approx. 0.8 kg Approx. 1.1 kg Approx. 1.5 kg

Maximum applicable motor capacity 50 W 100 W 200 W 400 W

Applicable

Servomo-

tors

3,000-r/min

Servomotors

G05030H G10030L G20030L G40030L

G05030T G10030S G20030S G40030S

3,000-r/min

Flat Servomo-

tors

--- GP10030L GP20030L GP40030L

--- GP10030S GP20030S GP40030S

2,000-r/min

Servomotors --- --- --- ---

1,000-r/min

Servomotors --- --- --- ---

Performance

Speed control range 1: 5000

Speed variability: Load characteristic 0.01% or less at 0% to 100% (at rated speed)

Speed variability: Voltage characteris-

tic 0% at ±10% of rated voltage (at rated speed)

Speed variability: Temperature

characteristic ±0.1% or less at 0 to 50°C (at rated speed)

Torque control reproducibility ±3% (at 20% to 100% of rated torque)

INC

ABS

INC

ABS

3-3

3-1 Servo Drive Specifications

Specifications

Servo Drives with Single-phase 200-VAC Input Power

*1. The left value is for single-phase input power and the right value is for three-phase input power.

Item R88D-

GT01H

R88D-

GT02H

R88D-

GT04H

R88D-

GT08H

R88D-

GT10H

R88D-

GT15H

Continuous output current (rms) 1.16 A 1.6 A 2.7 A 4.0 A 5.9 A 9.8 A

Momentary maximum output current (rms) 3.5 A 5.3 A 7.1 A 14.1 A 21.2 A 28.3 A

Input

power

supply

Main circuit

Power

supply

capacity

0.5 KVA 0.5 KVA 0.9 KVA 1.3 KVA 1.8 KVA 2.3 KVA

Power

supply

voltage

Single-phase 200 to 240 VAC (170

to 264 V), 50/60 Hz

Single-phase or three-phase 200 to

240 VAC (170 to 264 V), 50/60 Hz

Rated

current 1.3 A 2.0 A 3.7 A 5.0/3.3 *1 A 7.5/4.1 *1 A 11/8.0 *1 A

Control circuit

Power

supply

voltage

Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz

Rated

current 0.05 A 0.05 A 0.05 A 0.05 A 0.07 A 0.07 A

Heat

generated

Main circuit 14.3 W 14.8 W 23.6 W 38.7 W 52.9 W 105.9 W

Control circuit 4.5 W 4.5 W 4.5 W 4.3 W 6.1 W 6.1 W

PWM frequency 12.0 kHz 6.0 kHz

Weight Approx.

0.8 kg

Approx.

0.8 kg

Approx.

1.1 kg

Approx.

1.5 kg

Approx.

1.7 kg

Approx.

1.7 kg

Maximum applicable motor capacity 100 W 200 W 400 W 750 W 1 k W 1.5 kW

Applicable

Servomo-

tors

3,000-r/min

Servomotors

G05030H

G10030H G20030H G40030H G75030H --- ---

G05030T

G10030T G20030T G40030T G75030T --- G1K030T

G1K530T

3,000-r/min Flat

Servomotors

GP10030H GP20030H GP40030H --- --- ---

GP10030T GP20030T GP40030T --- --- ---

2,000-r/min

Servomotors --- --- --- --- G1K020T G1K520T

1,000-r/min

Servomotors --- --- --- --- --- G90010T

Control method All-digital servo

Inverter method IGBT-driven PWM method

Performance

Speed control range 1:5000

Speed variability: Load characteristic 0.01% or less at 0% to 100% (at rated speed)

Speed variability: Voltage characteris-

tic 0% at ±10% of rated voltage (at rated speed)

Speed variability: Temperature

characteristic ±0.1% or less at 0 to 50°C (at rated speed)

Torque control reproducibility ±3% (at 20% to 100% of rated torque)

INC

ABS

INC

ABS

3-4

3-1 Servo Drive Specifications

Specifications

Servo Drives with Three-phase 200-VAC Input Power

Item R88D-GT20H R88D-GT30H R88D-GT50H R88D-GT75H

Continuous output current (rms) 14.3 A 17.4 A 31.0 A 45.4 A

Momentary maximum output current

(rms) 45.3 A 63.6 A 84.8 A 170.0 A

Input

power

supply

Main circuit

Power

supply

capacity

3.3 KVA 4.5 KVA 7.5 KVA 11 KVA

Power

supply

voltage

Three-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz

Rated

current 10.2 A 15.2 A 23.7 A 35.0 A

Control circuit

Power

supply

voltage

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

Rated

current 0.1 A 0.12 A 0.12 A 0.14 A

Heat

generat-

Main circuit 112.3 W 219.6 W 391.7 W 376.2 W

Control circuit 10.7 W 13.3 W 13.3 W 13.8 W

PWM frequency 6.0 kHz

Weight Approx. 3.2 kg Approx. 6.0 kg Approx. 6.0 kg Approx. 16.4 kg

Maximum applicable motor capacity 2 kW 3 kW 5 kW 7.5 kW

Applica-

ble

Servo-

motors

3,000-r/min

Servomotors

--- --- --- ---

G2K030T G3K030T G4K030T

G5K030T ---

3,000-r/min

Flat Servomo-

tors

--- --- --- ---

2,000-r/min

Servomotors G2K020T G3K020T G4K020T

G5K020T G7K515T

1,000-r/min

Servomotors --- G2K010T G3K010T

G4K510T G6K010T

Control method All-digital servo

Inverter method IGBT-driven PWM method

Performance

Speed control range 1:5000

Speed variability: Load characteris-

tic 0.01% or less at 0% to 100% (at rated speed)

Speed variability: Voltage charac-

teristic 0% at ±10% of rated voltage (at rated speed)

Speed variability: Temperature

characteristic ±0.1% or less at 0 to 50°C (at rated speed)

Torque control reproducibility ±3% (at 20% to 100% of rated torque)

INC

ABS

INC

ABS

3-5

3-1 Servo Drive Specifications

Specifications

Protective Functions

Error detection Description

Control power supply undervoltage The voltage between P and N in the control voltage converter has dropped below the spec-

ified value.

Overvoltage The voltage between P and N in the converter has exceeded the specified value.

Undervoltage

The main power supply between L1−L3 was interrupted for longer than the time set in the

Momentary Hold Time (Pn6D) when the Undervoltage Alarm Selection (Pn65) was set to 1.

Alternatively, the voltage between P and N in the main power supply converter dropped be-

low the specified value while the Servo Drive was ON.

Overcurrent The current flowing to the converter exceeded the specified value.

Overheating The temperature of the Servo Drive radiator or power elements exceeded the specified val-

ue.

Overload The torque command value exceeded the level set in the Overload Detection Level Setting

(Pn72), resulting in an overload due to the time characteristics.

Regeneration overload The regenerative energy exceeded the capacity of the regeneration resistor.

Encoder communications error The disconnection detection function was activated because communications between the

encoder and Servo Drive were interrupted for a specified number of times.

Encoder communications data error There was an error in the communications data from the encoder. (The encoder is connect-

ed, but there is an error in the communications data.)

Deviation counter overflow The number of position deviation pulses exceeded the Deviation Counter Overflow Level

(Pn70).

Overspeed The rotation speed of the Servomotor exceeded the setting of the Overspeed Detection Level

Setting (Pn73).

Command pulse multiplying error

The settings of the gear ratio (Pn48 to Pn4B: Electronic Gear Ratio Numerator 1, Electronic

Gear Ratio Numerator 2, Electronic Gear Ratio Numerator Exponent and Electronic Gear

Ratio Denominator) are not appropriate.

Overrun limit error The allowable range of movement set in the Overrun Limit Setting (Pn26) was exceeded by

the Servomotor.

EEPROM parameter error The data in the parameter storage area was corrupted when the data was read from EE-

PROM at power-ON.

EEPROM check code error The EEPROM write verification data was corrupted when the data was read from EEPROM

at power-ON.

Drive prohibit input

Both the forward and reverse drive prohibit inputs were open when the Drive Prohibit Input

Selection (Pn04) was set to 0 or either the forward or reverse drive prohibit input was open

when the Drive Prohibit Input Selection (Pn04) was set to 2.

Excessive analog input A voltage exceeding the Speed Command/ Torque Command Input Overflow Level Setting

(Pn71) was applied to the Speed Command Input (REF: CN1 pin 14).

Absolute encoder

system down error

The power supply and battery to the absolute encoder went down and the capacitor voltage

dropped below the specified value.

Absolute encoder

counter overflow error The multiturn counter for the absolute encoder has exceeded the specified value.

Absolute encoder

overspeed error

The Servomotor speed exceeded the specified value when the power to the absolute encod-

er was interrupted and power was supplied only from the battery.

Absolute encoder

one-turn counter error An error was detected in the one-turn counter for the absolute encoder.

Absolute encoder

multi-turn counter error An error was detected in the multiturn counter for the absolute encoder.

Absolute encoder status

error

The number of rotations of the encoder exceeded the specified value when the power supply

was turned ON.

Encoder phase Z error A phase Z pulse was not detected regularly for the serial encoder.

Encoder PS signal error A logic error in the PS signal was detected for the serial encoder.

PCL input exceeded A voltage exceeding ±10 V was applied to the Forward Torque Limit Input (PCL: CN1 pin 16).

NCL input exceeded A voltage exceeding ±10 V was applied to the Reverse Torque Limit Input (NCL: CN1 pin 18).

Motor automatic recognition error The Servomotor and Servo Drive do not match.

CPU error The Servo Drive or Servomotor failed.

Encoder error The Servo Drive or Servomotor failed.

ABS

3-6

3-1 Servo Drive Specifications

Specifications

Main Circuit and Servomotor Connections

When wiring the main circuit, use proper wire sizes, grounding systems, and anti-noise measures.

R88D-GTA5L/-GT01L/-GT02L/-GT04L

R88D-GT01H/-GT02H/-GT04H/-GT08H/-GT10H/-GT15H

Main Circuit Connector Specifications (CNA)

Servomotor Connector Specifications (CNB)

Symbol Name Function

Main circuit power

supply input

R88D-GT@L (50 W to 400 W): Single-phase 100 to 115 VAC (85 to 127 V),

50/60 Hz

R88D-GT@H (50 W to 1.5 kW): Single-phase 200 to 240 VAC (170 to 264 V),

50/60 Hz

(750 W to 1.5 kW): Three-phase 200 to 240 VAC (170 to 264 V),

50/60 Hz

L1C Control circuit power

supply input

R88D-GT@L: Single-phase 100 to 115 VAC (85 to 127 V) 50/60 Hz

R88D-GT@H: Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz

L2C

Symbol Name Function

B1 External

Regeneration

Resistor connection

terminals

50 W to 400 W: These terminals normally do not need to be connected. If there is

high regenerative energy, connect an External Regeneration Re-

sistor between B1 and B2.

750 W to 1.5 kW: Normally B2 and B3 are connected. If there is high regenerative

energy, remove the short-circuit bar between B2 and B3 and con-

nect an External Regeneration Resistor between B1 and B2.

Servomotor

connection terminals

Red

These are the output terminals to the Servomotor.

Be sure to wire them correctly.

VWhite

WBlue

Green/

Yellow

Frame ground This is the ground terminal. Ground to a 100 Ω or less.

3-7

3-1 Servo Drive Specifications

Specifications

R88D-GT20H/-GT30H/-GT50H

Main Circuit Terminal Block Specifications

Symbol Name Function

Main circuit power

supply input R88D-GT@H (2 to 5 kW): Three-phase 200 to 230 VAC (170 to 253 V), 50/60HzL2

L1C Control circuit

power supply input R88D-GT@H: Single-phase 200 to 230 VAC (170 to 253V), 50/60 Hz

L2C

B1 External

Regeneration

Resistor connection

terminals

2 to 5 kW: Normally B2 and B3 are connected. If there is high regenerative energy,

remove the short-circuit bar between B2 and B3 and connect an External

Regeneration Resistor between B1 and B2.

Servomotor

connection terminals

Red

These are the output terminals to the Servomotor.

Be sure to wire them correctly.

VWhite

WBlue

Green/

Yellow

Frame ground This is the ground terminal. Ground to 100 Ω or less.

3-8

3-1 Servo Drive Specifications

Specifications

R88D-GT75H

Main Circuit Terminal Block Specifications (TB1)

Main Circuit Terminal Block Specifications (TB2)

Symbol Name Function

Main circuit power

supply input

R88D-GT75H (6 to 7.5 kW): Three-phase 200 to 230 VAC (170 to 253 V),

50/60Hz

B1 External

Regeneration

Resistor connection

terminals

6 kW, 7.5 kW: A regeneration resistor is not built in.

Connect an External Regeneration Resistor between B1 and B2,

if necessary.

Servomotor

connection terminals

Red

These are the output terminals to the Servomotor.

Be sure to wire them correctly.

VWhite

WBlue

Green/

Yellow

Frame ground This is the ground terminal. Ground to 100 Ω or less.

Symbol Name Function

NC --- Do not connect.

L1C Control circuit

power supply input R88D-GT75H: Single-phase 200 to 230 VAC (170 to 253 V), 50/60Hz

L2C

Frame ground This is the ground terminal. Ground to 100 Ω or less.

--- Do not connect.

EX1

EX2

EX3

FN(+) Fan Stop Output Outputs a warning signal when the fan inside the Servo Drive stops.

(30 VDC, 50 mA max.)

FN(−)

3-9

3-1 Servo Drive Specifications

Specifications

Control I/O Connector Specifications (CN1)

Control I/O Signal Connections and External Signal Processing for Position

Control

*1. If a backup battery is connected, a cable with a battery is not required.

Brake Interlock Maximum

operating

voltage:

30 VDC

Maximum

output

current:

50 mA DC

RUN Command

Input

Reverse

pulse

500 kpps max.

2 Mpps max.

Reverse

pulse

Forward

pulse

Forward

pulse

12 to 24 VDC

Frame ground

Phase-Z Output

(open collector output)

Alarm Output

Positioning

Completed Output

Alarm Reset

Input

Deviation Counter

Reset Input

Gain Switch

Input

Electronic Gear

Switch Input

Reverse Drive

Prohibit Input

Forward Drive

Prohibit Input

Encoder Phase-A

Output

Encoder Phase-B

Output

Encoder Phase-Z

Output

Line driver output

Conforms to

EIA RS-422A

(Load resistance:

120 Ω min.)

Vibration Filter

Switch

Control Mode

Switch Input

Pulse Prohibit

Input

Servo Ready Output

General-purpose Output 2

General-purpose Output 1

Forward Torque Limit Input

Reverse Torque Limit Input

100 Ω

4.7 kΩ

1 µF

SEN

SENGND

Sensor ON

BAT

BATCOM

Backup Battery Input *1

3-10

3-1 Servo Drive Specifications

Specifications

Control I/O Signal Connections and External Signal Processing for Speed

Control

*1. If a backup battery is connected, a cable with a battery is not required.

BKIR

Servomotor Rotation

Speed Detection Output

BKIRCOM

READY

READYCOM

ALMCOM

/ALM37

TGONCOM

TGON

TVSEL

31RESET

30VSEL2

28VSEL3

GSEL

VZERO

29RUN

Internally Set

Speed Selection 2

Internally Set

Speed Selection 3

Zero Speed

Designation Input

33VSEL1

Internally Set

Speed Selection 1

8NOT

9POT

12 OUTM1

OUTM2

COM

ZCOM

BAT

BATCOM

Backup Battery Input *1

SEN

REF

AGND

Speed Command Input

PCL

NCL

AGND

SENGND 13

Sensor ON Input

Brake Interlock Maximum

operating

voltage:

30 VDC

Maximum

output

current:

50 mA DC

RUN Command

Input

12 to 24 VDC

Frame ground

Phase-Z Output

(open collector output)

Alarm Output

Alarm Reset

Input

Gain Switch

Input

Reverse Drive

Prohibit Input

Forward Drive

Prohibit Input

Encoder Phase-A

Output

Encoder Phase-B

Output

Encoder Phase-Z

Output

Line driver output

Conforms to

EIA RS-422A

(Load resistance:

120 Ω min.)

Control Mode

Switch Input

Servo Ready Output

General-purpose Output 2

General-purpose Output 1

Forward Torque

Limit Input

Reverse Torque

Limit Input

3-11

3-1 Servo Drive Specifications

Specifications

Control I/O Signal Connections and External Signal Processing for Torque

Control

*1. If a backup battery is connected, a cable with a battery is not required.

BAT

BATCOM

Backup Battery Input *1

BKIR

BKIRCOM

READY

READYCOM

ALMCOM

/ALM37

TGONCOM

TGON

TVSEL

RESET

GSEL

VZERO

29RUN

NOT

POT

12 OUTM1

OUTM2

COM

ZCOM

TREF1/VLIM

AGND

TREF2

AGND

20 100 Ω

4.7 kΩ1µF

SEN

SENGND 13

Sensor ON

Servomotor Rotation

Speed Detection Output

Zero Speed

Designation Input

Brake Interlock Maximum

operating

voltage:

30 VDC

Maximum

output

current:

50 mA DC

RUN Command

Input

12 to 24 VDC

Frame ground

Phase-Z Output

(open collector output)

Alarm Output

Alarm Reset

Input

Gain Switch

Input

Reverse Drive

Prohibit Input

Forward Drive

Prohibit Input

Encoder Phase-A

Output

Encoder Phase-B

Output

Encoder Phase-Z

Output

Line driver output

Conforms to

EIA RS-422A

(Load resistance:

120 Ω min.)

Control Mode

Switch Input

Servo Ready Output

General-purpose Output 2

General-purpose Output 1

Torque Command

Input

Torque Command

Input or

Speed Limit

Input

3-12

3-1 Servo Drive Specifications

Specifications

Control I/O Signals

CN1 Control Inputs

No. Symbol Name Function/Interface Control

mode

1+24VCW

24-V Open-collector Input

for Command Pulse Input terminals for position command pulses.

These are selected by setting the Command Pulse Input

Selection (Pn40) to 0.

Line-Driver input:

Maximum response frequency: 500 kpps

Open-collector input:

Maximum response frequency: 200 kpps

Any of the following can be selected by using the Pn42 set-

ting: reverse and forward pulses (CW/CCW), feed pulse

and direction signal (PULS/SIGN), 90° phase difference

(phase A/B) signals (FA/FB).

Position

2+24VCC

24-V Open-collector Input

for Command Pulse

3+CW/

PULS/FA Reverse Pulses Input/

Feed Pulses Input,

or 90° Phase Difference

Pulse Input (Phase A)

4−CW/

PULS/FA

5+CCW/

SIGN/FB Forward Pulse Input/

Direction Signal,

or 90° Phase Difference

Pulse Input (Phase B)

6−CCW/

SIGN/FB

7 +24VIN 12 to 24-VDC Power

Supply Input

Power supply input terminal (+12 to 24 VDC) for sequence

inputs. All

8NOT

Reverse Drive Prohibit

Input

Reverse rotation overtravel input.

OFF: Prohibited, ON: Permitted All

9POT

Forward Drive Prohibit

Input

Forward rotation overtravel input.

OFF: Prohibited, ON: Permitted All

REF Speed Command Input Analog input terminal for speed commands. *1 Speed

TREF1 Torque Command Input Analog input terminal for torque command when Torque

Command/Speed Limit Selection (Pn5B) is set to 0. *1 Torque

VLIM Speed Limit Input Analog input terminal for speed limit when Torque Com-

mand/Speed Limit Selection (Pn5B) is set to 1. *1 Torque

15 AGND Analog Input Ground Analog input ground. All

PCL Forward Torque Limit Input Analog input terminal for forward torque limit. *1 Position,

speed

TREF2 Torque Command Input

Analog input terminal for torque command by setting the

Control Mode Selection (Pn02) and Torque Command/

Speed Limit Selection (Pn5B). *1

Torque

17 AGND Analog Input Ground Analog input ground. All

18 NCL Reverse Torque Limit Input Analog input terminal for reverse torque limit. *1 Position,

speed

20 SEN

Sensor ON Input

ON: Absolute encoder's multi-turn amount and initial incre-

mental pulses are sent.

Required signal when using an absolute encoder.

All

13 SENGND

3-13

3-1 Servo Drive Specifications

Specifications

No. Symbol Name Function/Interface Control

mode

VZERO Zero Speed Designation

Input

When the Zero Speed Designation/Speed Command Di-

rection Switch (Pn06) is set to 0, Zero Speed Designation

Input is disabled.

When the Zero Speed Designation/Speed Command Di-

rection Switch (Pn06) is set to 1, Zero Speed Designation

Input is enabled.

OFF: Speed Command is regarded as 0.

ON: Normal operation.

Speed,

torque

PNSEL Speed Command Rotation

Direction Switch

When the Zero Speed Designation/Speed Command Di-

rection Switch (Pn06) is set to 0, Speed Command Direc-

tion Switch input is disabled.

When the Zero Speed Designation/Speed Command Di-

rection Switch (Pn06) is set to 2, it will determine the direc-

tion of the speed command.

OFF: Forward rotation

ON: Reverse rotation

Speed

DFSEL Vibration Filter Switch

Vibration filter switch input when the Vibration Filter Selec-

tion (Pn24) is set to 1.

OFF: Vibration filter 1 (Pn2B, Pn2C) enabled.

ON: Vibration filter 2 (Pn2D, Pn2E) enabled.

Position

GSEL Gain Switch

Gain switch input when the Torque Limit Selection (Pn03)

is set to 0 to 2.

If the Gain Switching Input Operating Mode Selection

(Pn30) is set to 0:

OFF: PI (Proportional/Integral) operation

ON: P (Proportional) operation

When the Gain Switching Input Operating Mode Selection

(Pn30) is set to 1, switches between Gain 1 and Gain 2.

The selected Gain will differ depending on the settings for

Pn31 and Pn36.

All

TLSEL Torque Limit Switch

Torque limit switch input when the Torque Limit Selection

(Pn03) is set to 3.

OFF: No. 1 Torque Limit (Pn5E) enabled.

ON: No. 2 Torque Limit (Pn5F) enabled.

All

GESEL Electronic Gear Switch

Electronic gear switch input. *2

OFF: Electronic Gear Ratio Numerator 1 (Pn48)

ON: Electronic Gear Ratio Numerator 2 (Pn49)

Position

VSEL3 Internally Set Speed

Selection 3

Internally set speed selection 3.

ON: Internally set speed selection 3 is input. Speed

29 RUN RUN Command ON: Servo ON (Starts power to Servomotor.) *3 All

ECRST Deviation Counter Reset

Input

Deviation counter reset input. *4

ON: The deviation counter is reset (i.e., cleared). Position

VSEL2 Internally Set Speed

Selection 2

Internally set speed selection 2.

ON: Internally set speed selection 2 is input. Speed

31 RESET Alarm Reset Input ON: Servo alarm status is reset. *5

Must be ON for 120 ms min. All

32 TVSEL Control Mode Switch Input The control mode can be switched when the Control Mode

Selection (Pn02) is set to 3 to 5. All

IPG Pulse Prohibit Input

Pulse prohibit input (IPG) when the Command Pulse Pro-

hibited Input (Pn43) is set to 0.

OFF: The command pulse is ignored.

Position

VSEL1 Internally Set Speed

Selection 1

Internally set speed selection 1.

ON: Internally set speed selection 1 is input. Speed

3-14

3-1 Servo Drive Specifications

Specifications

*1. Do not apply a voltage that exceeds ±10 V.

*2. Do not input a command pulse within 10 ms before and after switching.

*3. Dynamic brake operation and deviation counter clear can be selected using the Stop Selection with Servo OFF

(Pn69).

*4. Must be ON for 2 ms min.

*5. The deviation counter is cleared when the alarm is reset. Some alarms cannot be reset with this input.

No. Symbol Name Function/Interface Control

mode

42 BAT Backup Battery

Input

Backup battery connector terminals when the absolute

encoder power is interrupted.

When a backup battery is connected to this terminal,

the battery case is not required.

All

43 BATGND

44 +CWLD Reverse Pulse

(input for line driver only)

Position command pulse input when the Command

Pulse Input Selection (Pn40) is set to 1.

Line-driver input:

Maximum response frequency: 2 Mpps

Any of the following can be selected by using the Pn42

setting: reverse and forward pulses (CW/CCW), feed

pulse and direction signal (PULS/SIGN), 90° phase dif-

ference (phase A/B) signals (FA/FB).

Position

45 −CWLD

46 +CCWLD Forward Pulse

(input for line driver only)

47 −CCWLD

ABS

3-15

3-1 Servo Drive Specifications

Specifications

CN1 Control Outputs

No. Symbol Name Function/Interface Control

mode

10 BKIRCOM Brake Interlock Output Outputs holding brake timing signals.

Releases the holding brake when ON. All

11 BKIR

12 OUTM1 General-purpose Output 1 Used according to the setting of the General-

purpose Output 1 Selection (Pn0A). All

19 Z Phase-Z Output (open collector) Outputs the encoder phase-Z signal (1 pulse/

revolution). Open-collector output. All

25 ZCOM Phase-Z Output (open collector)

common

21 +A Encoder Phase-A + Output

Outputs encoder pulses according to the Encod-

er Dividing Rate Setting (Pn44 and Pn45).

This is the line-driver output (equivalent to

RS-422).

All

22 −A Encoder Phase-A − Output

48 −B Encoder Phase-B − Output

49 +B Encoder Phase-B + Output

23 +Z Encoder Phase-Z + Output

24 −Z Encoder Phase-Z − Output

35 READY

Servo Ready Output

Output signal to indicate that power can be

supplied to the Servo Drive.

ON if no errors are found after the power is

supplied to the main circuit.

All

34 READYCOM

37 /ALM Alarm Output The output is OFF when an alarm is generated

for the Servo Drive. All

36 ALMCOM

39 INP

Positioning Completed Output

Positioning completed output.

ON: The accumulated pulses in the deviation

counter are within the setting for Positioning

Completion Range (Pn60).

Position

38 INPCOM

39 TGON Servomotor Rotation Speed

Detection Output

Servomotor rotation speed detection output.

ON: The number of Servomotor rotations

exceeds the value set for Rotation Speed for Mo-

tor Rotation Detection (Pn62).

Speed,

torque

38 TGONCOM

40 OUTM2 General-purpose Output 2 Used according to the setting of the General-pur-

pose Output 2 Selection (Pn09). All

41 COM General-purpose Output

Common Ground common for sequence outputs. All

Shell FG Frame Ground Connected to the ground terminal inside the

Servo Drive. All

3-16

3-1 Servo Drive Specifications

Specifications

CN1 Pin Arrangement

Note Do not connect anything to unused pins (*).

CN1 Connectors (50 Pins)

Name Model Manufacturer

Servo Drive Connector 52986-3679 Molex Japan

Cable Plug 10150-3000PE Sumitomo 3M

Cable Case (Shell Kit) 10350-52A0-008

+24VCW1

+CCW/

+SIGN/+FB

POT

−CCW/

−SIGN/−FB

+CW/

+PULS/+FA

+24VIN

NOT

BKIR

OUTM1

REF/TREF1/

VLIM

−CW/

-PULS/-FA

+24VCCW

−A−CCWLD

OUTM2

COM

BAT

BATGN D

+CWLD

−CWLD

+CCWLD

SEN

IPG/VSEL1

READYCO M

READY

ALMCOM

/ALM

INPCOM/

TGONCOM

INP/TGON

RESET

TVSEL

−B

ZCOM

VZERO/DF

SEL/PNSEL

GSEL/TLSEL

GESEL/

VSEL3

RUN

ECRST/VSEL2

BKIRCOM

SENGND

NCL

PCL/TREF2

AGND

−Z

24-V Open-

collector Input

for Command

Pulse

24-V Open-

collector Input

for Command

Pulse

Gain Switch/

Torque Limit

Switch

Electronic Gear

Switch/

Internally Set

Speed Selection 3

Control Mode

Switch Input

Servo Ready

Output

General-

purpose

Output 2

Alarm Output

Deviation Counter

Reset/Internally

Set Speed

Selection 2

Alarm Reset

Input

Alarm Output

Servo Ready

Output

RUN

Command

Reverse Drive

Prohibit Input

12 to 24-VDC

Power Supply

Input

Forward Drive

Prohibit Input

Brake

Interlock

Output Brake

Interlock

Output

Sensor Input

Ground

Sensor Input

Ground

Common

General-

purpose

Output 1

Reverse Pulses Input/

Feed Pulses Input, or

90° Phase Difference

Pulse Input (Phase A)

Reverse Pulses Input/

Feed Pulses Input, or

90° Phase Difference

Pulse Input (Phase A)

Zero Speed Designation

Input/Vibration Filter

Switch/Speed Command

Rotation Direction Switch

Forward Pulses/

Direction Signal, or

90° Phase Difference

Pulse Input (Phase B)

Forward Pulses/

Direction Signal, or

90° Phase Difference

Pulse Input (Phase B)

Positioning Completed

Output/Servomotor

Rotation Speed

Detection Output

Positioning Completed

Output/Servomotor

Rotation Speed Detection

Output Common

Reverse Pulse

(input for line

driver only)

Forward Pulse

(input for line

driver only)

Absolute

Encoder

Backup Battery

Input

Absolute

Encoder

Backup Battery

Input

General-

purpose Output

Common

Pulse Prohibit

Input/Internally

Set Speed

Selection 1

Phase-Z Output

(open collector)

Common

Speed Command

Input/Torque

Command Input/

Speed Limit Input

Forward Torque

Limit Input/

Torque

Command Input

Phase-Z

Output (open

collector)

Encoder

Phase-A

Output

Encoder

Phase-Z

Output

Encoder

Phase-A

+ Output

Encoder

Phase-Z

+ Output Encoder

Phase-B

+ Output

Reverse Pulse

(input for line

driver only)

Forward Pulse

(input for line

driver only)

Encoder

Phase-B

− Output

Reverse

Torque Limit

Input

Sensor ON

Input

3-17

3-1 Servo Drive Specifications

Specifications

Control Input Circuits

Speed Command/Torque Command Input

Position Command Pulse Input (Line Receiver Input)

• When connecting with a line driver and a line receiver, up to 2 Mpps will be available.

(+CWLD:44, −CWLD:45, +CCWLD:46, −CCWLD:47)

The maximum allowable input voltage is ±10 V for each input. The VR must

be 2 kΩ with B characteristics and 1/2 W minimum. R must be 200 Ω and

1/2 W minimum.

The shielded twisted-pair cable should not exceed 20 m in length.

+3.3 V

REF/TREF1/VLIM

PCL/TREF2

NCL

AGND

ADC

–

+3.3 V

Precautions

for Correct Use

Applicable line driver:

AM26LS32A

or the equivalent

Applicable line driver:

AM26LS31A

or the equivalent

Servo DriveController

3 kΩ

110 Ω

4.3 kΩ

3 kΩ

GND AGND 15,17 4.3 kΩ

Precautions

for Correct Use

3-18

3-1 Servo Drive Specifications

Specifications

Position Command Pulse Input (Photocoupler Input)

Line Driver Input (500 kpps Maximum)

(+CW:3, −CW:4, +CCW:5, −CCW:6)

Open-collector Input

• External 24-V power supply without a current-limiting resistor (200 kpps maximum)

(+24VCW: 1, −CW: 4, +24VCCW: 2, −CCW: 6)

• External control power supply (200 kpps maximum)

(+CW: 3, −CW: 4, +CCW: 5, −CCW: 6)

• Select a resistance R value so that the input current will be from 7 to 15 mA. Refer to the following

table.

The twisted-pair cable should not exceed 10 m in length.

The open-collector wiring should not exceed 2 m in length.

VCC R

24 V 2 kΩ (1/2 W)

12 V 1 kΩ (1/2 W)

Input current: 9 mA, 3 V

Servo Drive

Controller

Applicable line driver:

AM26LS31A or

the e

uivalent

Precautions

for Correct Use

Vcc 24 V

Servo DriveController

Precautions

for Correct Use

Input current: 7 to 15 mA

Vcc

Servo DriveController

3-19

3-1 Servo Drive Specifications

Specifications

Sequence Input

Sensor Input

Sensor ON Input

A PNP transistor is recommended.

29RUN

7+24VIN

Minimum ON time:

40 ms

Signal Levels ON level: 10 V min.

OFF level: 3 V max.

External power supply:

12 VDC ±5% to

24 VDC ±5%

Power supply capacity:

50 mA min. (per Unit)

Photocoupler input

To other input circuit ground commons To other input circuits

ABS

SENGND

20SEN

0 V

High level: 4 V min.

Low level: 0.8 V max.

4.7 k

Servo Drive

Input voltage:

5 VDC - 1 mA

When at high level:

Approx. 1 mA

7406 or the equivalent

Signal Levels

Precautions

for Correct Use

3-20

3-1 Servo Drive Specifications

Specifications

Control Input Details

Details on the input pins for the CN1 connector are described here.

High-speed Photocoupler Inputs:

Reverse Pulse/Forward Pulse Inputs, Feed Pulse/Direction Signal Inputs, or 90°

Phase Difference Signal Input

Pin 3: +Reverse Pulse Input (+CW), +Feed Pulse Input (+PULS), or +Phase A Input (+FA)

Pin 4: −Reverse Pulse Input (−CW), −Feed Pulse Input (−PULS), or −Phase A Input (−FA)

Pin 5: +Forward Pulse Input (+CCW), +Direction Signal (+SIGN), or +Phase B Input (+FB)

Pin 6: −Forward Pulse Input (−CCW), −Direction Signal (−SIGN), or −Phase B Input (−FB)

Functions

• The functions of these signals depend on the settings of the Command Pulse Rotation Direction

Switch (Pn41) and the Command Pulse Mode (Pn42).

• If the Command Pulse Rotation Direction Switch (Pn41) is set to 1, the rotation direction will be

reversed.

• If the photocoupler LED is turned ON, each signal will go high as shown above.

Pn41

setting

Pn42

setting

Command pulse

mode Input pins Servomotor forward command Servomotor reverse command

0/2

90° phase

difference

signals

(multiplier: 4)

3: +FA

4: −FA

5: +FB

6: −FB

1Reverse pulses/

forward pulses

3: +CW

4: −CW

5: +CCW

6: −CCW

3Feed pulses/

direction signal

3: +PULS

4: −PULS

5: +SIGN

6: −SIGN

H L

3-21

3-1 Servo Drive Specifications

Specifications

Command Pulse Timing for Photocoupler Inputs

Command pulse mode Timing

Feed pulses/direction

signal

Maximum Input Frequency

Line driver: 500 kpps

Open collector: 200 kpps

Forward pulses/reverse

pulses

Maximum Input Frequency

Line driver: 500 kpps

Open collector: 200 kpps

90° phase difference

signals

Maximum Input Frequency

Line driver: 500 kpps

Open collector: 200 kpps

Feed pulses

Forward command Reverse command

t1 t1t2 t2 t2

t1 t1

t1 ≤ 0.5 µs

t2 > 2.5 µs

τ ≥ 2.5 µs

T ≥ 5.0 µs

(τ/T) × 100 ≤ 50 (%)

t1 ≤ 0.1 µs

t2 > 1.0 µs

τ ≥ 1.0 µs

T ≥ 2.0 µs

(τ/T) × 100 ≤ 50 (%)

Direction signal

t1 t1

t1 ≤ 0.5 µs

t2 > 2.5 µs

τ ≥ 2.5 µs

T ≥ 5.0 µs

(τ/T) × 100 ≤ 50 (%)

t1 ≤ 0.1 µs

t2 > 1.0 µs

τ ≥ 1.0 µs

T ≥ 2.0 µs

(τ/T) × 100 ≤ 50 (%)

Reverse pulses

Forward command Reverse command

Forward pulses

t1 t1

t1 ≤ 0.5 µs

τ ≥ 10 µs

T ≥ 20 µs

(τ/T) × 100 ≤ 50 (%)

t1 ≤ 0.1 µs

τ ≥ 4.0 µs

T ≥ 8.0 µs

(τ/T) × 100 ≤ 50 (%)

Phase-A pulses

Forward command Reverse command

Phase-B pulses

3-22

3-1 Servo Drive Specifications

Specifications

Line-receiver Inputs:

Reverse Pulse/Forward Pulse Inputs, Feed Pulse/Direction Signal Inputs, or 90°

Phase Difference Signal Inputs

Pin 44: +Reverse Pulse Input (+CW), +Feed Pulse Input (+PULS), or +Phase A Input (+FA)

Pin 45: −Reverse Pulse Input (−CW), −Feed Pulse Input (−PULS), or −Phase A Input (−FA)

Pin 46: +Forward Pulse Input (+CCW), +Direction Signal (+SIGN), or +Phase B Input (+FB)

Pin 47: −Forward Pulse Input (−CCW), −Direction Signal (−SIGN), or −Phase B Input (−FB)

Functions

• The functions of these signals depend on the settings of the Command Pulse Rotation Direction

Switch (Pn41) and the Command Pulse Mode (Pn42).

• If the Command Pulse Rotation Direction Switch (Pn41) is set to 1, the rotation direction will be

reversed.

Pn41

setting

Pn42

setting

Command pulse

mode Input pins Servomotor forward command Servomotor reverse command

0/2

90° phase

difference

signals

(multiplier: 4)

44: +FA

45: −FA

46: +FB

47: −FB

1Reverse pulse/

forward pulses

44: +CW

45: −CW

46: +CCW

47: −CCW

3Feed pulses/

direction signal

44: +PULS

45: −PULS

46: +SIGN

47: −SIGN

H L

3-23

3-1 Servo Drive Specifications

Specifications

Command Pulse Timing for Line-receiver Inputs

Command pulse mode Timing

Feed pulses/direction

signal

Maximum Input Frequency

Line driver: 2 Mpps

Forward pulses/reverse

pulses

Maximum Input Frequency

Line driver: 2 Mpps

90° phase difference

signals

Maximum Input Frequency

Line driver: 2 Mpps

t1 t1t2 t2 t2

t1 t1

t1 ≤ 20 ns

t2 > 500 ns

τ ≥ 250 ns

T ≥ 500 ns

(τ/T) × 100 ≤ 50 (%)

Feed pulses

Forward command Reverse command

Direction signal

t1 t1

t1 ≤ 20 ns

t2 > 500 ns

τ ≥ 250 ns

T ≥ 500 ns

(τ/T) × 100 ≤ 50 (%)

Reverse pulses

Forward command Reverse command

Forward pulses

t1 t1

t1 ≤ 20 ns

τ ≥ 4.0 ns

T ≥ 8.0 ns

(τ/T) × 100 ≤ 50 (%)

Phase-A pulses

Forward command Reverse command

Phase-B pulses

3-24

3-1 Servo Drive Specifications

Specifications

Reverse Drive Prohibit Input (NOT) and Forward Drive Prohibit Input (POT)

Pin 8: Reverse Drive Prohibit Input (NOT)

Pin 9: Forward Drive Prohibit Input (POT)

Functions

• These inputs are used to prohibit driving in the forward and reverse directions.

• If the Drive Prohibit Input Selection (Pn04) is set to 1, both inputs will be disabled.

• The Stop Selection for Drive Prohibition Input (Pn66) changes the operation when these inputs are

enabled.

Speed Command Input (REF) or Torque Command Input (TREF1)

Pin 14: Speed Command Input (REF) or Torque Command Input (TREF1)

Pin 15: Analog Input Ground (AGND)

Functions

• Speed Control Mode

Pin 14 is the Speed Command Input when the Control Mode Selection (Pn02) is set to 1 (Speed

Control). Use the Speed Command Scale (Pn50) to set the rotation speed scale for the command

input.

• Torque Control Mode

Pin 14 is the Torque Command Input when the Control Mode Selection (Pn02) is set to 2 (Torque

Control). The input gain, polarity, offset, and filters can be set for the torque command.

RUN Command Input (RUN)

Pin 29: RUN Command Input (RUN)

Functions

• This input turns ON the power drive circuit for the main circuit of the Servo Drive. If this signal is

not input (i.e., servo-OFF status), the Servomotor cannot operate.

Deviation Counter Reset Input (ECRST)

Pin 30: Deviation Counter Reset Input (ECRST)

Functions

• Position Control Mode

The value of the deviation counter will be reset when the deviation counter reset input turns ON.

The condition for resetting is selected in the Deviation Counter Reset Condition Setting (Pn4E).

The pulse width of the Deviation Counter Reset Signal must be at least 1 ms.

3-25

3-1 Servo Drive Specifications

Specifications

Alarm Reset Input (RESET)

Pin 31: Alarm Reset Input (RESET)

Functions

• Pin 31 is the external reset signal for Servo Drive alarms. (The alarms are reset when this signal

is input.)

• The alarm status is reset when RESET is connected to the 24-V power supply ground for +24VIN

for 120 ms or longer.

• The deviation counter is also reset when alarms are reset.

• Eliminate the cause of the alarm before resuming operation. To prevent danger, turn OFF the RUN

Command Input first, then input the alarm reset signal.

Control Mode Switch Input (TVSEL)

Pin 32: Control Mode Switch Input (TVSEL)

Functions

• If the Control Mode Selection (Pn02) is set to 3, 4, or 5, the control mode can be switched as given

in the following table.

Pulse Prohibit Input (IPG) and Internally Set Speed Selection 1 (VSEL1)

Pin 33: Pulse Prohibit Input (IPG) / Internally Set Speed Selection 1 (VSEL1)

Functions

• Position Control Mode

Pin 33 is the Pulse Prohibit Input.

When the input is OFF, inputting command pulses will be disabled.

The Pulse Prohibit Input can be disabled by setting the Command Pulse Prohibited Input (Pn43).

• Speed Control Mode

Pin 33 is the Internally Set Speed Selection 1 (VSEL1).

This input can be used together with the ECRST/VSEL2 and GESEL/VSEL3 inputs to select any

of eight internally set speeds.

• Torque Control Mode

This input is disabled.

Pn02 setting Mode 1 Mode 2

3 Position control Speed control

4 Position control Torque control

5 Speed control Torque control

3-26

3-1 Servo Drive Specifications

Specifications

Control Output Circuits

Position Feedback Output

Phase-Z Output (Open-collector Output)

Sequence Output

ZCOM

GND

0 V

5 V

Controller

Servo Drive

Shell

Phase A

Phase B

Phase Z

Phase A

Phase B

Phase Z

Output line driver

AM26C31 or

the equivalent

Applicable line receiver

AM26C32 or the equivalen

R = 120 to 180 Ω

0 V

ZCOM

Z19

Servo Drive

Maximum operating voltage: 30 VDC

Maximum output current: 50 mA

Controller

Servo Drive

External power supply

24 VDC ±1 V

To other output

circuits

Maximum operating voltage: 30 VDC

Maximum output current: 50 mA

Di: Diode for preventing surge voltage

(Use high-speed diodes.)

3-27

3-1 Servo Drive Specifications

Specifications

Control Output Details

Control Output Sequence

OFF

Pn6A

Approx. 10 ms after the main circuit power is

turned ON after initialization is completed.

Alarm Output

(ALM)

Positioning Completed

Output (INP)

Brake Interlock Output

(BKIR)

RUN Command Input

(RUN)

Approx. 2 s

Approx. 100 to 300 ms

Approx. 2 ms

100 ms min.

0 ms min.

1 to 5 ms

Approx. 40 ms

Dynamic brake

Servomotor

power supply

Servomotor position, speed,

or torque input

Control power supply

(L1C, L2C)

Internal control power supply

MPU initialization completed

Main circuit power supply

(L1, L2, L3)

Servo Ready Output

(READY)

3-28

3-1 Servo Drive Specifications

Specifications

Encoder Outputs (Phases A, B, and Z)

Pin 21: +A, 22: −A, 48: −B, 49: +B, 23: +Z, 24: −Z

Functions

• Pin 21 outputs the phase-A, phase-B, and phase-Z encoder signals for the Servomotor.

• The encoder outputs conform to the RS-422 communication method.

• The dividing ratio is set in the Encoder Divider Numerator Setting (Pn44) and the Encoder Divider

Denominator Setting (Pn45).

• The logical relation of phase B to the phase-A pulse is set in the Encoder Output Direction Switch

(Pn46).

• The ground for the output circuit line driver is connected to the signal ground (GND). It is not

isolated.

• The maximum output frequency is 4 Mpps (after multiplying by 4). The output frequency equals

the Servomotor encoder resolution × (Pn44/Pn45) × 4 × Servomotor rotation speed (r/min) ÷ 60

• The output phases are shown below. (They are the same for both incremental and absolute

encoders.)

• If the Servomotor encoder resolution × (Pn44/

Pn45) is a multiple of 4, phases Z and A are

synchronized.

• In cases except for the one on the left, phases

A and Z are not synchronized.

Phase A

Phase B

Phase Z

nched Not s

nched

Phase A

Phase B

Phase Z

3-29

3-1 Servo Drive Specifications

Specifications

Brake Interlock Output (BKIR)

Pin 11: Brake Interlock Output (BKIR)

Functions

• Pin 11 outputs an external brake timing signal according to the settings of the Brake Timing When

Stopped (Pn6A) and Brake Timing During Operation (Pn6B).

Servo Ready Output (READY)

Pin 35: Servo Ready Output (READY)

Functions

• This output signal indicates that the Servo Drive is turned ON and ready to start operation.

• This output will turn ON if no errors occur after the main circuit power supply is turned ON.

Alarm Output (/ALM)

Pin 37: Alarm Output (/ALM)

Functions

• The alarm output is turned OFF when the Servo Drive detects an error.

• This output is OFF at power-ON, but turns ON when the Servo Drive’s initial processing has been

completed.

Positioning Completed Output (INP) or Servomotor Rotation Speed Detection

Output (TGON)

Pin 39: Positioning Completed Output (INP) or Servomotor Rotation Speed Detection Output

(TGON)

Functions

• Position Control Mode

The INP signal turns ON when the number of accumulated pulses in the deviation counter is less

than the Positioning Completion Range (Pn60). The output condition is set in the Positioning

Completion Condition Setting (Pn63).

• Speed Control or Torque Control Mode

The TGON signal turns ON when the speed of the Servomotor exceeds the setting of the Rotation

Speed for Motor Rotation Detection (Pn62).

3-30

3-1 Servo Drive Specifications

Specifications

Encoder Connector Specifications (CN2)

Connectors for CN2 (6 Pins)

No. Symbol Name Function/Interface

1E5V

Encoder power supply

+5 V Power supply output for the encoder 5.2 V, 180 mA

2E0V

Encoder power supply

GND

3 BAT+ Battery + Backup power supply output for the absolute encoder.

3.6 V, 100 µA for operation during power interruption, 265 µA for

power interruption timer, and 3.6 µA when power is supplied to

Servo Drive

4 BAT−Battery −

5 PS+ Encoder +phase S input Line-driver input (corresponding with the EIA RS-485 communica-

tions method)

6PS−Encoder −phaseS input

Shell FG Shield ground Cable shield ground

Name Model Manufacturer

Servo Drive Connector 53460-0629 Molex Japan Co.

Cable Connector 55100-0670

3-31

3-1 Servo Drive Specifications

Specifications

Communications Connector Specifications (CN3A)

Connector for CN3A (8 Pins)

Parameter Unit Connector Specifications (CN3B)

Connector for CN3B (8 Pins)

No. Symbol Name Function/Interface

4 GND Ground ---

7B+

RS-485

communications data Communications data interface between Servo Drives

8A−

Name Model Manufacturer

Connector MD-S8000-10 J.S.T. Mfg. Co.

No. Symbol Name Function/Interface

3 TXD RS-232 send data Send data output to the Parameter Unit or personal computer

4 GND Ground ---

5 RXD RS-232 receive data Receive data input from the Parameter Unit or personal computer

7B+

RS-485

communications data Communications data interface between Servo Drives

8A−

Name Model Manufacturer

Connector MD-S8000-10 J.S.T. Mfg. Co.

3-32

3-2 Servomotor Specifications

Specifications

3-2 Servomotor Specifications

The following OMNUC G-Series AC Servomotors are available.

• 3,000-r/min Servomotors

• 3,000-r/min Flat Servomotors

• 2,000-r/min Servomotors

• 1,000-r/min Servomotors

There are various options available on the Servomotors, such as models with brakes or different

shaft types. Select a Servomotor based on the mechanical system’s load conditions and the

installation environment.

General Specifications

*1. The amplitude may be amplified by mechanical resonance. Do not exceed 80% of the specified value for extended periods of time.

*2. UL application pending for Servomotor sizes from 6 to 7.5 kW.

Note 1. Do not use the cable when it is laying in oil or water.

Note 2. Do not expose the cable outlet or connections to stress due to bending or the weight of the cable itself.

Item 3,000-r/min Servomotors 3,000-r/min Flat

Servomotors

1,000-r/min Servomotors

2,000-r/min Servomotors

50 to 750 W 1 to 5 kW 100 to 400 W 900 W to 5 kW 6 to 7.5 kW

Ambient operating

temperature and humidity 0 to 40°C, 85% RH max. (with no condensation)

Ambient storage

temperature and humidity

−20 to 65°C, 85% RH

max. (with no con-

densation)

−20 to 80°C, 85% RH max. (with no condensation)

Storage and operating

atmosphere No corrosive gases

Vibration resistance *1

10 to 2,500 Hz and

acceleration of

49 m/s2 max. in the

X, Y, and Z directions

10 to 2,500 Hz and

acceleration of

24.5 m/s2 max. in the

X, Y, and Z directions

10 to 2,500 Hz and

acceleration of

49 m/s2 max. in the

X, Y, and Z direc-

tions

10 to 2,500 Hz and accelera-

tion of 24.5 m/s2 max. in the X,

Y, and Z directions

Impact resistance

Acceleration of

98 m/s2 max. 3 times

each in the X, Y, and

Z directions

Acceleration of

98 m/s2 max. 3 times

each in the X, Y, and

Z directions

Acceleration of

98 m/s2 max. 3 times

each in the X, Y, and

Z directions

Acceleration of 98 m/s2 max.

2 times vertically

Insulation resistance 20 MΩ min. at 500 VDC between the power terminals and FG terminal

Dielectric strength 1,500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal

Operating position All directions

Insulation grade Type B Type F Type B Type F

Structure Totally enclosed, self-cooling

Protective structure IP65 (excluding the output shaft rotating section and lead wire ends)

Vibration grade V-15

Mounting method Flange-mounting

International standards

Direc-

tives

EMC

Directive

EN 55011 Class A Group 1

EN 61000-6-2, IEC 61000-4-2/-3/-4/-5/-6/-11

Low-voltage

Directive IEC 60034-1/-5

UL standards UL 1004 UL:

pending*2

CSA standards CSA 22.2 No.100

3-33

3-2 Servomotor Specifications

Specifications

Characteristics

3,000-r/min Servomotors

Model (R88M-)

Item Unit

100 VAC

G05030H G10030L G20030L G40030L

G05030T G10030S G20030S G40030S

Rated output *1 W 50 100 200 400

Rated torque *1 N·m 0.16 0.32 0.64 1.3

Rated rotation speed r/min 3000

Max. momentary rotation

speed r/min 5000

Max. momentary torque

*1 N·m 0.45 0.93 1.78 3.6

Rated current *1 A (rms) 1.1 1.7 2.5 4.6

Max. momentary current

*1 A (rms) 3.4 5.1 7.6 13.9

Rotor inertia kg·m2

(GD2/4) 2.5 × 10−65.1 × 10−61.4 × 10−52.6 × 10−5

Applicable load inertia --- 30 times the rotor inertia max. *2

Torque constant *1 N·m/A 0.14 0.19 0.26 0.28

Power rate *1 kW/s 10.4 20.1 30.3 62.5

Mechanical time

constant ms 1.56 1.11 0.72 0.55

Electrical time constant ms 0.7 0.8 2.5 2.9

Allowable radial load *3 N 68 68 245 245

Allowable thrust load *3 N58589898

Weight Without brake kg Approx. 0.3 Approx. 0.5 Approx. 0.8 Approx. 1.2

With brake kg Approx. 0.5 Approx. 0.7 Approx. 1.3 Approx. 1.7

Radiation shield dimensions

(material) 100 × 80 × t10 (AI) 130 × 120 × t12 (AI)

Applicable Servo Drives (R88D-) GTA5L GT01L GT02L GT04L

Brake specifications

Brake inertia kg·m2

(GD2/4) 2 × 10−72 × 10−71.8 × 10−61.8 × 10−6

Excitation voltage *4 V24 VDC ±5%

Power consumption

(at 20°C) W7799

Current consump-

tion (at 20°C) A 0.3 0.3 0.36 0.36

Static friction torque N·m 0.29 min. 0.29 min. 1.27 min. 1.27 min.

Attraction time *5 ms 35 max. 35 max. 50 max. 50 max.

Release time *5 ms 20 max. 20 max. 15 max. 15 max.

Backlash 1° (reference value)

Allowable work per

braking J 39.2 39.2 137 137

Allowable total work J 4.9 × 1034.9 × 10344.1 × 10344.1 × 103

Allowable angular

acceleration rad/s230,000 max.

(Speed of 2,800 r/min or more must not be changed in less than 10 ms)

Brake life --- 10,000,000 operations

Rating --- Continuous

Insulation grade --- Type B

3-34

3-2 Servomotor Specifications

Specifications

Model (R88M-)

Item Unit

200 VAC

G05030H G10030H G20030H G40030H G75030H

G05030T G10030T G20030T G40030T G75030T

Rated output t *1 W 50 100 200 400 750

Rated torque *1 N·m 0.16 0.32 0.64 1.3 2.4

Rated rotation speed r/min 3000

Max. momentary rotation

speed r/min 5000 4500

Max. momentary torque

*1 N·m 0.45 0.90 1.78 3.67 7.05

Rated current *1 A (rms) 1.1 1.1 1.6 2.6 4

Max. momentary current

*1 A (rms) 3.4 3.4 4.9 7.9 12.1

Rotor inertia kg·m2

(GD2/4) 2.5 × 10−65.1 × 10−61.4 × 10−52.6 × 10−58.7 × 10−5

Applicable load inertia --- 30 times the rotor inertia max. *2

20 times the

rotor inertia

max. *2

Torque constant *1 N·m/A 0.14 0.19 0.41 0.51 0.64

Power rate *1 kW/s 10.4 20.1 30.3 62.5 66

Mechanical time

constant ms 1.56 1.1 0.71 0.52 0.45

Electrical time constant ms 0.7 0.79 2.6 3 4.6

Allowable radial load *3 N 68 68 245 245 392

Allowable thrust load *3 N58589898147

Weight Without brake kg Approx. 0.3 Approx. 0.5 Approx. 0.8 Approx. 1.2 Approx. 2.3

With brake kg Approx. 0.5 Approx. 0.7 Approx. 1.3 Approx. 1.7 Approx. 3.1

Radiation shield dimensions

(material) 100 × 80 × t10 (AI) 130 × 120 × t12 (AI) 170 × 160 ×

t12 (AI)

Applicable Servo Drives (R88D-) GT01H GT01H GT02H GT04H GT08H

Brake specifications

Brake inertia kg·m2

(GD2/4) 2 × 10−72 × 10−71.8 × 10−61.8 × 10−67.5 × 10−6

Excitation voltage *4 V 24 VDC ±5%

Power consumption

(at 20°C) W7 7 9 9 10

Current consump-

tion (at 20°C) A 0.3 0.3 0.36 0.36 0.42

Static friction torque N·m 0.29min. 0.29 min. 1.27 min. 1.27 min. 2.45 min.

Attraction time *5 ms 35 max. 35 max. 50 max. 50 max. 70 max.

Release time *5 ms 20 max. 20 max. 15 max. 15 max. 20 max.

Backlash 1° (reference value)

Allowable work per

braking J 39.2 39.2 137 137 196

Allowable total work J 4.9 × 1034.9 × 10344.1 × 10344.1 × 103147 × 103

Allowable angular

acceleration rad/s230,000 max.

(Speed of 2,800 r/min or more must not be changed in less than 10 ms)

Brake life --- 10,000,000 operations

Rating --- Continuous

Insulation grade --- Type B

3-35

3-2 Servomotor Specifications

Specifications

Model (R88M-)

Item Unit

200 VAC

G1K030T G1K530T G2K030T G3K030T G4K030T G5K030T

Rated output *1 W 1000 1500 2000 3000 4000 5000

Rated torque *1 N·m3.184.776.369.5412.615.8

Rated rotation speed r/min 3000

Max. momentary rotation

speed r/min 5000 4500

Max. momentary torque

*1 N·m 9.1 12.8 18.4 27.0 36.3 45.1

Rated current *1 A (rms) 7.2 9.4 13 18.6 24.7 28.5

Max. momentary current

*1 A (rms) 21.4 28.5 40 57.1 75 85.7

Rotor inertia kg·m2

(GD2/4) 1.69 × 10−42.59 × 10−43.46 × 10−46.77 × 10−41.27 × 10−31.78 × 10−3

Applicable load inertia --- 15 times the rotor inertia max. *2

Torque constant *1 N·m/A0.440.510.480.510.510.57

Power rate *1 kW/s 60 88 117 134 125 140

Mechanical time

constant ms 0.78 0.54 0.53 0.46 0.51 0.46

Electrical time constant ms 6.7 10 10.8 20 20 20

Allowable radial load *3 N 392 490 490 490 784 784

Allowable thrust load *3 N 147 196 196 196 343 343

Weight

Without brake kg Approx. 4.5 Approx. 5.1 Approx. 6.5 Approx. 9.3 Approx.

12.9

Approx.

17.3

With brake kg Approx. 5.1 Approx. 6.5 Approx. 7.9 Approx. 11 Approx.

14.8

Approx.

19.2

Radiation shield dimensions

(material)

170 × 160 ×

t12 (AI)

320 × 300 ×

t30 (AI)

320 × 300 ×

t20 (AI) 380 × 350 × t30 (AI)

Applicable Servo Drives (R88D-) GT15H GT15H GT20H GT30H GT50H GT50H

Brake specifications

Brake inertia kg·m2

(GD2/4) 2.5 × 10−53.3 × 10−53.3 × 10−53.3 × 10−51.35 × 10−41.35 × 10−4

Excitation voltage *4 V 24 VDC ±10%

Power consumption

(at 20°C) W181919192222

Current consump-

tion (at 20°C) A 0.74 0.81 0.81 0.81 0.9 0.9

Static friction torque N·m 4.9 min. 7.8 min. 7.8 min. 11.8 min. 16.1 min. 16.1 min.

Attraction time *5 ms 50 max. 50 max. 50 max. 80 max. 110 max. 110 max.

Release time *5 ms 15 max. 15 max. 15 max. 15 max. 50 max. 50 max.

Backlash 1° (reference value)

Allowable work per

braking J 392 392 392 392 1470 1470

Allowable total work J 2.0 × 1054.9 × 1054.9 × 1054.9 × 1052.2 × 1062.2 × 106

Allowable angular

acceleration rad/s210,000 max.

(Speed of 900 r/min or more must not be changed in less than 10 ms)

Brake life --- 10,000,000 operations

Rating --- Continuous

Insulation grade --- Type F

3-36

3-2 Servomotor Specifications

Specifications

*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%).

The maximum momentary torque indicates the standard value.

*2. Applicable Load Inertia:

• The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and

its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an

appropriate motor and confirm that operation is possible.

• If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may

burn. Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled.

*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal

operating temperatures. The allowable radial loads are applied as shown in the following diagram.

*4. This is an OFF brake. (It is reset when excitation voltage is applied).

*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufac-

tured by Okaya Electric Industries Co., Ltd.).

Torque-Rotational Speed Characteristics for 3,000-r/min Servomotors

• 3,000-r/min Servomotors with 100-VAC Power Input

The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.

 R88M-G05030H/T (50 W)  R88M-G10030L/S (100 W)  R88M-G20030L/S (200 W)

 R88M-G40030L/S (400 W)

Radial load

Thrust load

Center of shaft

(

LR/2

)

0.25

0 1000 2000 3000 4000 5000

0.5 0.48

0.16 0.16

0.48

0.1

Repetitive usage

Continuous usage

(N·m)

(r/min)

0.5

0 1000 2000 3000 4000 5000

1.0 0.83

0.32 0.32

0.75

0.28

0.83 (3600)

Repetitive usage

Continuous usage

(N·m)

(r/min)

1.0

0 1000 2000 3000 4000 5000

2.0 1.78

0.64 0.64 0.9

0.6

1.78 (3500)

Repetitive usage

Continuous usage

(N·m)

(r/min)

2.0

0 1000 2000 3000 4000 5000

4.0 3.6

1.3 1.3 1.3

3.6 (3000)

Repetitive usage

Continuous usage

(N·m)

(r/min)

3-37

3-2 Servomotor Specifications

Specifications

• 3,000-r/min Servomotors with 200-VAC Power Input

The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.

 R88M-G05030H/T (50 W)  R88M-G10030H/T (100 W)  R88M-G20030H/T (200 W)

 R88M-G40030H/T (400 W)  R88M-G75030H/T (750 W)  R88M-G1K030T (1 kW)

 R88M-G1K530T (1.5 kW)  R88M-G2K030T (2 kW)  R88M-G3K030T (3 kW)

 R88M-G4K030T (4 kW)  R88M-G5K030T (5 kW)

0.5

0 1000 2000 3000 4000 5000

1.0 0.93

0.32 0.32

0.93

0.28

Repetitive usage

Continuous usage

(N·m)

(r/min)

1.0

0 1000 2000 3000 4000 5000

2.0 1.78

0.64 0.64

0.38

1.5

1.78 (4500)

Repetitive usage

Continuous usage

(N·m)

(r/min)

0.25

0 1000 2000 3000 4000 5000

0.5 0.45

0.16 0.16

0.1

0.45

Repetitive usage

Continuous usage

(N·m)

(r/min)

4.0

0 1000 2000 3000 4000 5000

8.0 7.05

2.4 2.4 4.0

1.0

7.05 (3600)

Repetitive usage

Continuous usage

(N·m)

(r/min)

0 1000 2000 3000 4000 5000

10 9.1

3.18 3.18 4.8

9.1 (4000)

Repetitive usage

Continuous usage

(N·m)

(r/min)

2.0

0 1000 2000 3000 4000 5000

4.0 3.6

1.3 1.3 1.7

0.78

3.6 (3800)

Repetitive usage

Continuous usage

(N·m)

(r/min)

0 1000 2000 3000 4000 5000

20 18.4

6.36 6.36 6.0

18.4 (3600)

Repetitive usage

Continuous usage

(N·m)

(r/min)

0 1000 2000 3000 4000 5000

30 27.0

5.5

9.54 9.54

27.0 (3400)

Repetitive usage

Continuous usage

(N·m)

(r/min)

7.5

0 1000 2000 3000 4000 5000

15 12.9

4.77 4.77

3.8

12.9 (3500)

Repetitive usage

Continuous usage

(N·m)

(r/min)

0 1000 2000 3000 4000 5000

50 45.1

15.8 15.8 15.0

47.6

Repetitive usage

Continuous usage

(N·m)

(r/min)

0 1000 2000 3000 4000 5000

40 36.3

12.6 12.6

10.0

37.9

Repetitive usage

Continuous usage

(N·m)

(r/min)

3-38

3-2 Servomotor Specifications

Specifications

 R88M-G05030H/T  R88M-G05030H/T  R88M-G10030H/T

50 W (Without Oil Seal) 50 W (With Oil Seal) 100 W (Without Oil Seal)

 R88M-G10030H/T  R88M-G20030H/T  R88M-G40030H/T

100 W (With Oil Seal) 200 W (With Oil Seal) 400 W (Without Oil Seal)

 R88M-G40030H/T  R88M-G1K530T (1.5 kW)  R88M-G2K030T (2 kW)

400 W (With Oil Seal)

 R88M-G3K030T (3 kW)  R88M-G4K030T (4 kW)  R88M-G5K030T (5 kW)

Use the following Servomotors in the ranges shown in the graphs below.

Using outside of these ranges may cause the Servomotor to generate heat,

which could result in encoder malfunction.

Precautions

for Correct Use

Rated Torque (%)

Ambient

temperatur

100% 95%

100 203040

With brake

100%

70%

60%

100203040

Without brake

Rated Torque (%)

Ambient

temperature

With brake 100% 95%

100203040

Rated Torque (%)

Ambient

temperature

With brake

100%

75%

70%

100203040

Without brake

Rated Torque (%)

Ambient

temperatur

With brake 100%

80%

70%

100 203040

Without brake

Rated Torque (%)

Ambient

temperatur

With brake 100% 90%

100203040

Rated Torque (%)

Ambient

temperatur

With brake

100%

75%

100203040

Rated Torque (%)

Ambient

temperature

With brake 100%

85%

100203040

Without brake

Rated Torque (%)

Ambient

temperature

With brake 100%

85%

70%

100203040

Without brake

Rated Torque (%)

Ambient

temperature

With brake

100%

85%

90%

100 203040

Without brake

Rated Torque (%)

Ambient

temperature

With brake 100%

85%

90%

100203040

Without brake

Rated Torque (%)

Ambient

temperature

With brake

100%

70%

100203040

Rated Torque (%)

Ambient

temperature

With brake

3-39

3-2 Servomotor Specifications

Specifications

3,000-r/min Flat Servomotors

Model (R88M-)

Item Unit

100 VAC 200 VAC

GP10030L GP20030L GP40030L GP10030H GP20030H G40030H

GP10030S GP20030S GP40030S GP10030T GP20030T G40030T

Rated output *1 W 100 200 400 100 200 400

Rated torque *1 N·m 0.32 0.64 1.3 0.32 0.64 1.3

Rated rotation speed r/min 3000 3000

Max. momentary rotation

speed r/min 5000 4500 5000

Max. momentary torque

*1 N·m 0.84 1.8 3.6 0.86 1.8 3.65

Rated current *1 A (rms) 1.6 2.5 4.4 1 1.6 2.5

Max. momentary current

*1 A (rms) 4.9 7.5 13.3 3.1 4.9 7.5

Rotor inertia kg·m2

(GD2/4) 1.0 × 10−53.5 × 10−56.5 × 10−51.0 × 10−53.5 × 10−56.4 × 10−5

Applicable load inertia --- 20 times the rotor inertia max.*2

Torque constant *1 N·m/A 0.21 0.27 0.3 0.34 0.42 0.54

Power rate *1 kW/s 10.2 11.7 26.0 10.2 11.5 25.5

Mechanical time

constant ms 0.87 0.75 0.55 1.05 0.81 0.59

Electrical time constant ms 3.4 6.7 6.7 2.9 5.6 6.6

Allowable radial load *3 N 68 245 245 68 245 245

Allowable thrust load *3 N589898589898

Weight Without brake kg Approx. 0.7 Approx. 1.3 Approx. 1.8 Approx. 0.7 Approx. 1.3 Approx. 1.8

With brake kg Approx. 0.9 Approx. 2 Approx. 2.5 Approx. 0.9 Approx. 2 Approx. 2.5

Radiation shield dimensions

(material)

130 × 120 ×

t10 (AI) 170 × 160 × t12 (AI) 130 × 120 ×

t10 (AI) 170 × 160 × t12 (AI)

Applicable Servo Drives (R88D-) GT01L GT02L GT04L GT01H GT02H GT04H

Brake specifications

Brake inertia kg·m2

(GD2/4) 3 × 10−69 × 10−69 × 10−63 × 10−69 × 10−69 × 10−6

Excitation voltage *4 V 24 VDC ±10% 24 VDC ±10%

Power consumption

(at 20°C) W7101071010

Current consump-

tion (at 20°C) A 0.290.410.410.290.410.41

Static friction torque N·m 0.29 min. 1.27 min. 1.27 min. 0.29 min. 1.27 min. 1.27 min.

Attraction time *5 ms 50 max. 60 max. 60 max. 50 max. 60 max. 60 max.

Release time *5 ms 15 max. 15 max. 15 max. 15 max. 15 max. 15 max.

Backlash 1° (reference value) 1° (reference value)

Allowable work per

braking J 137 196 196 137 196 196

Allowable total work J 44.1 × 103147 × 103147 × 10344.1 × 103147 × 103147 × 103

Allowable angular

acceleration rad/s210,000 max.

(Speed of 900 r/min or more must not be changed in less than 10 ms)

Brake life --- 10,000,000 operations

Rating --- Continuous Continuous

Insulation grade --- Type B Type B

3-40

3-2 Servomotor Specifications

Specifications

*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%).

The maximum momentary torque indicates the standard value.

*2. Applicable Load Inertia:

• The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its

rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an appro-

priate motor and confirm that operation is possible.

• If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do

not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled.

*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal

operating temperatures. The allowable radial loads are applied as shown in the following diagram.

*4. This is an OFF brake. (It is reset when excitation voltage is applied).

*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufac-

tured by Okaya Electric Industries Co., Ltd.).

Torque-Rotational Speed Characteristics for 3,000-r/min Flat Servomotors

• 3,000-r/min Flat Servomotors with 100-VAC Power Input

The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.

 R88M-GP10030L/S (100 W)  R88M-GP20030L/S (200 W)  R88M-GP40030L/S (400 W)

• 3,000-r/min Flat Servomotors with 200-VAC Power Input

The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.

 R88M-GP10030H/T (100 W)  R88M-GP20030H/T (200 W)  R88M-GP40030H/T (400 W)

Radial load

Thrust load

Center of shaft

(

LR/2

)

0.5

0 1000 2000 3000 4000 5000

1.0 0.84

0.32 0.32 0.32

0.19

0.84 (3500)

Repetitive usage

Continuous usage

(N·m)

(r/min)

1.0

0 1000 2000 3000 4000 5000

2.0 1.8

0.64 0.64

0.38

1.8 (3400)

Repetitive usage

Continuous usage

(N·m)

(r/min)

2.0

0 1000 2000 3000 4000 4500

4.0 3.6

1.3 1.3 1.5

0.7

3.6 (3300)

Repetitive usage

Continuous usage

(N·m)

(r/min)

0.5

0 1000 2000 3000 4000 5000

1.0 0.86

0.32 0.32

0.1

0.86

Repetitive usage

Continuous usage

(N·m)

(r/min)

1.0

0 1000 2000 3000 4000 5000

2.0 1.8

0.64

0.38

0.64

1.8 (4500)

Repetitive usage

Continuous usage

(N·m)

(r/min)

2.0

0 1000 2000 3000 4000 5000

4.0 3.65

1.3 1.3 2.0

0.78

3.65 (3600)

Repetitive usage

Continuous usage

(N·m)

(r/min)

3-41

3-2 Servomotor Specifications

Specifications

2,000-r/min Servomotors

Model (R88M-)

Item Unit

200 VAC

G1K020T G1K520T G2K020T G3K020T G4K020T G5K020T G7K515T

Rated output *1 W 1000 1500 2000 3000 4000 5000 7500

Rated torque *1 N·m 4.8 7.15 9.54 14.3 18.8 23.8 48

Rated rotation speed r/min 2000 1500

Max. momentary rotation

speed r/min 3000 2000

Max. momentary torque

*1 N·m 13.5 19.6 26.5 41.2 54.9 70.6 111

Rated current *1 A (rms) 5.6 9.4 12.3 17.8 23.4 28 46.6

Max. momentary current

*1 A (rms) 17.1 28.5 37.1 54.2 71.4 85.7 117.8

Rotor inertia kg·m2

(GD2/4) 6.17 × 10−41.12 × 10−31.52 × 10−32.23 × 10−34.25 × 10−36.07 × 10−39.9 × 10−3

Applicable load inertia --- 10 times the rotor inertia max. *2

Torque constant *1 N·m/A 0.88 0.76 0.78 0.81 0.81 0.85 1.03

Power rate *1 kW/s 37.3 45.8 60 91.6 83.2 93.5 230

Mechanical time

constant ms 0.7 0.81 0.75 0.72 1 0.9 0.71

Electrical time constant ms 18 19 21 20 24 32 34

Allowable radial load *3 N 490 490 490 784 784 784 1176

Allowable thrust load *3 N 196 196 196 343 343 343 490

Weight

Without brake kg Approx. 6.8 Approx. 8.5 Approx.

10.6

Approx.

14.6

Approx.

18.8 Approx. 25 Approx.

With brake kg Approx. 8.7 Approx.

10.1

Approx.

12.5

Approx.

16.5

Approx.

21.3

Approx.

28.5

Approx.

Radiation shield dimensions

(material) 275 × 260 × t15 (AI) 380 × 350 ×

t30 (AI) 470 × 440 × t30 (AI)

Applicable Servo Drives (R88D-) GT10H GT15H GT20H GT30H GT50H GT50H GT75H

Brake specifications

Brake inertia kg·m2

(GD2/4) 1.35 × 10−44.25 × 10−44.7 × 10−44.7 × 10−4

Excitation voltage *4 V 24 VDC ±10%

Power consumption

(at 20°C) W14191922263134

Current consumption

(at 20°C) A 0.59 0.79 0.79 0.9 1.1 1.3 1.4

Static friction torque N·m 4.9 min. 13.7 min. 13.7 min. 16.1 min. 21.5 min. 24.5 min. 58.8 min.

Attraction time *5 ms 80 max. 100 max. 100 max. 110 max. 90 max. 80 max. 150 max.

Release time *5 ms 70 max. 50 max. 50 max. 50 max. 35 min. 25 min. 50 max.

Backlash 1° (reference value)

Allowable work per

braking J 588 1176 1176 1170 1078 1372 1372

Allowable total work J 7.8 × 1051.5 × 1061.5 × 1062.2 × 1062.5 × 1062.9 × 1062.9 × 106

Allowable angular

acceleration rad/s210,000 max.

(Speed of 900 r/min or more must not be changed in less than 10 ms)

Brake life --- 10,000,000 operations

Rating --- Continuous

Insulation grade --- Type F

3-42

3-2 Servomotor Specifications

Specifications

*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%).

The maximum momentary torque indicates the standard value.

*2. Applicable Load Inertia:

•The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its

rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an appro-

priate motor and confirm that operation is possible.

•If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do

not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled.

*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal

operating temperatures. The allowable radial loads are applied as shown in the following diagram.

*4. This is an OFF brake. (It is reset when excitation voltage is applied).

*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufac-

tured by Okaya Electric Industries Co., Ltd.).

Torque-Rotational Speed Characteristics for 2,000-r/min Servomotors

• 2,000-r/min Servomotors with 200-VAC Power Input

The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.

 R88M-G1K020T (1 kW)  R88M-G1K520T (1.5 kW)  R88M-G2K020T (2 kW)

 R88M-G3K020T (3 kW)  R88M-G4K020T (4 kW)  R88M-G5K020T (5 kW)

 R88M-G7K520T (7.5 kW)

Radial load

Thrust load

Center of shaft

(

LR/2

)

0 1000 2000

3000

13.5

4.8 4.8 5.5

3.2

13.5 (2200)

Repetitive usage

Continuous usage

(N·m)

(r/min)

1000 2000 3000

18.5

14.3

4.7

7.15 7.15

18.5 (2200)

Repetitive usage

Continuous usage

(N·m)

(r/min)

1000 2000 3000

26.5

9.54 9.54 13.2

6.3

26.5 (2200)

Repetitive usage

Continuous usage

(N·m)

(r/min)

1000 2000 3000

41.2

14.3 14.3 14.3

9.5

41.2 (2200)

Repetitive usage

Continuous usage

(N·m)

(r/min)

Repetitive usage

Continuous usage

(N·m)

54.9 (2000)

(r/min)

1000 2000 3000

70.6

23.8 23.8 23.0

15.8

70.6 (2000)

Repetitive usage

Continuous usage

(N·m)

(r/min)

100

1000 1500 2000

111

48 48

111

100

Repetitive usage

Continuous usage

(N·m)

(r/min)

3-43

3-2 Servomotor Specifications

Specifications

1,000-r/min Servomotors

Model (R88M-)

Item Unit

200 VAC

G90010T G2K010T G3K010T G4K510T G6K010T

Rated output *1 W 900 2000 3000 4500 6000

Rated torque *1 N·m 8.62 19.1 28.4 42.9 57.2

Rated rotation speed r/min 1000

Max. momentary rotation

speed r/min 2000

Max. momentary torque

*1 N·m 18.4 41.5 60 101 130

Rated current *1 A (rms) 7.6 18.5 24 33 47

Max. momentary current

*1 A (rms) 17.1 44 57.1 84.2 121.4

Rotor inertia kg·m2

(GD2/4) 1.12 × 10−33.55 × 10−35.57 × 10−38.09 × 10−39.9 × 10−3

Applicable load inertia --- 10 times the rotor inertia max. *2

Torque constant *1 N·m/A 1.13 1 1.1 1.3 1.22

Power rate *1 kW/s 66.3 103 145 228 331

Mechanical time

constant ms 0.88 0.97 0.74 0.7 0.65

Electrical time constant ms 20 25 30 31 46.2

Allowable radial load *3 N 686 1176 1470 1470 1764

Allowable thrust load *3 N 196 490 490 490 588

Weight Without brake kg Approx. 8.5 Approx. 17.5 Approx. 25 Approx. 34 Approx. 41

With brake kg Approx. 10 Approx. 21 Approx. 28.5 Approx. 39.5 Approx. 45

Radiation shield dimensions

(material)

275 × 260 ×

t15 (AI) 470 × 440 × t30 (AI)

Applicable Servo Drives (R88D-) GT15H GT30H GT50H GT50H GT75H

Brake specifications

Brake inertia kg·m2

(GD2/4) 1.35 × 10−44.7 × 10−44.7 × 10−44.7 × 10−44.7 × 10−4

Excitation voltage *4 V24 VDC ±10%

Power consumption

(at 20°C) W1931343434

Current consumption

(at 20°C) A 0.79 1.3 1.4 1.4 1.4

Static friction torque N·m 13.7 min. 24.5 min. 58.8 min. 58.8 min. 58.8 min.

Attraction time *5 ms 100 max. 80 max. 150 max. 150 max. 150 max.

Release time *5 ms 50 max. 25 max. 50 max. 50 max. 50 max.

Backlash 1° (reference value)

Allowable work per

braking J 1176 1372 1372 1372 1372

Allowable total work J 1.6 × 1062.9 × 1062.9 × 1062.9 × 1062.9 × 106

Allowable angular

acceleration rad/s210,000 max.

(Speed of 900 r/min or more must not be changed in less than 10 ms)

Brake life --- 10,000,000 operations

Rating --- Continuous

Insulation grade --- Type F

3-44

3-2 Servomotor Specifications

Specifications

*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%).

The maximum momentary torque indicates the standard value.

*2. Applicable Load Inertia:

•The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its

rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an appro-

priate motor and confirm that operation is possible.

•If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do

not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled.

*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal

operating temperatures. The allowable radial loads are applied as shown in the following diagram.

*4. This is an OFF brake. (It is reset when excitation voltage is applied).

*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufac-

tured by Okaya Electric Industries Co., Ltd.).

Torque-Rotational Speed Characteristics for 1,000-r/min Servomotors

• 1,000-r/min Servomotors with 200-VAC Power Input

The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.

 R88M-G90010T (100 W)  R88M-G2K010T (2 kW)  R88M-G3K010T (3 kW)

 R88M-G4K510T (4.5 kW)  R88M-G6K010T (6 kW)

Radial load

Thrust load

Center of shaft

(

LR/2

)

20 18.4

10.0

4.31

8.62 8.62

1000 2000

18.4 (1600)

Repetitive usage

Continuous usage

(N·m)

(r/min)

1000 2000

41.5

19.1 19.1

34.9

9.5

41.5 (1600)

Repetitive usage

Continuous usage

(N·m)

(r/min)

1000 2000

28.4 28.4

14.2

60 (1350)

Repetitive usage

Continuous usage

(N·m)

(r/min)

100

1000 2000

101

42.9 42.9 40

21.5

101 (1300)

Repetitive usage

Continuous usage

(N·m)

(r/min)

100

1000 2000

130

57.2 57.2 71

28.6

130 (1500)

Repetitive usage

Continuous usage

(N·m)

(r/min)

3-45

3-2 Servomotor Specifications

Specifications

 R88M-G4K510  R88M-G6K010T

4.5 kW (Without Oil Seal) 6 kW (With Oil Seal)

Temperature Characteristics of the Servomotor and Mechanical System

• OMNUC G-Series AC Servomotors use rare earth magnets (neodymium-iron magnets).

The temperature coefficient for these magnets is approximately −0.13%/°C. As the temperature

drops, the Servomotor's maximum momentary torque increases, and as the temperature rises, the

Servomotor's maximum momentary torque decreases.

• The maximum momentary torque rises by 4% at a normal temperature of 20°C compared to a

temperature of −10°C. Conversely, the maximum momentary torque decreases about 8% when

the magnet warms up to 80°C from the normal temperature.

• Generally, when the temperature drops in a mechanical system, the friction torque and the load

torque increase. For that reason, overloading may occur at low temperatures. In particular, in

systems that use a Decelerator, the load torque at low temperatures may be nearly twice as much

as the load torque at normal temperatures. Check whether overloading may occur at low

temperature startup. Also check to see whether abnormal Servomotor overheating or alarms occur

at high temperatures.

• An increase in load friction torque seemingly increases load inertia. Therefore, even if the Servo

Drive gains are adjusted at a normal temperature, the Servomotor may not operate properly at low

temperatures. Check to see whether there is optimal operation even at low temperatures.

Use the following Servomotors in the ranges shown in the graphs below.

Using outside of these ranges may cause the Servomotor to generate heat,

which could result in encoder malfunction.

Precautions

for Correct Use

100%

70%

85%

100203040

Without brake

Rated Torque (%)

Ambient

temperature

With brake 100%

85%

90%

100203040

Without brake

Rated Torque (%)

Ambient

temperature

With brake

3-46

3-2 Servomotor Specifications

Specifications

Encoder Specifications

Incremental Encoders

Absolute Encoders

Item Specifications

Encoder system Optical encoder

No. of output pulses Phases A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation

Power supply voltage 5 VDC ±5%

Power supply current 180 mA (max.)

Output signals +S, −S

Output interface RS-485 compliance

Item Specifications

Encoder system Optical encoder

17 bits

No. of output pulses Phases A and B: 32,768 pulses/rotation, Phase Z: 1 pulse/rotation

Maximum rotations −32,768 to +32,767 rotations or 0 to 65,534 rotations

Power supply

voltage 5 VDC ±5%

Power supply current 110 mA (max.)

Applicable battery

voltage 3.6 VDC

Current consumption

of battery

265 µA for a maximum of 5 s right after power interruption

100 µA for operation during power interruption

3.6 µA when power is supplied to Servo Drive

Output signals +S, −S

Output interface RS-485 compliance

3-47

3-3 Decelerator Specifications

Specifications

3-3 Decelerator Specifications

The following Decelerators are available for use with OMNUC G-Series Servomotors. Select a

Decelerator matching the Servomotor capacity.

Standard Models and Specifications

Backlash = 3’ Max.

Decelerators for 3,000-r/min Servomotors

Model

Rated

rota-

tion

speed

Rated

torque

Effi-

cien-

Maxi-

mum

momen-

tary

rotation

speed

Maxi-

mum

momen-

tary

torque

Decelera-

tor

inertia

Allow-

able

radial

load

Allow-

able

thrust

load

Weight

r/min N·m %r/min N·m kg·m2N N kg

1/5 R88G-

HPG11B05100B@600 0.50 63 1000 1.42 5.00 × 10−7135 538 0.29

1/9 R88G-

HPG11B09050B@333 1.12 78 555 3.16 3.00 × 10−7161 642 0.29

1/21 R88G-

HPG14A21100B@143 2.18 65 238 6.13 5.00 × 10−6340 1358 1.04

1/33 R88G-

HPG14A33050B@91 3.73 71 151 10.5 4.40 × 10−6389 1555 1.04

1/45 R88G-

HPG14A45050B@67 5.09 71 111 14.3 4.40 × 10−6427 1707 1.04

100

1/5 R88G-

HPG11B05100B@600 1.28 80 1000 3.6 5.00 × 10−7135 538 0.29

1/11 R88G-

HPG14A11100B@273 2.63 75 454 7.39 6.00 × 10−6280 1119 1.04

1/21 R88G-

HPG14A21100B@143 5.40 80 238 15.2 5.00 × 10−6340 1358 1.04

1/33 R88G-

HPG20A33100B@91 6.91 65 151 19.4 6.50 × 10−5916 3226 2.4

1/45 R88G-

HPG20A45100B@67 9.42 65 111 26.5 6.50 × 10−51006 3541 2.4

200

1/5 R88G-

HPG14A05200B@600 2.49 78 1000 6.93 2.07 × 10−5221 883 1.02

1/11 R88G-

HPG14A11200B@273 6.01 85 454 16.7 1.93 × 10−5280 1119 1.09

1/21 R88G-

HPG20A21200B@143 10.2 76 238 28.5 4.90 × 10−5800 2817 2.9

1/33 R88G-

HPG20A33200B@91 17.0 81 151 47.4 4.50 × 10−5916 3226 2.9

1/45 R88G-

HPG20A45200B@67 23.2 81 111 64.6 4.50 × 10−51006 3541 2.9

3-48

3-3 Decelerator Specifications

Specifications

Model

Rated

rota-

tion

speed

Rated

torque

Effi-

cien-

Maxi-

mum

momen-

tary

rotation

speed

Maxi-

mum

momen-

tary

torque

Decelerator

inertia

Allow-

able

radial

load

Allow-

able

thrust

load

Weight

r/min N·m %r/min N·m kg·m2N N kg

400

1/5 R88G-

HPG14A05400B@600 5.66 87 1000 16.0

(15.7) 2.07 × 10−5221 883 1.09

1/11 R88G-

HPG20A11400B@273 11.73 82 454 33.1

(32.5) 5.70 × 10−5659 2320 2.9

1/21 R88G-

HPG20A21400B@143 23.56 86 238 66.5

(65.2) 4.90 × 10−5800 2547 2.9

1/33 R88G-

HPG32A33400B@91 34.79 81 151 98.2

(96.3) 6.20 × 10−51565 6240 7.5

1/45 R88G-

HPG32A45400B@67 47.44 81 111 133.9

(131.4) 6.10 × 10−51718 6848 7.5

750

1/5 R88G-

HPG20A05750B@600 9.94 83 1000 29.2 6.80 × 10−5520 1832 2.9

1/11 R88G-

HPG20A11750B@273 23.23 88 454 68.1 6.00 × 10−5659 2320 3.1

1/21 R88G-

HPG32A21750B@143 42.34 84 238 124.3 3.00 × 10−41367 5448 7.8

1/33 R88G-

HPG32A33750B@91 69.70 88 151 204.7 2.70 × 10−41565 6240 7.8

1/45 R88G-

HPG32A45750B@67 95.04 88 111 279.2 2.70 × 10−41718 6848 7.8

1/5 R88G-

HPG32A051K0B@600 11.5 72 1000 32.9 3.90 × 10-4 889 3542 7.3

1/11 R88G-

HPG32A111K0B@273 28.9 83 454 82.6 3.40 × 10-4 1126 4488 7.8

1/21 R88G-

HPG32A211K0B@143 58.1 87 238 166.1 3.00 × 10-4 1367 5488 7.8

1/33 R88G-

HPG32A331K0B@91 94.3 90 151 270.0 2.80 × 10-4 1565 6240 7.8

1/45 R88G-

HPG50A451K0B@67 124.2 87 100*1 355.4 4.70 × 10-4 4538 15694 19.0

1.5

1/5 R88G-

HPG32A052K0B@600 19.1 80 1000 51.3 3.90 × 10-4 889 3542 7.4

1/11 R88G-

HPG32A112K0B@273 45.7 87 454 122.5 3.40 × 10-4 1126 4488 7.9

1/21 R88G-

HPG32A211K5B@143 90.1 90 238 241.9 3.00 × 10-4 1367 5448 7.9

1/33 R88G-

HPG50A332K0B@91 141.5 90 136*1 379.7 4.80 × 10-4 4135 14300 19.0

1/45 R88G-

HPG50A451K5B@67 192.9 90 100*1 517.8 4.70 × 10-4 4538 15694 19.0

3-49

3-3 Decelerator Specifications

Specifications

*1. Keep the maximum Servomotor rotation speed at 4,500 r/min or less.

*2. If a cold start is used for the R88G-HPG11B05100B(J) when using a 50-W Servomotor, the efficiency will be reduced

slightly. (The is because the viscosity of the lubricant in the Decelerator will increase if the Decelerator is cold, such

as when starting after stopping for a period of time. If operation is continued until the temperature of the Decelerator

increases, the viscosity of the lubricant will decrease and the efficiency will increase.)

Note 1. The values inside parentheses ( ) are for 100-V Servomotors.

Note 2. The Decelerator inertia is the Servomotor shaft conversion value.

Note 3. The protective structure for Servomotors with Decelerators satisfies IP44.

Note 4. The allowable radial load is the value at the LR/2 position.

Note 5. The standard models have a straight shaft. Models with a key and tap are indicated with “J” at the end of

the model number (the suffix in the box).

Model

Rated

rota-

tion

speed

Rated

torque

Effi-

cien-

Maxi-

mum

momen-

tary

rotation

speed

Maxi-

mum

momen-

tary

torque

Decelera-

tor

inertia

Allow-

able

radial

load

Allow-

able

thrust

load

Weight

r/min N·m %r/min N·m kg·m2N N kg

1/5 R88G-

HPG32A052K0B@600 26.7 84 1000 77.4 3.90 × 10-4 889 3542 7.4

1/11 R88G-

HPG32A112K0B@273 62.4 89 454 180.7 3.40 × 10-4 1126 4488 7.9

1/21 R88G-

HPG50A212K0B@143 118.9 89 214*1 343.9 5.80 × 10-4 3611 12486 19.0

1/33 R88G-

HPG50A332K0B@91 191.8 91 136*1 555.0 4.80 × 10-4 4135 14300 19.0

1/5 R88G-

HPG32A053K0B@600 42.0 88 1000 118.9 3.80 × 10-4 889 3542 7.3

1/11 R88G-

HPG50A113K0B@273 92.3 88 409*1 261.4 7.70 × 10-4 2974 10285 19.0

1/21 R88G-

HPG50A213K0B@143 183.0 91 214*1 517.7 5.80 × 10-4 3611 12486 19.0

1/5 R88G-

HPG32A054K0B@600 53.9 90 900*1 163.4 3.80 × 10-4 889 3542 7.9

1/11 R88G-

HPG50A115K0B@273 124.6 90 409*1 359.0 8.80 × 10-4 2974 10285 19.1

1/5 R88G-

HPG50A055K0B@600 69.3 88 900*1 197.8 1.20 × 10-3 2347 8118 17.7

1/11 R88G-

HPG50A115K0B@273 158.4 91 409*1 451.9 8.80 × 10-4 2974 10285 19.1

3-50

3-3 Decelerator Specifications

Specifications

Decelerators for 2,000-r/min Servomotors

*1. This is the allowable rated output torque for the decelerator only. Do not exceed this value.

Model

Rated

rota-

tion

speed

Rated

torque

Effi-

cien-

Maxi-

mum

momen-

tary

rotation

speed

Maxi-

mum

momen-

tary

torque

Decelerator

inertia

Allow-

able

radial

load

Allow-

able

thrust

load

Weight

r/min N·m % r/min N·m kg·m2N N kg

1/5 R88G-

HPG32A053K0B@400 20.4 85 600 57.4 3.80 × 10-4 889 3542 7.3

1/11 R88G-

HPG32A112K0SB@182 47.3 90 273 133.1 3.40 × 10-4 1126 4488 7.8

1/21 R88G-

HPG32A211K0SB@95 92.3 92 143 259.7 2.90 × 10-4 1367 5448 7.8

1/33 R88G-

HPG50A332K0SB@60 144.9 92 91 407.6 4.70 × 10-4 4135 14300 19.0

1/45 R88G-

HPG50A451K0SB@44 197.7 92 67 555.9 4.70 × 10-4 4538 15694 19.0

1.5

1/5 R88G-

HPG32A053K0B@400 31.7 89 600 86.8 3.80 × 10-4 889 3542 7.3

1/11 R88G-

HPG32A112K0SB@182 72.1 92 273 197.7 3.40 × 10-4 1126 4488 7.8

1/21 R88G-

HPG50A213K0B@95 137.5 92 143 377.0 5.80 × 10-4 3611 12486 19.0

1/33 R88G-

HPG50A332K0SB@60 219.4 93 91 601.5 4.70 × 10-4 4135 14300 19.0

1/5 R88G-

HPG32A053K0B@400 43.2 91 600 119.9 3.80 × 10-4 889 3542 7.3

1/11 R88G-

HPG32A112K0SB@182 97.4 93 273 270.5 3.40 × 10-4 1126 4488 7.8

1/21 R88G-

HPG50A213K0B@95 185.6 93 143 515.9 5.80 × 10-4 3611 12486 19.0

1/33 R88G-

HPG50A332K0SB@60 270.0*1 93 91 815.0 4.70 × 10-4 4135 14300 19.0

3-51

3-3 Decelerator Specifications

Specifications

*1. This is the allowable rated output torque for the decelerator only. Do not exceed this value.

Note 1. The Decelerator inertia is the Servomotor shaft conversion value.

Note 2. The protective structure for Servomotors with Decelerators satisfies IP44.

Note 3. The allowable radial load is the value at the LR/2 position.

Note 4. The standard models have a straight shaft. Models with a key and tap are indicated with “J” at the end of

the model number (the suffix in the box).

Model

Rated

rota-

tion

speed

Rated

torque

Effi-

ciency

Maxi-

mum

momen-

tary

rotation

speed

Maximum

momen-

tary

torque

Decelerator

inertia

Allow-

able

radial

load

Allow-

able

thrust

load

Weight

r/min N·m %r/min N·m kg·m2N N kg

1/5 R88G-

HPG32A054K0B@400 66.0 92 600 190.1 3.80 × 10-4 889 3542 7.9

1/11 R88G-

HPG50A115K0B@182 145.2 92 273 418.3 8.80 × 10-4 2974 10285 19.1

1/21 R88G-

HPG50A213K0SB@95 260.0*1 93 143 806.4 6.90 × 10-4 3611 12486 19.1

1/25 R88G-

HPG65A253K0SB@80 322.9 90 120 930.1 3.00 × 10-3 7846 28654 52.0

1/5 R88G-

HPG50A054K0SB@400 85.8 91 600 250.3 1.20 × 10-3 2347 8118 18.6

1/11 R88G-

HPG50A114K0SB@182 192.7 93 273 562.8 8.70 × 10-4 2974 10285 20.1

1/20 R88G-

HPG65A204K0SB@100 342.2 91 150 999.2 3.28 × 10-3 7338 26799 52.0

1/25 R88G-

HPG65A254K0SB@80 430.9 92 120 1258.6 3.24 × 10-3 7846 28654 52.0

1/5 R88G-

HPG50A055K0SB@400 109.8 92 600 325.5 1.10 × 10-3 2347 8118 22.0

1/11 R88G-

HPG50A115K0SB@182 200.0*1 93 273 723.8 8.40 × 10-4 2974 10285 23.5

1/20 R88G-

HPG65A205K0SB@100 438.2 92 150 1300.5 2.85 × 10-3 7338 26799 55.4

1/25 R88G-

HPG65A255K0SB@80 550.9 93 120 1634.4 2.81 × 10-3 7846 28654 55.4

7.5

1/5 R88G-

HPG65A057K5SB@300 221.1 92 400 511.2 2.07 × 10-2 4841 17681 48.0

1/12 R88G-

HPG65A127K5SB@125 540.8 94 166 1250.7 2.02 × 10-2 6295 22991 52.0

3-52

3-3 Decelerator Specifications

Specifications

Decelerators for 1,000-r/min Servomotors

*1. This is the allowable rated output torque for the decelerator only. Do not exceed this value.

Note 1. The Decelerator inertia is the Servomotor shaft conversion value.

Note 2. The protective structure for Servomotors with Decelerators satisfies IP44.

Note 3. The allowable radial load is the value at the LR/2 position.

Note 4. The standard models have a straight shaft. Models with a key and tap are indicated with “J” at the end of

the model number (the suffix in the box).

Model

Rated

rota-

tion

speed

Rated

torque

Effi-

ciency

Maxi-

mum

momen-

tary

rotation

speed

Maxi-

mum

momen-

tary

torque

Decelerator

inertia

Allow-

able

radial

load

Allow-

able

thrust

load

Weight

r/min N·m % r/min N·m kg·m2N N kg

900

1/5 R88G-

HPG32A05900TB@200 39.9 93 400 85.2 3.80 × 10-4 889 3542 7.9

1/11 R88G-

HPG32A11900TB@90 89.0 94 182 190.1 3.40 × 10-4 1126 4488 8.4

1/21 R88G-

HPG50A21900TB@47 169.8 94 95 362.4 7.00 × 10-4 3611 12486 19.1

1/33 R88G-

HPG50A33900TB@30 268.5 94 60 573.2 5.90 × 10-4 4135 14300 19.1

1/5 R88G-

HPG32A052K0TB@200 90.2 95 400 196.1 4.90 × 10-4 889 3542 8.9

1/11 R88G-

HPG50A112K0TB@90 198.4 94 182 430.9 8.40 × 10-4 2974 10285 20.1

1/21 R88G-

HPG50A212K0TB@47 320.0*1 95 95 786.8 6.50 × 10-4 3611 12486 20.1

1/25 R88G-

HPG65A255K0SB@40 446.7 94 80 971.1 2.81 × 10-3 7846 28654 55.4

1/5 R88G-

HPG50A055K0SB@200 133.9 94 400 282.9 1.10 × 10-3 2347 8118 22.0

1/11 R88G-

HPG50A115K0SB@90 246.0*1 95 182 684.0 8.40 × 10-3 2974 10285 23.5

1/20 R88G-

HPG65A205K0SB@50 534.7 94 100 1129.2 2.85 × 10-3 7338 26799 55.4

1/25 R88G-

HPG65A255K0SB@40 669.9 94 80 1411.5 2.81 × 10-3 7846 28654 55.4

4.5

1/5 R88G-

HPG50A054K5TB@200 203.5 95 400 479.2 1.20 × 10-3 2347 8118 22.0

1/12 R88G-

HPG65A127K5SB@83 485.6 94 166 1142.9 2.02 × 10-2 6295 22991 52.0

1/20 R88G-

HPG65A204K5TB@50 813.1 95 100 1915.0 1.92 × 10-2 7338 26799 52.0

1/5 R88G-

HPG65A057K5SB@200 268.1 94 400 609.7 2.07 × 10-2 4841 17681 48.0

1/12 R88G-

HPG65A127K5SB@83 650.3 95 166 1477.3 2.02 × 10-2 6295 22991 52.0

3-53

3-3 Decelerator Specifications

Specifications

Decelerators for 3,000-r/min Flat Servomotors

Note 1. The values inside parentheses ( ) are for 100-V Servomotors.

Note 2. The Decelerator inertia is the Servomotor shaft conversion value.

Note 3. The protective structure for Servomotors with Decelerators satisfies IP44.

Note 4. The allowable radial load is the value at the LR/2 position.

Note 5. The standard models have a straight shaft. Models with a key and tap are indicated with “J” at the end of

the model number (the suffix in the box).

Model

Rated

rota-

tion

speed

Rated

torque

Effi-

cien-

Maxi-

mum

momen-

tary

rotation

speed

Maxi-

mum

momen-

tary

torque

Decelera-

tor

inertia

Allow-

able

radial

load

Allow-

able

thrust

load

Weight

r/min N·m % r/min N·m kg·m2N N kg

100

1/5 R88G-

HPG11B05100PB@600 1.28 80 1000 3.44

(3.36) 5.00 × 10−7135 538 0.34

1/11 R88G-

HPG14A11100PB@273 2.63 75 454 7.06

(6.89) 6.00 × 10−6280 1119 1.04

1/21 R88G-

HPG14A21100PB@143 5.40 80 238 14.5

(14.2) 5.00 × 10−6340 1358 1.04

1/33 R88G-

HPG20A33100PB@91 6.91 65 151 18.6

(18.1) 4.50 × 10−5916 3226 2.9

1/45 R88G-

HPG20A45100PB@67 9.42 65 111 25.3

(24.7) 4.50 × 10−51006 3541 2.9

200

1/5 R88G-

HPG14A05200PB@600 2.49 78 1000 7.01 2.07 × 10−5221 883 0.99

1/11 R88G-

HPG20A11200PB@273 4.75 68 454 13.4 5.80 × 10−5659 2320 3.1

1/21 R88G-

HPG20A21200PB@143 10.2 76 238 28.8 4.90 × 10−5800 2817 3.1

1/33 R88G-

HPG20A33200PB@91 17.0 81 151 47.9 4.50 × 10−5916 3226 3.1

1/45 R88G-

HPG20A45200PB@67 23.2 81 111 65.4 4.50 × 10−51006 3541 3.1

400

1/5 R88G-

HPG20A05400PB@600 4.67 72 1000

(900)

13.1

(12.9) 7.10 × 10−5520 1832 3.1

1/11 R88G-

HPG20A11400PB@273 11.7 82 454

(409)

32.9

(32.4) 5.80 × 10−5659 2320 3.1

1/21 R88G-

HPG20A21400PB@143 23.5 86 238

(214)

66.2

(65.2) 4.90 × 10−5800 2817 3.1

1/33 R88G-

HPG32A33400PB@91 34.7 81 151

(136)

97.6

(96.2) 2.80 × 10−41565 6240 7.8

1/45 R88G-

HPG32A45400PB@67 47.4 81 111

(100)

133.0

(131.2) 2.80 × 10−41718 6848 7.8

3-54

3-3 Decelerator Specifications

Specifications

Backlash = 15’ Max.

Decelerators for 3,000-r/min Servomotors

Model

Rated

rota-

tion

speed

Rated

torque

Effi-

cien-

Maxi-

mum

mo-

mentary

rotation

speed

Maxi-

mum

mo-

mentary

torque

Decelera-

tor

inertia

Allow-

able

radial

load

Allow-

able

thrust

load

Weight

r/min N·m % r/min N·m kg·m2N N kg

1/5 R88G-

VRSF05B100CJ 600 0.52 65 1000 1.46 4.00 × 10−6392 196 0.55

1/9 R88G-

VRSF09B100CJ 333 0.93 65 556 2.63 3.50 × 10−6441 220 0.55

1/15 R88G-

VRSF15B100CJ 200 1.67 70 333 4.73 3.50 × 10−6588 294 0.70

1/25 R88G-

VRSF25B100CJ 120 2.78 70 200 7.88 3.25 × 10−6686 343 0.70

100

1/5 R88G-

VRSF05B100CJ 600 1.19 75 1000 3.38 4.00 × 10−6392 196 0.55

1/9 R88G-

VRSF09B100CJ 333 2.29 80 556 6.48 3.50 × 10−6441 220 0.55

1/15 R88G-

VRSF15B100CJ 200 3.81 80 333 10.8 3.50 × 10−6588 294 0.70

1/25 R88G-

VRSF25B100CJ 120 6.36 80 200 18.0 3.25 × 10−6686 343 0.70

200

1/5 R88G-

VRSF05B200CJ 600 2.70 85 1000 7.57 1.18 × 10−5392 196 0.72

1/9 R88G-

VRSF09C200CJ 333 3.77 66 556 10.6 2.75 × 10−5931 465 1.70

1/15 R88G-

VRSF15C200CJ 200 6.29 66 333 17.6 3.00 × 10−51176 588 2.10

1/25 R88G-

VRSF25C200CJ 120 11.1 70 200 31.2 2.88 × 10−51323 661 2.10

3-55

3-3 Decelerator Specifications

Specifications

Note 1. The values inside parentheses ( ) are for 100-V Servomotors.

Note 2. The Decelerator inertia is the Servomotor shaft conversion value.

Note 3. The protective structure for Servomotors with Decelerators satisfies IP44.

Note 4. The allowable radial load is the value at the LR/2 position.

Note 5. The standard models have a straight shaft with a key.

Model

Rated

rota-

tion

speed

Rated

torque

Effi-

cien-

Maxi-

mum

mo-

mentary

rotation

speed

Maxi-

mum

mo-

mentary

torque

Decelera-

tor

inertia

Allow-

able

radial

load

Allow-

able

thrust

load

Weight

r/min N·m % r/min N·m kg·m2N N kg

400

1/5 R88G-

VRSF05C400CJ 600 5.40 85 1000 15.6

(15.3) 3.63 × 10−5784 392 1.70

1/9 R88G-

VRSF09C400CJ 333 9.50 83 556 27.4

(26.8) 2.75 × 10−5931 465 1.70

1/15 R88G-

VRSF15C400CJ 200 15.8 83 333 45.7

(44.8) 3.00 × 10−51176 588 2.10

1/25 R88G-

VRSF25C400CJ 120 26.4 83 200 76.1

(74.7) 2.88 × 10−51323 661 2.10

750

1/5 R88G-

VRSF05C750CJ 600 10.7 90 1000 31.7 7.13 × 10−5784 392 2.10

1/9 R88G-

VRSF09D750CJ 333 18.2 85 556 53.9 6.50 × 10−51176 588 3.40

1/15 R88G-

VRSF15D750CJ 200 30.4 85 333 89.9 7.00 × 10−51372 686 3.80

1/25 R88G-

VRSF25D750CJ 120 50.7 85 200 149.8 6.80 × 10−51617 808 3.80

3-56

3-3 Decelerator Specifications

Specifications

Decelerators for 3,000-r/min Flat Servomotors

Note 1. The values inside parentheses ( ) are for 100-V Servomotors.

Note 2. The Decelerator inertia is the Servomotor shaft conversion value.

Note 3. The protective structure for Servomotors with Decelerators satisfies IP44.

Note 4. The allowable radial load is the value at the LR/2 position.

Note 5. The standard models have a straight shaft with a key.

Model

Rated

rota-

tion

speed

Rated

torque

Effi-

cien-

Maxi-

mum

momen-

tary

rotation

speed

Maxi-

mum

momen-

tary

torque

Decelera-

tor

inertia

Allow-

able

radial

load

Allow-

able

thrust

load

Weight

r/min N·m % r/min N·m kg·m2N N kg

100

1/5 R88G-

VRSF05B100PCJ 600 1.19 75 1000 3.15 4.00 × 10−6392 196 0.72

1/9 R88G-

VRSF09B100PCJ 333 2.29 80 556 6.048 3.50 × 10−6441 220 0.72

1/15 R88G-

VRSF15B100PCJ 200 3.81 80 333 10.08 3.50 × 10−6588 294 0.87

1/25 R88G-

VRSF25B100PCJ 120 6.36 80 200 16.8 3.25 × 10−6686 343 0.87

200

1/5 R88G-

VRSF05B200PCJ 600 2.70 85 1000 7.65 1.18 × 10−5392 196 0.85

1/9 R88G-

VRSF09C200PCJ 333 3.77 66 556 10.692 2.75 × 10−5931 465 1.80

1/15 R88G-

VRSF15C200PCJ 200 6.29 66 333 17.82 3.00 × 10−51176 588 2.20

1/25 R88G-

VRSF25C200PCJ 120 11.1 70 200 31.5 2.88 × 10−51323 661 2.20

400

1/5 R88G-

VRSF05C400PCJ 600 5.40 85 1000

(900)

15.5

(15.3) 3.63 × 10−5784 392 1.80

1/9 R88G-

VRSF09C400PCJ 333 9.50 83 556

(500)

27.3

(26.9) 2.75 × 10−5931 465 1.80

1/15 R88G-

VRSF15C400PCJ 200 15.8 83 333

(300)

45.4

(44.8) 3.00 × 10−51176 588 2.20

1/25 R88G-

VRSF25C400PCJ 120 26.4 83 200

(180)

75.7

(74.7) 2.88 × 10−51323 661 2.20

3-57

3-4 Cable and Connector Specifications

Specifications

3-4 Cable and Connector Specifications

Encoder Cable Specifications

These cables are used to connect the encoder between a Servo Drive and Servomotor. Select the

Encoder Cable matching the Servomotor.

Encoder Cables (Standard Cables)

R88A-CRGA@C

Cable Models

For absolute encoders: 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors

of 100 to 400 W

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CRGA003C 3 m

6.5 dia.

Approx. 0.2 kg

R88A-CRGA005C 5 m Approx. 0.3 kg

R88A-CRGA010C 10 m Approx. 0.6 kg

R88A-CRGA015C 15 m Approx. 0.9 kg

R88A-CRGA020C 20 m Approx. 1.2 kg

R88A-CRGA030C 30 m

6.8 dia.

Approx. 2.4 kg

R88A-CRGA040C 40 m Approx. 3.2 kg

R88A-CRGA050C 50 m Approx. 4.0 kg

Servo Drive Servomotor

R88D-G@R88M-G@

(6.5/6.8 dia.)

Signal No.

Servo Drive

E5V 1

E0V 2

BAT 3

Shell

Red

Black

Orange

Orange/White

Cable:

AWG22 × 2C + AWG24×2P UL20276 (3 to 20 m)

AWG16 × 2C + AWG26×2P UL20276 (30 to 50 m)

No.

E5V

E0V

BAT

Signal

Servomotor

Servo Drive Connector Servomotor Connector

Connector:

3 to 20 m: Crimp-type I/O Connector (Molex Japan)

30 to 50 m: 55100-0670 (Molex Japan)

Connector pins:

50639-8028 (Molex Japan)

Blue/White

for AWG16

Blue

Connector:

(Tyco Electronics AMP KK)

Connector pins:

3-58

3-4 Cable and Connector Specifications

Specifications

R88A-CRGB@C

Cable Models

For incremental encoders: 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat

Servomotors of 100 to 400 W

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CRGB003C 3 m

6.5 dia.

Approx. 0.2 kg

R88A-CRGB005C 5 m Approx. 0.3 kg

R88A-CRGB010C 10 m Approx. 0.6 kg

R88A-CRGB015C 15 m Approx. 0.9 kg

R88A-CRGB020C 20 m Approx. 1.2 kg

R88A-CRGB030C 30 m

6.8 dia.

Approx. 2.4 kg

R88A-CRGB040C 40 m Approx. 3.2 kg

R88A-CRGB050C 50 m Approx. 4.0 kg

Servo Drive Servomotor

R88D-G@R88M-G@

(6.5/6.8 dia.)

No.

E5V 1

E0V 2

S 5

No.

E5V

E0V

FG6

Signal

Servo Drive

Shell

Red

Black

Blue/White

Blue

Cable

AWG22 × 2C + AWG24×2P UL20276 (3 to 20 m)

AWG16 × 2C + AWG26×2P UL20276 (30 to 50 m)

Signal

Servomotor

Servo Drive Connector Servomotor Connector

Connector:

3 to 20 m: Crimp-type I/O Connector (Molex Japan)

30 to 50 m: 55100-0670 (Molex Japan)

Connector pins:

50639-8028 (Molex Japan)

for AWG16

Connector:

172161-1 (Tyco Electronics AMP KK)

170365-1 (Tyco Electronics AMP KK)

171639-1 (Tyco Electronics AMP KK)

Connector pins:

3-59

3-4 Cable and Connector Specifications

Specifications

R88A-CRGC@N

Cable Models

For both absolute encoders and incremental encoders: 3,000-r/min Servomotors of 1 to 5 kW,

2,000-r/min Servomotors of 1 to 5 kW, 1,500-r/min Servomotors of 7.5 kW, and 1,000-r/min

Servomotors of 900 W to 6 kW

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CRGC003N 3 m

6.5 dia.

Approx. 0.3 kg

R88A-CRGC005N 5 m Approx. 0.4 kg

R88A-CRGC010N 10 m Approx. 0.7 kg

R88A-CRGC015N 15 m Approx. 1.0 kg

R88A-CRGC020N 20 m Approx. 1.5 kg

R88A-CRGC030N 30 m

6.8 dia.

Approx. 2.5 kg

R88A-CRGC040N 40 m Approx. 3.3 kg

R88A-CRGC050N 50 m Approx. 4.1 kg

Servo Drive Servomotor

R88D-G@R88M-G@

(6.5/6.8 dia.)

No.

E5V 1

E0V 2

BAT 3

S 5

Straight plug:

N/MS3106B20-29S

(Japan Aviation Electronics)

Cable clamp:

N/MS3057-12A

(

an Aviation Electronics

)

No.

E5V

E0V

BAT

FGJ

Signal

Servo Drive

Shell

Red

Black

Orange

Orange/White

Cable:

AWG22 × 2C + AWG24×2P UL20276 (3 to 20 m)

AWG16 × 2C + AWG26×2P UL20276 (30 to 50 m)

Signal

Servomotor

Servo Drive Connector Servomotor Connector

Connector:

3 to 20 m: Crimp-type I/O Connector (Molex Japan)

30 to 50 m: 55100-0670 (Molex Japan)

Connector pins:

50639-8028 (Molex Japan)

Blue/White

Blue

3-60

3-4 Cable and Connector Specifications

Specifications

Encoder Cables (Robot Cables)

R88A-CRGA@CR

Cable Models

For absolute encoders: 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors

of 100 to 400 W

Connection Configuration and Dimensions

Wiring (3 to 20 m)

Wiring (30 to 50 m)

Model Length (L) Outer diameter of sheath Weight

R88A-CRGA003CR 3 m

7.5 dia.

Approx. 0.2 kg

R88A-CRGA005CR 5 m Approx. 0.4 kg

R88A-CRGA010CR 10 m Approx. 0.8 kg

R88A-CRGA015CR 15 m Approx. 1.1 kg

R88A-CRGA020CR 20 m Approx. 1.5 kg

R88A-CRGA030CR 30 m

8.2 dia.

Approx. 2.8 kg

R88A-CRGA040CR 40 m Approx. 3.7 kg

R88A-CRGA050CR 50 m Approx. 4.6 kg

Servo Drive Servomotor

R88D-G@R88M-G@

(7.5/

8.2

dia.)

Signal No.

Servo Drive

E5V 1

E0V 2

BAT− 4

S− 6

Shell

Pink

/Red

Pink/Black

Green/Red

Orange/Black

Green/Black

Orange/Red

Cable:

AWG24×4P UL20276

No.

E5V

E0V

BAT

BAT−

S−

Signal

Servomotor

Servomotor Connector

Connector:

172161-1(Tyco Electronics AMP KK)

Connector pins:

170365-1(Tyco Electronics AMP KK)

Servo Drive Connector

Connector:

Crimp-type I/O Connector (Molex Japan)

Connector pins:

50639-8028 (Molex Japan)

Blue/Red

Blue/Black

BAT+

S+

Signal No.

Servo Drive

E5V 1

E0V 2

BAT+ 3

BAT−4

S+ 5

S−6

Shell

Yellow

Brown

Green

Black

Red

Grey

Cable

AWG25 × 6P UL2517

No.

7 E5V

Signal

Servomotor

E0V

BAT+

BAT−

S+

S−

FG3

Servomotor Connector

Connector:

172161−1 (Tyco Electronics AMP KK)

Connector pins:

170365−1 (Tyco Electronics AMP KK)

Servo Drive Connector

Connector:

Crimp-type I/O Connector (Molex Japan)

Connector pins:

50639-8028 (Molex Japan)

Blue

White

Purple

Orange

Blue

Brown

3-61

3-4 Cable and Connector Specifications

Specifications

R88A-CRGB@CR

Cable Models

For incremental encoders: 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat

Servomotors of 100 to 400 W

Connection Configuration and Dimensions

Wiring (3 to 20 m)

Wiring (30 to 50 m)

Model Length (L) Outer diameter of sheath Weight

R88A-CRGB003CR 3 m

7.5 dia.

Approx. 0.2 kg

R88A-CRGB005CR 5 m Approx. 0.4 kg

R88A-CRGB010CR 10 m Approx. 0.8 kg

R88A-CRGB015CR 15 m Approx. 1.1 kg

R88A-CRGB020CR 20 m Approx. 1.5 kg

R88A-CRGB030CR 30 m

8.2 dia.

Approx. 2.8 kg

R88A-CRGB040CR 40 m Approx. 3.7 kg

R88A-CRGB050CR 50 m Approx. 4.6 kg

Servo Drive Servomotor

R88D-G@R88M-G@

(7.5/

8.2

dia.)

Signal No.

Servo Drive

E5V 1

E0V 2

S− 6

FG Cable:

AWG24×4P UL20276

No.

E5V

E0V

S−

Servomotor

Signal

Servomotor Connector

Connector:

172160-1(Tyco Electronics AMP KK)

Connector pins:

170365-1(Tyco Electronics AMP KK)

Servo Drive Connector

Connector:

Crimp-type I/O Connector (Molex Japan)

Connector pins:

50639-8028 (Molex Japan)

Shell

Pink

/Red

Pink/Black

Orange/Black

Orange/Red

Blue/Red

Blue/Black

No.

E5V 1

E0V 2

S+ 5

S−6

Shell

No.

4 E5V

5 E0V

S+

S−

FG6

Cable

AWG25 × 6P UL2517

Servomotor Connector

Connector:

172160−1 (Tyco Electronics AMP KK)

Connector pins:

170365−1 (Tyco Electronics AMP KK)

Servo Drive Connector

Connector:

Crimp-type I/O Connector (Molex Japan)

Connector pins:

50639-8028 (Molex Japan)

Yellow

Brown

Green

Black

Red

Grey

Blue

White

Blue

Brown

Servo Drive Servomotor

Signal Signal

3-62

3-4 Cable and Connector Specifications

Specifications

R88A-CRGC@NR

Cable Models

For both absolute encoders and incremental encoders: 3,000-r/min Servomotors of 1 to 5 kW,

2,000-r/min Servomotors of 1 to 5 kW, 1,000-r/min Servomotors of 900 W to 4.5 kW

Connection Configuration and Dimensions

Wiring (3 to 20 m)

Wiring (30 to 50 m)

Model Length (L) Outer diameter of sheath Weight

R88A-CRGC003NR 3 m

7.5 dia.

Approx. 0.4 kg

R88A-CRGC005NR 5 m Approx. 0.5 kg

R88A-CRGC010NR 10 m Approx. 0.9 kg

R88A-CRGC015NR 15 m Approx. 1.3 kg

R88A-CRGC020NR 20 m Approx. 1.6 kg

R88A-CRGC030NR 30 m

8.2 dia.

Approx. 2.9 kg

R88A-CRGC040NR 40 m Approx. 3.8 kg

R88A-CRGC050NR 50 m Approx. 4.7 kg

Servo Drive Servomotor

R88D-G@R88M-G@

(7.5/

8.2

dia.)

No.

Servo Drive

E5V 1

E0V 2

BAT 3

BAT− 4

S− 6

No.

E5V

E0V

BAT

BAT−

S−

Signal

Servomotor

Straight plug:

N/MS3106B20-29S

(Japan Aviation Electronics)

Cable clamp:

N/MS3057-12A

(Japan Aviation Electronics)

Servomotor Connector

Cable:

AWG24×4P UL20276

Servo Drive Connector

Connector:

Crimp-type I/O Connector (Molex Japan)

Connector pins:

50639-8028 (Molex Japan)

Signal

Pink

/Red

Pink/Black

Green/Red

Orange/Black

Green/Black

Orange/Red

Shell

Blue/Red

Blue/Black

No.

E5V 1

E0V 2

BAT+ 3

BAT− 4

S+ 5

S−6

No.

H E5V

E0V

BAT+

BAT−

S+

S−

FGJ

Cable

AWG25 × 6P UL2517

Servomotor Connector

Connector:

N/MS3106B20-29S (Japan Aviation Electronics)

Connector pins:

N/MS3057-12A (Japan Aviation Electronics)

Servo Drive Connector

Connector:

Crimp-type I/O Connector (Molex Japan)

Connector pins:

50639-8028 (Molex Japan)

Signal

Servo Drive

Yellow

Brown

Green

Black

Red

Grey

Signal

Servomotor

Blue

White

Purple

Orange

Blue

Brown

3-63

3-4 Cable and Connector Specifications

Specifications

Absolute Encoder Battery Cable Specifications

Cable Models

Connection Configuration and Dimensions

Wiring

Model Length (L)

R88A-CRGD0R3C 0.3 m

ABS

Servo Drive

Battery holder

Servomotor

R88D−

GN@−

ML2

R88M−G@

43.530043.5

18.8

t=12t=12

Signal

No.

Servo Drive

S− 6

BAT− 4

BAT 3

E0V 2

E5V 1

S−

BAT−

BAT

E0V

E5V

Shell

Signal No.

Battery holder

BAT− 2

BAT 1

No.

Shell

Signal

Servomotor

Orange/White

Orange

Red

Black

Blue

Blue/White

Connector plug:

55100-0670

(Molex Japan)

Connector socket:

54280-0609

(Molex Japan)

3-64

3-4 Cable and Connector Specifications

Specifications

Servomotor Power Cable Specifications

These cables connect the Servo Drive and Servomotor. Select the cable matching the Servomotor.

Power Cables for Servomotors without Brakes (Standard Cables)

R88A-CAGA@S

Cable Models

For 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W

Connection Configuration and Dimensions

Wiring

Use a robot cable if the Servomotor is to be used on moving parts.

Model Length (L) Outer diameter of sheath Weight

R88A-CAGA003S 3 m

6.2 dia.

Approx. 0.2 kg

R88A-CAGA005S 5 m Approx. 0.3 kg

R88A-CAGA010S 10 m Approx. 0.6 kg

R88A-CAGA015S 15 m Approx. 0.9 kg

R88A-CAGA020S 20 m Approx. 1.2 kg

R88A-CAGA030S 30 m Approx. 1.8 kg

R88A-CAGA040S 40 m Approx. 2.4 kg

R88A-CAGA050S 50 m Approx. 3.0 kg

Precautions

for Correct Use

(50) (50)

Servo Drive Servomotor

R88D-G@R88M-G@

(6.2 dia.)

No.

Phase U

Phase V

Phase W

Blue

Green/Yellow

Cable: AWG20 × 4C UL2464

M4 crimp terminals

Servo Drive

Red

White

Signal

Servomotor

Servomotor Connector

Connector:

(Tyco Electronics AMP KK)

Connector pins:

3-65

3-4 Cable and Connector Specifications

Specifications

R88A-CAGB@S

Cable Models

For 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, and 1,000-r/min

Servomotors of 900 W

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CAGB003S 3 m

10.4 dia.

Approx. 0.7 kg

R88A-CAGB005S 5 m Approx. 1.0 kg

R88A-CAGB010S 10 m Approx. 2.0 kg

R88A-CAGB015S 15 m Approx. 2.9 kg

R88A-CAGB020S 20 m Approx. 3.8 kg

R88A-CAGB030S 30 m Approx. 5.6 kg

R88A-CAGB040S 40 m Approx. 7.4 kg

R88A-CAGB050S 50 m Approx. 9.2 kg

(70) L

Servo Drive Servomotor

R88D-G@R88M-G@

(10.4 dia.)

37.3 dia.

No.

M4 crimp terminals

Phase U

Phase V

Phase W

Blue

Green/Yellow

Cable: AWG14 × 4C UL2463

Servo Drive

Red

White

Signal

Servomotor

Servomotor Connector

Straight plug:

N/MS3106B20-4S (Japan Aviation Electronics)

Cable clamp:

N/MS3057-12A

(

an Aviation Electronics

)

3-66

3-4 Cable and Connector Specifications

Specifications

R88A-CAGC@S

Cable Models

For 3,000-r/min Servomotors of 2 kW and 2,000-r/min Servomotors of 2 kW

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CAGC003S 3 m

10.4 dia.

Approx. 0.7 kg

R88A-CAGC005S 5 m Approx. 1.0 kg

R88A-CAGC010S 10 m Approx. 2.0 kg

R88A-CAGC015S 15 m Approx. 2.9 kg

R88A-CAGC020S 20 m Approx. 3.8 kg

R88A-CAGC030S 30 m Approx. 5.6 kg

R88A-CAGC040S 40 m Approx. 7.4 kg

R88A-CAGC050S 50 m Approx. 9.2 kg

(70) L

37.3 dia.

(10.4 dia.)

Servo Drive Servomotor

R88D-G@R88M-G@

No.

M5 crimp terminals

Phase U

Phase V

Phase W

Blue

Green/Yellow

Cable: AWG14 × 4C UL2463

Servo Drive

Red

White

Signal

Servomotor

Servomotor Connector

Straight plug:

N/MS3106B20-4S (Japan Aviation Electronics)

Cable clamp:

N/MS3057-12A

(

an Aviation Electronics

)

3-67

3-4 Cable and Connector Specifications

Specifications

R88A-CAGD@S

Cable Models

For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, and 1,000-r/min

Servomotors of 2 to 4.5 kW

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CAGD003S 3 m

14.7 dia.

Approx. 1.3 kg

R88A-CAGD005S 5 m Approx. 2.1 kg

R88A-CAGD010S 10 m Approx. 4.0 kg

R88A-CAGD015S 15 m Approx. 6.0 kg

R88A-CAGD020S 20 m Approx. 8.0 kg

R88A-CAGD030S 30 m Approx. 11.9 kg

R88A-CAGD040S 40 m Approx. 15.8 kg

R88A-CAGD050S 50 m Approx. 19.7 kg

(14.7 dia.)

40.5 dia.

(70) L

Servo Drive Servomotor

R88D-G@R88M-G@

No.

M5 crimp terminals

Phase U

Phase V

Phase W

Blue

Green/Yellow

Cable: AWG10 × 4C UL2463

Servo Drive

Red

White

Signal

Servomotor

Servomotor Connector

Straight plug:

N/MS3106B22-22S (Japan Aviation Electronics

)

Cable clamp:

N/MS3057-12A

(

an Aviation Electronics

)

3-68

3-4 Cable and Connector Specifications

Specifications

R88A-CAGE@S

Cable Models

For 1,500-r/min Servomotors of 7.5 kW and 1,000-r/min Servomotors of 6 kW

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CAGE003S 3 m

28.5 dia.

Approx. 4.0 kg

R88A-CAGE005S 5 m Approx. 6.5 kg

R88A-CAGE010S 10 m Approx. 12.6 kg

R88A-CAGE015S 15 m Approx. 18.8 kg

R88A-CAGE020S 20 m Approx. 24.9 kg

R88A-CAGE030S 30 m Approx. 37.2 kg

R88A-CAGE040S 40 m Approx. 49.5 kg

R88A-CAGE050S 50 m Approx. 61.8 kg

(28.5 dia.)

56.4 dia.

(70) L

Servo Drive Servomotor

R88D-G@R88M-G@

No.

Cable: AWG6 × 4C UL62

M5 crimp terminals

Phase U

Phase V

Phase W

Blue

Green/Yellow

Servo

Drive

Red

White

Signal

Servomotor

Servomotor Connector

Straight plug:

N/MS3106B32-17S (Japan Aviation Electronics)

Cable clamp:

N/MS3057-20A

(

an Aviation Electronics

)

3-69

3-4 Cable and Connector Specifications

Specifications

Power Cables for Servomotors without Brakes (Robot Cables)

R88A-CAGA@SR

Cable Models

For 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CAGA003SR 3 m

6.9 dia.

Approx. 0.2 kg

R88A-CAGA005SR 5 m Approx. 0.3 kg

R88A-CAGA010SR 10 m Approx. 0.7 kg

R88A-CAGA015SR 15 m Approx. 1.0 kg

R88A-CAGA020SR 20 m Approx. 1.3 kg

R88A-CAGA030SR 30 m Approx. 1.9 kg

R88A-CAGA040SR 40 m Approx. 2.6 kg

R88A-CAGA050SR 50 m Approx. 3.2 kg

(50) (50)

Servo Drive Servomotor

R88D-G@R88M-G@

(6.9

dia.)

No.

4 FG

Servo Drive

Red

White

Black

Green/Yellow

Cable: AWG20×4C UL2464

Servomotor

Servomotor Connector

Connector:

172

159

-1(Tyco Electronics AMP KK)

Connector pins:

170362-1(Tyco Electronics AMP KK)

170366-1(Tyco Electronics AMP KK)

Signal

Phase U

Phase V

Phase W

M4 crimp terminals

3-70

3-4 Cable and Connector Specifications

Specifications

R88A-CAGB@SR

Cable Models

For 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, and 1,000-r/min

Servomotors of 900 W

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CAGB003SR 3 m

12.7 dia.

Approx. 0.8 kg

R88A-CAGB005SR 5 m Approx. 1.3 kg

R88A-CAGB010SR 10 m Approx. 2.4 kg

R88A-CAGB015SR 15 m Approx. 3.5 kg

R88A-CAGB020SR 20 m Approx. 4.6 kg

R88A-CAGB030SR 30 m Approx. 6.9 kg

R88A-CAGB040SR 40 m Approx. 9.2 kg

R88A-CAGB050SR 50 m Approx. 11.4 kg

(70) L

Servo Drive Servomotor

R88D−G@R88M−G@

(12.7

dia.)

37.3

dia.

No.

D FG

Signal

Servo Drive

Red

White

Blue

Green/Yellow

Servomotor

Cable: AWG14×4C UL2501

Straight plug:

N/MS3106B20-4S

(Japan Aviation Electronics)

Cable clamp:

N/MS3057-12A

(Japan Aviation Electronics)

Servomotor Connector

Phase U

Phase V

Phase W

M4 crimp terminals

3-71

3-4 Cable and Connector Specifications

Specifications

R88A-CAGC@SR

Cable Models

For 3,000-r/min Servomotors of 2 kW and 2,000-r/min Servomotors of 2 kW

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CAGC003SR 3 m

12.7 dia.

Approx. 0.8 kg

R88A-CAGC005SR 5 m Approx. 1.3 kg

R88A-CAGC010SR 10 m Approx. 2.4 kg

R88A-CAGC015SR 15 m Approx. 3.5 kg

R88A-CAGC020SR 20 m Approx. 4.6 kg

R88A-CAGC030SR 30 m Approx. 6.9 kg

R88A-CAGC040SR 40 m Approx. 9.2 kg

R88A-CAGC050SR 50 m Approx. 11.4 kg

(70) L

37.3

dia.

(12.7

dia.)

Servo Drive Servomotor

R88M−G@

R88D−G@

No.

Phase U

Phase V

Phase W

Signal

Servo Drive

Red

White

Blue

Green/Yellow

M5 crimp terminals

Servomotor

Cable: AWG14×4C UL2501

Straight plug:

N/MS3106B20-4S

(Japan Aviation Electronics)

Cable clamp:

N/MS3057-12A

(Japan Aviation Electronics)

Servomotor Connector

3-72

3-4 Cable and Connector Specifications

Specifications

R88A-CAGD@SR

Cable Models

For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, and 1,000-r/min

Servomotors of 2 to 4.5 kW

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CAGD003SR 3 m

15.6 dia.

Approx. 1.4 kg

R88A-CAGD005SR 5 m Approx. 2.2 kg

R88A-CAGD010SR 10 m Approx. 4.2 kg

R88A-CAGD015SR 15 m Approx. 6.3 kg

R88A-CAGD020SR 20 m Approx. 8.3 kg

R88A-CAGD030SR 30 m Approx. 12.4 kg

R88A-CAGD040SR 40 m Approx. 16.5 kg

R88A-CAGD050SR 50 m Approx. 20.5 kg

(15.6

dia.)

40.5

dia.

(70) L

Servo Drive Servomotor

R88D-G@R88M-G@

No.

Phase U

Phase V

Phase W

Signal

Servo Drive

M5 crimp terminals

Servomotor

Straight plug:

N/MS3106B22-22S

(Japan Aviation Electronics)

Cable clamp:

N/MS3057-12A

(Japan Aviation Electronics)

Servomotor Connector

Cable: AWG10×4C UL2501

Red

White

Blue

Green/Yellow

3-73

3-4 Cable and Connector Specifications

Specifications

 Power Cables for Servomotors with Brakes (Standard Cables)

R88A-CAGB@B

Cable Models

For 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, and

1,000-r/min Servomotors of 900 W

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CAGB003B 3 m

10.4/5.4 dia.

Approx. 0.8 kg

R88A-CAGB005B 5 m Approx. 1.3 kg

R88A-CAGB010B 10 m Approx. 2.4 kg

R88A-CAGB015B 15 m Approx. 3.5 kg

R88A-CAGB020B 20 m Approx. 4.6 kg

R88A-CAGB030B 30 m Approx. 6.8 kg

R88A-CAGB040B 40 m Approx. 9.1 kg

R88A-CAGB050B 50 m Approx. 11.3 kg

(70)

(5.4 dia.)

(10.4 dia.)

Servo Drive Servomotor

R88D-G@R88M-G@

No.

Brake

Black

Brown

Ground

Cable: AWG20 × 2C UL2464

Cable: AWG14 × 4C UL2463

M4 crimp terminals

Phase U

Phase V

Phase W

Blue

Green/Yellow

Servo Drive

Red

White

Signal

Servomotor

Servomotor Connector

Straight plug:

N/MS3106B20-18S (Japan Aviation Electronics)

Cable clamp:

N/MS3057-12A

(

an Aviation Electronics

)

3-74

3-4 Cable and Connector Specifications

Specifications

R88A-CAGC@B

Cable Models

For 3,000-r/min Servomotors of 2 kW and 2,000-r/min Servomotors of 2 kW

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CAGC003B 3 m

10.4/5.4 dia.

Approx. 0.8 kg

R88A-CAGC005B 5 m Approx. 1.3 kg

R88A-CAGC010B 10 m Approx. 2.4 kg

R88A-CAGC015B 15 m Approx. 3.5 kg

R88A-CAGC020B 20 m Approx. 4.6 kg

R88A-CAGC030B 30 m Approx. 6.8 kg

R88A-CAGC040B 40 m Approx. 9.1 kg

R88A-CAGC050B 50 m Approx. 11.3 kg

(70)

37.3 dia.

(10.4 dia.)

(70)

(5.4 dia.)

Servo Drive Servomotor

R88D-G@R88M-G@

No.

Brake

Ground

Cable: AWG20 × 2C UL2464

Cable: AWG14 × 4C UL2463

Crimp terminals

Black

Brown

Phase U

Phase V

Phase W

Blue

Green/Yellow

Servo Drive

Red

White

Signal

Servomotor

Servomotor Connector

Straight plug:

N/MS3106B20-18S (Japan Aviation Electronics)

Cable clamp:

N/MS3057-12A

(

an Aviation Electronics

)

3-75

3-4 Cable and Connector Specifications

Specifications

R88A-CAGD@B

Cable Models

For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, and 1,000-r/min

Servomotors of 2 to 4.5 kW

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CAGD003B 3 m

14.7/5.4 dia.

Approx. 1.5 kg

R88A-CAGD005B 5 m Approx. 2.4 kg

R88A-CAGD010B 10 m Approx. 4.5 kg

R88A-CAGD015B 15 m Approx. 6.7 kg

R88A-CAGD020B 20 m Approx. 8.8 kg

R88A-CAGD030B 30 m Approx. 13.1 kg

R88A-CAGD040B 40 m Approx. 17.4 kg

R88A-CAGD050B 50 m Approx. 21.8 kg

(70)

43.7 dia.

(14.7 dia.)

(70)

(5.4 dia.)

Servo Drive Servomotor

R88D-G@R88M-G@

No.

Brake

Ground

Cable: AWG20 × 2C UL2464

Cable: AWG10 × 4C UL2463

Crimp terminals

Black

Brown

Phase U

Phase V

Phase W

Blue

Green/Yellow

Servo Drive

Red

White

Signal

Servomotor

Servomotor Connector

Straight plug:

N/MS3106B24-11S (Japan Aviation Electronics)

Cable clamp:

N/MS3057-16A

(

an Aviation Electronics

)

3-76

3-4 Cable and Connector Specifications

Specifications

Power Cables for Servomotors with Brakes (Robot Cables)

R88A-CAGB@BR

Cable Models

For 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW,

and 1,000-r/min Servomotors of 900 W

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CAGB003BR 3 m

12.7/6.1 dia.

Approx. 0.9 kg

R88A-CAGB005BR 5 m Approx. 1.5 kg

R88A-CAGB010BR 10 m Approx. 2.8 kg

R88A-CAGB015BR 15 m Approx. 4.2 kg

R88A-CAGB020BR 20 m Approx. 5.5 kg

R88A-CAGB030BR 30 m Approx. 8.2 kg

R88A-CAGB040BR 40 m Approx. 10.9 kg

R88A-CAGB050BR 50 m Approx. 13.6 kg

Servo Drive Servomotor

R88D-G@R88M-G@

(70)

(6.1

dia.)

(12.7

dia.)

No.

Brake

Phase U

Servo Drive

Phase W

Ground

Phase V

Servomotor

M4 crimp terminals

Straight plug:

N/MS3106B20-18S

(Japan Aviation Electronics)

Cable clamp:

N/MS3057-12A

(Japan Aviation Electronics)

Servomotor Connector

Cable: AWG20 × 2C UL2464

Cable: AWG14 × 4C UL2501

Red

White

Black

White

Blue

Green/Yellow

Signal

3-77

3-4 Cable and Connector Specifications

Specifications

R88A-CAGC@BR

Cable Models

For 3,000-r/min Servomotors of 2 kW and 2,000-r/min Servomotors of 2 kW

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CAGC003BR 3 m

12.7/6.1 dia.

Approx. 0.9 kg

R88A-CAGC005BR 5 m Approx. 1.5 kg

R88A-CAGC010BR 10 m Approx. 2.8 kg

R88A-CAGC015BR 15 m Approx. 4.2 kg

R88A-CAGC020BR 20 m Approx. 5.5 kg

R88A-CAGC030BR 30 m Approx. 8.2 kg

R88A-CAGC040BR 40 m Approx. 10.9 kg

R88A-CAGC050BR 50 m Approx. 13.6 kg

Servo Drive Servomotor

R88D-G@R88M-G@

(70)

37.3

dia.

(12.7

dia.)

(70)

(6.1

dia.)

No.

Brake

Phase U

Signal

Servo Drive

Phase W

Ground

Phase V

Servomotor

Crimp terminals

Straight plug:

N/MS3106B20-18S

(Japan Aviation Electronics)

Cable clamp:

N/MS3057-12A

(Japan Aviation Electronics)

Servomotor Connector

Cable: AWG20 × 2C UL2464

Cable: AWG14 × 4C UL2501

Red

White

Black

White

Blue

Green/Yellow

3-78

3-4 Cable and Connector Specifications

Specifications

R88A-CAGD@BR

Cable Models

For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, and 1,000-r/min

Servomotors of 2 to 4.5 kW

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CAGD003BR 3 m

15.6/6.1 dia.

Approx. 1.6 kg

R88A-CAGD005BR 5 m Approx. 2.5 kg

R88A-CAGD010BR 10 m Approx. 4.7 kg

R88A-CAGD015BR 15 m Approx. 7.0 kg

R88A-CAGD020BR 20 m Approx. 9.2 kg

R88A-CAGD030BR 30 m Approx. 13.7 kg

R88A-CAGD040BR 40 m Approx. 18.2 kg

R88A-CAGD050BR 50 m Approx. 22.7 kg

Servo Drive Servomotor

R88D-G@R88M-G@

(70)

43.7

dia.

(15.6

dia.)

(70)

(6.1

dia.)

No.

Brake

Phase U

Signal

Servo Drive

Phase W

Ground

Phase V

Servomotor

Crimp terminals

Red

White

Black

White

Blue

Green/Yellow

Cable: AWG20 × 2C UL2464

Cable: AWG10 × 4C UL2501

Straight plug:

N/MS3106B24-11S

(Japan Aviation Electronics)

Cable clamp:

N/MS3057-16A

(Japan Aviation Electronics)

Servomotor Connector

3-79

3-4 Cable and Connector Specifications

Specifications

Brake Cables (Standard Cables)

R88A-CAGA@B

Cable Models

For 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CAGA003B 3 m

5.4 dia.

Approx. 0.1 kg

R88A-CAGA005B 5 m Approx. 0.2 kg

R88A-CAGA010B 10 m Approx. 0.4 kg

R88A-CAGA015B 15 m Approx. 0.6 kg

R88A-CAGA020B 20 m Approx. 0.8 kg

R88A-CAGA030B 30 m Approx. 1.2 kg

R88A-CAGA040B 40 m Approx. 1.6 kg

R88A-CAGA050B 50 m Approx. 2.1 kg

(5.4 dia.)

(50) (50)

Servo Drive Servomotor

R88D-G@R88M-G@

No.

Brake

Cable: AWG20 × 2C UL2464

M4 crimp terminals

Black

Brown

Servo Drive

Signal

Servomotor

Servomotor Connector

Connector:

172157-1 (Tyco Electronics AMP KK)

170362-1 (Tyco Electronics AMP KK)

170366-1 (Tyco Electronics AMP KK)

Connector pins:

3-80

3-4 Cable and Connector Specifications

Specifications

R88A-CAGE@B

Cable Models

For 1,500-r/min Servomotors of 7.5 kW and 1,000-r/min Servomotors of 6 kW

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CAGE003B 3 m

5.4 dia.

Approx. 0.2 kg

R88A-CAGE005B 5 m Approx. 0.3 kg

R88A-CAGE010B 10 m Approx. 0.5 kg

R88A-CAGE015B 15 m Approx. 0.7 kg

R88A-CAGE020B 20 m Approx. 0.9 kg

R88A-CAGE030B 30 m Approx. 1.3 kg

R88A-CAGE040B 40 m Approx. 1.7 kg

R88A-CAGE050B 50 m Approx. 2.1 kg

(70) L

Servo Drive Servomotor

R88D-G@R88M-G@

(5.4 dia.)

No.

Brake

Cable: AWG20 × 2C UL2464

M4 crimp terminals

Straight plug:

N/MS3106B14S-2S (Japan Aviation Electronics)

Cable clamp:

N/MS3057-6A

(

an Aviation Electronics

)

Black

Brown

Servo Drive

Signal

Servomotor

Servomotor Connector

3-81

3-4 Cable and Connector Specifications

Specifications

Brake Cables (Robot Cables)

R88A-CAGA@BR

Cable Models

For 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CAGA003BR 3 m

6.1 dia.

Approx. 0.1 kg

R88A-CAGA005BR 5 m Approx. 0.2 kg

R88A-CAGA010BR 10 m Approx. 0.4 kg

R88A-CAGA015BR 15 m Approx. 0.7 kg

R88A-CAGA020BR 20 m Approx. 0.9 kg

R88A-CAGA030BR 30 m Approx. 1.3 kg

R88A-CAGA040BR 40 m Approx. 1.8 kg

R88A-CAGA050BR 50 m Approx. 2.2 kg

Servo Drive Servomotor

R88D-G@R88M-G@

(6.1

dia.)

(50) (50)

No.

Brake

Signal

Servo Drive

Black

White

Servomotor

M4 crimp terminals

Servomotor Connector

Connector:

172

157

-1 (Tyco Electronics AMP KK)

Connector pins:

170362-1 (Tyco Electronics AMP KK)

170366-1 (Tyco Electronics AMP KK)

Cable: AWG20 × 2C UL2464

3-82

3-4 Cable and Connector Specifications

Specifications

Resistant to Bending of Robot Cables

Use Robot Cable that can withstand at least 20 million bends to the minimum bending radius (R)

given below or larger.

Note 1. The service life data for resistant to bending is based on test data. Use it for reference only,

and provide sufficient allowance.

Note 2. This value is the number of bends when electricity is conducted through the conductors that

will not result in cracking or damage to an extent that would affect the functionality of the

sheath. Broken shield strands may occur.

Note 3. If a bending radius smaller than the minimum bending radius is used, it may result in

mechanical damage or ground fault damage due to insulation breakdown. If it is necessary

to use a bending radius smaller than the minimum bending radius, consult with your

OMRON representative.

Encoder Cables

@@@: 003 to 020

■■■: 030 to 050

Power Cables for Servomotors without Brakes

@@@: 003 to 050

Power Cables for Servomotors with Brakes

@@@: 003 to 050

Model Minimum bending radius (R)

R88A-CAGA@@@CR 45 mm

R88A-CAGA■■■CR*1 50 mm

R88A-CAGB@@@CR 45 mm

R88A-CAGB■■■CR*1 50 mm

R88A-CAGC@@@CR 45 mm

R88A-CAGC■■■CR*1 50 mm

Model Minimum bending radius (R)

R88A-CAGA@@@SR 45 mm

R88A-CAGB@@@SR 90 mm

R88A-CAGC@@@SR 90 mm

R88A-CAGD@@@SR 100 mm

Model Minimum bending radius (R)

R88A-CAGB@@@BR Power cable 90 mm

Brake Cables 45 mm

R88A-CAGC@@@BR Power cable 90 mm

Brake Cables 45 mm

R88A-CAGD@@@BR Power cable 100 mm

Brake Cables 45 mm

3-83

3-4 Cable and Connector Specifications

Specifications

Brake Cables

@@@: 003 to 050

Moving Bend Test

*1. Encoder cable: 30 to 50 m only

Stroke: 550 mm, 50 times/min

Model Minimum bending radius (R)

R88A-CAGA@@@BR 45 mm

Stroke:

750 mm

Bending

radius (R)

30 times/min

3-84

3-4 Cable and Connector Specifications

Specifications

Communications Cable Specifications

Computer Monitor Cable

Cable Models

Cables for RS-232 Communications

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CCG002P2 2 m 4.2 dia. Approx. 0.1 kg

• Communications with the Host Device

After confirming the startup of the Servo Drive, initiate communications

with the host device.

Note that irregular signals may be received from the host interface during

startup. For this reason, take appropriate initialization measures such as

clearing the receive buffer.

Personal computer

2000

Servo Drive

R88D-G@

No.

Personal computer

RTS 7

CTS 8

RXD 2

GND 5

TXD 3

Shell

Cable: AWG28 × 3C UL20276

No.

Shell

TXD

GND

RXD

PC Connector

17JE-13090-02

(

D8A

)

(

DDK Ltd.

)

Servo Drive

Signal

Precautions

for Correct Use

3-85

3-4 Cable and Connector Specifications

Specifications

Communications Cables

Cable Models

Cables for RS-485 Communications

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

R88A-CCG0R5P4 0.5 m 4.2 dia. Approx. 0.1 kg

R88A-CCG001P4 1 m

No.

GND 4

RS485 7

RS485 8

Cable: AWG28 × 3C UL20276

No.

GND

RS485

Shell Shell

Servo DriveServo Drive

Signal

3-86

3-4 Cable and Connector Specifications

Specifications

Connector Specifications

Control I/O Connector (R88A-CNU11C)

This connector connects to the control I/O connector (CN1) on the Servo Drive.

Use this connector when preparing a control cable yourself.

Dimensions

Encoder Connectors

These connectors are used for encoder cables.

Use them when preparing an encoder cable yourself.

Dimensions

R88A-CNW01R (for Servo Drive’s CN2 Connector)

This connector is a soldering type.

Use the following cable.

• Applicable wire: AWG16 max.

• Insulating cover outer diameter: 2.1 mm dia. max.

• Outer diameter of sheath: 6.7 dia. ±0.5 mm

52.4

Connector plug:

10150-3000PE (Sumitomo 3M)

Connector case:

10350-52A0-008 (Sumitomo 3M)

t = 18

43.5

18.8

Connector plug:

55100-0670 (Molex Japan Co.)

t = 12

3-87

3-4 Cable and Connector Specifications

Specifications

R88A-CNG01R (for Servomotor Connector)

Use the following cable.

• Applicable wire: AWG22 max.

• Outer diameter of sheath: 1.75mm dia. max. Panel Mounting Hole

R88A-CNG02R (for Servomotor Connector)

Use the following cable.

• Applicable wire: AWG22 max.

• Outer diameter of sheath: 1.75 mm dia. max. Panel Mounting Hole

Connector housing:

172161-1 (Tyco Electronics AMP KK)

Contact socket:

170365-1 (Tyco Electronics AMP KK)

*1. Applicable panel thickness:

0.8 to 2.0 mm

Connector housing:

172160-1 (Tyco Electronics AMP KK)

Contact socket:

170365-1 (Tyco Electronics AMP KK)

*1. Applicable panel thickness:

0.8 to 2.0 mm

ABS

14±0.15 (4)

14.551.6

4.6 5.35

14.55 (2.28)

3.35

19.1

8.4

16±0.4 23.7±0.4

14±0.15

8.4

2.84.2

2.8 4.2

(8.8)

INC

14±0.15 (4)

10.351.6

2.5 5.35

14.55 (2.28)

3.35

19.1

8.4

11.8±0.4 23.7±0.4

9.8±0.15

2.84.2

2.8 4.2

(8.8)

3-88

3-4 Cable and Connector Specifications

Specifications

Power Cable Connector (R88A-CNG01A)

This connector is used for power cables.

Use it when preparing a power cable yourself.

Panel Mounting Hole

Brake Cable Connector (R88A-CNG01B)

This connector is used for brake cables.

Use it when preparing a brake cable yourself.

Panel Mounting Hole

Connector housing:

172159-1 (Tyco Electronics AMP KK)

Contact socket:

170366-1 (Tyco Electronics AMP KK)

Applicable panel thickness:

0.8 to 2.0 mm

Connector housing:

172157-1 (Tyco Electronics AMP KK)

Contact socket:

170366-1 (Tyco Electronics AMP KK)

Applicable panel thickness:

0.8 to 2.0 mm

10.351.6

2.5 5.35

10.35 (2.28)

3.35

14.9

23.7

±0.4

9.8

±0.15

(4)

11.8

±0.4

9.8

±0.15

2.84.2

2.8 4.2

(8.8)

10.351.6

2.5 5.35

6.15 (2.28)

3.35

10.7

23.7±0.4

(8.8)

5.6±0.15

9.8±0.15

2.84.2

2.8

(4)

3-89

3-4 Cable and Connector Specifications

Specifications

Control Cable Specifications

Motion Control Unit Cables (R88A-CPG@M@)

Use this cable to connect to the Motion Control Units in OMRON SYSMAC Programmable

Controllers. Cables are available for either one axis or two axes.

The following Motion Control Units can be used.

CS1W-MC221/421(-V1)

Cable Models

• Cables for One Axis

• Cables for Two Axes

Connection Configuration and Dimensions

• Cables for One Axis

• Cables for Two Axes

Model Length (L) Outer diameter of sheath Weight

R88A-CPG001M1 1 m

8.3 dia.

Approx. 0.2 kg

R88A-CPG002M1 2 m Approx. 0.3 kg

R88A-CPG003M1 3 m Approx. 0.4 kg

R88A-CPG005M1 5 m Approx. 0.6 kg

Model Length (L) Outer diameter of sheath Weight

R88A-CPG001M2 1 m

8.3 dia.

Approx. 0.3 kg

R88A-CPG002M2 2 m Approx. 0.5 kg

R88A-CPG003M2 3 m Approx. 0.7 kg

R88A-CPG005M2 5 m Approx. 1.0 kg

52.4

43.5

Servo Drive

Motion Control Unit

t = 18 t = 18

R88D-G@

52.452.4

43.5

39L39

R88D-G@

Servo Drive

Motion Control Unit

t = 18

Servo Driv

t = 18

3-90

3-4 Cable and Connector Specifications

Specifications

Wiring

• Cables for One Axis

• The Motion Control Unit signals are the DRVX and DRVY connector signals. For the DRVZ and

DRVU connectors, X and Y are indicated as Z and U, respectively.

• Pins marked with asterisks are for absolute encoders.

• Connect 24 VDC to the two lines (red and black) extending from the Motion Control Unit connector

(red: +24 V, black: −).

No. No.

+24V

DCGND

XALM

XRUN

XALMRS

XSGND

XSOUT

XOUT

XAGND

+F24V

FDC GND 20

YALM

YRUN

YALMRS

YSGND

YSOUT

YOUT

YAGND

/ALM

RUN

RESET

SENGND

SEN

ZCOM

REF/TREF1/VLIM

AGND

+24VIN

ALMCOM

AWG20 Red

AWG20 Black

Motion Control Unit Servo Drive

White/Black (1)

Pink/Black (1)

Yellow/Black (1)

Gray/Black (1)

Gray/Red (1)

Orange/Black (2)

White/Red (1)

Orange/Black (1)

Gray/Black (1)

Orange/Black (1)

Orange/Red (1)

Pink/Black (1)

Pink/Red (1)

Yellow/Black (1)

Yellow/Red (1)

White/Black (1)

Signal

Connector plug:

10150-3000PE

(Sumitomo 3M)

Connector case:

10350-52A0-008

(Sumitomo 3M)

Shell

Connector plug:

10136-3000PE (Sumitomo 3M)

Connector case:

10336-52A0-008 (Sumitomo 3M)

Cable: AWG26 × 5P + AWG26 × 6C

3-91

3-4 Cable and Connector Specifications

Specifications

• Cables for Two Axes

• The Motion Control Unit signals are the DRVX and DRVY connector signals. For the DRVZ and

DRVU connectors, X and Y are indicated as Z and U, respectively.

• Pins marked with asterisks are for absolute encoders.

• Connect 24 VDC to the two lines (red and black) extending from the Motion Control Unit connector

(red: +24 V, black: −).

No. No.

+24V

DCGND

XALM

XRUN

XALMRS

XSGND

XSOUT

XOUT

XAGND

+F24V

FDC GND 20

YALM

YRUN

YALMRS

YSGND

YSOUT

YOUT

YAGND

/ALM

RUN

RESET

SENGND

SEN

ZCOM

REF/TREF1/VLIM

AGND

+24VIN

ALMCOM

No.

/ALM

RUN

RESET

SENGND

SEN

ZCOM

REF/TREF1/VLIM

AGND

+24VIN

ALMCOM

AWG20 Red

AWG20 Black

Motion Control Unit Servo Drive

White/Black (1)

Pink/Black (1)

Yellow/Black (1)

Gray/Black (1)

Gray/Red (1)

Orange/Black (2)

White/Red (1)

Orange/Black (1)

Gray/Black (1)

Orange/Black (1)

Orange/Red (1)

Pink/Black (1)

Pink/Red (1)

Yellow/Black (1)

Yellow/Red (1)

White/Black (1)

Signal

Connector plug:

10150-3000PE

(Sumitomo 3M)

Connector case:

10350-52A0-008

(Sumitomo 3M)

Shell

Cable: AWG26 × 5P + AWG26 × 6C

Connector plug:

10136-3000PE (Sumitomo 3M)

Connector case:

10336-52A0-008 (Sumitomo 3M)

Cable: AWG26 × 5P + AWG26 × 6C Shell

Connector plug:

10150-3000PE

(Sumitomo 3M)

Connector case:

10350-52A0-008

(Sumitomo 3M)

Signal

White/Black (1)

Pink/Black (1)

Yellow/Black (1)

Gray/Black (1)

Gray/Red (1)

Orange/Black (2)

White/Red (1)

Orange/Black (1)

Orange/Red (1)

Pink/Black (1)

Pink/Red (1)

Yellow/Black (1)

Yellow/Red (1)

White/Black (1)

3-92

3-4 Cable and Connector Specifications

Specifications

General-purpose Control Cables (R88A-CPG@S)

A General-purpose Control Cable connects to the Servo Drive's control I/O connector (CN1). The

connector for the controller is not provided. When connecting to a Position Control Unit which

doesn’t have a specified cable or connecting to another company’s controller, prepare wiring suited

for the controller to be connected.

• When connecting to a controller which doesn’t have a specified cable, either use a General-

purpose Control Cable or a Connector Terminal Block Cable and a Connector Terminal Block.

Cable Models

Connection Configuration and Dimensions

Model Length (L) Outer diameter of sheath Weight

R88A-CPG001S 1 m 12.8 dia. Approx. 0.3 kg

R88A-CPG002S 2 m Approx. 0.6 kg

Controller

52.4

39L

t = 18

Servo Drive

R88D-G@

3-93

3-4 Cable and Connector Specifications

Specifications

Wiring

Connector plug: 10150-3000PE (Sumitomo 3M)

Connector case: 10350-52A0-008 (Sumitomo 3M)

Cable: AWG24 × 25P UL20276

• Wires with the same wire color and the same number of marks form a twisted pair.

Example: An orange/red (1) wire and orange/black (1) wire form are a twisted pair.

No. Wire/mark color Signal No. Wire/mark color Signal

1 Orange/Red (1) +24VCW 27 Pink/Black (3) GSEL/TLSEL

2 Orange/Black (1) +24VCCW 28 White/Black (3) GESEL/VSEL3

3 Gray/Red (1) +CW/+PULS/+FA 29 Yellow/Red (3) RUN

4 Gray/Black (1) −CW/−PULS/−FA 30 Pink/Red (3) ECRST/VSEL2

5 White/Red (1) +CCW/+SIGN/+FB 31 Yellow/Black (3) RESET

6 White/Black (1) −CCW/−SIGN/−FB 32 Gray/Black (4) TVSEL

7 Yellow/Red (1) +24VIN 33 Orange/Red (4) IPG/VSEL1

8 Pink/Red (1) NOT 34 White/Red (4) READYCOM

9 Pink/Black (1) POT 35 White/Black (4) READY

10 Orange/Red (2) BKIRCOM 36 Yellow/Red (4) ALMCOM

11 Orange/Black (2) BKIR 37 Yellow/Black (4) /ALM

12 Yellow/Black (1) OUTM1 38 Pink/Red (4) INPCOM/TGONCOM

13 Gray/Black (2) GND 39 Pink/Black (4) INP/TGON

14 White/Red (2) REF/TREF1/VLIM 40 Gray/Red (4) OUTM2

15 White/Black (2) AGND 41 Orange/Black (4) COM

16 Yellow/Red (2) PCL/TREF2 42 Gray/Red (5) BAT

17 Yellow/Black (2),

Pink/Black (2) AGND 43 Gray/Black (5) BATGND

18 Pink/Red (2) NCL 44 White/Red (5) +CWLD

19 Orange/Red (5) Z 45 White/Black (5) −CWLD

20 Gray/Red (2) SEN 46 Yellow/Red (5) +CCWLD

21 Orange/Red (3) +A 47 Yellow/Black (5) −CCWLD

22 Orange/Black (3) −A 48 Pink/Black (5) −B

23 Gray/Red (3) +Z 49 Pink/Red (5) +B

24 Gray/Black (3) −Z 50 --- ---

25 Orange/Black (5) ZCOM Shell --- FG

26 White /Red (3) VZERO/DFSEL/

PNSEL

3-94

3-4 Cable and Connector Specifications

Specifications

Connector Terminal Block Cables (XW2Z-@J-B24)

This Cable is for the connector terminal block of the Servo Drive's control I/O connector (CN1). All

of the pins in the control I/O connector (CN1) can be converted to terminals on the terminal block.

Cable Models

Connection Configuration and Dimensions

Model Length (L) Outer diameter of sheath Weight

XW2Z-100J-B24 1 m 11.2 dia. Approx. 0.2 kg

XW2Z-200J-B24 2 m Approx. 0.4 kg

Connector terminal

block

52.4

39L16.1

68.1

t = 18t = 6.1

Servo Drive

R88D-G@

3-95

3-4 Cable and Connector Specifications

Specifications

No.

1 +24VCW

2 +24VCCW

CW/ PULS/−FA

7 +24VIN

BKIR

8NOT

POT

BKIRCOM

20 SEN

21 +A

22 A

VZERO/DFSEL/PNSEL

27 GSEL/TLSEL

28 GESEL/VSEL3

29 RUN

30 ECRST/VSEL2

32 TVSEL

RESET

33 IPG/VSEL1

34 READYCOM

37 /ALM

INPCOM/TGONCOM

35 READY

36 ALMCOM

39 INP/TGON

40 OUTM2

41 COM

42 BA

43 BATGND

44 +CWLD

45 CWLD

46 +CCWLD

47 CCWLD

48 B

49 +B

+CW/+PULS/+FA

+CCW/+SIGN/+FB

CCW/ SIGN/

−

1313 SENGND13

1212 OUTM112

REF/TREF1/VLIM

AGND

PCL/

TRE

TREF2

AGND

18 NCL

19 Z

2525 ZCOM25

Shell

Wire/mark color

Connector Servo Drive

Signal

Wires with the same wire color and

the same number of marks form a

twisted pair.

Terminal

block

Servo Drive Connector

Connector plug:

10150-3000PE (Sumitomo 3M)

Connector case:

10350-52A0-008 (Sumitomo 3M)

Terminal Block Connector

Connector socket: XG4M-5030

(OMRON)

Strain relief: XG4T-5004

(OMRON)

Cable

AWG28 × 25P UL2464

Blue/Red (1)

Blue/Black (1)

Pink/Red (1)

Pink/Black (1)

Green/Red (1)

Green/Black (1)

Orange/Red (1)

Gray/Red (1)

Gray/Black (1)

Blue/Red (2)

Blue/Black (2)

Pink/Red (2)

Pink/Black (2)

Green/Red (2)

Green/Black (2)

Orange/Red (2)

Orange/Black (2)

Gray/Red (2)

Gray/Black (2)

Blue/Red (3)

Blue/Black (3)

Pink/Red (3)

Pink/Black (3)

Green/Red (3)

Green/Black (3)

Orange/Red (3)

Orange/Black (3)

Gray/Red (3)

Gray/Black (3)

Blue/Red (4)

Blue/Black (4)

Pink/Red (4)

Pink/Black (4)

Green/Red (4)

Green/Black (4)

Orange/Red (4)

Orange/Black (4)

Gray/Red (4)

Gray/Black (4)

Blue/Red (5)

Blue/Black (5)

Pink/Red (5)

Pink/Black (5)

Green/Red (5)

Green/Black (5)

Orange/Red (5)

Orange/Black (5)

Gray/Red (5)

Gray/Black (5)

Orange/Black (1)

Example:

A yellow/black (1) wire and

pink/black (1) wire form a twisted

pair.

3-96

3-4 Cable and Connector Specifications

Specifications

Connector-Terminal Block Conversion Unit

The Connector-Terminal Block Conversion Unit can be used along with a Connector Terminal Block

Cable (XW2Z-@J-B24) to convert the Servo Drive's control I/O connector (CN1) to a terminal block.

XW2B-50G4 (M3 screw terminal block)

• Dimensions

• Use 0.30 to 1.25 mm2 wire (AWG22 to AWG16).

• The wire inlet is 1.8 mm (height) × 2.5 mm (width).

• Strip the insulation from the end of the wire for 6 mm as shown below.

3.5

15.5

3.5

29.5

5.08

20.5

38.1 (45.3)

157.5

Flat cable connector (MIL plug)

Two,

3.5 dia.

Terminal block

Precautions

for Correct Use

6 mm

3-97

3-4 Cable and Connector Specifications

Specifications

XW2B-50G5 (M3.5 Screw Terminal Block)

• Dimensions

• When using crimp terminals, use crimp terminals with the following

dimensions.

• When connecting wires and crimp terminals to a terminal block, tighten

them with a tightening torque of 0.59 N·m.

Applicable Crimp Terminals Applicable Wires

Round Crimp Terminals

1.25-3 AWG22-16

(0.3 to 1.25 mm2)

2-3.5 AWG16-14

(1.25 to 2.0 mm2)

Fork Terminals

1.25Y-3 AWG22-16

(0.3 to 1.25 mm2)

2-3.5 AWG16-14

(1.25 to 2.0 mm2)

3.5

15.5

7.3

8.5

29.5

3.5

43.5

20.5

247.5

Flat cable connector (MIL plug)

Terminal

block

Two,

3.5 dia.

(45.3)

Precautions

for Correct Use

Round Crimp Terminals Fork Terminals

6.8 mm max. 3.7 mm

3.7-mm dia.

6.8 mm max.

3-98

3-4 Cable and Connector Specifications

Specifications

XW2D-50G6 (M3 Screw Terminal Block)

• Dimensions

• When using crimp terminals, use crimp terminals with the following

dimensions.

• When connecting wires and crimp terminals to a terminal block, tighten

them with a tightening torque of 0.7 N·m.

Applicable Crimp Terminals Applicable Wires

Round Crimp Terminals 1.25-3 AWG22-16

(0.3 to 1.25 mm2)

Fork Terminals 1.25Y-3 AWG22-16

(0.3 to 1.25 mm2)

A1 A2 A3 A4 A5 A6 A7 A8 A9 A10

B1 B2 B3 B4 B5 B 6 B7 B8 B9

B10

640

739

17.6

5.8

1.2

184

144

DIN Track lock

XG4A MIL Connector

Two, 4.5 dia. (39.1)

(4.5)

Precautions

for Correct Use

Round Crimp Terminals Fork Terminals

5.8 mm max. 3.2 mm

3.2-mm dia.

5.8 mm max.

3-99

3-5 Servo Relay Units and Cable Specifications

Specifications

3-5 Servo Relay Units and Cable Specifications

This section provides the specifications for the Servo Relay Units and Cables used for connecting

to Position Control Units for OMRON Programmable Controllers (SYSMAC). Select the models that

match the Position Control Unit to be used.

Servo Relay Units Specifications

XW2B-20J6-1B

This Servo Relay Unit connects to the following OMRON Position Control Units.

Dimensions

• Terminal Block pitch: 7.62 mm.

• CJ1W-NC113/-NC133

• CS1W-NC113/-NC133

• C200HW-NC113

29.5

3.5

3.5135

15.5

20.5

44.3

Position Control Unit connector Servo Drive connector

(46)

Two, 3.5 dia.

3-100

3-5 Servo Relay Units and Cable Specifications

Specifications

Wiring

*1. The XB contacts are used to turn ON/OFF the electromagnetic brake.

*2. Do not connect unused terminals.

*3. The 0 V terminal is internally connected to the common terminals.

*4. The following crimp terminal is applicable: R1.25-3 (round with open end).

XW2B-40J6-2B

This Servo Relay Unit connects to the following OMRON Position Control Units.

Dimensions

• Terminal Block pitch: 7.62 mm

• CJ1W-NC213/-NC233/-NC413/-NC433

• CS1W-NC213/-NC233/-NC413/-NC433

• C200HW-NC213/-NC413

0 V

RUN ALM BKIR10

RESET ALMCOM

24 VDC

X1 XB

24 VDC

(*1)

+24 V CW

limit

CCW

limit

Common Common CommonCommon Common External

interrupt

Emer-

gency

stop

Origin

prox-

imity

29.5

3.5 180 3.5

15.5

20.5

44.3

Y-axis Servo

Drive connector

X-axis Servo

Drive connector

Position Control Unit connector

(46)

Two, 3.5 dia.

3-101

3-5 Servo Relay Units and Cable Specifications

Specifications

Wiring

*1. The XB contacts and YB contacts are used to turn ON/OFF the electromagnetic brake.

*2. Do not connect unused terminals.

*3. The 0 V terminal is internally connected to the common terminals.

*4. The following crimp terminal is applicable: R1.25-3 (round with open end).

XW2B-20J6-3B

This Servo Relay Unit connects to the following OMRON Programmable Controller.

Dimensions

• Terminal Block pitch: 7.62 mm.

• CQM1-CPU43-V1

X1 XB

24 VDC

Y1 YB

24 VDC

X1 Y1

(*1) (*1)

0 V

24 VDC

+24 V X-axis

RUN

X-axis

ALM

X-axis

RESET

X-axis

ALMCOM

Y-axis

RESET

Y-axis

ALMCOM

X-axis

BKIR

Y-axis

ALM

Y-axis

BKIR

Common Common Common Common Common Common Common Common Common

X/Y-axis

emergency

stop

X-axis

origin

proximity

Y-axis

external

interrupt

X-axis

limit

X-axis

CCW

limit

Y-axis

RUN

Y-axis

origin

proximity

Y-axis

limit

Y-axis

CCW

limit

X-axis

external

interrupt

29.5

3.5

3.5135

15.5

20.5

44.3

(46)

CQM1 connector Servo Drive connecto

Two, 3.5 dia.

3-102

3-5 Servo Relay Units and Cable Specifications

Specifications

Wiring

*1. If this signal is input, the output pulse from the CQM1 will be input to the high-speed counter.

*2. Input this output signal to a CQM1 Input Unit.

*3. The XB contacts are used to turn ON/OFF the electromagnetic brake.

*4. The phase-Z output is an open-collector output.

*5. Do not connect unused terminals.

*6. The 0 V terminal is internally connected to the common terminals.

*7. The following crimp terminal is applicable: R1.25-3 (round with open end).

CW CCW RUN INP ALM BKIR

CW Z

RESET

ALMCOM

24 VDC

X1 XB

24 VDC

ECRST

CCW

+24 V

Common Common

CQM1 Input Unit

(*2)

(*3)

(*1) (*1)

3-103

3-5 Servo Relay Units and Cable Specifications

Specifications

XW2B-20J6-8A

This Servo Relay Unit connects to the following OMRON Programmable Controllers.

Dimensions

• Terminal Block pitch: 7.62 mm.

• CJ1M-CPU21/-CPU22/-CPU23 (for 1 axis)

29.5

3.5

3.5135

15.5

20.5

42.8

CJ1M-CPU21/22/23 connector Servo Drive connector

(46)

Two, 3.5 dia.

3-104

3-5 Servo Relay Units and Cable Specifications

Specifications

Wiring

The Servo Drive phase-Z output signal is wired to the origin proximity signal in this Terminal Block.

*1. CW and CCW limit input signals can also be input through Input Units. The bits for the CW/CCW

limit inputs in the CJ1M are as follows: CW: A540.08, CCW: A540.09 for pulse output 0 and CW:

A541.08, CCW: A541.09 for pulse output 1. For example, the flag for the CW limit input

(A540.08) can be controlled with an output from the ladder diagram using a bit allocated to the

actual input (CIO 2960.06) on the Input Unit, as shown below.

Example:

*2. The XB contacts are used to turn ON/OFF the electromagnetic brake.

*3. Connection to the MING input terminal is invalid.

*4. Do not connect unused terminals.

*5. The 0 V terminal is internally connected to the common terminals.

*6. The following crimp terminal is applicable: R1.25-3 (round with open end).

0 V

RUN ALM BKIR10

RESET ALMCOM

24 VDC

X1 XB

24 VDC

MINGIN6 IN7 IN8

IN9

(*2)

+24 V

Origin

proximity

Common Common Common Common Common

(*3)

CW limit (*1)

(CIO 2960.06)

CCW limit (*1)

(CIO 2960.07)

2960.06 A540.0

3-105

3-5 Servo Relay Units and Cable Specifications

Specifications

XW2B-40J6-9A

This Servo Relay Unit connects to the following OMRON Programmable Controllers.

Dimensions

• Terminal Block pitch: 7.62 mm.

• CJ1M-CPU21/-CPU22/-CPU23 (for 2 axes)

29.5

3.5 180 3.5

15.5

20.5

42.8

Y-axis Servo

Drive connector

X-axis Servo

Drive connector

CJ1M-CPU21/22/23 connector

(46)

Two, 3.5 dia.

3-106

3-5 Servo Relay Units and Cable Specifications

Specifications

Wiring

The Servo Drive phase-Z output signal is wired to the origin proximity signal in this Terminal Block.

*1. CW and CCW limit input signals can also be input through Input Units. The bits for the CW/CCW

limit inputs in the CJ1M are as follows: CW: A540.08, CCW: A540.09 for pulse output 0 and CW:

A541.08, CCW: A541.09 for pulse output 1. For example, the flag for the CW limit input

(A540.08) can be controlled with an output from the ladder diagram using a bit allocated to the

actual input (CIO 2960.06) on the Input Unit, as shown below.

Example:

*2. The XB and YB contacts are used to turn ON/OFF the electromagnetic brake.

*3. Connection to the MING input terminal is invalid.

*4. Do not connect unused terminals.

*5. The 0 V terminal is internally connected to the common terminals.

*6. The following crimp terminal is applicable: R1.25-3 (round with open end).

X1 XB

24 VDC

Y1 YB

24 VDC

X1 Y1

IN6 IN7 IN8 IN9

(*2) (*2)

(*3) (*3)

X-axis

CW limit

(CIO

2960.06)

(*1)

X-axis

CCW limit

(CIO

2960.07)

(*1)

Y-axis

CW limit

(CIO

2960.08)

(*1)

Y-axis

CCW limit

(CIO

2960.09)

(*1)

0 V

24 VDC

+24 V X-axis

RUN

X-axis

ALM

X-axis

RESET

X-axis

ALMCOM

Y-axis

RESET

Y-axis

ALMCOM

X-axis

BKIR

Y-axis

ALM

Y-axis

MING

X-axis

MING

Y-axis

BKIR

Common Common Common Common Common Common CommonCommonCommonCommon Common

X-axis

origin

proximity

Y-axis

RUN

Y-axis

origin

proximity

2960.06 A540.0

3-107

3-5 Servo Relay Units and Cable Specifications

Specifications

XW2B-80J7-12A

This Servo Relay Unit connects to the following OMRON Programmable Controllers.

Dimensions

• FQM1-MMA22

• FQM1-MMP22

160

100 90

41.7

15.9

30.7

X-axis Servo Drive

Servo Drive

phase B

selection

switch

Y-axis Servo Drive

Controller general-purpose I/O

Controller special I/O

Signal selection switch

4.5 dia.

3-108

3-5 Servo Relay Units and Cable Specifications

Specifications

System Configuration Example for the FQM1

Terminal Block Connection

• The terminal block signal names are different depending on the Controller to be connected.

• A total of 80 terminals are provided (terminal numbers 0 to 79).

• Signal names and standard connections are listed in the following table.

XW2Z-@J-A28

General-purpose I/O Connecting Cable

XW2Z-@ J-A30

Special I/O Connecting Cable

XW2B-80J7-12A

Servo Relay Unit

FQM1

Flexible Motion Controller

FQM1-MMP22

Motion Control Module

XW2Z-@J-B26

Servo Relay Unit Cables

R88M-G@

OMNUC G-Series Servomotors

FLEXIBLE

MOTION

CONTROLLER

RDY

RUN

ERR

PRPHL

COMM1

COMM2

PERIPHERAL

PORT

ON OFF

CM002

CN1

RS422

4039

1 2

MMP22

CN2

CN1

12 4039

2526

IN OUT

RDY

RUN

ERR

MMA22

CN2

CN1

12 4039

2526

IN OUT

RDY

RUN

ERR

INPUT

AC100

-240V

L2/N

PA202

POWER

UNIT No.

AC SERVO DRIVE

DATA

IM SP G

UNIT No.

AC SERVO DRIVE

DATA

IM SP G

R88D-GT@

OMNUC G-Series

Servo Drives

7960

0123456789 0123456789

190

Upper terminal bloc

Lower terminal bloc

3-109

3-5 Servo Relay Units and Cable Specifications

Specifications

FQM1-MMA22 Signal Names

*1. Use as a power supply for FQM1-MMA22 pulse outputs, or as a power supply for the SEN output

for an Absolute Encoder Servo Drive.

*2. Use as a power supply for IN4 to IN11, OUT0 to OUT7, or Servo Drive control signals.

*3. Use as a power supply for IN0 to IN3 (interrupt inputs) or latch inputs.

*4. Connected to 0 V at pin 0.

*5. Connected to 0 V at pin 1.

No.6061626364656667686970717273747576777879

No.4041424344454647484950515253545556575859

0 V

OUT0

OUT1

OUT2

OUT3

−

Common (0 V)

IN4 Common (0 V)

IN0 Common (0 V)

IN1 Common (0 V)

IN2 Common (0 V)

IN3 Common (0 V)

Common (0 V)

IN8 Common (0 V)

IN9 Common (0 V)

IN10 Common (0 V)

IN11 Common (0 V)

IN5 Common (0 V)

IN6 Common (0 V)

IN7 Common (0 V)

Latch signal 1 common (0 V)*5

Latch signal 2 common (0 V)*5

Servo #1 READYServo #2 READY

Signal name Signal name

5 V (*1)

Latch signal 1 input

Latch signal 2 input

Servo #1 ALM

Servo #1 BKIR

Servo #1 RUN

Servo #1 RESET

Servo #1 ECRST

IN4

IN5

IN6

IN7

Servo #1 phase-Z LD+Servo #1 phase-Z LD−

Servo #1 phase-B LD+Servo #1 phase-B LD−

Servo #1 phase-A LD+Servo #1 phase-A LD−

No.2021222324252627282930313233343536373839

No. 0 1 2 3 4 5 6 7 8 910111213141516171819

0 V

OUT4

OUT5

OUT6

OUT7

−

−−

−

Signal name Signal name

+24 V *2

Servo #2 ALM

Servo #2 BKIR

Servo #2 RUN

Servo #2 RESET

Servo #2 ECRST

Servo #2 GSEL/TLSEL Servo #1 GSEL/TLSEL

IN8

IN9

IN10

IN11

0 V

−

+24 V *3

IN0

IN1

IN2

IN3

−

Voltage input (−)Voltage input (+)

3-110

3-5 Servo Relay Units and Cable Specifications

Specifications

FQM1-MMP22 Signal Names

*1. Use as a power supply for FQM1-MMP22 pulse outputs, or as a power supply for the SEN output

for an Absolute Encoder Servo Drive.

*2. Use as a power supply for IN4 to IN11, OUT0 to OUT7, or Servo Drive control signals.

*3. Use as a power supply for IN0 to IN3 (interrupt inputs) or latch inputs.

*4. Connected to 0 V at pin 0.

*5. Connected to 0 V at pin 1.

No.6061626364656667686970717273747576777879

No.4041424344454647484950515253545556575859

0 V

OUT0

OUT1

OUT2

OUT3

−

Common (0 V)

IN4 Common (0 V)

IN0 Common (0 V)

IN1 Common (0 V)

IN2 Common (0 V)

IN3 Common (0 V)

Common (0 V)

IN8 Common (0 V)

IN9 Common (0 V)

IN10 Common (0 V)

IN11 Common (0 V)

IN5 Common (0 V)

IN6 Common (0 V)

IN7 Common (0 V)

Latch signal 1 common (0 V)*5

Latch signal 2 common (0 V)*5

Servo #1 INPServo #2 INP

Signal name Signal name

5 V (*1)

Latch signal 1 input

Latch signal 2 input

−−

Servo #1 ALM

Servo #1 BKIR

Servo #1 RUN

Servo #1 RESET

Servo #1 ECRST

IN4

IN5

IN6

IN7

Servo #1 phase-Z LD+Servo #1 phase-Z LD−

Servo #1 phase-B LD+Servo #1 phase-B LD−

Servo #1 phase-A LD+Servo #1 phase-A LD−

No.2021222324252627282930313233343536373839

No. 0 1 2 3 4 5 6 7 8 910111213141516171819

0 V

OUT4

OUT5

OUT6

OUT7

−

−−

−

Signal name Signal name

+24 V *2

Servo #2 ALM

Servo #2 BKIR

Servo #2 RUN

Servo #2 RESET

Servo #2 ECRST

Servo #2 GSEL/TLSEL Servo #1 GSEL/TLSEL

IN8

IN9

IN10

IN11

0 V

−

+24 V *3

IN0

IN1

IN2

IN3

−

3-111

3-5 Servo Relay Units and Cable Specifications

Specifications

Wiring Example

Servo Drive signals

RUN

ECRST

INP

/ALM

#1 #2

FQM1 signals

For Servo Drive #1 For Servo Drive #2

OUT0

OUT2

OUT4

OUT6

BKIR 68 28 71 31

IN6 IN10

IN4

IN5

IN8

IN9

60 61 62 63 64 65 66 67 69 70 71 72 73 74 75 76 77 78 79

40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59

20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19

Terminal block No. 20

+24 V

3-112

3-5 Servo Relay Units and Cable Specifications

Specifications

Servo Drive-Servo Relay Unit Cable Specifications

Servo Drive Cable (XW2Z-@J-B25)

This Cable connects the Servo Drive to a Servo Relay Unit (XW2B-20J6-1B/-3B, XW2B-40J6-2B).

Cable Models

Connection Configuration and Dimensions

Wiring

Servo Relay Unit Connector

Connector socket: XG4M-2030

Strain relief: XG4T-2004

Cable

AWG28 × 10P UL2464

Servo Drive Connector

Connector plug: 10150-3000PE (Sumitomo 3M)

Connector case: 10350-52A0-008 (Sumitomo 3M)

Model Length (L) Outer diameter of sheath Weight

XW2Z-100J-B25 1 m 8.1 dia. Approx. 0.1 kg

XW2Z-200J-B25 2 m Approx. 0.2 kg

52.4

Servo Drive

Servo Relay Unit

XW2B-20J6-1B

XW2B-40J6-2B

XW2B-20J6-3B

R88D-GT@

No.

Servo Relay Unit Servo Drive

Wire/mark color

Blue/Red (1)

Pink/Red (1)

Pink/Black (1)

Blue/Red (2)

Blue/Black (2)

Green/Red (1)

Green/Black (1)

Pink/Red (2)

Pink/Black (2)

−

Orange/Red (1)

Green/Black (2)

Green/Red (2)

Orange/Black (1)

Orange/Red (2)

Not specified

Blue/Black (1)

Gray/Red (1)

Gray/Black (1)

Shell

No.

3-113

3-5 Servo Relay Units and Cable Specifications

Specifications

Servo Drive Cable (XW2Z-@J-B26)

This Cable connects the Servo Drive to a Servo Relay Unit (XW2B-80J7-12A). Use this Cable only

with the FQM1-MMP22 Motion Control Module.

Cable Models

Connection Configuration and Dimensions

Wiring

Servo Relay Unit Connector

Connector socket: XG4M-3030

Strain relief: XG4T-3004

Cable

AWG28 × 13P UL2464

Servo Drive Connector

Connector plug: 10150-3000PE (Sumitomo 3M)

Connector case: 10350-52A0-008 (Sumitomo 3M)

Model Length (L) Outer diameter of sheath Weight

XW2Z-100J-B26 1 m 9.1 dia. Approx. 0.1 kg

XW2Z-200J-B26 2 m Approx. 0.2 kg

52.4

Servo Drive

Servo Relay Unit

XW2B-80J7-12A R88D-GT@

No.

−

No.

Servo Relay Unit Servo Drive

Wire/mark color

Blue/Red (1)

Pink/Red (1)

Pink/Black (1)

Pink/Red (2)

Pink/Black (2)

Green/Red (2)

Blue/Black (1)

Blue/Red (2)

Blue/Black (2)

Green/Red (1)

Green/Black (1)

Orange/Red (1)

Orange/Black (1)

Gray/Red (1)

Gray/Black (1)

Orange/Red (2)

Blue/Red (3)

Gray/Red (2)

Gray/Black (2)

Orange/Black (2)

Pink/Red (3)

Blue/Black (3)

Not specified Shell

3-114

3-5 Servo Relay Units and Cable Specifications

Specifications

Servo Drive Cable (XW2Z-@J-B27)

This Cable connects the Servo Drive to a Servo Relay Unit (XW2B-80J7-12A). Use this Cable only

with the FQM1-MMA22 Motion Control Module.

Cable Models

Connection Configuration and Dimensions

Wiring

Servo Relay Unit Connector

Connector socket: XG4M-3030

Strain relief: XG4T-3004

Cable

AWG28 × 13P UL2464

Servo Drive Connector

Connector plug: 10150-3000PE (Sumitomo 3M)

Connector case: 10350-52A0-008 (Sumitomo 3M)

Model Length (L) Outer diameter of sheath Weight

XW2Z-100J-B27 1 m 9.1 dia. Approx. 0.1 kg

XW2Z-200J-B27 2 m Approx. 0.2 kg

52.4

Servo Drive

Servo Relay Unit

XW2B-80J7-12A

R88D-GT@

No.

−

No.

Servo Relay Unit Servo Drive

Wire/mark color

Blue/Red (1)

Pink/Red (1)

Pink/Black (1)

Blue/Red (2)

Blue/Black (2)

Green/Red (1)

Green/Black (1)

Pink/Red (2)

Green/Red (2)

Orange/Red (1)

Orange/Red (2)

Green/Black (2)

Orange/Black (1)

Orange/Black (2)

Blue/Black (1)

Gray/Red (1)

Gray/Black (1)

Blue/Red (3)

Gray/Red (2)

Gray/Black (2)

Not specified Shell

3-115

3-5 Servo Relay Units and Cable Specifications

Specifications

Servo Drive Cable (XW2Z-@J-B31)

This Cable connects the Servo Drive to a Servo Relay Unit (XW2B-20J6-8A, XW2B-40J6-9A).

Cable Models

Connection Configuration and Dimensions

Wiring

Servo Relay Unit Connector

Connector socket: XG4M-2030

Strain relief: XG4T-2004

Cable

AWG28 × 10P UL2464

Servo Drive Connector

Connector plug: 10150-3000PE (Sumitomo 3M)

Connector case: 10350-52A0-008 (Sumitomo 3M)

Model Length (L) Outer diameter of sheath Weight

XW2Z-100J-B31 1 m 8.1 dia. Approx. 0.1 kg

XW2Z-200J-B31 2 m Approx. 0.2 kg

52.4

Servo Drive

Servo Relay Unit

XW2B-20J6-8A

XW2B-40J6-9A

R88D-GT@

No.

−

No.

Servo Relay Unit Servo Drive

Wire/mark color

Blue/Red (1)

Pink/Red (1)

Pink/Black (1)

Pink/Red (2)

Pink/Black (2)

Green/Red (2)

Blue/Black (1)

Green/Red (1)

Green/Black (1)

Orange/Red (1)

Orange/Black (1)

Blue/Red (2)

Blue/Black (2)

Gray/Red (1)

Gray/Black (1)

Orange/Red (2)

Green/Black (2)

Not specified Shell

3-116

3-5 Servo Relay Units and Cable Specifications

Specifications

Position Control Unit-Servo Relay Unit Cable Specifications

Position Control Unit Cable (XW2Z-@J-A3)

This Cable connects a Programmable Controller (CQM1-CPU43-V1) to a Servo Relay Unit (XW2B-

20J6-3B).

Cable Models

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

XW2Z-050J-A3 50 cm 7.5 dia. Approx. 0.1 kg

XW2Z-100J-A3 1 m Approx. 0.1 kg

639

32.2

t = 15

CQM1

CQM1-CPU43-V1

Servo Relay Unit

XW2B-20J6-3B

No.

Servo Relay Unit

Cable: AWG28 × 4P + AWG28 × 4C

CQM1

Hood cover

3-117

3-5 Servo Relay Units and Cable Specifications

Specifications

Position Control Unit Cable (XW2Z-@J-A6)

This Cable connects a Position Control Unit (CS1W-NC113) to a Servo Relay Unit (XW2B-20J6-

1B).

Cable Models

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

XW2Z-050J-A6 50 cm 8.0 dia. Approx. 0.1 kg

XW2Z-100J-A6 1 m Approx. 0.1 kg

L647

t = 11

Position Control Unit

CS1W-NC113

Servo Relay Unit

XW2B-20J6-1B

No.

Position Control Unit

A10

A16

A14

A24

A12

A21

A23

A22

A19

A20

Servo Relay Unit

Cable:

AWG28 × 4P + AWG28 × 10C

No.

Crimp terminal

3-118

3-5 Servo Relay Units and Cable Specifications

Specifications

Position Control Unit Cable (XW2Z-@J-A7)

This Cable connects a Position Control Unit (C1W-NC213 or CS1W-NC413) to a Servo Relay Unit

(XW2B-40J6-2B).

Cable Models

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

XW2Z-050J-A7 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A7 1 m Approx. 0.2 kg

L647

t = 11

Position Control Unit

CS1W-NC213

CS1W-NC413

Servo Relay Unit

XW2B-40J6-2B

No.

A1/B1

A2/B2

A10

A14

A16

A24/B24

A19

A21

A12

A23

A22

A20/B20

B10

B14

B16

B23

B22

B21

B19

B12

Servo Relay Unit

Cable:

AWG28 × 6P + AWG28 × 16C

Position Control Unit

Crimp terminal

3-119

3-5 Servo Relay Units and Cable Specifications

Specifications

Position Control Unit Cable (XW2Z-@J-A10)

This Cable connects a Position Control Unit (CS1W-NC133) to a Servo Relay Unit (XW2B-20J6-

1B).

Cable Models

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

XW2Z-050J-A10 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A10 1 m Approx. 0.2 kg

L647

t = 11

1000

Position Control Unit

CS1W-NC133

Servo Relay Unit

XW2B-20J6-1B

No.

A10

A24

A12

A16

A14

A21

A23

A20

A19

A22

Servo Relay Unit

Cable: AWG28 × 4P + AWG28 × 10C

Position Control Unit

Crimp terminal

AWG20, black

AWG20, red

3-120

3-5 Servo Relay Units and Cable Specifications

Specifications

Position Control Unit Cable (XW2Z-@J-A11)

This Cable connects a Position Control Unit (CS1W-NC233/433) to a Servo Relay Unit (XW2B-

40J6-2B).

Cable Models

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

XW2Z-050J-A11 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A11 1 m Approx. 0.2 kg

L647

t = 11

1000

Position Control Unit

CS1W-NC233

CS1W-NC433

Servo Relay Unit

XW2B-40J6-2B

No.

A1/B1

A2/B2

A10

A16

A14

A24/B24

A19

A21

A12

A23

A22

A20/B20

B10

B16

B14

B23

B22

B21

B19

B12

A3/B3

A4/B4

Servo Relay Unit

Cable: AWG28 × 6P + AWG28 × 16C

Position Control Unit

Crimp terminal

AWG20, black

AWG20, red

3-121

3-5 Servo Relay Units and Cable Specifications

Specifications

Position Control Unit Cable (XW2Z-@J-A14)

This Cable connects a Position Control Unit (CJ1W-NC113) to a Servo Relay Unit (XW2B-20J6-

1B).

Cable Models

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

XW2Z-050J-A14 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A14 1 m Approx. 0.2 kg

t = 11

500

Position Control Unit

CJ1W-NC113

Servo Relay Unit

XW2B-20J6-1B

No.

A20

A11

A14

A12

A17

A19

A18

A15

A16

No.

Position Control Unit Servo Relay Unit

Cable: AWG28 × 4P + AWG28 × 10C

Crimp terminal

3-122

3-5 Servo Relay Units and Cable Specifications

Specifications

Position Control Unit Cable (XW2Z-@J-A15)

This Cable connects a Position Control Unit (CJ1W-NC213/NC413) to a Servo Relay Unit (XW2B-

40J6-2B).

Cable Models

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

XW2Z-050J-A15 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A15 1 m Approx. 0.2 kg

t = 11

500

Position Control Unit

CJ1W-NC213

CJ1W-NC413

Servo Relay Unit

XW2B-40J6-2B

Servo Relay Unit

Cable: AWG28 × 8P + AWG28 × 16C

No.

Position Control Unit

A1/ B1

A2/ B2

A14

A12

A20/ B20

A15

A17

A11

A19

A18

A16/ B16

B14

B12

B19

B18

B17

B15

B11

Crim

terminal

3-123

3-5 Servo Relay Units and Cable Specifications

Specifications

Position Control Unit Cable (XW2Z-@J-A18)

This Cable connects a Position Control Unit (CJ1W-NC133) to a Servo Relay Unit (XW2B-20J6-

1B).

Cable Models

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

XW2Z-050J-A18 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A18 1 m Approx. 0.2 kg

t = 11

500

1000

Position Control Unit

CJ1W-NC133

Servo Relay Unit

XW2B-20J6-1B

No.

Position Control Unit

A20

A12

A14

A11

A17

A19

A18

A15

A16

Servo Relay Unit

Cable: AWG28 × 4P + AWG28 × 10C

No.

Crimp terminal

AWG20, black

AWG20, red

3-124

3-5 Servo Relay Units and Cable Specifications

Specifications

Position Control Unit Cable (XW2Z-@J-A19)

This Cable connects a Position Control Unit (CJ1W-NC233/NC433) to a Servo Relay Unit (XW2B-

40J6-2B).

Cable Models

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

XW2Z-050J-A19 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A19 1 m Approx. 0.2 kg

t = 11

500

1000

Position Control Unit

CJ1W-NC233

CJ1W-NC433

Servo Relay Unit

XW2B-40J6-2B

Servo Relay Unit

Cable: AWG28 × 8P + AWG28 × 16C

No.

Position Control Unit

A1/ B1

A2/ B2

A12

A20/ B20

A15

A17

A11

A19

A18

A16/ B16

B12

B19

B18

B17

B15

B11

Crimp terminal

A3/ B3

A4/ B4

AWG20, black

AWG20, red

A14

B14

3-125

3-5 Servo Relay Units and Cable Specifications

Specifications

Position Control Unit Cable (XW2Z-@J-A33)

This Cable connects a Programmable Controller (CJ1M-CPU21/CPU22/CPU23) to a Servo Relay

Unit (XW2B-20J6-8A or XW2B-40J6-9A).

Cable Models

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

XW2Z-050J-A33 50 cm 10.0 dia. Approx. 0.1 kg

XW2Z-100J-A33 1 m Approx. 0.2 kg

CJ1M-CPU22/23

20J6-8A/40J6-9A

500

Servo Relay Unit

XW2B-20J6-8A

XW2B-40J6-9A

CJ1M

CJ1M-CPU21

CJ1M-CPU22

CJ1M-CPU23

No.

CJ1M Servo Relay Unit

Cable: AWG28 × 6P + AWG28 × 14C

Crim

terminal

3-126

3-5 Servo Relay Units and Cable Specifications

Specifications

Position Control Unit Cable (XW2Z-@J-A28)

This Cable connects the general-purpose I/O connector of a Flexible Motion Control Module

(FQM1-MMP22/-MMA22) to a Servo Relay Unit (XW2B-80J7-12A).

Cable Models

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

XW2Z-050J-A28 50 cm

10.0 dia.

Approx. 0.1 kg

XW2Z-100J-A28 1 m Approx. 0.2 kg

XW2Z-200J-A28 2 m Approx. 0.3 kg

L17

FQM1

FQM1-MMP22

FQM1-MMA22

500

Servo Relay Unit

XW2B-80J7-12A

FQM1-MMA22

80J7-12A

No. No.

FQM1 Servo Relay Unit

Cable: AWG28 × 24C

Crimp terminal

3-127

3-5 Servo Relay Units and Cable Specifications

Specifications

Position Control Unit Cable (XW2Z-@J-A30)

This Cable connects the special I/O connector of a Flexible Motion Control Module (FQM1-MMP22)

to a Servo Relay Unit (XW2B-80J7-12A).

Cable Models

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

XW2Z-050J-A30 50 cm

10.0 dia.

Approx. 0.1 kg

XW2Z-100J-A30 1 m Approx. 0.2 kg

XW2Z-200J-A30 2 m Approx. 0.3 kg

L1717

Servo Relay Unit

XW2B-80J7-12A

500

FQM1

FQM1-MMP22

80J7-12A

FQM1-MMP22

No.

FQM1

Servo Relay Unit

Cable: AWG28 × 14P + AWG28 × 4C

No.

Crimp terminal

3-128

3-5 Servo Relay Units and Cable Specifications

Specifications

Position Control Unit Cable (XW2Z-@J-A31)

This Cable connects the special I/O connector of a Flexible Motion Control Module (FQM1-MMA22)

to a Servo Relay Unit (XW2B-80J7-12A).

Cable Models

Connection Configuration and Dimensions

Wiring

Model Length (L) Outer diameter of sheath Weight

XW2Z-050J-A31 50 cm

10.0 dia.

Approx. 0.1 kg

XW2Z-100J-A31 1 m Approx. 0.2 kg

XW2Z-200J-A31 2 m Approx. 0.3 kg

L1717

Servo Relay Unit

XW2B-80J7-12

500

FQM1

FQM1-MMA22

80J7-12A

FQM1-MMA22

No.

FQM1

Servo Relay Unit

Cable: AWG28 × 18P

No.

Crimp terminal

3-129

3-6 Parameter Unit Specifications

Specifications

3-6 Parameter Unit Specifications

R88A-PR02G Hand-held Parameter Unit

The Parameter Unit is required to operate the Servo Drive from a distance away from the Servo

Drive, or to operate and monitor the Servo Drive from a control panel. The cable connected to the

Parameter Unit is 1.5 m long.

General Specifications

Performance Specifications

Item Specifications

Ambient operating

temperature and humidity 0 to 55°C, 90% RH max. (with no condensation)

Ambient storage

temperature and humidity −20 to 80°C, 90% RH max. (with no condensation)

Operating and storage

atmosphere No corrosive gases

Vibration resistance 5.9 m/s2 max.

Item Specifications

Type Hand-held

Cable length 1.5 m

Connectors Mini DIN 8-pin MD connector

Display 7-segment LED

Dimensions 62 (W) × 114 (H) × 15 (D) mm

Weight Approx. 0.1 kg (including cable)

Communications specifications

Standard RS-232

Communications method Asynchronous (ASYNC)

Baud rate 9,600 bps

Start bits 1 bit

Data 8 bits

Parity None

Stop bits 1 bit

3-130

3-7 External Regeneration Resistor Specifications

Specifications

3-7 External Regeneration Resistor

Specifications

External Regeneration Resistor Specifications

R88A-RR08050S

R88A-RR080100S

R88A-RR22047S

R88A-RR50020S

Model Resistance Nominal

capacity

Regeneration

absorption for 120°C

temperature rise

Heat radiation

condition

Thermal switch output

specifications

R88A-

RR08050S 50 Ω80 W 20 W

Aluminum

250 × 250,

Thickness: 3.0

Operating temperature:

150°C±5%,

NC contact,

Rated output:

30 VDC, 50 mA max.

Model Resistance Nominal

capacity

Regeneration

absorption for 120°C

temperature rise

Heat radiation

condition

Thermal switch output

specifications

R88A-

RR080100S 100 Ω80 W 20 W

Aluminum

250 × 250,

Thickness: 3.0

Operating temperature:

150°C ±5%,

NC contact,

Rated output:

30 VDC, 50 mA max.

Model Resistance Nominal

capacity

Regeneration

absorption for 120°C

temperature rise

Heat radiation

condition

Thermal switch output

specifications

R88A-

RR22047S 47 Ω220 W 70 W

Aluminum

350 × 350,

Thickness: 3.0

Operating tempera-

ture: 170°C ±7%,

NC contact,

Rated output:

250 VAC, 0.2 A max.

Model Resistance Nominal

capacity

Regeneration

absorption for 120°C

temperature rise

Heat radiation

condition

Thermal switch

output specifications

R88A-

RR50020S 20 Ω500 W 180 W

Aluminum,

600 × 600,

Thickness: 3.0

Operating tempera-

ture: 200°C ±7°C,

NC contact

Rated output:

250 VAC, 0.2 A max.

24 VDC, 0.2 A max.

3-131

3-8 Reactor Specifications

Specifications

3-8 Reactor Specifications

Connect a Reactor to the Servo Drive as a harmonic current control measure. Select a model

matching the Servo Drive to be used.

Specifications

Servo Drive

Reactor

Model Rated

current Inductance Weight Reactor

type

R88D-GTA5L

R88D-GT01H 3G3AX-DL2002 1.6 A 21.4 mH Approx.

0.8 kg

Single-

phase

R88D-GT01L

R88D-GT02H 3G3AX-DL2004 3.2 A 10.7 mH Approx.

1.0 kg

Single-

phase

R88D-GT02L

R88D-GT04H 3G3AX-DL2007 6.1 A 6.75 mH Approx.

1.3 kg

Single-

phase

R88D-GT04L

R88D-GT08H

R88D-GT10H

3G3AX-DL2015 9.3 A 3.51 mH Approx.

1.6 kg

Single-

phase

R88D-GT15H 3G3AX-DL2022 13.8 A 2.51 mH Approx.

2.1 kg

Single-

phase

R88D-GT08H

R88D-GT10H

R88D-GT15H

3G3AX-AL2025 10.0 A 2.8 mH Approx.

2.8 kg

Three-

phase

R88D-GT20H

R88D-GT30H 3G3AX-AL2055 20.0 A 0.88 mH Approx.

4.0 kg

Three-

phase

R88D-GT50H 3G3AX-AL2110 34.0 A 0.35 mH Approx.

5.0 kg

Three-

phase

R88D-GT75H 3G3AX-AL2220 67.0 A 0.18 mH Approx.

10.0 kg

Three-

phase

Chapter 4

System Design

4-1 Installation Conditions ........................................ 4-1

Servo Drives .........................................................................4-1

Servomotors..........................................................................4-3

Decelerators..........................................................................4-7

4-2 Wiring ................................................................. 4-11

Connecting Cables................................................................4-11

Selecting Connecting Cables................................................4-12

Peripheral Device Connection Examples..............................4-17

Main Circuit and Servomotor Connections ...........................4-21

4-3 Wiring Conforming to EMC Directives................ 4-27

Wiring Method.......................................................................4-27

Selecting Connection Components.......................................4-32

4-4 Regenerative Energy Absorption ....................... 4-45

Calculating the Regenerative Energy ...................................4-45

Servo Drive Regenerative Energy Absorption Capacity .......4-48

Absorbing Regenerative Energy with an External

Regeneration Resistor ..........................................................4-49

Connecting an External Regeneration Resistor....................4-49

4-1

4-1 Installation Conditions

System Design

4-1 Installation Conditions

Servo Drives

Space around Drives

• Install Servo Drives according to the dimensions shown in the following illustration to ensure

proper heat dispersion and convection inside the panel. If the Servo Drives are installed side by

side, install a fan for air circulation to prevent uneven temperatures from developing inside the

panel.

Mounting Direction

• Mount the Servo Drives in a direction (perpendicular) so that the model number can be seen

properly.

Operating Environment

• The environment in which Servo Drives are operated must meet the following conditions. Servo

Drives may malfunction if operated under any other conditions.

Ambient operating temperature: 0 to 55°C (Take into account temperature rises in the individual

Servo Drives themselves.)

Ambient operating humidity: 90% RH max. (with no condensation)

Atmosphere: No corrosive gases.

Altitude: 1,000 m max.

Ambient Temperature Control

• Servo Drives should be operated in environments in which there is minimal temperature rise to

maintain a high level of reliability.

• Temperature rise in any Unit installed in a closed space, such as a control box, will cause the

Servo Drive’s ambient temperature to rise. Use a fan or air conditioner to prevent the Servo Drive's

ambient temperature from exceeding 55°C.

• Servo Drive surface temperatures may rise to as much as 30°C above the ambient temperature.

Use heat-resistant materials for wiring, and keep its distance from any devices or wiring that are

sensitive to heat.

• The service life of a Servo Drive is largely determined by the temperature around the internal

electrolytic capacitors. The service life of an electrolytic capacitor is affected by a drop in

electrostatic capacity and an increase in internal resistance, which can result in overvoltage

alarms, malfunctioning due to noise, and damage to individual elements.

Servo

Drive

Servo

Drive

Servo

Drive

Side

panel

40 mm min.

100 mm min.

Air

Fan Fan

W = 10 mm min.

4-2

4-1 Installation Conditions

System Design

• If a Servo Drive is always operated at the ambient temperature of 55°C and with 100% of the rated

torque and rated rotation speed, its service life is expected to be approximately 28,000 hours

(excluding the axial-flow fan). A drop of 10°C in the ambient temperature will double the expected

service life.

Keeping Foreign Objects Out of Units

• Place a cover over the Units or take other preventative measures to prevent foreign objects, such

as drill filings, from getting into the Units during installation. Be sure to remove the cover after

installation is complete. If the cover is left on during operation, Servo Drive’s heat dissipation is

blocked, which may result in malfunction.

• Take measures during installation and operation to prevent foreign objects such as metal particles,

oil, machining oil, dust, or water from getting inside of Servo Drives.

4-3

4-1 Installation Conditions

System Design

Servomotors

Operating Environment

• The environment in which the Servomotor is operated must meet the following conditions.

Operating the Servomotor outside of the following ranges may result in malfunction of the

Servomotor.

Ambient operating temperature: 0 to 40°C (See note.)

Ambient operating humidity: 85% RH max. (with no condensation)

Atmosphere: No corrosive gases.

Note The ambient temperature is the temperature at a point 5 cm from the Servomotor.

Impact and Load

• The Servomotor is resistant to impacts of up

to 98 m/s2. Do not apply heavy impacts or

loads during transport, installation, or

removal.

• When transporting, hold the Servomotor

body itself, and do not hold the encoder,

cable, or connector areas. Doing so may

damage the Servomotor.

• Always use a pulley remover to remove

pulleys, couplings, or other objects from the

shaft.

• Secure cables so that there is no impact or

load placed on the cable connector areas.

Connecting to Mechanical Systems

• The axial loads for Servomotors are

specified in Characteristics on page 3-33.

If an axial load greater than that specified is

applied to a Servomotor, it will reduce the

service life of the motor bearings and may

break the motor shaft.

• When connecting to a load, use couplings

that can sufficiently absorb mechanical

eccentricity and declination.

• For spur gears, an extremely large radial

load may be applied depending on the gear

precision. Use spur gears with a high degree

of precision (for example, JIS class 2: normal

line pitch error of 6 µm max. for a pitch circle

diameter of 50 mm).

• If the gear precision is not adequate, allow

backlash to ensure that no radial load is

placed on the motor shaft.

• Bevel gears will cause a load to be applied in

the thrust direction depending on the

structural precision, the gear precision, and

temperature changes. Provide appropriate

backlash or take other measures to ensure

that a thrust load larger than the specified

level is not applied.

• Do not put rubber packing on the flange

surface. If the flange is mounted with rubber

packing, the motor flange may crack under the tightening force.

Make

movable.

Bevel gear

Structure in which

the distance between

shafts adjustable.

Backlash

Servomotor shaft

center line

Ball screw center line

Do not offset center lines.

4-4

4-1 Installation Conditions

System Design

• When connecting to a V-belt or timing belt, consult the manufacturer for belt selection and tension.

• A radial load twice the belt tension will be placed on the motor shaft. Do not allow a radial load

exceeding specifications to be placed on the motor shaft. If an excessive radial load is applied, the

motor shaft and bearings may be damaged.

• Set up a movable pulley between the motor shaft and the load shaft so that the belt tension can

be adjusted.

Water and Drip Resistance

• The protective structure for the Servomotors is as follows:

IP65 (except for through-shaft parts and cable outlets)

Countermeasures against Oil

When using the Servo Motor in an environment in which the shaft through-hole is exposed to oil

spray, use a Servomotor with an oil seal. The operating conditions for a Servomotor with an oil seal

are as follows:

Keep the oil level below the lip of the oil seal.

Set up good lubricating conditions so that any oil spray falls on the oil seal.

If the Servomotor is used with the shaft pointing upwards, be careful to not allow oil to accumulate

at the lip of the oil seal.

Radiator Plate Installation Conditions

When the Servomotor is installed in a small space, the Servomotor temperature may rise unless

sufficient surface area is provided to allow heat dissipation from the Servomotor mounting surface.

Take measures such as inserting a radiator plate between the Servomotor mounting surface and

the flange. If radiator plates are not inserted, the motor may be damaged by increased

temperatures. For radiator plate specifications, refer to 3-2 Servomotor Specifications.

Servomotor heating will depend on the material of the mounting surface and on the installation

environment. Be sure to check the Servomotor temperature under actual operating conditions.

The Servomotor temperature may rise sharply if the Servomotor is installed in an environment

such as near a heat source. Take the following countermeasures as required by the installation

environment.

Reduce the load ratio.

Modify the Servomotor's heat dissipation conditions.

Forcibly cool the Servomotor by installing a cooling fan.

Pulley

Belt

Tension

Tension adjustment

(Make adjustable.)

Radiator plate

4-5

4-1 Installation Conditions

System Design

Oil Seal

The Servomotor oil seal dimensions are given below. The expected service life of an oil seal is

approximately 5,000 hours. The actual life depends on the application conditions and environment.

Oil seal installation and replacement are treated as repair work. For inquiries, consult your OMRON

representative.

When using the Servomotor in an environment where the Servomotor shaft will be exposed to oil,

select a Servomotor with an oil seal.

Precautions

Keep the oil level below the oil seal.

If there is no oil at all on the oil seal, the oil seal, which is made of rubber, will be glazed. Use the

Servomotor in an environment with a suitable amount of oil.

Install the Servomotor so that oil does not accumulate around the oil seal.

Motor model Shaft diameter (mm) Outer diameter (mm) Width (mm)

R88M-G05030@8.9 17 4

R88M-G10030@8.9 17 4

R88M-G20030@14 28 4

R88M-G40030@14 28 4

R88M-G75030@19.8 30 4

R88M-GP10030@8.9 22 4

R88M-GP20030@14 28 4

R88M-GP40030@14 28 4

R88M-G1K030@20 35 7

R88M-G1K530@20 35 7

R88M-G2K030@20 35 7

R88M-G3K030@24 38 7

R88M-G4K030@24 38 7

R88M-G5K030@24 38 7

R88M-G1K020@24 38 7

R88M-G1K520@24 38 7

R88M-G2K020@24 38 7

R88M-G3K020@24 38 7

R88M-G4K020@30 45 7

R88M-G5K020@40 58 7

R88M-G7K515@45 62 9

R88M-G90010@24 38 7

R88M-G2K010@40 58 7

R88M-G3K010@40 58 7

R88M-G4K510@45 62 9

R88M-G6K010@45 62 9

4-6

4-1 Installation Conditions

System Design

Other Precautions

• Take measures to protect the shaft from corrosion.

The shafts are coated with anti-corrosion oil when shipped, but anti-corrosion oil or grease should

also be applied when connecting the shaft to a load.

Do not apply commercial power directly to the Servomotor.

Doing so may result in fire.

Do not dismantle or repair the product.

Doing so may result in electric shock or injury.

WARNING

4-7

4-1 Installation Conditions

System Design

Decelerators

Installing Decelerators

Installing an R88G-HPG@@@ (Backlash = 3’ Max.)

Use the following procedure to install the Decelerator on the Servomotor.

1. Turn the input joint and align the head of the bolt that secures the shaft with the

rubber cap.

2. Apply sealant to the installation surface on the Servomotor (recommended sealant:

Loctite 515).

3. Gently insert the Servomotor into the Decelerator.

As shown in the figures on the next page, stand the Decelerator upright and slide the Servomotor

shaft into the input shaft joint while making sure it does not fall over. If the Decelerator cannot be

stood upright, tighten each bolt evenly little by little to ensure that the Servomotor is not inserted at

a tilt.

4. Bolt together the Servomotor and the Decelerator flanges.

Bolt Tightening Torque for Aluminum

5. Tighten the input joint bolt.

Bolt Tightening Torque for Duralumin

Note Always use the torque given in the table above. The Servomotor may slip or other problems

may occur if the specified torque level is not satisfied.

The R88G-HPG11@ uses two set screws for the connecting section.

6. Mount the supplied rubber cap to complete the installation procedure.

(For the R88G-HPG11@, mount two screws with gaskets.)

Allen head bolt size M4 M5 M6 M8 M10 M12

Tightening torque (N·m) 3.2 6.3 10.7 26.1 51.5 89.9

Allen head bolt size M4 M5 M6 M8 M10 M12

Tightening torque (N·m) 2.0 4.5 15.3 37.2 73.5 128

Allen head bolt size M3

Tightening torque (N·m) 0.69

4-8

4-1 Installation Conditions

System Design

Installing the Decelerator

When installing the R88G-HPG@@@, first make sure that the mounting surface is flat and that there

are no burrs on the tap sections, and then bolt on the mounting flanges.

Mounting Flange Bolt Tightening Torque for Aluminum

R88G-HPG 11 14 20 32 50 65

Number of bolts 4 4 4 4 4 4

Bolt size M3 M5 M8 M10 M12 M16

Mounting PCD (mm) 46 70 105 135 190 260

Tightening torque (N·m) 1.4 6.3 26.1 51.5 103 255

4-9

4-1 Installation Conditions

System Design

Installing an R88G-VRSF@@@ (Backlash = 15’ Max.)

Use the following procedure to install the Decelerator to the Servomotor.

1. Turn the input joint and align the head of the bolt that secures the shaft with the

rubber cap.

Make sure the set bolts are loose.

2. Gently insert the Servomotor into the Decelerator.

As shown in the figures below, stand the Decelerator upright and slide the Servomotor shaft into the

input shaft joint while making sure it does not fall over. If the Decelerator cannot be stood upright,

tighten each bolt evenly little by little to ensure that the Servomotor is not inserted at a tilt.

3. Bolt together the Servomotor and the Decelerator flanges.

Bolt Tightening Torque

4. Tighten the input joint bolt.

Bolt Tightening Torque for Duralumin

Note Always use the torque given in the table above. Sliding or other problems may occur if the

specified torque level is not satisfied.

5. Mount the supplied rubber cap to complete the installation procedure.

Allen head bolt size M4 M5 M6

Tightening torque (N·m) 3.0 5.8 9.8

Allen head bolt size M3 M4 M5

Tightening torque (N·m) 1.5 4.5 7.1

4-10

4-1 Installation Conditions

System Design

Installing the Decelerator

When installing the R88G-VRSF@@@, first make sure that the mounting surface is flat and that

there are no burrs on the tap sections, and then bolt on the mounting flanges.

Mounting Flange Bolt Tightening Torque for Aluminum

Using Another Company's Decelerator (Reference Information)

If the system configuration requires another company's decelerator to be used in combination with

an OMNUC G-Series Servomotor, select the decelerator so that the load on the motor shaft (i.e.,

both the radial and thrust loads) is within the allowable range.

(Refer to Characteristics on page 3-33 for details on the allowable loads for the motors.)

Also, select the decelerator so that the allowable input rotation speed and allowable input torque of

the decelerator are not exceeded.

R88G-VRSF B frame C frame D frame

Number of bolts 4 4 4

Bolt size M5 M6 M8

Mounting PCD (mm) 60 90 115

Tightening torque (N·m) 5.8 9.8 19.6

4-11

4-2 Wiring

System Design

4-2 Wiring

Connecting Cables

This section shows the types of connecting cables used in an OMNUC G-Series servo system. A

wide selection of cables are available when configuring a servo system with an OMRON SYSMAC

Motion Control Unit or Position Unit, which makes wiring easy.

System Configuration

5 6

CPU Units with Pulse-string

Outputs

Flexible Motion Controllers

Motion Control Unit

CPU Units with Pulse-string

Outputs

Other Controllers

Motion Control Unit Cable

For 1 axis

For 2 axes

General-purpose Control Cable and Control

I/O Connector

Power Cable

Servo Relay Unit

Servo Drive

Cable

Cable for Connector

Terminal Block

Position Control

Unit Cable

Connector

Terminal

Block

Servo Relay Unit Cable

Connector Terminal Block and Cable

Servo Drive

CN2

(Encoder Connector)

CN1

(Control I/O Connector)

Encoder Cable

Controller

Position Control Unit

with a pulse-string output

Servomotor

Terminal block

Power Cable

(Robot Cables)

Encoder Cable

(Robot Cables)

Use a robot cable when the cable must be flexible.

4-12

4-2 Wiring

System Design

Selecting Connecting Cables

Encoder Cables (Standard Cables)

Select an Encoder Cable matching the Servomotor to be used.

Servomotor type Encoder Cable Comments

3,000-r/min Servomotors

50 to 750 W R88A-CRGA@@@C

The @@@ digits in the model

number indicate the cable

length (3 m, 5 m, 10 m, 15 m,

20 m, 30 m, 40 m, or 50 m).

Example model number for a

3-m cable:

R88A-CRGA003C

50 to 750 W R88A-CRGB@@@C

1 to 5 kW R88A-CRGC@@@N

3,000-r/min Flat Servomotors 100 to 400 W R88A-CRGA@@@C

100 to 400 W R88A-CRGB@@@C

2,000-r/min Servomotors

(1,500-r/min Servomotors) 1 to 7.5 kW R88A-CRGC@@@N

1,000-r/min Servomotors 900 W to 6 kW R88A-CRGC@@@N

ABS

INC

ABS

INC

4-13

4-2 Wiring

System Design

Power Cables (Standard Cables)

Select a Power Cable matching the Servomotor to be used.

Note 1. The @@@ digits in the model number indicate the cable length (3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m,

or 50 m).

Example model number for a 3-m cable: R88A-CAGA003S

Note 2. For 50 to 750 W (3,000-r/min) Servomotors, Flat Servomotors, and 6-kW and higher Servomotors, there

are separate connectors for power and brakes. Therefore, when a Servomotor with a brake is used, it will

require both a Power Cable for a Servomotor without a brake and a Brake Cable.

Encoder Cables (Robot Cables)

Use a robot cable when the encoder cable must be flexible.

Servomotor type Power Cables for Servomotors

Without Brakes

Power Cables for Servomotors

With Brakes

3,000-r/min Servomotors

50 to 750 W R88A-CAGA@@@S

R88A-CAGA@@@S

(For Power Connector)

R88A-CAGA@@@B

(For Brake Connector)

1 to 1.5 kW R88A-CAGB@@@S R88A-CAGB@@@B

2 kW R88A-CAGC@@@S R88A-CAGC@@@B

3 to 5 kW R88A-CAGD@@@S R88A-CAGD@@@B

3,000-r/min Flat Servomotors 100 to 400 W R88A-CAGA@@@S

R88A-CAGA@@@S

(For Power Connector)

R88A-CAGA@@@B

(For Brake Connector)

2,000-r/min Servomotors

(1,500-r/min Servomotors)

1 to 1.5 kW R88A-CAGB@@@S R88A-CAGB@@@B

2 kW R88A-CAGC@@@S R88A-CAGC@@@B

3 to 5kW R88A-CAGD@@@S R88A-CAGD@@@B

7.5 kW R88A-CAGE@@@S

R88A-CAGE@@@S

(For Power Connector)

R88A-CAGE@@@B

(For Brake Connector)

1,000-r/min Servomotors

900 W R88A-CAGB@@@S R88A-CAGB@@@B

2 to 4.5 kW R88A-CAGD@@@S R88A-CAGD@@@B

6 kW R88A-CAGE@@@S

R88A-CAGE@@@S

(For Power Connector)

R88A-CAGE@@@B

(For Brake Connector)

Servomotor type Encoder Cable Comments

3,000-r/min Servomotors

50 to 750 W R88A-CRGA@@@CR

The @@@ digits in the model

number indicate the cable

length.

(3 m, 5 m, 10 m, 15 m, 20 m,

30 m, 40 m, or 50 m).

Example model number for a 3-

m cable: R88A-CRGA003CR

50 to 750 W R88A-CRGB@@@CR

1 to 5 kW R88A-CRGC@@@NR

3,000-r/min

Flat Servomotors

100 to 400 W R88A-CRGA@@@CR

100 to 400 W R88A-CRGB@@@CR

2,000-r/min Servomotors 1 to 5 kW R88A-CRGC@@@NR

1,000-r/min Servomotors 900 W to 4.5 kW R88A-CRGC@@@NR

ABS

INC

ABS

INC

4-14

4-2 Wiring

System Design

Power Cables (Robot Cables)

Use a robot cable when the power cable must be flexible.

Note 1.The @@@ digits in the model number indicate the cable length (3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m,

or 50 m). Example model number for a 3-m cable: R88A-CAGA003SR

Note 2. For 50 to 750 W (3,000-r/min) Servomotors and Flat Servomotors, there are separate connectors for

power and brakes. Therefore, when a Servomotor with a brake is used, it will require both a Power Cable

for a Servomotor without a brake and a Brake Cable.

Computer Monitor Cable

A Computer Monitor Cable and the Computer Monitor Software for Servo Drives

(CX-Drive) are required to set Servo Drive parameters and perform monitoring with a personal

computer.

Servomotor type Power Cables for Servomo-

tors without Brakes

Power Cables for Servomotors

with Brakes

3,000-r/min Servomotors

50 to 750 W R88A-CAGA@@@SR

R88A-CAGA@@@SR

(For Power Connector)

R88A-CAGA@@@BR

(For Brake Connector)

1 to 1.5 kW R88A-CAGB@@@SR R88A-CAGB@@@BR

2 kW R88A-CAGC@@@SR R88A-CAGC@@@BR

3 to 5 kW R88A-CAGD@@@SR R88A-CAGD@@@BR

3,000-r/min

Flat Servomotors 100 to 400 W R88A-CAGA@@@SR

R88A-CAGA@@@SR

(For Power Connector)

R88A-CAGA@@@BR

(For Brake Connector)

2,000-r/min Servomotors

1 to 1.5 kW R88A-CAGB@@@SR R88A-CAGB@@@BR

2 kW R88A-CAGC@@@SR R88A-CAGC@@@BR

3 to 5 kW R88A-CAGD@@@SR R88A-CAGD@@@BR

1,000-r/min Servomotors 900 W R88A-CAGB@@@SR R88A-CAGB@@@BR

2 to 4.5 kW R88A-CAGD@@@SR R88A-CAGD@@@BR

Name/specifications Model Remarks

Computer Monitor Cable 2 m R88A-CCG002P2 Only a 2-meter cable is avail-

able.

4-15

4-2 Wiring

System Design

RS-485 Communications Cable

Multiple Servo Drives can be connected by connecting one Servo Drive to a computer or a host

controller using RS-232 communications and by connecting the other Servo Drives together with

RS-485 communications.

Servo Relay Units and Cables

Select the Servo Relay Unit and Cable according to the model of the Position Control Unit to be

used.

Note 1. The cable length is indicated in the boxes of the model number (@@@). Position Control Unit cables come

in two lengths: 0.5 m and 1 m (example for 0.5-m cable: XW2Z-050J-A3). Servo Drive Cables also come

in two lengths: 1 m and 2 m (example for 1-m cable: XW2Z-100J-B25).

Note 2. Two Servo Drive Cables are required if 2-axis control is performed using one Position Control Unit.

Name/specifications Model Remarks

RS-485 Communications Cable R88A-CCG@@@P4

The @@@ digits in the model

number indicate the cable

length.

RS-485 Communications Ca-

bles come in two lengths: 0.5 m

and 1 m.

Position Control Unit Position Control Unit Cable Servo Relay Unit Servo Drive Cable

CQM1-CPU43-V1 XW2Z-@@@J-A3 XW2B-20J6-3B

XW2Z-@@@J-B25

CS1W-NC113 XW2Z-@@@J-A6 XW2B-20J6-1B

C200HW-NC113

CS1W-NC213

XW2Z-@@@J-A7 XW2B-40J6-2B

CS1W-NC413

C200HW-NC213

C200HW-NC413

CS1W-NC133 XW2Z-@@@J-A10 XW2B-20J6-1B

CS1W-NC233 XW2Z-@@@J-A11 XW2B-40J6-2B

CS1W-NC433

CJ1W-NC113 XW2Z-@@@J-A14 XW2B-20J6-1B

CJ1W-NC213 XW2Z-@@@J-A15 XW2B-40J6-2B

CJ1W-NC413

CJ1W-NC133 XW2Z-@@@J-A18 XW2B-20J6-1B

CJ1W-NC233 XW2Z-@@@J-A19 XW2B-40J6-2B

CJ1W-NC433

CJ1M-CPU21

XW2Z-100J-A33 XW2B-20J6-8A

XW2B-40J6-9A XW2Z-@@@J-B31CJ1M-CPU22

CJ1M-CPU23

FQM1-MMP22 XW2Z-@@@J-A28

XW2Z-@@@J-A30 XW2B-80J7-12A

XW2Z-@@@J-B26

FQM1-MMA22 XW2Z-@@@J-A28

XW2Z-@@@J-A31 XW2Z-@@@J-B27

4-16

4-2 Wiring

System Design

Motion Control Unit Cable

There are special cables for 1-axis and 2-axis Motion Control Unit operation. Select the appropriate

cable for the number of axes to be connected.

General-purpose Control Cable and Control I/O Connector

These cables and connector are used when connecting to Controllers for which no specific cable is

available, and the cable for the Servo Drive’s control I/O connector (CN1) is prepared by the user.

Connector-Terminal Blocks and Cables

These are for connecting to Controllers for which no specific cable is available, and are used to

convert the Servo Drive's control I/O Connector (CN1) signals to a terminal block.

Motion Control Unit Cable Remarks

CS1W-MC221/421(-V1)

For 1

axis R88A-CPG@@@M1 The @@@ digits in the model number

indicate the cable length.

Motion Control Unit Cables come in

four lengths: 1 m, 2 m, 3 m, and 5 m.

Example model number for 2-m

1-axis cable: R88A-CPG002M1

For 2

axes R88A-CPG@@@M2

Name Model Remarks

General-purpose

Control Cable R88A-CPG@@@S

A cable for the control I/O connector (CN1)

The @@@ digits in the model number indicate the

cable length (either 1 m or 2 m).

Example model number for 1-m cable:

R88A-CPG001S

Control I/O Connector R88A-CNU11C

This is the connector for connecting to the Control

I/O Connector (CN1). (This item is a connector

only.)

Connector Terminal

Block Cable Remarks

XW2B-50G4

XW2B-50G5

XW2D-50G6

XW2Z-@@@J-B24

The @@@ digits in the model number indicate the

cable length.

There are two cable lengths: 1 m and 2 m. Exam-

ple model number for 2-m cable: XW2Z-200J-B24

4-17

4-2 Wiring

System Design

Peripheral Device Connection Examples

R88D-GTA5L/-GT01L/-GT02L/-GT04L

R88D-GT01H/-GT02H/-GT04H/-GT08H/-GT10H/-GT15H

NFB

1MC

L1C

L2C

2MC

ALMCOM

/ALM37

CN1

BKIR

BKIRCOM

CN2

(*3)

(*2)

CN1

(*4)

(*5)

CNB

CNA

OFF

1MC X

2MC

1MC 2MC

2MC

1MC

Single-phase 100 to 115 VAC, 50/60 Hz: R88D-GT@@L

Single-phase 200 to 240 VAC, 50/60 Hz: R88D-GT@@H

24 VDC

*1.

*2.

*3.

*4.

*5.

Regeneration

resistor

Noise filter

(*1)

(Ground to

100 Ω or less.)

(Ground to

100 Ω or less.)

Main-circuit contactor (*1)

Surge killer (*1)

Servo error display

User

control

device

Control Cable

24 VDC

Encoder Cable

OMNUC G-Series

AC Servomotor

Power Cable

Reactor

24 VDC

OMNUC G-Series

AC Servo Drive

Main-circuit power supply

Also, to ensure safety (i.e., to ensure that the

power supply can be shut OFF) for contactor

welding, we recommend using two magnetic

contactors (MC).

The models GTA5L to GT02L and GT01H to

GT04H do not have a built-in regeneration

resistor. If the amount of regeneration is large,

an External Regeneration Resistor must be

connected to B1-B2.

Connect B2-B3 for the models with a

built-in regeneration resistor (GT04L,

GT08H, GT10H, and GT15H).If the amount

of regeneration is large,disconnect B2-B3

and connect an External Regeneration

Resistor to B1-B2.

Recommended relay: MY Relay (24 V), by

OMRON. For example, the MY2 Relay's

rated inductive load is 2 A at 24 VDC and

applicable to all G-Series Servomotors

with brakes.

The brake is not affected by the polarity of

the power supply.

Recommended products are listed in 4-3

Wiring Conforming to EMC Directives.

4-18

4-2 Wiring

System Design

R88D-GT08H/-GT10H/-GT15H

NFB

123

456

ENF

Three-phase 200 to 240 VAC, 50/60 Hz

L1C

L2C

ALMCOM

/ALM37

CN1

BKIR

BKIRCOM

CN2

(*3)

(*2)

CN1

(*4)

CNB

CNA

2MC

1MC

OFF ON

1MC X

2MC

1MC 2MC

2MC

1MC 24 VDC

*1.

*2.

*3.

*4.

Regeneration

resistor

Noise filter

(*1)

(Ground to

100 Ω or less.)

(Ground to

100 Ω or less.)

Main-circuit contactor (*1)

Surge killer (*1)

Servo error display

User

control

device

Control Cable

24 VDC

Encoder Cable

OMNUC G-Series

AC Servomotor

OMNUC G-Series

AC Servo Drive Power Cable

Reactor

24 VDC

Main-circuit power supply

Also, to ensure safety (i.e., to ensure that

the power supply can be shut OFF) for

contactor welding, we recommend using

two magnetic contactors (MC).

Connect B2-B3 for the models with a built-in

regeneration resistor (GT08H to GT15H). If

the amount of regeneration is large,

disconnect B2-B3 and connect an External

Regeneration Resistor to B1-B2.

Recommended relay: MY Relay (24 V), by

OMRON. For example, the MY2 Relay's

rated inductive load is 2 A at 24 VDC and

applicable to all G-Series Servomotors with

brakes.

The brake is not affected by the polarity of

the power supply.

Recommended products are listed in 4-3

Wiring Conforming to EMC Directives.

4-19

4-2 Wiring

System Design

R88D-GT20H/-GT30H/-GT50H

NFB

123

456

ENF

Three-phase 200 to 230 VAC 50/60 Hz

L1C

L2C

ALMCOM

/ALM37

CN1

BKIR

BKIRCOM

CN2

(*3)

(*2)

CN1

(*4)

TB1

2MC

1MC

OFF ON

1MC X

2MC

1MC 2MC

2MC

1MC 24 VDC

*1.

*2.

*3.

*4.

Regeneration

resistor

Noise filter

(*1)

(Ground to

100 Ω or less.)

(Ground to

100 Ω or less.)

Main-circuit contactor (*1)

Surge killer (*1)

Servo error display

User

control

device

Control Cable

24 VDC

Encoder Cable

OMNUC G-Series

AC Servomotor

Power Cable

Reactor

24 VDC

OMNUC G-Series

AC Servo Drive

Main-circuit power supply

Also, to ensure safety (i.e., to ensure that

the power supply can be shut OFF) for

contactor welding, we recommend using

two magnetic contactors (MC).

Connect B2-B3 for the models with a

built-in regeneration resistor (GT20H to

GT50H). If the amount of regeneration

is large, disconnect B2-B3 and connect

an External Regeneration Resistor to

B1-B2.

Recommended relay: MY Relay (24 V),

by OMRON. For example, the MY2

Relay's rated inductive load is 2 A at 24

VDC and applicable to all G-Series

Servomotors with brakes.

The brake is not affected by the polarity

of the power supply.

Recommended products are listed in 4-3

Wiring Conforming to EMC Directives.

4-20

4-2 Wiring

System Design

R88D-GT75H

NFB

123

456

ENF

Three-phase 200 to 230 VAC 50/60 Hz

L1C

L2C

ALMCOM

/ALM37

CN1

BKIR

BKIRCOM

CN2

(*3)

(*2)

CN1

(*4)

TB1

TB2

TB1

FAN Stop

(−)

(+)

2MC

1MC

OFF ON

1MC X

2MC

1MC 2MC

2MC

1MC

24 VDC

*1.

*2.

*3.

*4.

Regeneration

resistor

Noise filter

(*1)

(Ground to

100 Ω or less.)

(Ground to

100 Ω or less.)

Main-circuit contactor (*1)

Surge killer (*1)

Servo error display

User

control

device

Control Cable

24 VDC

Encoder Cable

OMNUC G-Series

AC Servomotor

Power Cable

Reactor

24 VDC

OMNUC G-Series

AC Servo Drive

Main-circuit power supply

Also, to ensure safety (i.e., to ensure that

the power supply can be shut OFF) for

contactor welding, we recommend using

two magnetic contactors (MC).

The model GT75H does not have a built-in

regeneration resistor. If the amount of

regeneration is large, an External

Regeneration Resistor must be connected to

B1-B2.

Recommended relay: MY Relay (24 V), by

OMRON. For example, the MY2 Relay's

rated inductive load is 2 A at 24 VDC and

applicable to all G-Series Servomotors with

brakes.

The brake is not affected by the polarity of

the power supply.

Recommended products are listed in 4-3

Wiring Conforming to EMC Directives.

4-21

4-2 Wiring

System Design

Main Circuit and Servomotor Connections

When wiring the main circuit, use proper wire sizes, grounding systems, and anti-noise measures.

R88D-GTA5L/-GT01L/-GT02L/-GT04L

R88D-GT01H/-GT02H/-GT04H/-GT08H/-GT10H/-GT15H

Main Circuit Connector Specifications (CNA)

Servomotor Connector Specifications (CNB)

Sym-

bol Name Description

Main circuits power

supply input

R88D-GT@L (50 W to 400 W): Single-phase 100 to 115 VAC (85 to 127 V),

50/60 Hz

R88D-GT@H (50 W to 1.5 kW): Single-phase 200 to 240 VAC (170 to 264 V),

50/60 Hz

R88D-GT@H (750 W to 1.5 kW): Three-phase 200 to 240 VAC (170 to 264 V),

50/60 Hz

L1C Control circuit power

supply input

R88D-GT@L: Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz

R88D-GT@H: Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz

L2C

Sym-

bol Name Description

B1 External

Regeneration

Resistor connection

terminals

50 W to 400 W: These terminals normally do not need to be connected. If there is

high regenerative energy, connect an External Regeneration Resis-

tor between B1 and B2.

750 W to 1.5 kW:Normally B2 and B3 are connected. If there is high regenerative en-

ergy, remove the short-circuit bar between B2 and B3 and connect

an External Regeneration Resistor between B1 and B2.

Servomotor

connection terminals

Red

These are the output terminals to the Servomotor.

Be sure to wire them correctly.

VWhite

WBlue

Green/

Yellow

Frame ground This is the ground terminal. Ground to a 100 Ω or less.

4-22

4-2 Wiring

System Design

R88D-GT20H/-GT30H/-GT50H

Main Circuit Terminal Block Specifications

Symbol Name Function

Main circuit power

supply input R88D-GT@H (2 to 5 kW): Three-phase 200 to 230 VAC (170 to 253 V), 50/60HzL2

L1C Control circuit power

supply input R88D-GT@H: Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz

L2C

B1 External

Regeneration

Resistor connection

terminals

2 to 5 kW: Normally B2 and B3 are connected. If there is high regenerative energy,

remove the short-circuit bar between B2 and B3 and connect an Exter-

nal Regeneration Resistor between B1 and B2.

Servomotor

connection terminals

Red

These are the output terminals to the Servomotor.

Be sure to wire them correctly.

VWhite

WBlue

Green/

Yellow

Frame ground This is the ground terminal. Ground to 100 Ω or less.

4-23

4-2 Wiring

System Design

R88D-GT75H

Main Circuit Terminal Block Specifications (TB1)

Main Circuit Terminal Block Specifications (TB2)

Symbol Name Function

Main circuit power

supply input

R88D-GT75H (6 to 7.5 kW): Three-phase 200 to 230 VAC (170 to 253 V),

50/60Hz

B1 External

Regeneration

Resistor connection

terminals

6 kW, 7.5 kW: A regeneration resistor is not built in.

Connect an External Regeneration Resistor between B1 and B2,

if necessary.

Servomotor

connection terminals

Red

These are the output terminals to the Servomotor.

Be sure to wire them correctly.

VWhite

WBlue

Green/

Yellow

Frame ground This is the ground terminal. Ground to 100 Ω or less.

Symbol Name Function

NC --- Do not connect.

L1C Control circuit power

supply input R88D-GT75H: Single-phase 200 to 230 VAC (170 to 253 V), 50/60Hz

L2C

Frame ground This is the ground terminal. Ground to 100 Ω or less.

--- Do not connect.

EX1

EX2

EX3

FN(+) Fan Stop Output Outputs a warning signal when the fan inside the Servo Drive stops.

(30 VDC, 50 mA max).

FN(−)

4-24

4-2 Wiring

System Design

Terminal Block Wire Sizes

100-VAC Input: R88D-GT@@L

200-VAC Input: R88D-GT@@H

Model (R88D-) GTA5L GT01L GT02L GT04L

Item Unit

Power supply capacity kVA 0.4 0.4 0.5 0.9

Main circuit power

supply input

(L1 and L3, or

L1, L2, and L3) *1

Rated current A 1.4 2.2 3.7 6.6

Wire size --- AWG18 AWG16

Control circuit

power supply input

(L1C and L2C)

Rated current A 0.09 0.09 0.09 0.09

Wire size --- AWG18

Servomotor

connection

terminals (U, V, W,

and GR) *2

Rated current A 1.2 1.7 2.5 4.6

Wire size --- AWG18

Frame ground

(GR)

Wire size --- AWG14

Screw size --- M4

Torque N⋅m1.2

Model (R88D-) GT01H GT02H GT04H GT08H GT10H

Item Unit

Power supply capacity kVA 0.5 0.5 0.9 1.3 1.8

Main circuit power

supply input

(L1 and L3, or

L1, L2, and L3) *1

Rated current A 1.3 2.0 3.7 5.0/3.3 *1 7.5/4.1 *1

Wire size --- AWG18 AWG16

Screw size --- --- --- --- --- ---

Torque N⋅m --- --- --- --- ---

Control circuit

power supply input

(L1C and L2C)

Rated current A 0.05 0.05 0.05 0.05 0.07

Wire size --- AWG18

Screw size --- --- --- --- --- ---

Torque N⋅m --- --- --- --- ---

Servomotor

connection

terminals (U, V, W,

and GR) *2

Rated current A 1.2 1.6 2.6 4.0 5.8

Wire size --- AWG18 AWG16

Screw size --- --- --- --- --- ---

Torque N⋅m --- --- --- --- ---

Frame ground (GR)

Wire size --- AWG14

Screw size --- M4

Torque N⋅m1.2

4-25

4-2 Wiring

System Design

*1. The left value is for single-phase input power, and the right value is for three-phase input power.

*2. Use the same wire sizes for B1 and B2.

*3. Connect an OMRON Servomotor Power Cable to the Servomotor connection terminals.

 Wire Sizes and Allowable Current (Reference)

The following table shows the allowable current when there are three power supply wires.

Use a current below these specified values.

600-V Heat-resistant Vinyl Wire (HIV)

Model (R88D-) GT15H GT20H GT30H GT50H GT75H

Item Unit

Power supply capacity kVA 2.3 3.3 4.5 7.5 11

Main circuit power

supply input

(L1 and L3, or

L1, L2, and L3) *1

Rated current A 11.0/8.0 *1 10.2 15.2 23.7 35.0

Wire size --- AWG14 AWG12 AWG10 AWG8

Screw size --- --- M5

Torque N⋅m --- 2.0

Control circuit

power supply input

(L1C and L2C)

Rated current A 0.07 0.1 0.12 0.12 0.14

Wire size --- AWG18

Screw size --- --- M5

Torque N⋅m --- 2.0

Servomotor

connection

terminals (U, V, W,

and GR) *2

Rated current A 9.4 13.4 18.6 33.0 47.0

Wire size --- AWG14 AWG12 AWG8 AWG6

Screw size --- --- M5

Torque N⋅m --- 2.0

Frame ground

(GR)

Wire size --- AWG14 AWG12 AWG8

Screw size --- M4 M5

Torque N⋅m 1.2 2.0

AWG size

Nominal

cross-sec-

tional area

(mm2)

Configura-

tion (wires/

mm2)

Conductive

resistance

(Ω/km)

Allowable current (A) for ambient temperature

30°C40°C50°C

20 0.5 19/0.18 39.5 6.6 5.6 4.5

--- 0.75 30/0.18 26.0 8.8 7.0 5.5

18 0.9 37/0.18 24.4 9.0 7.7 6.0

16 1.25 50/0.18 15.6 12.0 11.0 8.5

14 2.0 7/0.6 9.53 23 20 16

12 3.5 7/0.8 5.41 33 29 24

10 5.5 7/1.0 3.47 43 38 31

8 8.0 7/1.2 2.41 55 49 40

6 14.0 7/1.6 1.35 79 70 57

4-26

4-2 Wiring

System Design

Terminal Block Wiring Procedure

Connector-type Terminal Blocks are used for Servo Drives of 1.5 kW or less (R88D-GTA5L to

GT15H). The procedure for wiring these Terminal Blocks is explained below.

1. Remove the Terminal Block from the Servo Drive before wiring.

The Servo Drive will be damaged if the wiring is done with the Terminal Block in place.

2. Strip off 8 to 9 mm of the covering from the end of each wire.

Refer to Terminal Block Wire Sizes on page 4-24 for applicable wire sizes.

3. Open the wire insertion slots in the Terminal Block

There are two ways to open the wire insertion slots, as follows:

• Pry the slot open using the lever that comes with the Servo Drive (as in Fig. A).

• Insert a flat-blade screwdriver (end width: 3.0 to 3.5 mm) into the opening for the screwdriver, and

press down firmly to open the slot (as in Fig. B).

4. With the slot held open, insert the end of the wire.

After inserting the wire, let the slot close by releasing the pressure from the lever or the screwdriver.

5. Mount the Terminal Block to the Servo Drive.

After all of the terminals have been wired, return the Terminal Block to its original position on the

Servo Drive.

Connector-type

Terminal Block

(Example: R88D-GT01H)

8 to 9 mm

. A Fig. B

4-27

4-3 Wiring Conforming to EMC Directives

System Design

4-3 Wiring Conforming to EMC Directives

Conformance to the EMC Directives (EN 55011 Class A Group 1 (EMI) and EN 61000-6-2 (EMS))

can be ensured by wiring under the conditions described below. These conditions are for

conformance of OMNUC G-Series products to the EMC Directives.

EMC-related performance of these products, however, depends on the configuration, wiring, and

other conditions of the equipment in which the products are installed. The EMC conformance of the

system as a whole must be confirmed by the customer.

The following are the requirements for EMC Directive conformance.

• The Servo Drive must be installed in a metal case (control panel). (The Servomotor does not,

however, have to be covered with a metal plate.)

• Noise filters and surge absorbers must be installed on power supply lines.

• Shielded cables must be used for all I/O signal lines and encoder lines. (Use tin-plated, mild steel

wires for the shielding.)

• All cables, I/O wiring, and power lines connected to the Servo Drive must have clamp filters

installed.

• The shields of all cables must be directly connected to a ground plate.

Wiring Method

R88D-GTA5L/-GT01L/-GT02L/-GT04L/-GT01H/-GT02H/-GT04H/-GT08H/-GT10H/

-GT15H/-GT20H/-GT30H/-GT50H

*1. For models with a single-phase power supply input (R88D-GTA5L/-GT01L/-GT02L/-GT04L/-

GT01H/-GT02H/-GT04H/-GT08H), the main circuit power supply input terminals are L1 and L3.

• Ground the motor's frame to the machine ground when the motor is on a movable shaft.

• Use a ground plate for the frame ground for each Unit, as shown in the above diagrams, and

ground to a single point.

• Use ground lines with a minimum thickness of 3.5 mm2, and arrange the wiring so that the ground

lines are as short as possible.

L1C

L2C

FC FC

CNA

CN1

CNB

CN2

HTB Controller

Single-phase: 100 VAC

Three-phase: 200 VAC

Single-phase:

100 VAC

4-28

4-3 Wiring Conforming to EMC Directives

System Design

• No-fuse breakers, surge absorbers, and noise filters should be positioned near the input terminal

block (ground plate), and I/O lines should be separated and wired at the shortest distance.

R88D-GT75H

Unit Details

*1. A specified combination of Servo Drive and Servomotor must be used.

Symbol Name Manufacturer Model Remarks

SG Surge absorber Okaya Electric

Industries Co., Ltd.

RAV781BWZ-4 Single-phase 100 VAC

RAV781BXZ-4 Three-phase 200 VAC

NF Noise filter Okaya Electric

Industries Co., Ltd.

SPU-EK5-ER-6 Single-phase

100/200 VAC (5 A)

3SUP-HQ10-ER-6 Three-phase 200 VAC

(10 A)

3SUP-HU30-ER-6 Three-phase 200 VAC

(30 A)

3SUP-HL50-ER-6B Three-phase 200 VAC

(50 A)

SV Servo Drive OMRON Corp. --- *1

SM Servomotor OMRON Corp. --- *1

FC Clamp core TDK ZACT305-1330 ---

TB Controller --- --- Switch box

L1C

L2C

CNA

CN1

CNB

CN2

TB Controller

Single-phase:

100 VAC

Three-phase:

200 VAC

4-29

4-3 Wiring Conforming to EMC Directives

System Design

Cable Details

Noise Filters for Power Supply Input

Use the following noise filters for the Servo Drive power supply

Symbol Supplies from Connects to Cable name Length Remarks Shielded Ferrite

AC power supply Noise filter Power supply line 2 m

Three-

phase

200 VAC

No No

Noise filter Servo Drive Power supply line 2 m --- No Yes

Servo Drive Servomotor Power cable 20 m --- Yes Yes

Servo Drive Servomotor Encoder cable 20 m --- No Yes

Switch box Servo Drive I/O cable 2 m --- No Yes

Frame ground Noise filter Frame ground line 1.5 m --- No No

AC power supply Switch box Power supply line 1.5 m --- No No

Servo Drive

model

Noise Filter

Model Rated

current Phases Maximum leakage

current (60 Hz) Manufacturer

R88D-GTA5L

SUP-EK5-ER-6 5 A Single 1.0 mA (at 250 VAC)

Okaya Electric

Industries Co.,

Ltd.

R88D-GT01L

R88D-GT02L

R88D-GT04L 3SUP-HQ10-ER-6 10 A Three 3.5 mA (at 500 VAC)

R88D-GT01H

SUP-EK5-ER-6 5 A Single 1.0 mA (at 250 VAC)R88D-GT02H

R88D-GT04H

R88D-GT08H 3SUP-HQ10-ER-6 10 A Three 3.5 mA (at 500 VAC)

R88D-GT10H

3SUP-HU30-ER-6 30 A Three 3.5 mA (at 500 VAC)R88D-GT15H

R88D-GT20H

R88D-GT30H

3SUP-HL50-ER-6B 50 A Three 8.0 mA (at 500 VAC)R88D-GT50H

R88D-GT75H

4-30

4-3 Wiring Conforming to EMC Directives

System Design

• If no-fuse breakers are installed at the top and the power supply line is wired from the lower duct,

use metal tubes for wiring or make sure that there is adequate distance between the input lines

and the internal wiring. If input and output lines are wired together, noise resistance will decrease.

• Wire the noise filter as shown at the left in the following illustration. The noise filter must be

installed as close as possible to the entrance of the control box.

• Use twisted-pair cables for the power supply cables, or bind the cables.

• Separate power supply cables and signal cables when wiring.

Control Panel Structure

Openings in the control panel, such as holes for cables, operating panel mounting holes,

and gaps around the door, may allow electromagnetic waves into the panel. To prevent this,

observe the recommendations described below when designing or selecting a control panel.

Case Structure

• Use a metal control panel with welded joints at the top, bottom, and sides so that the surfaces will

be electrically conductive.

• If assembly is required, strip the paint off the joint areas (or mask them during painting), to make

them electrically conductive.

• The panel may warp and gaps may appear when screws are tightened. Be sure that no gaps

appear when tightening screws.

• Do not leave any conductive part unconnected.

• Ground all Units within the case to the case itself.

Correct: Separate input and output Wrong: Noise not filtered effectivel

AC input AC input

Ground Ground

AC output

L1C L1

L2C

Correct: Properly twisted Correct: Cables are bound.

Servo Drive Servo Drive

Binding

4-31

4-3 Wiring Conforming to EMC Directives

System Design

Door Structure

• Use a metal door.

• Use a water-draining structure where the door and case fit together, and leave no gaps. (Refer to

the diagrams on the next page.)

• Use a conductive gasket between the door and the case. (Refer to the diagrams on the next page.)

• Strip the paint off the sections of the door and case that will be in contact with the conductive

gasket (or mask them during painting), so that they will be electrically conductive.

• The panel may warp and gaps may appear when screws are tightened. Be sure that no gaps

appear when tightening screws.

Case

Door

Control panel

Door (interior view)

Cross-sectional view of A–B

Oil-resistant gasket

Conductive gasket

Doo

Oil-resistant gasket Conductive gasket

4-32

4-3 Wiring Conforming to EMC Directives

System Design

Selecting Connection Components

This section explains the criteria for selecting the connection components required to improve noise

resistance. Understand each component's characteristics, such as its capacity, performance, and

applicable conditions when selecting the components. For more details, contact the manufacturers

directly.

No-fuse Breakers (NFB)

When selecting a no-fuse breaker, consider the maximum input current and the inrush current.

Maximum Input Current:

• The Servo Drive's maximum momentary output is approximately three times the rated output, and

can be output for up to three seconds. Therefore, select no-fuse breakers with an operating time

of at least five seconds at 300% of the rated current. General-purpose and low-speed no-fuse

breakers are generally suitable.

• Select a no-fuse-breaker with a rated current greater than the total effective load current of all the

Servomotors. The rated current of the power supply input for each Servomotor is provided in Main

Circuit and Servomotor Connections on page 4-21.

• Add the current consumption of other controllers, and any other components, when selecting the

NFB.

Inrush Current:

• The following table lists the Servo Drive inrush currents.

• With low-speed no-fuse breakers, an inrush current 10 times the rated current can flow for

0.02 second.

• When multiple Servo Drives are turned ON simultaneously, select a no-fuse-breaker with a 20-ms

allowable current that is greater than the total inrush current, shown in the following table.

Servo Drive model Inrush current (Ao-p)

Main circuit power supply Control circuit power supply

R88D-GTA5L 7 14

R88D-GT01L 7 14

R88D-GT02L 7 14

R88D-GT04L 30 14

R88D-GT01H 14 28

R88D-GT02H 14 28

R88D-GT04H 14 28

R88D-GT08H 60 28

R88D-GT10H 29 28

R88D-GT15H 29 28

R88D-GT20H 29 14

R88D-GT30H 22 14

R88D-GT50H 22 14

R88D-GT75H 88 66

4-33

4-3 Wiring Conforming to EMC Directives

System Design

Leakage Breakers

• Select leakage breakers designed for protection against grounding faults.

• Because switching takes place inside the Servo Drives, high-frequency current leaks from the

switching elements of the Servo Drive, the armature of the motor, and the cables. High-frequency

breakers with surge withstand capability do not detect high-frequency current, preventing the

breaker from operating with high-frequency leakage current. When using a general-purpose

leakage breaker, use three times the sum of the leakage current given in the following table as a

reference value.

• When selecting leakage breakers, remember to add the leakage current from devices other than

the Servomotor, such as machines using a switching power supply, noise filters, inverters, and so

on. To prevent malfunction due to inrush current, we recommend using a leakage breaker of ten

times the total of all current values.

• The leakage breaker is activated at 50% of the rated current. Allow leeway when selecting a

leakage breaker.

• For details on leakage breakers, refer to the manufacturer’s catalog.

• The following table shows the Servomotor leakage current for each Servo Drive model.

Note 1. The above leakage current is for cases when Servomotor power cable length is 3 meters or shorter. (The

leakage current depends on the power cable length and the insulation.)

Note 2. The resistor plus capacitor method provides a yardstick to measure the leakage current that may flow

through the human body when the Servomotor or Servo Drive is not grounded correctly. The above

leakage current is for normal temperature and humidity. (The leakage current depends on the temperature

and humidity.)

Servo Drive

model Input power

Leakage current (mA)

Resistance method

Resistor plus

capacitor

Clamping method

(Measurement filter ON at H10K13283)

Motor cable length:

3 m

Motor cable length:

3 m Per meter of motor cable

R88D-GTA5L Single-phase 100 V 0.42 mA 0.33 mA 0.003 mA

R88D-GT01L Single-phase 100 V 0.45 mA 0.35 mA 0.002 mA

R88D-GT02L Single-phase 100 V 0.46 mA 0.35 mA 0.002 mA

R88D-GT04L Single-phase 100 V 0.48 mA 0.35 mA 0.002 mA

R88D-GT01H Single-phase 200 V 0.92 mA 1.04 mA 0.016 mA

R88D-GT02H Single-phase 200 V 0.94 mA 1.06 mA 0.013 mA

R88D-GT04H Single-phase 200 V 1.15 mA 1.13 mA 0.013 mA

R88D-GT08H Single-phase 200 V 1.27 mA 1.09 mA 0.014 mA

R88D-GT10H Single-phase 200 V 1.27 mA 1.19 mA 0.015 mA

R88D-GT15H Single-phase 200 V 1.51 mA 1.20 mA 0.015 mA

R88D-GT08H Three-phase 200 V 1.62 mA 0.98 mA 0.009 mA

R88D-GT10H Three-phase 200 V 1.77 mA 1.03 mA 0.008 mA

R88D-GT15H Three-phase 200 V 2.18 mA 1.04 mA 0.003 mA

R88D-GT20H Three-phase 200 V 2.88 mA 1.08 mA 0.008 mA

R88D-GT30H Three-phase 200 V 2.83 mA 1.15 mA 0.011 mA

R88D-GT50H Three-phase 200 V 3.07 mA 1.14 mA 0.011 mA

R88D-GT75H Three-phase 200 V 6.32 mA 1.23 mA 0.013 mA

4-34

4-3 Wiring Conforming to EMC Directives

System Design

Surge Absorbers

• Use surge absorbers to absorb lightning surge voltage and abnormal voltage from power supply

input lines.

• When selecting surge absorbers, take into account the varistor voltage, the allowable surge

current and the energy.

• For 200-VAC systems, use surge absorbers with a varistor voltage of 620 V.

• The surge absorbers shown in the following table are recommended.

Note 1. Refer to the manufacturers' documentation for operating details.

Note 2. The surge immunity is for a standard impulse current of 8/20 µs. If pulses are wide, either

decrease the current or change to a larger-capacity surge absorber.

Dimensions

Equalizing Circuits

Manufacturer Model Surge immunity Type Remarks

Okaya Electric

Industries Co., Ltd. R·A·V-781BWZ-4 700 V ±20% 2500 A

Block

Single-phase

100/200 VAC

Okaya Electric

Industries Co., Ltd. R·A·V-781BXZ-4 700 V ±20% 2500 A Three-phase

200 VAC

1 2 3

4.5

28.5 11

5.5

200

4.2 dia.

Three-phase BXZ Series

4.5

28.5 11

5.5

200

4.2 dia.

Single-phase BWZ Series

Three-phase BXZ Series

Single-phase BWZ Series

4-35

4-3 Wiring Conforming to EMC Directives

System Design

Noise Filters for the Power Supply Input

• Use the following noise filters for the Servo Drive's power supply.

Dimensions

SUP-EK5-ER-6 3SUP-HQ10-ER-6

Servo Drive model

Noise filter for the power supply Input

Model Rated

current

Max. leakage

current (60 Hz) Manufacturer

R88D-GTA5L

SUP-EK5-ER-6 5 A 1 mA

(at 250 VAC)

Okaya Electric

Industries Co.,

Ltd.

R88D-GT01L

R88D-GT02L

R88D-GT04L 3SUP-HQ10-ER-6 10 A 3.5 mA

(at 500 VAC)

R88D-GT01H

SUP-EK5-ER-6 5 A 1 mA

(at 250 VAC)

R88D-GT02H

R88D-GT04H

R88D-GT08H 3SUP-HQ10-ER-6 10 A 3.5 mA

(at 500 VAC)

R88D-GT10H

3SUP-HU30-ER-6 30 A 3.5 mA

(at 500 VAC)

R88D-GT15H

R88D-GT20H

R88D-GT30H

3SUP-HL50-ER-6B 50 A 8 mA

(at 500 VAC)

R88D-GT50H

R88D-GT75H

105

115

5.5

Ground

terminal

Cover mounting

screw

Cover

Noise Filte

50.0

60.0

12.0

10.0

11.6

13.0

75.07.0

2.0

88.0

100±2.0 53.1±2.0

5.0

Two, 4.5 × 6.75 dia. Two, 4.5 dia. Six, M4

4-36

4-3 Wiring Conforming to EMC Directives

System Design

3SUP-HU30-ER-6 3SUP-HL50-ER-6B

Circuit Diagrams

SUP-EK5-ER-6 3SUP-HQ10-ER-6

3SUP-HU30-ER-6 3SUP-HL50-ER-6B

Noise Filter for the Brake Power Supply

• Use the following noise filter for the brake power supply.

Note Noise can also be reduced by using 1.5 turns with the ZCAT3035-1330 (TDK) Radio Noise

Filter.

Model Rated current Rated voltage Leakage current Manufacturer

SUP-EK5-ER-6 5 A 250 V 1.0 mA

(at 250 Vrms, 60 Hz)

Okaya Electric

Industries Co., Ltd.

105

115

5.5

Ground terminal

Cover mounting

screw

Cover

Noise Filter

120

90±1.0

286±3.0

240

150

270

255±1.0

Two, 5.5 × 7 dia.

Two,

5.5 dia.

CxR

Cx1Cx1R

Cy1

OUTIN

Cx1Cx1R

Cy1

OUTIN

LOADLINE

4-37

4-3 Wiring Conforming to EMC Directives

System Design

Radio Noise Filters and Emission Noise Prevention Clamp Cores

Use one of the following filters to prevent switching noise of PWM of the Servo Drive and to prevent

noise emitted from the internal oscillation circuit.

*1. Generally used for 1.5 W or higher.

*2. Generally used for 1.5 W or lower. The maximum number of windings is three turns.

*3. Generally used for 50/100 W. The maximum number of windings is two turns.

*4. Also used on the Servo Drive output power lines to comply with the EMC Directives. Only a

clamp is used. This clamp can also be used to reduce noise current on a frame ground line.

Dimensions

Model Manufacturer Application

3G3AX-ZCL1 *1 OMRON Servo Drive output and power cable

3G3AX-ZCL2 *2 OMRON Servo Drive output and power cable

ESD-R-47B *3 NEC TOKIN Servo Drive output and power cable

ZCAT3035-1330 *4 TDK Encoder cable and I/O cable

12.5

39.5

3G3AX-ZCL23G3AX-ZCL1

51.5

17.5

3.0

6.5

34.0

ESD-R-47B

34 13

3039

ZCAT 3035-1330

5.1 dia.

25.5 dia.

Two, M5

Three, M4

83±2

31.5 80

130

180±2

160±2

7 × 14 oval hole

7 dia.

4-38

4-3 Wiring Conforming to EMC Directives

System Design

Impedance Characteristics

10 100 10000

1000

100

0.1 11000

3G3AX-ZCL23G3AX-ZCL1

10000

1000

100

110 1001 1000

ESD-R-47B ZCAT 3035-1330

10 100 1000

1000

100

100 1 10 1000.1

15T

Frequency (kHz)

Impedance (Ω)

Frequency (kHz)

Impedance (Ω)

Frequency (MHz)

Impedance (Ω)

Frequency (MHz)

Impedance (Ω)

4-39

4-3 Wiring Conforming to EMC Directives

System Design

Surge Suppressors

• Install surge suppressors for loads that have induction coils, such as relays, solenoids, brakes,

clutches, etc.

• The following table shows the types of surge suppressors and recommended products.

• Thyristors and varistors are made by the following companies. Refer to manufacturers'

documentation for details on these components.

Thyristors: Ishizuka Electronics Co.

Varistors: Ishizuka Electronics Co., Matsushita Electric Industrial Co.

Contactors

• Select contactors based on the circuit's inrush current and the maximum momentary phase

current.

• The Servo Drive inrush current is covered in the preceding explanation of no-fuse breaker

selection, and the maximum momentary phase current is approximately twice the rated current.

• The following table shows the recommended contactors.

Type Features Recommended products

Diode

Diodes are used for relatively small loads

when the reset time is not an issue, such

as relays.

At power shutoff the surge voltage is the

lowest, but the rest time takes longer.

Used for 24/48-VDC systems.

Use a fast-recovery diode with a short re-

verse recovery time (e.g. RU2 of Sanken

Electric Co., Ltd.).

Thyristor or

varistor

Thyristors and varistors are used for loads

when induction coils are large, as in elec-

tromagnetic brakes, solenoids, etc., and

when reset time is an issue. The surge

voltage at power shutoff is approximately

1.5 times the varistor voltage.

Select the varistor voltage as follows:

24 VDC system: 39 V

100 VDC system: Varistor V. 200 V

100 VAC system: Varistor V. 270 V

200 VAC system: Varistor V. 470 V

Capacitor

+ resistor

The capacitor plus resistor combination is

used to absorb vibration in the surge at

power shutoff. The reset time can be

shortened by selecting the appropriate ca-

pacitance and resistance.

Okaya Electric Industries Co., Ltd.

XEB12002 0.2 µF - 120 Ω

XEB12003 0.3 µF - 120 Ω

Manufacturer Model Rated current Coil voltage

OMRON

J7L-09-22200 11 A 200 VAC

J7L-12-22200 13 A 200 VAC

J7L-18-22200 18 A 200 VAC

J7L-32-22200 26 A 200 VAC

J7L-40-22200 35 A 200 VAC

J7L-50-22200 50 A 200 VAC

J7L-65-22200 65 A 200 VAC

J7L-75-22200 75 A 200 VAC

4-40

4-3 Wiring Conforming to EMC Directives

System Design

Improving Encoder Cable Noise Resistance

Take the following steps during wiring and installation to improve the encoder's noise resistance.

• Always use the specified Encoder Cables.

• If cables are joined midway, be sure to use connectors and do not remove more than 50 mm of

the cable insulation. In addition, always use shielded cables.

• Do not coil cables. If cables are long and are coiled, mutual induction and inductance will increase

and cause malfunctions. Always use cables fully extended.

• When installing noise filters for Encoder Cables, use clamp filters.

• The following table shows the recommended clamp filters.

• Do not place the Encoder Cable with the following cables in the same duct: Control Cables for

brakes, solenoids, clutches, and valves.

Dimensions

Impedance Characteristics

Manufacturer Product name Model Specifications

NEC TOKIN Clamp Filters ESD-SR-250 For cable diameter up to

13 mm

TDK Clamp Filters ZCAT3035-1330 For cable diameter up to

13 mm

31.5

~13

dia.

31.6

38.0

ESD-SR-250

10000

1000

100

Impedance(Ω)

10 100

Frequency (MHz)

1 1000

ESD-SR-250

4-41

4-3 Wiring Conforming to EMC Directives

System Design

Improving Control I/O Signal Noise Resistance

Positioning can be affected and I/O signal errors can occur if control I/O is influenced by noise.

• Use completely separate power supplies for the control power supply (especially 24 VDC) and the

external operation power supply. In particular, do not connect the two power supply ground wires.

• Install a noise filter on the primary side of the control power supply.

• If Servomotors with brakes are being used, do not use the same 24-VDC power supply for both

the brakes and the control I/O. Additionally, do not connect the ground wires. Connecting the

ground wires may cause I/O signal errors.

• Keep the power supply for pulse commands and deviation counter reset input lines separated from

the control power supply as far as possible. In particular, do not connect the two power supply

ground lines.

• We recommend using line drivers for the pulse command and deviation counter reset outputs.

• Always use twisted-pair shielded cable for the pulse command and deviation counter reset signal

lines, and connect both ends of the shield to frame grounds.

• If the control power supply wiring is long, noise resistance can be improved by adding 1-µF

laminated ceramic capacitors between the control power supply and ground at the Servo Drive

input section or the controller output section.

• For open-collector specifications, keep the length of wires to within two meters.

 Reactors to Reduce Harmonic Current

Harmonic Current Countermeasures

• The Reactor is used for suppressing harmonic currents. It suppresses sudden and quick changes

in electric currents.

•The Guidelines for Suppressing Harmonic Currents in Home Appliances and General Purpose

Components requires that manufacturers take appropriate measures to suppress harmonic

current emissions onto power supply lines.

• Select the proper Reactor model according to the Servo Drive to be used.

Servo Drive Reactor specifications

Model number Rated current Inductance

R88D-GTA5L

R88D-GT01H 3G3AX-DL2002 1.6 A 21.4 mH

R88D-GT01L

R88D-GT02H 3G3AX-DL2004 3.2 A 10.7 mH

R88D-GT02L

R88D-GT04H 3G3AX-DL2007 6.1 A 6.75 mH

R88D-GT04L

R88D-GT08H

R88D-GT10H

3G3AX-DL2015 9.3 A 3.51 mH

R88D-GT15H 3G3AX-DL2022 13.8 A 2.51 mH

R88D-GT08H

R88D-GT10H

R88D-GT15H

3G3AX-AL2025 10.0 A 2.8 mH

R88D-GT20H

R88D-GT30H 3G3AX-AL2055 20.0A 0.88 mH

R88D-GT50H 3G3AX-AL2110 34.0 A 0.35 mH

R88D-GT75H 3G3AX-AL2220 67.0A 0.18 mH

4-42

4-3 Wiring Conforming to EMC Directives

System Design

Selecting Other Parts for Noise Resistance

This section explains the criteria for selecting other connection components required to improve

noise resistance.

Understand each component's characteristics, such as its capacity, performance, and applicable

conditions when selecting the components.

For more details, contact the manufacturers directly.

Noise Filters for the Power Supply Input

• Use a noise filter to attenuate external noise and reduce noise emitted from the Servo Drive.

• Select a noise filter with a rated current that is at least two times greater than the effective load

current (the rated current of the main circuit power supply input given in Main Circuit and

Servomotor Connections on page 4-21).

Note 1. To attenuate noise at low frequencies below 200 kHz, use an isolation transformer and a

noise filter.

Note 2. To attenuate noise at high frequencies over 30 MHz, use a ferrite core and a high-frequency

noise filter with a feed-through capacitor.

Note 3. If multiple Servo Drives are connected to a single noise filter, select a noise filter with a rated

current at least two times the total rated current of all the Servo Drives.

Manufacturer Model Rated

current Applicable standards Remarks

NEC TOKIN

GT-2050 5 A

UL, CSA, VDE, TÜV Single-

phase

GT-2100 10 A

GT-2150 15 A

GT-2150 20 A

HFP-2153 15 A UL, CSA, TÜV Three-

phase

HFP-2303 30 A

Okaya Electric

Industries Co.,

ltd.

SUP-EK10-ER-6 10 A

UL, cUL, TÜV Single-

phase

SUP-EK15-ER-6 15 A

SUP-EK20-ER-6 20 A

SUP-EK30-ER-6 30 A

SUP-HL10-ER-6 10 A

UL, TÜV Three-

phase

SUP-H15-ER-6 15 A

3SUP-HL30-ER-6 30 A

3SUP-HL75-ER-6 75 A

3SUP-HL100-ER-6 100 A

TDK

ZRCS2006-00S 6 A

UL, CSA, NEMKO Single-

phase

ZRCS2010-00S 10 A

ZRCS2020-00S 20 A

ZRCS2030-00S 30 A

ZRCT5050-MF 50 A

UL, CSA, NEMKO Three-

phase

ZRCT5080-MF 80 A

ZRCT5100-MF 100 A

4-43

4-3 Wiring Conforming to EMC Directives

System Design

Noise Filters for Servomotor Output

• Use noise filters without built-in capacitors on the Servomotor output lines.

• Select a noise filter with a rated current at least two times the Servo Drive's continuous output

current.

• The following table shows the noise filters that are recommended for Servomotor output.

Note 1. Servomotor output lines cannot use the same noise filters for power supplies.

Note 2. Typical general-purpose noise filters are made for power supply frequencies of 50/60 Hz. If

these noise filters are connected to the PWM output of the Servo Drive, a very large (about

100 times larger) leakage current will flow through the noise filter's condenser and the Servo

Drive could be damaged.

Dimensions

3G3AX-NF001/-NF002

Manufacturer Model Rated

current Remarks

OMRON

3G3AX-NF001 6 A

For inverter output

3G3AX-NF002 12 A

3G3AX-NF003 25 A

3G3AX-NF004 50 A

3G3AX-NF005 75 A

3G3AX-NF006 100 A

Model Dimensions (mm)

A B C E F G H J M P

3G3AX-NF001 140 125 110 70 95 22 50 20 4.5 dia. 156

3G3AX-NF002 160 145 130 80 110 30 70 25 5.5 dia. 176

Four, M

4-44

4-3 Wiring Conforming to EMC Directives

System Design

3G3AX-NF003/-NF004/-NF005/-NF006

Model Dimensions (mm)

A B C E F H J N O P

3G3AX-NF003 160 145 130 80 112 120 --- --- M4 154

3G3AX-NF004 200 180 160 100 162 150 120 M5 M5 210

3G3AX-NF005 220 200 180 100 182 170 140 M6 M6 230

3G3AX-NF006 220 200 180 100 182 170 140 M8 M8 237

Six, O

Two, N

Four, 6.5 dia.

4-45

4-4 Regenerative Energy Absorption

System Design

4-4 Regenerative Energy Absorption

The Servo Drives have internal regenerative energy absorption circuitry, which absorbs the

regenerative energy produced during Servomotor deceleration and prevents the DC voltage from

increasing. An overvoltage error occurs, however, if the amount of regenerative energy from the

Servomotor is too large. If this occurs, measures must be taken to reduce the regenerative energy

by changing operating patterns, or to increase the regenerative energy absorption capacity by

connecting an External Regeneration Resistor.

Calculating the Regenerative Energy

Horizontal Axis

• In the output torque graph, acceleration in the positive direction is shown as positive, and

acceleration in the negative direction is shown as negative.

• The regenerative energy values for each region can be derived from the following equations.

Note Due to the loss of winding resistance and PWM, the actual regenerative energy will be

approximately 90% of the values derived from these equations.

+N1

−N2

TD1

TD2

t1t2

Eg1

Eg2

Servomotor

operation

Servomotor

output torque

1t1TNE D

g=60

****

[J]

1t2TNE D

g=60

****

[J]

N1, N2: Rotation speed at beginning of deceleration [r/min]

TD1, TD2: Deceleration torque [N·m]

t1, t2: Deceleration time [s]

4-46

4-4 Regenerative Energy Absorption

System Design

• For Servo Drive models with internal capacitors used for absorbing regenerative energy (i.e.,

models of 400 W or less), the values for both Eg1 or Eg2 (unit: J) must be lower than the Servo

Drive’s regenerative energy absorption capacity. (The capacity depends on the model. For details,

refer to Servo Drive Regenerative Energy Absorption Capacity on page 4-48.)

• For Servo Drive models with an internal regeneration resistor used for absorbing regenerative

energy (i.e., models of 500 W or more), the average amount of regeneration Pr (unit: W) must be

calculated, and this value must be lower than the Servo Drive’s regenerative energy absorption

capacity. (The capacity depends on the model. For details, refer to Servo Drive Regenerative

Energy Absorption Capacity on page 4-48.)

The average regeneration power (Pr) is the regeneration power produced in one cycle of

operation.

Pr = (Eg1 + Eg2) / T [W]

T: Operation cycle [s]

4-47

4-4 Regenerative Energy Absorption

System Design

Vertical Axis

• In the output torque graph, acceleration in the positive direction (rising) is shown as positive, and

acceleration in the negative direction (falling) is shown as negative.

• The regenerative energy values in each region can be derived from the following equations.

Note Due to the loss of winding resistance, the actual regenerative energy will be approximately

90% of the values derived from these equations.

• For Servo Drive models with internal capacitors used for absorbing regenerative energy (i.e.,

models of 400 W or less.), the values for both Eg1 or Eg2 + Eg3 (unit: J) must be lower than the

Servo Drive’s regenerative energy absorption capacity. (The capacity depends on the model. For

details, refer to Servo Drive Regenerative Energy Absorption Capacity on page 4-48.)

• For Servo Drive models with an internal regeneration resistor used for absorbing regenerative

energy (i.e., models of 500 W or more), the average amount of regeneration Pr (unit: W) must be

calculated, and this value must be lower than the Servo Drive’s regenerative energy absorption

capacity. (The capacity depends on the model. For details, refer to Servo Drive Regenerative

Energy Absorption Capacity on page 4-48.)

The average regeneration power (Pr) is the regeneration power produced in one cycle of operation

[W].

t1t2t3

Eg1

Eg3

TD2

TL2

TD1

Eg2

Servomotor

operation

Servomotor

output torque

Rising

Falling

+N1

−N2

N1, N2: Rotation speed at beginning of deceleration [r/min]

TD1, TD2: Deceleration torque [N·m]

TL2: Torque when falling [N·m]

t1, t3: Deceleration time [s]

t2: Constant-velocity travel time when falling [s]

2Eg1Eg

Pr( + ) / T [W]

T: O

eration c

cle

[

]

2Eg+

4-48

4-4 Regenerative Energy Absorption

System Design

Servo Drive Regenerative Energy Absorption Capacity

Amount of Internal Regeneration Absorption in Servo Drives

The OMNUC G-Series Servo Drives absorb regenerative energy internally with built-in capacitors.

If the regenerative energy is too large to be processed internally, an overvoltage error occurs and

operation cannot continue. The following table shows the regenerative energy (and amount of

regeneration) that each Servo Drive can absorb.

If these values are exceeded, take the following measures.

• Connect an External Regeneration Resistor (to improve the regeneration processing capacity).

• Reduce the operating rotation speed. (The amount of regeneration is proportional to the square of

the rotation speed.)

• Lengthen the deceleration time (to decrease the regenerative energy produced per time unit).

• Lengthen the operation cycle, i.e., the cycle time (to decrease the average regeneration power).

Note These are the values at 100 VAC for 100-VAC models, and at 200 VAC for 200-VAC models.

Servo Drive

Regenerative

energy (J) that can

be absorbed by

internal capacitor

Internal regeneration resistance Minimum value

of regeneration

resistance

(Ω)

Average amount of

regeneration that can

be absorbed (W)

Resis-

tance (Ω)

R88D-GTA5L 12 --- --- 18

R88D-GT01L 12 --- --- 18

R88D-GT02L 18 --- --- 18

R88D-GT04L 27 12 50 13

R88D-GT01H 16 --- --- 35

R88D-GT02H 16 --- --- 35

R88D-GT04H 25 --- --- 35

R88D-GT08H 43 12 100 27

R88D-GT10H 70 20 30 27

R88D-GT15H 70 20 30 18

R88D-GT20H 70 40 15 11

R88D-GT30H 70 40 15 11

R88D-GT50H 105 80 10 7

R88D-GT75H 250 --- --- 4

4-49

4-4 Regenerative Energy Absorption

System Design

Absorbing Regenerative Energy with an External Regeneration

Resistor

If the regenerative energy exceeds the absorption capacity of the Servo Drive, connect an External

Regeneration Resistor. Connect the External Regeneration Resistor between B1 and B2 terminals

on the Servo Drive. Double-check the terminal names when connecting the resistor because the

Servo Drive may be damaged by burning if connected to the wrong terminals. The External

Regeneration Resistor will heat up to approximately 120°C. Do not place it near equipment and

wiring that is easily affected by heat. Attach radiator plates suitable for the heat radiation conditions.

External Regeneration Resistor

Performance Specifications

Connecting an External Regeneration Resistor

R88D-GTA5L/-GT01L/-GT02L/-GT01H/-GT02H/-GT04H

If an External Regeneration Resistor is necessary, connect it between B1 and B2 as shown in the

diagram below.

Model Resistance Nominal

capacity

Regeneration ab-

sorption at 120°C

Heat radiation

condition

Thermal switch output

specifications

R88A-

RR08050S 50 Ω80 W 20 W

Aluminum,

250 × 250,

Thickness: 3.0

Operating temperature:

150°C ±5%

NC contact

Rated output: 30 VDC,

50 mA max.

R88A-

RR080100S 100 Ω80 W 20 W

Aluminum,

250 × 250,

Thickness: 3.0

Operating temperature:

150°C ±5%

NC contact

Rated output: 30 VDC,

50 mA max.

R88A-

RR22047S 47 Ω220 W 70 W

Aluminum,

350 × 350,

Thickness: 3.0

Operating temperature:

170°C ±7%

NC contact

Rated output: 250 VAC,

0.2 A max.

R88A-

RR50020S 20 Ω500 W 180 W

Aluminum,

600 × 600,

Thickness: 3.0

Operating temperature:

200°C ±7°C

NC contact

Rated output:

250 VAC, 0.2 A max.

24 VDC, 0.2 A max.

Connect the thermal switch output so that the main circuit power supply is

shut OFF when the contacts open. The resistor may be damaged by

burning, or cause fire if it is used without setting up a power supply shutoff

sequence using the output from the thermal switch.

Servo Drive

B2 External

Regeneration

Resistor

θ> Thermal Switch Output

Precautions

for Correct Use

4-50

4-4 Regenerative Energy Absorption

System Design

R88D-GT04L/-GT08H/-GT10H/-GT15H/-GT20H/-GT30H/-GT50H

If an External Regeneration Resistor is necessary, remove the short-circuit bar between B2 and B3,

and then connect the External Regeneration Resistor between B1 and B2 as shown in the diagram

below.

R88D-GT75H

If an External Regeneration Resistor is necessary, connect it between B1 and B2 as shown in the

diagram below.

Connect the thermal switch output so that the main circuit power supply is

shut OFF when the contacts open.

When using multiple External Regeneration Resistors, connect each

thermal switch in series.

The resistor may be damaged by burning, or cause fire if it is used without

setting up a power supply shutoff sequence using the output from the

thermal switch.

Connect the thermal switch output so that the main circuit power supply is

shut OFF when the contacts open.

When using multiple External Regeneration Resistors, connect each

thermal switch in series.

The resistor may be damaged by burning, or cause fire if it is used without

setting up a power supply shutoff sequence using the output from the

thermal switch.

Remove the short-circuit bar between B2 and B3.

Servo Drive

External Regeneration

Resistor

θ> Thermal Switch Output

Precautions

for Correct Use

Servo Drive

B2 External

Regeneration

Resistor

θ> Thermal Switch Output

Precautions

for Correct Use

4-51

4-4 Regenerative Energy Absorption

System Design

Combining External Regeneration Resistors

*1. Select a combination that has an absorption capacity greater than the average regeneration

power (Pr).

*2. Do not use a combination with resistance values lower than the minimum external regeneration

resistance of each Servo Drive. For information on the minimum external regeneration

resistance, refer to Servo Drive Regenerative Energy Absorption Capacity on page 4-48.

Regeneration

absorption

capacity *1 20 W 40 W 70 W 140 W

Model R88A-RR08050S

R88A-RR080100S

R88A-RR08050S

R88A-RR080100S R88A-RR22047S R88A-RR22047S

Resistance *2 50 Ω/100 Ω25 Ω/50 Ω47 Ω94 Ω

Connection

method

Regeneration

absorption

capacity *1 140 W 280 W 560 W

Model R88A-RR22047S R88A-RR22047S R88A-RR22047S

Resistance *2 23.5 Ω47 Ω23.5 Ω

Connection

method

Regeneration

absorption

capacity *1 180 W 360 W 1440 W

Model R88A-RR50020S R88A-RR50020S R88A-RR50020S

Resistance*2 20 Ω10 Ω10 Ω

Connection

method

Surface temperatures on regeneration resistors can reach 200°C.

Do not place objects that tend to catch fire near the resistors. To prevent

people from touching them, install a type of cover that enables heat

dissipation.

RR R

R R

R R R R

R R

RR R

R R

Precautions

for Correct Use

Chapter 5

Operating Functions

5-1 Position Control.................................................. 5-1

5-2 Speed Control .................................................... 5-3

5-3 Internally Set Speed Control .............................. 5-5

5-4 Torque Control ................................................... 5-8

5-5 Switching the Control Mode ............................... 5-11

5-6 Forward and Reverse Drive Prohibit .................. 5-14

5-7 Encoder Dividing ................................................ 5-15

5-8 Electronic Gear .................................................. 5-16

5-9 Overrun Limit...................................................... 5-18

5-10 Brake Interlock ................................................... 5-20

5-11 Gain Switching ................................................... 5-24

5-12 Torque Limit ....................................................... 5-25

5-13 Soft Start ............................................................ 5-27

5-14 Position Command Filter.................................... 5-28

5-15 Speed Limit ........................................................ 5-29

5-16 User Parameters ................................................ 5-30

Setting and Checking Parameters ........................................5-30

Parameter Tables .................................................................5-32

Parameters Details ...............................................................5-50

5-1

5-1 Position Control

Operating Functions

5-1 Position Control

Function

• Perform control using the pulse-string input from CN1 pins 3 to 6.

• The Servomotor rotates using the value of the pulse-string input multiplied by the Electronic Gear

Ratio (Pn48 to Pn4B).

Parameters Requiring Settings

Parameter No. Parameter name Explanation Reference

page

Pn02 Control Mode Selection Select the control mode for position control (setting: 0, 3, or 4). 5-52

Pn40 Command Pulse Input

Selection

Select using a photocoupler input or a line-driver input as the

command pulse input. 5-73

Pn41

Command Pulse

Rotation Direction

Switch Set to match the command pulse form of the controller. 5-73

Pn42 Command Pulse Mode 5-74

Pn48 to Pn4B Electronic Gear Ratio Set the pulse rate for command pulses and Servomotor travel

amount. 5-77

+CW

−CW

+CCW

−CCW

+CWLD

−CWLD

+CCWLD

−CCWLD

Numerator × Ratio

Denominator

CJ1W-NC113/133

CJ1W-NC213/233

CJ1W-NC413/433

CS1W-NC113/133

CS1W-NC213/233

CS1W-NC413/433

CPU Units with built-in

pulse I/O

CJ1M-CPU21/22/23

CP1H-X/XA/Y

CP1L-M/L

FQM1-MMP22

Controller with

pulse-string output

OMNUC G-Series Servo Drive

Position Control Unit

Flexible Motion

Controller

Pulse string

Position Control

Mode

Electronic Gear Ratio

(Pn48 to Pn4B)

OMNUC G-Series

Servomotor

5-2

5-1 Position Control

Operating Functions

Related Functions

• The main functions related to position control are as follows:

Parameter Block Diagram for Position Control Mode

Function Explanation Reference

page

Position command filter function Sets the soft start for the command pulse. 5-28

Feed-forward function Adds the command pulse differential to the speed loop to reduce the

positioning time. 5-60

Torque limit function Limits the Servomotor’s torque output. 5-25

Vibration Filter

Pn2B: Frequency 1

Pn2C: Filter 1

Pn2D: Frequency 2

Pn2E: Filter 2

Speed Command

Monitor

Actual Speed

Monitor

Position Deviation

Monitor

Torque Command

Monitor

Speed PI Processor

Pn11: Speed Gain 1

Pn12: Integration Time

Constant 1

Pn19: Speed Gain 2

Pn1A: Integration Time

Constant 2

Pn20: Inertia Ratio

Notch Filter

Pn1D: Filter 1 Frequency

Pn1E: Filter 1 Width

Pn28: Filter 2 Frequency

Pn29: Filter 2 Width

Pn2A: Notch Filter 2 Depth

Pn2F: Adaptive Filter

Torque Command/Limit

Pn14: Filter

Pn1C: Filter 2

Pn5E: No.1 Torque Limit

Pn5F: No.2 Torque Limit

Divider Setting

Pn44: Numerator

Pn45: Denominator

Pn46: Direction

Switch

Speed Detection Filter

Pn13: Filter 1

Pn1B: Filter 2

Phase A, B, Z

Torque Limit

PCL

Torque Limit

NCL

Torque Limit Input

3 V/100 %

Torque

Processor

Current Feedback

Receive

Encoder

Signal

−

+++

−−

Input Condition

Setting

Pn40: Input

Selection

Pn41: Rotation

Direction

Pn42: Mode

Pn4D:

Smoothing Filter

Setting

Electronic Gear

Pn48: Numerator G1

Pn49: Numerator G2

Pn4A: Numerator

Exponent

Pn4B: Denominator

Pn4C:

Position

Command

Filter

Speed FF

Pn15: FF Amount

Pn16: FF Command Filter

Deviation Counter

Pn10: Loop Gain 1

Pn18: Loop Gain 2

CCW

5-3

5-2 Speed Control

Operating Functions

5-2 Speed Control

Function

• Performs Servomotor speed control using analog voltage input from the speed command (REF:

CN1 pins 14 and 15). You can also perform speed control by combining with a controller that has

a position control function.

• You can change the relation between the speed command and the rotation speed by setting the

Speed Command Scale (Pn50).

Parameters Requiring Settings

Parameter

No. Parameter name Explanation Reference page

Pn02 Control Mode

Selection Set the control mode for speed control (Settings: 1, 3, 5) 5-52

Pn50 Speed Command

Scale

Set the REF (speed command input) voltage for operating

at the rated rotation speed.

5-80

CS1W-MC221/421 (-V1)

FQM1-MMA22

REF

AGND

15 V

r/min

Controller with

analog voltage output

Motion Control Unit Analog voltage

(speed command)

Flexible Motion

Controller

OMNUC G-Series Servo Drive

Speed Control Mode

Speed Command

Scale (Pn50)

OMNUC G-Series

Servomotor

Default slope

−10 −6

246810

Rotation speed (r/min.)

Rated rotation

Speed command

voltage (V)

Rated rotation speed

5-4

5-2 Speed Control

Operating Functions

Related Functions

• The main functions related to speed control are as follows:

Parameter Block Diagram for Speed Control Mode

Function Explanation Reference page

Soft start function Sets the soft start for the speed command. 5-27

Torque limit function Limits the Servomotor’s torque output. 5-25

Pn53: No.1 Speed

Pn55: No.3 Speed

Pn74: No.5 Speed

Pn76: No.7 Speed

Pn54: No.2 Speed

Pn56: No.4 Speed

Pn75: No.6 Speed

Pn77: No.8 Speed

Internally Set Speed Setting

Speed Input Setting

Pn50: Speed Scale

Pn51: Rotation Direction

Pn52: Offset

Pn57: Filter Time Constant

Soft Start Setting

Pn58: Acceleration Time

Pn59: Deceleration Time

Pn5A: S-curve

Acceleration/

Deceleration

Pn05:

Command

Speed

Selection

Speed

Command

REF *1

−

Speed Command

Monitor

Actual Speed

Monitor

Torque Command

Monitor

Speed PI Processor

Pn11: Speed Gain 1

Pn12: Integration Time

Constant 1

Pn19: Speed Gain 2

Pn1A: Integration Time

Constant 2

Pn20: Inertia Ratio

Notch Filter

Pn1D: Filter 1 Frequency

Pn1E: Filter 1 Width

Pn28: Filter 2 Frequency

Pn29: Filter 2 Width

Pn2A: Notch Filter 2 Depth

Pn2F: Adaptive Filter

Torque Command/Limit

Pn14: Filter

Pn1C: Filter 2

Pn5E: No.1 Torque Limit

Pn5F: No.2 Torque Limit

Divider Setting

Pn44: Numerator

Pn45: Denominator

Pn46: Direction

Switch

Speed Detection Filter

Pn13: Filter 1

Pn1B: Filter 2

Phase A, B, Z

Torque Limit

PCL

Torque Limit

NCL

Torque Limit Input

3 V/100 %

Torque

Processor

Current Feedback

Receive

Encoder

Signal

5-5

5-3 Internally Set Speed Control

Operating Functions

5-3 Internally Set Speed Control

Function

• Performs Servomotor speed control using the speeds set in the No. 1 to 8 Internally Set Speeds.

• Select the internally set speed using the Internally Set Speed Selection 1 to 3 of the control input

terminals (VSEL1: CN1 pin 33, VSEL2: CN1 pin 30, VSEL3: CN1 pin 28).

Parameters Requiring Settings

Selecting the Internally Set Speeds

The following tables show the internally set speeds that are set with VSEL1, VSEL2, and VSEL3

(Internally Set Speed Selection 1, 2, and 3 Inputs).

Parameter No. Parameter name Explanation Reference

page

Pn02 Control Mode Selection Select the control mode for internally set speeds

(setting: 1, 3, or 5). 5-52

Pn05 Command Speed Selection Make a setting to use the internally set speeds

(setting: 1, 2, or 3). 5-53

Pn53 No. 1 Internally Set Speed Set the internally set speeds (r/min).

The settings can be made from −20,000 to 20,000 r/min.

Be sure to set the speeds within the allowable range of

rotation speed of the Servomotor.

5-81

Pn54 No. 2 Internally Set Speed

Pn55 No. 3 Internally Set Speed

Pn56 No. 4 Internally Set Speed

Pn74 No. 5 Internally Set Speed

Pn75 No. 6 Internally Set Speed

Pn76 No. 7 Internally Set Speed

Pn77 No. 8 Internally Set Speed

Pn58 Soft Start Acceleration Time Set the acceleration time for internally set speed control.

Set the time (setting × 2 ms) until 1,000 r/min is reached. 5-82

Pn59 Soft Start Deceleration Time Set the deceleration time for internally set speed control.

Set the time (setting × 2 ms) until 1,000 r/min is reached. 5-82

Pn5A S-curve Acceleration/

Deceleration Time Setting

Set the S-curve time width (setting × 2 ms) centered on

the inflection points for acceleration and deceleration. 5-82

VSEL133

VSEL230

VSEL328

Controller OMNUC G-Series Servo Drive

Internally set speed control

OMNUC G-Series

Servomotor

Speed selection

command No. 1 to 8

Internally Set

Speeds

(Pn53 to Pn56,

Pn74 to Pn77)

*Internally set

speed control can

be performed

using only digital

I/O signals.

5-6

5-3 Internally Set Speed Control

Operating Functions

Pn05 = 1

Pn05 = 2

*1. The mode will be analog speed control.

Input the proper current to REF.

Pn05 = 3

Operation Example

• Internally Set Speed Control with Four Speed Changes When Pn05 = 1

No. VSEL1 VSEL2 VSEL3 Set speed

0 OFF OFF OFF Pn53

1 ON OFF OFF Pn54

2 OFF ON OFF Pn55

3 ON ON OFF Pn56

4 OFF OFF ON Pn53

5 ON OFF ON Pn54

6 OFF ON ON Pn55

7 ON ON ON Pn56

No. VSEL1 VSEL2 VSEL3 Set speed

0 OFF OFF OFF Pn53

1ON OFF OFF Pn54

2 OFF ON OFF Pn55

3ON ON OFF *1

4OFF OFF ON Pn53

5ON OFF ON Pn54

6OFF ON ON Pn55

7ONONON *1

No. VSEL1 VSEL2 VSEL3 Set speed

0 OFF OFF OFF Pn53

1 ON OFF OFF Pn54

2 OFF ON OFF Pn55

3 ON ON OFF Pn56

4 OFF OFF ON Pn74

5 ON OFF ON Pn75

6 OFF ON ON Pn76

7 ON ON ON Pn77

5-7

5-3 Internally Set Speed Control

Operating Functions

*1. The acceleration time, deceleration time, and S-curve acceleration/deceleration time can be set

using parameters (Pn58, Pn59, and Pn5A).

RUN Command (RUN)

Zero Speed Designation (VZERO)

Internally Set Speed Selection1 (VSEL1)

Internally Set Speed Selection 2 (VSEL2)

Speed

Time

Servo ON

Stop Drive

Open

Closed

Open

Open Closed

Open

Speed 1

Speed 2

Speed 3

Speed 4

(*1)

5-8

5-4 Torque Control

Operating Functions

5-4 Torque Control

Function

• Controls the Servomotor output torque using analog voltage input from the torque command

(TREF: CN1 pins 14 to 17).

• You can change the relation between the torque command and output torque using the Torque

Command Scale (Pn5C) setting.

• The setting procedure depends on the control mode.

Parameters Requiring Settings

Pn02 = 2 or 4 (Torque Control, Torque/Position Switch Control)

Note Servomotor rotation speed in torque control varies according to the Servomotor load

conditions (e.g., friction, external power, inertia). Take safety measures on the machine

device side to prevent Servomotor runaway.

Pn5B = 0 Pn5B = 1

TREF1/

VLIM

pin 14

Torque command input. Set the gain, polar-

ity, offset, and filter for the torque command

by using Pn5C, Pn5D, Pn52, and Pn57.

Analog speed limit input. To set the gain,

offset, and filter for the speed limit, use

Pn50, Pn52, and Pn57, respectively.

TREF2

pin 16

This input is disabled.

The speed limit will be the No. 4 Internally

Set Speed (Pn56).

Torque command input. Set the gain and

polarity for the torque command by using

Pn5C and Pn5D. Offsets and filters cannot

be used.

TREF2

AGND

TREF1

/VLIM

AGND

Controller with

analog voltage

output

OMRON

controllers are not

available with

torque command

voltage output.

Analog voltage

(torque command) OMNUC G-Series Servo Drive

Torque Control Mode

Torque Command

Scale (Pn5C)

Torque OMNUC G-Series

Servomotor

5-9

5-4 Torque Control

Operating Functions

Pn02 = 5 (Torque/Speed Switch Control)

Related Functions

Functions related to torque control are as follows:

Parameter

No.

Parameter name

(function) Explanation Reference page

Pn52 Speed Command

Offset Adjustment

The speed command input will be offset by

approximately the set value times 0.3 mV. 5-80

Pn57 Speed Command

Filter Time Constant

Set the time constant for the first-order lag fil-

ter. 5-81

Pn5C Torque Command

Scale

Set the TREF (torque command input) volt-

age to output the rated torque.

5-83

Pn5D Torque Output

Direction Switch

Reverse the polarity of the torque command

input. 5-83

Pn5B = 0 Pn5B = 1

TREF1/

VLIM

pin 14

This input is disabled.

The speed limit will be the No. 4 Internally

Set Speed (Pn56).

Analog speed limit input. To set the gain,

offset, and filter for the speed limit, use

Pn50, Pn52, and Pn57, respectively.

TREF2

pin 16

Torque command input. The gain, polarity, offset, and filter for the torque command can

be set using Pn5C and Pn5D. Offsets and filters cannot be used.

Function Explanation Reference page

Torque limit function This function limits the Servomotor’s torque output. 5-25

Speed limit function This function controls the Servomotor rotation speed so

that it does not become too high. 5-29

−3−9V

100

200

300[%]

200

300[%]

9V6

−6

Output torque (rated torque ratio)

Default setting

Command input

voltage

5-10

5-4 Torque Control

Operating Functions

Parameter Block Diagram for Torque Control Mode

−

Torque Input Setting

Pn5C: Torque Scale

Pn5D: Output Direction

(Pn52: Offset)

(Pn57: Filter Time

Constant)

Sign

(±)

Internally Set

Speed Limit

Pn56: Speed Limit

Torque

Limit

Torque Command

TREF1/

TREF2

Speed Limit

VLIM

Speed Command

Monitor

Actual Speed

Monitor

Torque Command

Monitor

Speed PI Processor

Pn11: Speed Gain 1

Pn12: Integration Time

Constant 1

Pn19: Speed Gain 2

Pn1A: Integration Time

Constant 2

Pn20: Inertia Ratio

Notch Filter

Pn1D: Filter 1 Frequency

Pn1E: Filter 1 Width

Pn28: Filter 2 Frequency

Pn29: Filter 2 Width

Pn2A: Notch Filter 2 Depth

Pn2F: Adaptive Filter

Torque Command/Limit

Pn14: Filter

Pn1C: Filter 2

Pn5E: No.1 Torque Limit

Pn5F: No.2 Torque Limit

Divider Setting

Pn44: Numerator

Pn45: Denominator

Pn46: Direction

Switch

Speed Detection Filter

Pn13: Filter 1

Pn1B: Filter 2

Phase A, B, Z

Torque

Processor

Current Feedback

Receive

Encoder

Signal

5-11

5-5 Switching the Control Mode

Operating Functions

5-5 Switching the Control Mode

Function

• This function controls the Servomotor by switching between two control modes via external inputs.

• The control mode switching is performed at the Control Mode Switch Input (TVSEL: CN1 pin 32).

Parameters Requiring Settings

Control Mode Selected at TVSEL (Control Mode Switch Input)

• The following table shows the relation between TVSEL (Control Mode Switch Input) and the

control mode selected.

Note Use caution when switching control modes. Operation may change suddenly depending on

the control mode settings.

Parameter

No. Parameter name Explanation Reference

page

Pn02 Control Mode Selection Select control mode for switching control (Settings: 3, 4, 5) 5-52

Control Mode

Selection (Pn02)

setting

TVSEL

OFF ON

3 Position control Speed control

4 Position control Position control

5 Speed control Torque control

+CW

+CCW

REF

AGND

TVSEL32

Controller Analog voltage

(speed command)

Pulse string

OMNUC G-Series

Servo Drive

Switching control

(Example: Between position

control and speed control)

Speed

control

Position

control

OMNUC G-Series

Servomotor

5-12

5-5 Switching the Control Mode

Operating Functions

Operation Examples

Position and Speed Control Switching Example (Pn02 = 3)

• There is a maximum delay of 10 ms in reading the input signal.

• When switching from speed control to position control, turn OFF the Control Mode Switch Input (TVSEL) and

wait at least 10 ms after the Positioning Completed Output (INP) turns ON before inputting the pulse command.

The pulses input before INP turns ON will be ignored.

• The shaded areas for the Positioning Completed Output (INP) in the time chart show that the signal is turned

ON as the Servomotor Rotation Detection Output (TGON). (The meaning of the signal depends on the control

mode.)

Position and Torque Control Switching Example (Pn02 = 4)

• This time chart shows an example of torque thrust.

• There is a maximum delay of 10 ms in reading the input signal.

• When switching from torque control to position control, turn OFF the Control Mode Switch Input (TVSEL) and

wait at least 10 ms after the Positioning Completed Output (INP) turns ON before inputting the pulse command.

The pulses input before INP turns ON will be ignored.

OFF

+r/min

Control Mode Switch

Input (TVSEL)

Speed Command Input

(REF)

Pulse commands

Positioning Completed

Output (INP)

Motor Rotation Speed

Detection Output (TGON)

Servomotor operation

10 ms min.

OFF

+r/min

Control Mode Switch

Input (TVSEL)

Torque Command Input

(TREF)

Pulse commands

Positioning Completed

Output (INP)

Servomotor operation

10 ms min.

(Forward operation) (Reverse operation)

act

5-13

5-5 Switching the Control Mode

Operating Functions

Speed and Torque Control Switching Example (Pn02 = 5)

*1. Deceleration for the torque command.

*2. Deceleration due to load inertia energy and load friction torque.

• There is a maximum delay of 10 ms in reading the input signal.

• Servomotor operation in Torque Control Mode changes according to the Servomotor load conditions (e.g., fric-

tion, external power, inertia). Take safety measures on the machine side to prevent Servomotor runaway.

Related Functions

Refer to the related functions for each control mode.

OFF

+r/min

Control Mode Switch

Input (TVSEL)

Servomotor operation

Speed Command Input

(REF)

Torque Command Input

(TREF)

Torque Control Mode

5-14

5-6 Forward and Reverse Drive Prohibit

Operating Functions

5-6 Forward and Reverse Drive Prohibit

Function

• When the Forward Drive Prohibit Input (POT: CN1 pin 9) and Reverse Drive Prohibit Input (NOT:

CN1 pin 8) are turned OFF, the Servomotor will stop rotating.

• You can stop the Servomotor from rotating beyond the device's operating range by connecting

limit inputs.

Parameters Requiring Settings

Operation

Stopping Methods When Forward/Reverse Drive Prohibit Is OFF

While the Forward Drive Prohibit Input (POT) is OFF, the Servomotor cannot be driven in the

forward direction, but it can be driven in the reverse direction. Conversely, while the Reverse Drive

Prohibit Input (NOT) is OFF, the Servomotor cannot be driven in the reverse direction, but it can be

driven in the forward direction.

With a vertical axis, there is a risk that the load may drop when drive is prohibited by the drive

prohibit input. To prevent this, it is recommended that the deceleration method be set to use

emergency stop torque in the Drive Prohibit Input Stop Selection parameter (Pn066), and that

stopping in the servo-lock state be set (set value: 2).

Parameter

No. Parameter name Explanation Reference page

Pn04 Drive Prohibit Input

Selection

Enable or disable the Forward/Reverse Drive Prohibit In-

puts. 5-53

Pn66

Stop Selection for

Drive Prohibition

Input

Set the operation for decelerating to a stop after the For-

ward/Reverse Drive Prohibit Input turns OFF. Set whether

to use the dynamic brake to stop or free-running.

5-87

Stopped Status

Servo locked

Deceleration Method

Dynamic brake

Free run

Emergency Stop

Torque (Pn6E)

Stop Selection for Drive

Prohibition Input (Pn66)

POT (NOT) turns OFF.

Disables torque in drive

prohibited direction

5-15

5-7 Encoder Dividing

Operating Functions

5-7 Encoder Dividing

Function

• The number of pulses can be set for the encoder signals output from the Servo Drive.

Parameters Requiring Settings

Operation

• Incremental pulses are output from the Servo Drive through a frequency divider.

• The output phases of the encoder signal output from the Servo Drive are as shown below.

Parameter

No. Parameter name Explanation Reference page

Pn44 Encoder Divider

Numerator Setting

Set the number of pulses to be output in combination with

the Encoder Divider Denominator Setting (Pn45). 5-75

Pn45

Encoder Divider

Denominator

Setting

Set the number of pulses to be output in combination with

the Encoder Divider Numerator Setting (Pn44). 5-75

Pn46 Encoder Output

Direction Switch

Set the phase-B logic and output source for the pulse out-

put (CN1 −B: pin 48, CN1 +B: pin 49) 5-76

Encoder Servo Drive

Processing

circuit

Frequency

divider

Phase A

Phase B

Phase Z

Forward Rotation Reverse Rotation

Phase A

Phase B

Phase Z

Phase B

Phase Z

5-16

5-8 Electronic Gear

Operating Functions

5-8 Electronic Gear

Function

• The Servomotor can be rotated for the number of pulses obtained by multiplying the command

pulses by the electronic gear ratio.

• This function is effective under the following conditions:

• When fine-tuning the position and speed of two lines that are to be synchronous.

• When using a position controller with a low command pulse frequency.

• When you want to set the machine travel distance per pulse, to 0.01 mm for example.

Parameters Requiring Settings

*1. The Electronic Gear Switch Input (GESEL) is used to switch between Electronic Gear Ratio Numerator 1 (Pn48) and

Electronic Gear Ratio Numerator 2 (Pn49).

Operation

Calculation Method

• The following equation shows the relation between the number of internal command pulses (F)

multiplied by the electronic gear ratio and the number of command pulses (f) per Servomotor

Parameter

No. Parameter name Explanation Reference

page

Pn48 Electronic Gear Ratio

Numerator 1 *1 Set the pulse rate for command pulses and Servomotor trav-

el distance.

The upper limit of the gear ratio numerator is determined by

the following formulas.

• Electronic Gear Ratio Numerator 1

Pn48 × 2 Pn4A ≤ 4,194,304/(Pn4D+1)

• Electronic Gear Ratio Numerator 2

Pn49 × 2 Pn4A ≤ 4,194,304/(Pn4D+1)

Pn48: Electronic Gear Ratio Numerator 1

Pn49: Electronic Gear Ratio Numerator 2

Pn4A: Electronic Gear Ratio Numerator Exponent

Pn4D: Smoothing Filter Setting

Any higher setting will be invalid, and the numerator will be

4,194,304/(Pn4D+1). If the numerator is 0, the encoder res-

olution will be automatically set to the value of the numerator

and the number of command pulses per rotation can be set

in Pn4B.

5-77

Pn49 Electronic Gear Ratio

Numerator 2 *1

Pn4A Electronic Gear Ratio

Numerator Exponent

Pn4B Electronic Gear Ratio

Denominator

Electronic Gear Ratio Denominator

(

Pn4B

)

× 2 Electronic Gear Ratio Numerator Exponent (Pn4A)

Electronic Gear Ratio Numerator 1 (Pn48)

Electronic Gear Ratio Numerator 2 (Pn49)

5-17

5-8 Electronic Gear

Operating Functions

rotation.

• When an encoder with a resolution of 2,500 pulses/rotation is used, the number of internal

command pulses (F) in the Servo Drive will be 10,000 pulses/rotation (2,500 pulses/rotation × 4).

• Given the conditions above, the relation between the number of command pulses per Servomotor

rotation (f) and the electronic gear ratio is as follows:

Calculation Examples (For a 2,500 pulses/rotation encoder)

• Make the following settings to operate with 2,000 pulses/rotation.

• Similarly, make the following settings to operate with 1,000 pulses/rotation.

• Conversely, make the following settings to increase the resolution per rotation and operate with

40,000 pulses/rotation.

The setting ranges for Pn48, Pn49, and Pn4B are from 1 to 10,000, so reduction is required in the

settings.

Calculation Example (For a 17-bit encoder)

• Use the following setting to operate at 5,000 pulses/rotation:

Related Parameter

The main function provided by the parameter related to the electronic gear is given in the following

table.

Parameter

No. Parameter name Explanation Reference

page

Pn40 Command Pulse Input

Selection

The command pulses are multiplied by a factor of 2 or 4 when

using 90° phase difference signal inputs is selected as the in-

put format for the command pulse in the Command Pulse

Mode (Pn42).

5-73

F = f ×Pn4B

Pn46 × 2

Pn4A

=Pn4B

Pn48 × 2Pn4A

10000

10000 (Pn48) × 2

0 (Pn4A)

2000 (Pn4B)

10000 (Pn48) × 2 0 (Pn4A)

1000 (Pn4B)

10000 =

40000

2500 (Pn48) × 20 (Pn4A)

10000 (Pn4B)

1 (Pn48) ×217 (Pn4A)

5000 (Pn4B)

5-18

5-9 Overrun Limit

Operating Functions

5-9 Overrun Limit

Function

• The Servomotor can be stopped with an alarm for an overrun limit error (alarm code 34) if the

Servomotor exceeds the allowable operating range set in the Overrun Limit Setting (Pn26) with

respect to the position command input.

• This can be used to prevent impact on the edges of the machine because of Servomotor

oscillation.

Parameters Requiring Settings

Operating Conditions

• The overrun limit will operate under the following conditions.

Conditions for Clearing the Position Command Input Range

The position command input range will be cleared to zero under the following conditions.

• The power supply is turned ON.

• The position deviation is cleared. (The deviation counter clearing is enabled and drive prohibit

input is enabled by setting the Stop Selection for Drive Prohibition Input (Pn66) to 2.)

• Normal Mode Autotuning starts or ends.

Parameter No. Parameter name Explanation Reference

page

Pn26 Overrun Limit Setting

Set the Servomotor’s allowable operating range for

the position command input range.

An overrun limit error (alarm code 34) will occur if the

set value is exceeded.

5-64

Conditions under which the overrun limit will operate

Operating mode

Position Control Mode is used.

Pn02 = 0: Position control

Pn02 = 3: First control mode for position/speed control

Pn02 = 4: First control mode for position/torque control

Others

1.The servo is ON.

2.The Overrun Limit Setting (Pn26) is not 0.

3.The allowable operating range for both forward and reverse is within 2147483647 after the po-

sition command input range is cleared to zero.

If the condition 1 above is not met, the Overrun Limit Setting will be disabled until the conditions

for clearing the position command input range are satisfied, as described below.

If the conditions 1 and 2 above are not met, the position command input range will be cleared to

zero.

5-19

5-9 Overrun Limit

Operating Functions

Operating Examples

No Position Command Input (Servo ON)

No position command is input, and so the Servomotor’s allowable operating range for both sides

will be the range of the travel distance set in Pn26. An overrun limit error will occur if the load enters

the range for generating alarm code 34 (range of slanted lines) due to oscillation.

Right Side Operation (Servo ON)

When the position command to the right is input, the Servomotor’s allowable operating range will

increase by the input position command and will be the range with the rotations set in Pn26 added

on both sides of the position command input range.

Left Side Operation (Servo ON)

When the position command to the left is input, the position command input range will further

increase.

Servo-

motor Load

Servomotor's

allowable

operating range

Range for generating

alarm code 34

Range for generating

alarm code 34

Pn26 Pn26

Servo-

motor Load

Servomotor's allowable operating

range

Position command

input range

Pn26 Pn26

Range for generating

alarm code 34

Range for generating

alarm code 34

Servo-

motor Load

Servomotor's allowable operating range

Position command input range

Range for generating

alarm code 34

Range for generating

alarm code 34

Pn26 Pn26

5-20

5-10 Brake Interlock

Operating Functions

5-10 Brake Interlock

Precautions for Using the Electromagnetic Brake

• The electromagnetic brake on a Servomotor with a brake is a nonexcitation brake designed for

holding. Set the parameter to first stop the Servomotor, and then turn OFF the power supply to the

brake.

• If the brake is applied while the Servomotor is rotating, the brake disk may become damaged due

to friction, damaging the Servomotor.

Function

• You can set the Brake Interlock Output (BKIR) timing to turn ON and OFF the electromagnetic

brake.

Parameters Requiring Settings

Parameter

No. Parameter name Explanation Reference page

Pn6A Brake Timing when

Stopped Use this parameter to set the output timing of the Brake In-

terlock Output (BKIR).

Pn6A: Delay time setting from BKIR OFF until servo OFF.

Pn6B: Wait time setting from servo OFF until BKIR OFF.

5-89

Pn6B Brake Timing

during Operation 5-90

5-21

5-10 Brake Interlock

Operating Functions

Operation

RUN Command Timing (When Servomotor Is Stopped)

*1. The time from turning ON the brake power supply to the brake being released is 200 ms max.

Take this delay into account and be sure the brake has been released before providing a speed

command (pulse command).

*2. The time from turning OFF the brake power supply to the brake engaging is 100 ms max.

If using the Servomotor on a vertical axis, take this delay into account and set the Brake Timing

when Stopped (Pn6A) so that the Servomotor is deenergized after the brake has engaged.

*3. The Servo ON status will not occur until the Servomotor drops to 30 r/min or less.

 Power Supply OFF Timing (When Servomotor Is Stopped)

*1. The time from turning OFF the brake power supply to the brake engaging is 100 ms max.

If using the Servomotor on a vertical axis, take this delay into account and set the Brake Timing

when Stopped (Pn6A) so that the Servomotor is deenergized after the brake has engaged.

OFF

RUN Command (RUN)

Brake Interlock (BKIR)

Brake power supply

Brake operation

Speed command

(or pulse command)

Dynamic brake Released

Engaged

Servomotor Energized

Deenergized

100 ms max.

Approx. 42 ms

200 ms max.

Approx. 2 ms

Approx. 42 ms

1 to 5 ms

Approx. 2 ms (*3)

(*1)

Pn6A (*2)

OFF

Power supply

Brake Interlock (BKIR)

Servomotor Energized

Deenergized

25 to 35 ms

Pn6A (*1)

5-22

5-10 Brake Interlock

Operating Functions

 RUN Command, Errors, and Power Supply OFF Timing (When Servomotor Is

Rotating)

*1. After the Servomotor is deenergized, it will rotate by inertia for approximately 10 ms until the

dynamic brake operates.

*2. The Brake Interlock (BKIR) signal will turn OFF when the Servomotor’s rotation speed is

30 r/min. or lower, or the time set in the Brake Timing during Operation (Pn6B) has elapsed.

OFF

Power supply

Brake Interlock (BKIR)

Servomotor

Energized

Deenergized

25 to 35 ms

(Pn6B *2)

Approx. 1 to 5 ms

Approx. 10 ms (*1)

Servo Ready (READY)

RUN Command (RUN)

Alarm Output (/ALM)

Dynamic brake

Servomotor rotation speed

Released

Engaged

Braking using dynamic brake

5-23

5-10 Brake Interlock

Operating Functions

Alarm Clear (When Servo Is ON)

OFF

Brake Interlock Output

(BKIR)

Servomotor Energized

Deenergized

Approx. 2 ms

Servo Ready Output

(READY)

Alarm Reset (RESET)

Alarm Output (ALM)

Dynamic brake

Servo position, speed,

or torque input

Released

Engaged

Approx. 2 ms

Approx. 40 ms

120 ms min.

220 ms min.

5-24

5-11 Gain Switching

Operating Functions

5-11 Gain Switching

Function

• This function switches the speed loop and position loop gain. Enabled when Pn30 is set to 1 and

Pn31 is not set to 1, 2, or 4, or when Pn36 is not set to 0 or 1 under Speed Control.

• If GSEL (gain switching) signal is not input, perform control using the Speed Loop Gain (Pn11),

Speed Loop Integration Time Constant (Pn12), and Position Loop Gain (Pn10). If GSEL is input,

perform control using the Speed Loop Gain 2 (Pn19), Speed Loop Integration Time Constant 2

(Pn1A), and Position Loop Gain 2 (Pn18).

• If the mechanical system inertia fluctuates too much, or if you want different responsiveness during

operation and stoppage, you can perform applicable control using gain switching.

• If realtime autotuning is not effective (under the conditions shown below), the gain switching

function will be useful.

• When the load inertia fluctuates in 200 ms or less.

• When rotation speed does not exceed 500 r/min., or output torque does not exceed 50% of the

rated torque.

• When external force is constantly applied, as with a vertical axis.

Note When No. 2 gain has been selected (i.e., GSEL ON), realtime autotuning will not operate

normally. If using the gain switching function, set the Realtime Autotuning Mode Selection

(Pn21) to 0 (not used).

Parameters Requiring Settings

Note Adjust Pn18, Pn19, and Pn1A with GSEL turned ON according to 7-5 Manual Tuning on

page 7-21. The Realtime Autotuning Machine Rigidity Selection (Pn22) cannot be applied to

gain 2. Set the default values for adjustment referring to the table on page 7-16.

Parameter

No. Parameter name Explanation Reference page

Pn18 Position Loop Gain

Set the responsiveness of the position control system when

gain 2 is selected. 5-60

Pn19 Speed Loop Gain 2 Set the responsiveness of the speed loop when gain 2 is

selected. 5-60

Pn1A

Speed Loop

Integration Time

Constant 2

Set the integration time constant of the speed loop when

gain 2 is selected. 5-61

Pn30

Gain Switching

Input Operating

Mode Selection

Set switching between PI and P operation for speed control

or switching between gain 1 and gain 2. This parameter can

be set if 0 to 2 is set for the Torque Limit Selection (Pn03)

(setting: 1).

5-67

Pn31 Control Gain

Switch 1 Setting

If 1 is set for the Gain Switching Input Operating Mode

Selection (Pn30), set the switching conditions for gain 1 and

gain 2 (setting: 0).

If a composite mode is set, the setting of this parameter is

valid when the first control mode is used.

5-68

Pn36 Control Gain

Switch 2 Setting

Select the conditions for switching between gain 1 and gain

2 when the second control mode is used. The Gain Switch-

ing Input Operating Mode Selection (Pn30) must be set to 1

(enabled).

5-72

5-25

5-12 Torque Limit

Operating Functions

5-12 Torque Limit

Function

• The torque output by the Servomotor can be limited.

• This function is effective in the following cases:

• Pressing a moving part of a machine (such as a bending machine) against a workpiece with

constant force.

• Protecting the Servomotor and mechanical system from excessive force or torque.

• The torque limit method depends on the setting of Pn03.

Parameters Requiring Settings

Pn03 = 0

During operation, the torque is limited to the torque specified with the analog voltage or the torque

set in the parameter, whichever is smaller.

• If a positive voltage between 0 and 10 V is applied to PCL (forward torque limit input), the torque

will be limited for forward operation (+3 V/100%).

• If a negative voltage between 0 and −10 V is applied to NCL (reverse torque limit input), the

torque will be limited for reverse operation (−3 V/100%).

For the parameter setting, the maximum torque is limited by Pn5E for both forward and reverse

operation.

PCL (forward torque limit input) NCL (reverse torque limit input)

Pn5E = 300% Pn5E = 300%

Pn5E = 100% Pn5E = 100%

Torque output limit

3−3−9 V

100

300[%]

9 V

Torque command

input voltage 100

300[%]

−3−9 V 9 V3 V

Torque output limit

Torque command

input voltage

3−3−9 V

100

300[%]

9 V

Torque output limit

Torque command

input voltage 100

300[%]

3−3−9 V 100

300[%]

9 V

Torque output limit

Torque command

input voltage

5-26

5-12 Torque Limit

Operating Functions

Pn03 = 1

Torque is limited during operation to a constant torque (parameter settings). For both forward and

reverse operation, use Pn5E to limit the maximum torque.

Pn03 = 2

Torque is limited during operation to a constant torque (parameter settings). To limit the maximum

torque, use Pn5E for forward operation, and Pn5F for reverse operation.

Pn03 = 3

The torque limit setting is switched by turning pin 27 ON and OFF.

• For both forward and reverse operation, use Pn5E to limit the maximum torque when pin 27 is

OFF, and use Pn5F when pin 27 is ON.

Torque Limit Settings

• The setting range for the torque limit is 0 to 300 and the standard default setting is 300 except for

the following combinations of Servo Drives and Servomotors.

Servo Drive Applicable Servomotor Maximum torque limit

R88D-GT15H R88M-G90010T 225

R88D-GT30H R88M-G2K010T 230

R88D-GT50H R88M-G3K010T 235

R88M-G4K510T 255

R88D-GT75H R88M-G6K010T 256

R88M-G7K515T 250

5-27

5-13 Soft Start

Operating Functions

5-13 Soft Start

Function

• This function accelerates and decelerates the Servomotor in the set acceleration and deceleration

times.

• You can set the acceleration and deceleration independently of each other using the trapezoidal

acceleration and deceleration curve.

• The soft start processes speed command input (REF) or internally set speed control switching to

reduce impact during acceleration and deceleration.

• This function is effective for simple positioning and speed switching operations.

• Do not use this function for a position controller with an acceleration/deceleration function.

Parameters Requiring Settings

• If the soft start function is not used, set this parameter to 0 (default setting).

• The actual acceleration and deceleration time is as follows:

Parameter

No. Parameter name Explanation Reference page

Pn58 Soft Start

Acceleration Time

Set the time using the following formula.

Setting = Acceleration time (setting × 2 ms) from 0 r/min to

1,000 r/min.

5-82

Pn59 Soft Start

Deceleration Time

Set the time using the following formula.

Setting = Deceleration time (setting × 2 ms) from 1,000

r/min to 0 r/min.

5-82

ta td

ta = Pn58 × 2 ms/(1000 r/min)

td = Pn59 × 2 ms/(1000 r/min)

Speed command

Speed

5-28

5-14 Position Command Filter

Operating Functions

5-14 Position Command Filter

Function

• Perform soft start processing for the command pulses using the selected filter to gently accelerate

and decelerate.

• Select the filter characteristics using the Position Command Filter Time Constant Setting (Pn4C).

• This function is effective in the following cases:

• There is no acceleration/deceleration function in the command pulse (controller).

• The command pulse frequency changes abruptly, causing the machinery to vibrate during

acceleration and deceleration.

• The electronic gear setting is high (G1/G2 ≥ 10)

Parameters Requiring Settings

Operation Example

• The characteristics for each filter are shown below.

• Servomotor acceleration and deceleration are delayed further than the characteristics shown

below due to position loop gain.

Acceleration: 2/Kp (s); Deceleration: 3/Kp (s); Kp: Position loop gain

Primary Filter

Note The time constant will be as follows according to the setting of Pn4C.

Parameter

No. Parameter name Explanation Reference

page

Pn4C

Position

Command Filter

Time Constant

Setting

This is a first-order lag filter for the command pulse input section. If the

command pulses change abruptly, this filter can be used to reduce the

stepping movement of the Servomotor.

The larger the setting, the larger the time constant (setting range: 0 to 7).

5-78

Pn4C Time constant (ms)

0 Disabled

10.2

20.6

31.3

42.6

55.3

610.6

721.2

Command pulse input

frequency

Input frequency × 0.63

Input frequency × 0.37

Speed

Time constant Time constant

Time

5-29

5-15 Speed Limit

Operating Functions

5-15 Speed Limit

Function

• This function limits Servomotor rotation speed when torque control is used.

• Set a limit so that the Servomotor rotation speed does not exceed the maximum speed of the

mechanical system.

• Outside of the speed limit range, a torque in proportion to the difference from the speed limit value

is generated to slow down the Servomotor rotation speed. In such cases the number of

Servomotor rotations does not necessarily match the speed limit value. (The number of

Servomotor rotations varies depending on the load.)

• There are two methods that can be used for limiting the speed:

• Apply a constant fixed speed limit in Torque Control Mode (parameter settings).

The speed is limited using the No. 4 Internally Set Speed (Pn56).

• Limit the speed with an analog voltage.

Use the Speed Command Input (REF) as an Analog Speed Limit Input (VLIM).

Parameters Requiring Settings

Limiting the Speed to a Constant Speed in Torque Control Mode

• The speed will be limited according to the following parameter setting if the Torque Command/

Speed Limit Selection (Pn5B) is set to 0.

Limiting the Speed with Analog Voltage

• The Speed Command Input (REF) will be the Analog Speed Limit Input terminal if the Torque

Command/Speed Limit Selection (Pn5B) is set to 1. Therefore, the speed can be limited on

multiple levels.

The default setting for Pn50 is 300, so the speed will be 3,000 r/min for an input of 10 V.

Parameter No. Parameter name Explanation Reference page

Pn56 No. 4 Internally

Set Speed

Set the speed limit when torque control is used

(setting range: −20,000 to 20,000 (r/min.)) 5-81

Parameter No. Parameter name Explanation Reference page

Pn50 Speed Command

Scale

Set the relation between the command input voltage and

the rotation speed by using the slope.

5-80

Default slope

−10 −6

246810

Rotation speed (r/min.)

Rated rotation

Speed command

voltage (V)

Rated rotation speed

5-30

5-16 User Parameters

Operating Functions

5-16 User Parameters

Set and check the user parameters in Parameter Setting Mode. Fully understand what the

parameters mean and the setting procedures, and set the parameters according to the control

system.

Some parameters are enabled by turning the power OFF and then ON again. After changing these

parameters, turn OFF the power, confirm that the power indicator has gone OFF, and then turn ON

the power again.

Setting and Checking Parameters

Overview

Use the following procedure to set or check parameters.

•Go to Parameter Setting Mode. Press the Data key, and then press the Mode key once.

•Set the parameter number (Pn@@) using the Increment and Decrement keys.

•Display the parameter setting by pressing the Data key.

•Change the parameter setting using the Increment, Decrement, and Shift keys.

•Save the changed setting to memory and return to the parameter number display by pressing the

Data key.

Operating Procedures

Displaying Parameter Setting Mode

Setting the Parameter Number

PR02G

keys

Front panel

keys Display example Explanation

The default display is displayed.

Press the Data key to display Monitor Mode.

Press the Mode key to display Parameter Setting Mode.

PR02G

keys

Front panel

keys Display example Explanation

Set the number of the parameter to be set or checked.

rk k k k k0

Uknk_k5kpkd.

pknk_krk0k0.

pknk_k k0k7.

5-31

5-16 User Parameters

Operating Functions

Displaying Parameter Settings

Changing Parameter Settings

• The following operation is not required if you are only checking a parameter setting.

Saving the New Setting to Memory and Returning to the Parameter Number Display

• The following operation is not required if you are only checking a parameter setting.

PR02G

keys

Front panel

keys Display example Explanation

The parameter number will be displayed.

Press the Data key. The setting of the parameter will be displayed.

PR02G

keys

Front panel

keys Display example Explanation

The present setting will be displayed.

Use the Shift, Increment, and Decrement keys to change the setting.

The Shift key is used to change the digit.

PR02G

keys

Front panel

keys Display example Explanation

Press the Data key. The new parameter setting will be saved and the

parameter number will be displayed again.

pknk_k k0k7.

k k k k k3.

k k k k k5.

5-32

5-16 User Parameters

Operating Functions

Parameter Tables

• Some parameters are enabled by turning the power OFF and then ON again. (Those parameters

are indicated in the table.) After changing these parameters, turn OFF the power, confirm that the

power indicator has gone OFF, and then turn ON the power again.

• Do not change the parameters or settings marked “Reserved”.

Function Selection Parameters

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

00 Unit No. Setting Set the unit number. 1 --- 0 to 15 Yes

01 Default Display

Set the data to display on the Parameter Unit when the

power supply is turned ON.

1 0 to 17 Ye s

0 Position deviation Pulses

1 Servomotor rotation speed r/min

2 Torque output %

3 Control mode ---

4 I/O signal status ---

5 Alarm code and history ---

6 Software version ---

7 Warning display ---

8 Regeneration load ratio %

9 Overload load ratio %

10 Inertia ratio %

11 Total feedback pulses Pulses

12 Total command pulses Pulses

13 Reserved ---

14 Reserved ---

15 Automatic Servomotor recognition display ---

16 Analog input value ---

17 Reason for no rotation ---

02 Control Mode

Selection

Set the control mode to be used.

0 --- 0 to 6 Ye s

0 Position

1 Speed

2 Torque

3 Position/speed

4 Position/torque

5 Speed/torque

6 Reserved

5-33

5-16 User Parameters

Operating Functions

03 Torque Limit

Selection

Set the torque limit method for forward and reverse op-

eration.

1 --- 0 to 3 ---

0Use PCL and NCL as analog torque limit in-

puts.

1Use Pn5E as the limit value for forward and

reverse operation.

2 Forward: Use Pn5E, Reverse: Use Pn5F.

3GSEL/TLSEL input is open: Use Pn5E,

Input is closed: Use Pn5F.

04 Drive Prohibit

Input Selection

You can stop the Servomotor from rotating beyond the

device's travel distance range by setting limit inputs.

1 --- 0 to 2 Ye s

0 POT input and NOT input enabled.

1 POT input and NOT input disabled.

2POT input and NOT input enabled (alarm

code 38 appears).

05 Command

Speed Selection

Select the speed command when using speed control.

0 --- 0 to 3 ---

0 Speed command input (REF)

1No. 1 Internally Set Speed to No. 4 Internally

Set Speed (Pn53 to Pn56)

No. 1 Internally Set Speed to No. 3 Internally

Set Speed (Pn53 to Pn55) and External

Speed Command (REF)

3No. 1 Internally Set Speed to No. 8 Internally

Set Speed (Pn53 to Pn56 and Pn74 to Pn77)

Zero Speed

Designation/

Speed

Command

Direction Switch

Set the function of the Zero-speed Designation Input

(VZERO).

0 --- 0 to 2 ---

The zero-speed designation input will be ig-

nored, and a zero-speed designation will not

be detected.

The zero-speed designation input will be en-

abled, and the speed command will be as-

sumed to be zero when the connection

between the input and common is open.

2 Used as the speed command sign.

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

5-34

5-16 User Parameters

Operating Functions

07 SP Selection

Select the relation between the output voltage level

and the speed.

3 --- 0 to 9 ---

0 Actual Servomotor speed: 6 V/47 r/min

1 Actual Servomotor speed: 6 V/188 r/min

2 Actual Servomotor speed: 6 V/750 r/min

3 Actual Servomotor speed: 6 V/3000 r/min

4 Actual Servomotor speed: 1.5 V/3000 r/min

5 Command speed: 6 V/47 r/min

6 Command speed: 6 V/188 r/min

7 Command speed: 6 V/750 r/min

8 Command speed: 6 V/3000 r/min

9 Command speed: 1.5 V/3000 r/min

08 IM Selection

Select the relation between the output voltage level

and the torque or number of pulses.

0 --- 0 to 12 ---

0 Torque command: 3 V/rated (100%) torque

1 Position deviation: 3 V/31 pulses

2 Position deviation: 3 V/125 pulses

3 Position deviation: 3 V/500 pulses

4 Position deviation: 3 V/2000 pulses

5 Position deviation: 3 V/8000 pulses

6 Reserved

7 Reserved

8 Reserved

9 Reserved

10 Reserved

11 Torque command: 3 V/200% torque

12 Torque command: 3 V/400% torque

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

5-35

5-16 User Parameters

Operating Functions

General-

purpose Output

2 Selection

Assign the function of General-purpose Output 2

(OUTM2).

0 --- 0 to 8 ---

0 Output during torque limit

1 Zero speed detection output

Warning output for regeneration overload,

overload, absolute encoder battery, or fan

lock.

3 Regeneration overload warning output

4 Overload warning

5 Absolute encoder battery warning output

6 Fan lock warning output

7 Reserved

8 Speed conformity output

General-

purpose Output

1 Selection

Assign the function of General-purpose Output 1

(OUTM1).

1 --- 0 to 8 ---

0 Output during torque limit

1 Zero speed detection output

Warning output for regeneration overload,

overload, absolute encoder battery, or fan

lock.

3 Regeneration overload warning output

4 Overload warning

5 Absolute encoder battery warning output

6 Fan lock warning output

7 Reserved

8 Speed conformity output

Operation

Switch When

Using Absolute

Encoder

Set the operating method for the 17-bit absolute en-

coder.

0 --- 0 to 2 Yes

0 Use as absolute encoder.

1 Use as incremental encoder.

2Use as absolute encoder but ignore multi-turn

counter overflow.

0C RS-232 Baud

Rate Setting

Select the baud rate for the RS-232 port.

2 --- 0 to 5 Yes

0 2,400 bps

1 4,800 bps

2 9,600 bps

3 19,200 bps

4 38,400 bps

5 57,600 bps

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

5-36

5-16 User Parameters

Operating Functions

0D RS-485 Baud

Rate Setting

Select the baud rate for RS-485 communications.

2 --- 0 to 5 Yes

0 2,400 bps

1 4,800 bps

2 9,600 bps

3 19,200 bps

4 38,400 bps

5 57,600 bps

Front Key

Protection

Setting

Front panel key operation can be limited to Monitor

Mode.

0 --- 0 to 1 Yes

0 All enabled

1 Limited to Monitor Mode

0F Reserved (Do not change setting.) --- --- --- ---

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

5-37

5-16 User Parameters

Operating Functions

Gain Parameters

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

10 Position Loop

Gain Set to adjust position control system responsiveness. 40 1/s 0 to

3000 ---

11 Speed Loop

Gain Set to adjust speed loop responsiveness. 50 Hz 1 to

3500 ---

Speed Loop

Integration Time

Constant

Set to adjust the speed loop integration time constant. 20 ms 1 to

1000 ---

Speed

Feedback Filter

Time Constant

The encoder signal is converted to the speed signal

via the low pass filter. 0 --- 0 to 5 ---

Torque

Command Filter

Time Constant

Set to adjust the first-order lag filter time constant for

the torque command section. 80 0.01 ms 0 to

2500 ---

15 Feed-forward

Amount

Set the position control feed-forward compensation

value. 300 0.1%

−2000

2000

---

16 Feed-forward

Command Filter

Set the time constant of the first-order lag filter used

in the speed feed-forward section. 100 0.01 ms 0 to

6400 ---

17 Reserved (Do not change setting.) --- --- --- ---

18 Position Loop

Gain 2 Set to adjust position control system responsiveness. 20 1/s 0 to

3000 ---

19 Speed Loop

Gain 2 Set to adjust speed loop responsiveness. 80 Hz 1 to

3500 ---

Speed Loop

Integration Time

Constant 2

Set to adjust the speed loop integration time constant. 50 ms 1 to

1000 ---

Speed

Feedback Filter

Time Constant 2

The encoder signal is converted to the speed signal

via the low pass filter. 0 --- 0 to 5 ---

Torque

Command Filter

Time Constant 2

Set to adjust the first-order lag filter time constant for

the torque command section. 100 0.01 ms 0 to

2500 ---

1D Notch Filter 1

Frequency

Set the notch frequency of the resonance suppres-

sion notch filter. 1500 Hz 100 to

1500 ---

1E Notch Filter 1

Width

Set the width to one of five levels for the resonance

suppression notch filter. Normally, use the default set-

ting.

2 --- 0 to 4 ---

1F Reserved (Do not change setting.) --- --- --- ---

20 Inertia Ratio Set the ratio between the mechanical system inertia

and the Servomotor rotor inertia. 300 % 0 to

10000 ---

5-38

5-16 User Parameters

Operating Functions

Realtime

Autotuning

Mode Selection

Set the operating mode for realtime autotuning.

0 --- 0 to 7 ---

0 Realtime autotuning is not used.

Realtime autotuning is used in normal mode.

Use this setting if there are almost no chang-

es in load inertia during operation.

Realtime autotuning is used in normal mode.

Use this setting if there are gradual changes

in load inertia during operation.

Realtime autotuning is used in normal mode.

Use this setting if there are sudden changes

in load inertia during operation.

Realtime autotuning is used in vertical axis

mode. Use this setting if there are almost no

changes in load inertia during operation.

Realtime autotuning is used in vertical axis

mode. Use this setting if there are gradual

changes in load inertia during operation.

Realtime autotuning is used in vertical axis

mode. Use this setting if there are sudden

changes in load inertia during operation.

7Set to use realtime autotuning without

switching the gain.

Realtime

Autotuning

Machine Rigidity

Selection

Set the machine rigidity to one of 16 levels during re-

altime autotuning.

The higher the machine rigidity, the greater the setting

needs to be.

The higher the setting, the higher the responsiveness.

When the Parameter Unit is used, 0 cannot be set.

2 --- 0 to F ---

23 Adaptive Filter

Selection

Enable or disable the adaptive filter.

0 --- 0 to 2 ---

0 Adaptive filter disabled.

1Adaptive filter enabled. Adaptive operation

performed.

2Adaptive filter enabled. Adaptive operation

will not be performed (i.e., it will be held).

24 Vibration Filter

Selection

Vibration filters 1 and 2 can be switched.

0 --- 0 to 2 ---

0No switching. (Both filter 1 and filter 2 are en-

abled.)

Switching with the DFSEL/PNSEL input.

Open: Vibration filter 1

Closed: Vibration filter 2

Switching with command direction.

Forward: Vibration filter 1

Reverse: Vibration filter 2

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

5-39

5-16 User Parameters

Operating Functions

Autotuning

Operation

Setting

Set the operating pattern for normal mode autotuning.

0 --- 0 to 7 ---

0Rotation direction: Forward to reverse, two

rotations

1Rotation direction: Reverse to forward, two

rotations

2Rotation direction: Forward to forward, two

rotations

3Rotation direction: Reverse to reverse, two

rotations

4Rotation direction: Forward to reverse, one

rotation

5Rotation direction: Reverse to forward, one

rotation

6Rotation direction: Forward to forward, one

rotation

7Rotation direction: Reverse to reverse, one

rotation

26 Overrun Limit

Setting

Set the allowable operating range for the Servomotor.

The overrun limit function is disabled if the parameter

is set to 0.

10 0.1 ro-

tation

0 to

1000 ---

Instantaneous

Speed Observer

Setting

Set the instantaneous speed observer.

0 --- 0 to 1 ---0 Disabled

1 Enabled

28 Notch Filter 2

Frequency

Set the notch frequency of the resonance suppres-

sion notch filter. 1500 Hz 100 to

1500 ---

29 Notch Filter 2

Width

Set the notch filter width to one of five levels for the

resonance suppression notch filter. Normally, use the

default setting.

2 --- 0 to 4 ---

2A Notch Filter 2

Depth

Set the depth of the resonance suppression notch fil-

ter. 0 --- 0 to 99 ---

2B Vibration

Frequency 1

Set vibration frequency 1 to suppress vibration at the

end of the load in damping control. 00.1Hz

0 to

2000 ---

2C Vibration Filter 1

Setting

Set vibration filter 1 to suppress vibration at the end of

the load in damping control. 00.1Hz

−200

2000

---

2D Vibration

Frequency 2

Set vibration frequency 2 to suppress vibration at the

end of the load in damping control. 00.1Hz

0 to

2000 ---

2E Vibration Filter 2

Setting

Set vibration filter 2 to suppress vibration at the end of

the load in damping control. 00.1Hz

−200

2000

---

Adaptive Filter

Table Number

Display

Displays the table entry number corresponding to the

frequency for the adaptive filter.

This parameter is set automatically and cannot be

changed if the adaptive filter is enabled (i.e., if Real-

time Autotuning Mode Selection (Pn21) is 1 to 3 or 7).

0 --- 0 to 64 ---

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

5-40

5-16 User Parameters

Operating Functions

Gain Switching

Input Operating

Mode Selection

Enable or disable gain switching.

If gain switching is enabled, the setting of the Control

Gain Switch Setting (Pn31) is used as the condition

for switching between gain 1 and gain 2.

1 --- 0 to 1 ---

Disabled. The gain set in Pn10 to Pn14 is

used, and the Gain Switching Input (GSEL)

will be used to switch between PI operation

and P operation.

Enabled. The gain will be switched between

gain 1 (Pn10 to Pn14) and gain 2 (Pn18 to

Pn1C).

31 Control Gain

Switch 1 Setting

Select the condition for switching between gain 1 and

gain 2. The details depend on the control mode.

If a composite mode is set, the setting of this param-

eter is valid when the first control mode is used. The

Gain Switching Input Operating Mode Selection

(Pn30) must be set to 1 (enabled).

0 --- 0 to 10 ---

0 Always gain 1

1 Always gain 2

2Switching using Gain Switching Input

(GSEL)

3 Amount of change in torque command

4 Always gain 1

5 Command speed

6 Amount of position deviation

7 Command pulses received

8 Positioning Completed Signal (INP) OFF

9 Actual Servomotor speed

10 Combination of command pulse input and

speed

32 Gain Switch 1

Time

This parameter is enabled when the Control Gain

Switch 1 Setting (Pn31) is 3 to 10. Set the delay time

from the moment the condition set in the Control Gain

Switch 1 Setting (Pn31) is not met until returning to

gain 1.

30 166 µs0 to

10000 ---

33 Gain Switch 1

Level Setting

This parameter is enabled when the Control Gain

Switch 1 Setting (Pn31) is 3 to 6, 9, or 10. Set the

judgment level for switching between gain 1 and gain

The unit for the setting depends on the condition set

in the Control Gain Switch 1 Setting (Pn31).

600 --- 0 to

20000 ---

Gain Switch 1

Hysteresis

Setting

Set the hysteresis width above and below the judg-

ment level set in the Gain Switch 1 Level Setting

(Pn33).

50 --- 0 to

20000 ---

Position Loop

Gain Switching

Time

When switching between gain 1 and gain 2 is en-

abled, set the phased switching time only for the posi-

tion loop gain at gain switching.

20 166 µs0 to

10000 ---

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

5-41

5-16 User Parameters

Operating Functions

36 Control Gain

Switch 2 Setting

Select the condition for switching between gain 1 and

gain 2 in the second control mode.

The Gain Switching Input Operating Mode Selection

(Pn30) must be set to 1 (enabled).

0 --- 0 to 5 ---

0 Always gain 1

1 Always gain 2

2 Switching using gain switching input (GSEL)

3 Amount of change in torque command

4 Amount of change in speed command

5 Command speed

37 Gain Switch 2

Time

This parameter is enabled when Control Gain Switch

2 Setting (Pn36) is 3 to 5. Set the delay time for return-

ing from gain 2 to gain 1.

30 166 µs0 to

10000 ---

38 Gain Switch 2

Level Setting

This parameter is enabled when Control Gain Switch

2 Setting (Pn36) is 3 to 5. Set the judgment level for

switching between gain 1 and gain 2. The unit de-

pends on the setting of Control Gain Switch 2 Setting

(Pn36).

0---

0 to

20000 ---

Gain Switch 2

Hysteresis

Setting

Set the hysteresis width above and below the judg-

ment level set in the Gain Switch 2 Level Setting

(Pn38). The unit depends on the setting of the Control

Gain Switch 2 Setting (Pn36).

0---

0 to

20000 ---

3A Reserved (Do not change setting.) --- --- --- ---

3B Reserved (Do not change setting.) --- --- --- ---

3C Reserved (Do not change setting.) --- --- --- ---

3D Jog Speed Set the speed for jogging. 200 r/min 0 to

500 ---

3E Reserved (Do not change setting.) --- --- --- ---

3F Reserved (Do not change setting.) --- --- --- ---

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

5-42

5-16 User Parameters

Operating Functions

Position Control Parameters

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

Command

Pulse Input

Selection

Selects whether to use photocoupler or line-driver-only

input for the command pulse input.

0 --- 0 to 1 Yes

0 Photocoupler

1 Input for line driver only

Command

Pulse Rotation

Direction Switch

Set the Servomotor rotation direction for the command

pulse input.

0 --- 0 to 1 Yes

0The Servomotor rotates in the direction spec-

ified by the command pulse.

The Servomotor rotates in the opposite direc-

tion from the direction specified by the com-

mand pulse.

42 Command

Pulse Mode

Set the form of the pulse inputs sent as command to

the Servo Drive from a position controller.

1 --- 0 to 3 Yes

090° phase difference (phase A/B) signal in-

puts

1 Forward pulse and reverse pulse inputs

290° phase difference (phase A/B) signal in-

puts

3 Feed pulses and forward/reverse signal input

Command

Pulse Prohibited

Input Setting

Enable or disable the pulse disable input (IPG).

1 --- 0 to 1 ---

0 Enabled

1 Disabled

Encoder Divider

Numerator

Setting Set the number of encoder pulses (+A, −A, −B, +B) out-

put from the Servo Drive for each Servomotor rotation.

2500 --- 1 to

32767 Yes

Encoder Divider

Denominator

Setting

0 --- 0 to

32767 Yes

46 Encoder Output

Direction Switch

Set the phase-B logic for pulse output (−B, +B).

0 --- 0 to 1 Yes

0 Phase-B output: Not reversed.

1 Phase-B output: Reversed.

47 Reserved (Do not change setting.) --- --- --- ---

5-43

5-16 User Parameters

Operating Functions

Electronic Gear

Ratio Numerator

Set the pulse rate for command pulses and Servomo-

tor travel distance. If Pn48 or Pn49 is 0, the encoder

resolution is set to a numerator.

0---

0 to

10000 ---

Electronic Gear

Ratio Numerator

0---

0 to

10000 ---

Electronic Gear

Ratio Numerator

Exponent

0 --- 0 to 17 ---

Electronic Gear

Ratio

Denominator

10000 --- 1 to

10000 ---

Position

Command Filter

Time Constant

Setting

Set the time constant for the first-order lag filter for the

command pulse input.

If the parameter is set to 0, the filter will not function.

The larger the setting, the larger the time constant.

0 --- 0 to 7 ---

4D Smoothing Filter

Setting

Select the FIR filter time constant used for the com-

mand pulse input.

The higher the setting, the smoother the command

pulses.

0 --- 0 to 31 Yes

Deviation

Counter Reset

Condition

Setting

Set the deviation counter reset conditions.

1 --- 0 to 2 ---

0Clears the deviation counter when the signal

is closed for 100 µs or longer.

Clears the deviation counter on the falling

edge of the signal (open and then closed for

100 µs or longer).

2 Disabled

4F Reserved (Do not change setting.) --- --- --- ---

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

Electronic Gear Ratio Numerator 1 (Pn48)

Electronic Gear Ratio Numerator 2 (Pn49)

Electronic Gear Ratio

Numerator Exponent (Pn4A)

× 2

Electronic Gear Ratio Denominator (Pn4B)

5-44

5-16 User Parameters

Operating Functions

Speed and Torque Control Parameters

No. Parameter name Setting Explanation Default

setting Unit Setting

range

Power

OFF→O

50 Speed

Command Scale

Set the relation between the voltage applied to the

Speed Command Input (REF) and the Servomotor

speed.

300 (r/min)

10 to

2000 ---

Command Speed

Rotation

Direction Switch

Set to reverse the polarity of the speed command input

(REF).

0 --- 0 to 1 ---

0Forward

1 Reverse

Speed

Command

Offset

Adjustment

Set to adjust the offset of the Speed Command Input

(REF). 0 0.3 mV −2047

to 2047 ---

53 No. 1 Internally

Set Speed Set the No. 1 internally set rotation speed. 100 r/min

−20000

20000

---

54 No. 2 Internally

Set Speed Set the No. 2 internally set rotation speed. 200 r/min

−20000

20000

---

55 No. 3 Internally

Set Speed Set the No. 3 internally set rotation speed. 300 r/min

−20000

20000

---

56 No. 4 Internally

Set Speed

Set the No. 4 internally set rotation speed.

For torque control (when Pn5B = 0), set the speed limit. 50 r/min

−20000

20000

---

74 No. 5 Internally

Set Speed Set the No. 5 internally set rotation speed. 500 r/min

−20000

20000

---

75 No. 6 Internally

Set Speed Set the No. 6 internally set rotation speed. 600 r/min

−20000

20000

---

76 No. 7 Internally

Set Speed Set the No. 7 internally set rotation speed. 700 r/min

−20000

20000

---

77 No. 8 Internally

Set Speed Set the No. 8 internally set rotation speed. 800 r/min

−20000

20000

---

Speed

Command Filter

Time Constant

Set the first-order lag filter time constant in the Speed

Command Input (REF: CN1 pin 14). 0 0.01 ms 0 to

6400 ---

Soft Start

Acceleration

Time

Set the acceleration time for the speed command. 0

2 ms

(1000

r/min)

0 to

5000 ---

Soft Start

Deceleration

Time

Set the deceleration time for the speed command. 0

2 ms

(1000

r/min)

0 to

5000 ---

5-45

5-16 User Parameters

Operating Functions

S-curve

Acceleration/

Deceleration

Time Setting

Set the pseudo-S-curve acceleration/deceleration value

to add to the speed command to enable smooth opera-

tion.

0 2 ms 0 to 500 ---

Torque

Command/

Speed Limit

Selection

Select the input for the torque command and speed

limit. For the settings and control mode, refer to the

description of the Torque Command/Speed Limit Selec-

tion on page 5-83.

0 --- 0 to 1 ---

5C Torque

Command Scale

Set the relation between the voltage applied to the

torque command input (TREF1 or TREF2) and the Ser-

vomotor’s output torque.

30 0.1 V/

100%

10 to

100 ---

5D Torque Output

Direction Switch

Set to reverse the polarity of the Torque Command

Input (REF/TREF1 or PCL/TREF2).

0 --- 0 to 1 ---

0Forward

1 Reverse

5E No. 1 Torque

Limit Set the limit to the Servomotor's maximum torque. 300 % 0 to 500 ---

5F No. 2 Torque

Limit Set the limit to the Servomotor's maximum torque. 100 % 0 to 500 ---

No. Parameter name Setting Explanation Default

setting Unit Setting

range

Power

OFF→O

5-46

5-16 User Parameters

Operating Functions

Sequence Parameters

No. Parameter name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

Positioning

Completion

Range

Set the range for the Positioning Completed Output

(INP). 25 Pulse 0 to

32767 ---

61 Zero Speed

Detection

Set the rotation speed to output for the general-pur-

pose output (zero speed detection output or speed co-

incidence output).

20 r/min 10 to

20000 ---

Rotation Speed

for Motor

Rotation

Detection

Set the rotation speed for the Servomotor Rotation

Detection Output (TGON) for Internally Set Speed

Control.

50 r/min 10 to

20000 ---

Positioning

Completion

Condition Setting

Set the operation for positioning completion output

(INP).

0 --- 0 to 3 ---

Positioning completion output turns ON when

the position deviation is within the Positioning

Completion Range (Pn60).

Positioning completion output turns ON when

the position deviation is within the Positioning

Completion Range (Pn60) and there is no

position command.

Positioning completion output turns ON when

the zero speed detection signal is ON and the

position deviation is within the Positioning

Completion Range (Pn60) and there is no

position command.

Positioning completion output turns ON when

the position deviation is within the Positioning

Completion Range (Pn60) and there is no

position command. The ON status will then be

held until the next position command is

received.

64 Reserved (Do not change setting.) --- --- --- ---

65 Undervoltage

Alarm Selection

Select whether to activate the main power supply

undervoltage function (alarm code 13) if the main

power supply is interrupted for the Momentary Hold

Time (Pn6D) during Servo ON.

1 --- 0 to 1 ---

A main power supply undervoltage alarm

(alarm code 13) is not generated and the

Servomotor turns OFF. When the main power

supply turns ON again, the Servo ON status

returns.

1An error is generated for a main power supply

undervoltage alarm (alarm code 13).

5-47

5-16 User Parameters

Operating Functions

Stop Selection

for Drive

Prohibition Input

Set the operation used to decelerate to a stop after the

Forward Drive Prohibit Input (POT) or Reverse Drive

Prohibit Input (NOT) has been received.

0 --- 0 to 2 Yes

0The torque in the drive prohibit direction is

disabled, and the dynamic brake is activated.

The torque in the drive prohibit direction is

disabled, and free-run deceleration is

performed.

The torque in the drive prohibit direction is

disabled, and an emergency stop is

performed.

Stop Selection

with Main Power

OFF

Set one of the following operations to be performed

after the main power supply is cut off if the Undervolt-

age Alarm Selection (Pn65) is set to 0.

Operation during deceleration and after stopping

Clearing the deviation counter

0 --- 0 to 9 ---

During deceleration: Dynamic brake

After stopping: Dynamic brake

Deviation counter: Clear

During deceleration: Free run

After stopping: Dynamic brake

Deviation counter: Clear

During deceleration: Dynamic brake

After stopping: Servo free

Deviation counter: Clear

During deceleration: Free run

After stopping: Servo free

Deviation counter: Clear

During deceleration: Dynamic brake

After stopping: Dynamic brake

Deviation counter: Hold

During deceleration: Free run

After stopping: Dynamic brake

Deviation counter: Hold

During deceleration: Dynamic brake

After stopping: Servo free

Deviation counter: Hold

During deceleration: Free run

After stopping: Servo free

Deviation counter: Hold

During deceleration: Emergency stop

After stopping: Dynamic brake

Deviation counter: Clear

During deceleration: Emergency stop

After stopping: Servo free

Deviation counter: Clear

No. Parameter name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

5-48

5-16 User Parameters

Operating Functions

Stop Selection

for Alarm

Generation

Set the operation to be performed after stopping or dur-

ing deceleration when any protective function of the

Servo Drive operates and an error occurs.

0 --- 0 to 3 ---

0During deceleration: Dynamic brake

After stopping: Dynamic brake

1During deceleration: Free run

After stopping: Dynamic brake

2During deceleration: Dynamic brake

After stopping: Servo free

3During deceleration: Free run

After stopping: Servo free

69 Stop Selection

with Servo OFF

Set the operation to be performed after the Servomotor

turns OFF (i.e., RUN ON to OFF).

The relation between set values, operation, and devia-

tion counter processing for this parameter is the same

as for the Stop Selection with Main Power OFF (Pn67).

0 --- 0 to 9 ---

6A Brake Timing

when Stopped

When the Servomotor is stopped and the RUN Com-

mand Input (RUN) is turned OFF, the Brake Interlock

Signal (BKIR) will turn OFF, and the Servomotor will

turn OFF after waiting for the time period set for this pa-

rameter (i.e., setting × 2 ms).

10 2 ms 0 to

100 ---

6B Brake Timing

during Operation

When the Servomotor is stopped and the RUN Com-

mand Input (RUN) is turned OFF, the Servomotor will

decelerate to reduce rotation speed, and the Brake In-

terlock Signal (BKIR) will turn OFF after the set time for

the parameter (i.e., setting × 2 ms) has elapsed.

BKIR will also turn OFF if the speed drops to 30 r/min

or lower before the set time elapses.

50 2 ms 0 to

100 ---

Regeneration

Resistor

Selection

Set whether to use a built-in resistor or to add an Exter-

nal Regeneration Resistor.

0 --- 0 to 3 Yes

Regeneration resistor used: Built-in resistor

The regeneration processing circuit will oper-

ate and the regeneration overload (alarm

code 18) will be enabled according to the in-

ternal resistance (with approximately 1% du-

ty).

Regeneration resistor used: External resistor

The regeneration processing circuit will oper-

ate, and regeneration overload (alarm code

18) will cause a trip when the operating rate of

the regeneration resistor exceeds 10%.

Regeneration resistor used: External resistor

The regeneration processing circuit will oper-

ate, but regeneration overload (alarm code

18) will not occur.

Regeneration resistor used: None

The regeneration processing circuit and re-

generation overload (alarm code 18) will not

operate, and all regenerative energy will be

processed by the built-in capacitor.

6D Momentary Hold

Time

Set the amount of time required until shutoff is detected

if the main power supply continues to shut off. 35 2 ms 35 to

1000 Yes

No. Parameter name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

5-49

5-16 User Parameters

Operating Functions

6E Emergency Stop

Torque

Set the torque limit for the following cases.

Drive prohibit deceleration with the Stop Selection

for Drive Prohibition Input (Pn66) set to 2.

Deceleration with the Stop Selection with Main Pow-

er OFF (Pn67) set to 8 or 9.

Deceleration with the Stop Selection with Servo OFF

(Pn69) set to 8 or 9.

0 to

500 ---

6F Reserved (Do not change setting.) --- --- --- ---

Deviation

Counter

Overflow Level

Set the deviation counter overflow level. 100

× 256

puls-

0 to

32767 ---

Speed

Command/

Torque

Command Input

Overflow Level

Setting

Set the overflow level for Speed Command Input (REF)

or Torque Command Input (TREF) using voltage after

offset adjustment.

0 0.1 V 0 to

100 ---

Overload

Detection Level

Setting

Set the overload detection level. 0 % 0 to

500 ---

Overspeed

Detection Level

Setting

Set the overspeed detection level. 0 r/min 0 to

20000 ---

78 Reserved (Do not change setting.) --- --- --- ---

79 Reserved (Do not change setting.) --- --- --- ---

7A Reserved (Do not change setting.) --- --- --- ---

7B Reserved (Do not change setting.) --- --- --- ---

7C Reserved (Do not change setting.) --- --- --- ---

7D Reserved (Do not change setting.) --- --- --- ---

7E Reserved (Do not change setting.) --- --- --- ---

7F Reserved (Do not change setting.) --- --- --- ---

No. Parameter name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

5-50

5-16 User Parameters

Operating Functions

Parameters Details

• This section provides an explanation for all parameters.

Be sure to fully understand the meanings of parameters before making changes to the parameter

settings.

Do not change the parameters marked “Reserved”.

Do not change the settings marked “Reserved”.

Function Selection Parameters (Pn00 to Pn0F)

• If communications with a computer or other host controller are used by multiple Units via RS-232

or RS-485, it is necessary to identify which Unit the host is accessing. With this parameter, the unit

number can be confirmed using alphanumeric characters.

• The unit number is determined by the unit number switch setting on the front panel when the power

supply is turned ON. This number is the unit number when using serial communications.

• The setting of this parameter has no effect on Servomotor operation.

• The setting of this parameter can be changed only by using the unit number switch on the front

panel.

Pn00 Unit No. Setting

Setting range 0 to 15 Unit --- Default setting 1 Power OFF→ON Yes

All modes

5-51

5-16 User Parameters

Operating Functions

Pn01 Default Display

Explanation of Settings

• Select the data to be displayed on the 7-segment display on the front panel after the power supply

is turned ON.

• For information on the display, refer to 6-4 Setting the Mode on page 6-7.

Pn01 Default Display

Setting range 0 to 17 Unit --- Default setting 1 Power OFF→ON Yes

Setting Explanation

0 Position deviation

1 Servomotor rotation speed

2 Torque output

3 Control mode

4 I/O signal status

5 Alarm code and history

6 Software version

7 Warning display

8 Regeneration load ratio

9 Overload load ratio

10 Inertia ratio

11 Total feedback pulses

12 Total command pulses

13 Reserved

14 Reserved

15 Automatic Servomotor recognition display

16 Analog input value

17 Reason for no rotation

All modes

5-52

5-16 User Parameters

Operating Functions

Explanation of Settings

• Use this parameter to set the control mode.

• If composite modes are set (settings 3 to 5), Mode 1 or Mode 2 can be selected using the Control

Mode Switch Input (TVSEL).

• Open the Control Mode Switch Input to select Mode 1.

• Close the Control Mode Switch Input to select Mode 2.

• Do not input a command within 10 ms before or after switching.

Explanation of Settings

• Use this parameter to set the torque limit method for forward and reverse operation.

• If this parameter is set to 0, the torque limit input for forward and reverse operation will be limited

by the No.1 Torque Limit (Pn5E).

• When using torque control, the No.1 Torque Limit (Pn5E) will be the limit value for forward and

reverse operation regardless of the setting of this parameter.

Pn02 Control Mode Selection

Setting range 0 to 6 Unit --- Default setting 0 Power OFF→ON Yes

Setting Explanation

0 Position Control Mode (pulse-string command)

1 Speed Control Mode (analog command)

2 Torque Control Mode (analog command)

3 Mode 1: Position Control Mode, Mode 2: Speed Control Mode

4 Mode 1: Position Control Mode, Mode 2: Torque Control Mode

5 Mode 1: Speed Control Mode, Mode 2: Torque Control Mode

6 Reserved

Pn03 Torque Limit Selection

Setting range 0 to 3 Unit --- Default setting 1 Power OFF→ON ---

Setting Explanation

0Use PCL (CN1 pin 16) as the limit value for forward operation and NCL (CN1 pin 18) as

the limit value for reverse operation.

1 Use Pn5E as the limit value for forward and reverse operation.

2Use Pn5E as the limit value for forward operation and Pn5F as the limit value for reverse

operation.

3Use Pn5E as the value when the GSEL/TLSEL input is open and use Pn5F as the value

when the GSEL/TLSEL input is closed.

All modes

Control Mode

Switch Input Open

Mode 1 Mode 2 Mode 1

Open

Closed

10 ms min. 10 ms min.

Position Speed

5-53

5-16 User Parameters

Operating Functions

Explanation of Settings

• Install limit switches at both ends of the axis to prohibit the Servomotor from traveling in the

direction specified by the switch. This can be used to prevent the workpiece from traveling too far

and thus prevent damage to the machine.

• Operation will be as follows if 0 is set.

• Connection between Forward Drive Prohibit Input (POT: CN1 pin 9) and COM closed: Forward

limit switch not operating and status normal.

• Connection between Forward Drive Prohibit Input (POT: CN1 pin 9) and COM open: Forward

drive prohibited and reverse drive permitted.

• Connection between Reverse Drive Prohibit Input (NOT: CN1 pin 8) and COM closed: Reverse

limit switch not operating and status normal.

• Connection between Reverse Drive Prohibit Input (NOT: CN1 pin 8) and COM open: Reverse

drive prohibited and forward drive permitted.

• If this parameter is set to 0, the Servomotor will decelerate and stop according to the sequence

set in the Stop Selection for Drive Prohibition Input (Pn66). For details, refer to the explanation for

Stop Selection for Drive Prohibition Input (Pn66) on page 5-87.

• If this parameter is set to 0 and the forward and reverse prohibit inputs are both open, an error will

be detected in the Servo Drive, and a drive prohibit input error (alarm code 38) will occur.

• If this parameter is set to 2, a drive prohibit input error (alarm code 38) will occur when the

connection between either the forward or reverse prohibit input and COM is open.

• If a limit switch above the workpiece is turned OFF when using a vertical axis, the upward torque

will be eliminated, and there may be repeated vertical movement of the workpiece. If this occurs,

set the Stop Selection for Drive Prohibition Input (Pn66) to 2 or limit operation using the host

controller rather than using this parameter.

Explanation of Settings

• Use this parameter to select the speed command when using speed control. The Servo Drive has

internally set speeds that can be used to easily achieve speed control by using contact inputs.

• For details on internally set speeds, refer to 5-3 Internally Set Speed Control on page 5-5.

Pn04 Drive Prohibit Input Selection

Setting range 0 to 2 Unit --- Default setting 1 Power OFF→ON Yes

Setting Explanation

0 Forward Drive Prohibit Input and Reverse Drive Prohibit Input enabled.

1 Forward Drive Prohibit Input and Reverse Drive Prohibit Input disabled.

2 Forward Drive Prohibit Input and Reverse Drive Prohibit Input enabled.

Pn05 Command Speed Selection

Setting range 0 to 3 Unit --- Default setting 0 Power OFF→ON ---

Setting Explanation

0 Speed Command Input (REF: CN1 pin 14)

1 No. 1 Internally Set Speed to No. 4 Internally Set Speed (Pn53 to Pn56)

2No. 1 Internally Set Speed to No. 3 Internally Set Speed (Pn53 to Pn55) and Speed Com-

mand Input (REF)

3 No. 1 Internally Set Speed to No. 8 Internally Set Speed (Pn53 to Pn56 and Pn74 to Pn77)

All modes

Speed

5-54

5-16 User Parameters

Operating Functions

Explanation of Settings

• Use this parameter to set the function of the Zero-speed Designation Input (VZERO: CN1 pin 26).

Explanation of Settings

Pn06 Zero Speed Designation/Speed Command Direction Switch

Setting range 0 to 2 Unit --- Default setting 0 Power OFF→ON ---

Setting Explanation

0The zero-speed designation input will be ignored, and a zero-speed designation will not

be detected.

1The zero-speed designation input will be enabled, and the speed command will be

assumed to be zero when the connection between the input and common is open.

Speed mode: Use as the speed command sign. The rotation direction is forward when

the connection between the input and common is open and reverse when

the connection between the input and common is closed.

Torque mode: The zero-speed designation input will be ignored, and a zero-speed

designation will not be detected.

Pn07 SP Selection

Setting range 0 to 9 Unit --- Default setting 3 Power OFF→ON ---

Setting Explanation

0 Actual Servomotor speed: 6 V/47 r/min

1 Actual Servomotor speed: 6 V/188 r/min

2 Actual Servomotor speed: 6 V/750 r/min

3 Actual Servomotor speed: 6 V/3000 r/min

4 Actual Servomotor speed: 1.5 V/3000 r/min

5 Command speed: 6 V/47 r/min

6 Command speed: 6 V/188 r/min

7 Command speed: 6 V/750 r/min

8 Command speed: 6 V/3000 r/min

9 Command speed: 1.5 V/3000 r/min

Speed Torque

All modes

5-55

5-16 User Parameters

Operating Functions

Explanation of Settings

• Use this parameter to assign the function of General-purpose Output 2 (OUTM2: CN1 pin 40).

Pn08 IM Selection

Setting range 0 to 12 Unit --- Default setting 0 Power OFF→ON ---

Setting Explanation

0 Torque command: 3 V/rated (100%) torque

1 Position deviation: 3 V/31 pulses

2 Position deviation: 3 V/125 pulses

3 Position deviation: 3 V/500 pulses

4 Position deviation: 3 V/2000 pulses

5 Position deviation: 3 V/8000 pulses

6 Reserved

7 Reserved

8 Reserved

9 Reserved

10 Reserved

11 Torque command: 3 V/200% torque

12 Torque command: 3 V/400% torque

Pn09 General-purpose Output 2 Selection

Setting range 0 to 8 Unit --- Default setting 0 Power OFF→ON ---

Setting Explanation

0 Output during torque limit

1 Zero speed detection output

2 Warning output for over regeneration, overload, absolute encoder battery, or fan lock

3 Over regeneration warning output

4 Overload warning output

5 Absolute encoder battery warning output

6 Fan lock warning output

7 Reserved

8 Speed conformity output

All modes

5-56

5-16 User Parameters

Operating Functions

Explanation of Settings

• Use this parameter to assign the function of General-purpose Output 1 (OUTM1: CN1 pin 12).

Explanation of Settings

• Use this parameter to set the operating method for the 17-bit absolute encoder.

• The setting of this parameter is disabled if a 5-core 2,500-pulse/revolution incremental encoder is

used.

Pn0A General-purpose Output 1 Selection

Setting range 0 to 8 Unit --- Default setting 1 Power OFF→ON ---

Setting Explanation

0 Output during torque limit

1 Zero speed detection output

2 Warning output for over regeneration, overload, absolute encoder battery, or fan lock

3 Over regeneration warning output

4 Overload warning output

5 Absolute encoder battery warning output

6 Fan lock warning output

7 Reserved

8 Speed conformity output

Pn0B Operation Switch When Using Absolute Encoder

Setting range 0 to 2 Unit --- Default setting 0 Power OFF→ON Yes

Setting Explanation

0 Use as absolute encoder.

1 Use as incremental encoder.

2 Use as absolute encoder but ignore multi-turn counter overflow.

All modes

5-57

5-16 User Parameters

Operating Functions

Explanation of Settings

• Use this parameter to select the baud rate for RS-232 communications.

• Baud rate error: ±0.5%.

Explanation of Settings

• Use this parameter to select the baud rate for RS-485 communications.

• Baud rate error: ±0.5%.

Explanation of Settings

• Front panel key operations can be limited to Monitor Mode. This function can be used to prevent

unintended changes to parameters because of incorrect key operations.

• Even if this parameter is set to 1, parameters can be changed by using communications.

• Use communications to return this parameter to 0.

Pn0C RS-232 Baud Rate Setting

Setting range 0 to 5 Unit --- Default setting 2 Power OFF→ON Yes

Setting Explanation

0 2,400 bps

1 4,800 bps

2 9,600 bps

3 19,200 bps

4 38,400 bps

5 57,600 bps

Pn0D RS-485 Baud Rate Setting

Setting range 0 to 5 Unit --- Default setting 2 Power OFF→ON Yes

Setting Explanation

0 2,400 bps

1 4,800 bps

2 9,600 bps

3 19,200 bps

4 38,400 bps

5 57,600 bps

Pn0E Front Key Protection Setting

Setting range 0 to 1 Unit --- Default setting 0 Power OFF→ON Yes

Setting Explanation

0 All enabled

1 Limited to Monitor Mode

All modes

5-58

5-16 User Parameters

Operating Functions

Gain Parameters (Pn10 to Pn3D)

• Use this parameter to adjust the position loop response to suit the mechanical rigidity.

• The responsiveness of the servo system is determined by the position loop gain. Servo systems

with a high loop gain have a high responsiveness and fast positioning. To increase the position

loop gain, you must improve mechanical rigidity and increase the specific oscillation frequency.

This should be 50 to 70 (1/s) for ordinary machine tools, 30 to 50 (1/s) for general-use and

assembly machines, and 10 to 30 (1/s) for industrial robots. The default position loop gain is 40

(1/s), so be sure to lower the setting for machines with low rigidity.

• Increasing the position loop gain in systems with low mechanical rigidity or systems with low

specific oscillation frequencies may cause machine resonance, resulting in an overload alarm.

• If the position loop gain is low, you can shorten the positioning time using feed forward.

• This parameter is automatically changed by executing realtime autotuning. To set it manually,

set the Realtime Autotuning Mode Selection (Pn21) to 0.

Position loop gain is generally expressed as follows:

When the position loop gain is changed, the response is as shown in the following diagram.

• If the speed loop gain and position loop gain are optimally set, the Servomotor operation for the

command will be delayed 2/Kp at acceleration and delayed 3/Kp at deceleration.

Pn0F Reserved

Setting range --- Unit --- Default setting --- Power OFF→ON ---

Pn10 Position Loop Gain

Setting range 0 to 3000 Unit 1/s Default setting 40 Power OFF→ON ---

Position

Position loop gain (Kp) = Command pulse frequency (pulses/s)

Deviation counter accumulated pulses (pulses) (1/s)

Servomotor

speed

When position loop gain is high.

When speed loop gain is low.

Time

Servomotor

speed Position

command

Servomotor operation

Time

5-59

5-16 User Parameters

Operating Functions

• Use this parameter to determine speed loop responsiveness.

• The setting for the Speed Loop Gain must be increased to increase the Position Loop Gain and

improve the responsiveness of the entire servo system. Setting the Speed Loop Gain too high,

however, may result in oscillation.

• The setting unit for Pn11 will be Hz if the Inertia Ratio (Pn20) is set correctly.

When the speed loop gain is changed, the response is as shown in the following diagram.

• Use this parameter to set the speed loop integration time constant.

• The smaller the setting, the faster the deviation will come close to 0 when stopping. If 1000 is set,

the integral will be ineffective.

When the speed loop integration time constant is changed, the response is as shown in the fol-

lowing diagram.

Pn11 Speed Loop Gain

Setting range 1 to 3500 Unit Hz Default setting 50 Power OFF→ON ---

Pn12 Speed Loop Integration Time Constant

Setting range 1 to 1000 Unit ms Default setting 20 Power OFF→ON ---

All modes

When speed loop gain is low.

Time

Servomotor

speed

Overshoots when speed loop gain is

high. (Oscillates when gain is too high.)

All modes

Servomotor

speed

Overshoots when speed loop integration time constant is small.

When speed loop integration

time constant is large.

Time

5-60

5-16 User Parameters

Operating Functions

• Use this parameter to set the time constant for the low-pass filter (LPF) after speed detection to

one of six value (0 to 5).

• Increasing the setting increases the time constant and decreases the noise generated by the

Servomotor. Responsiveness, however, also decreases.

• Normally, use the default setting.

• Use this parameter to set the time constant for the first-order lag filter inserted into the torque

command.

• This parameter may be effective in suppressing oscillation due to torsion resonance.

• Use this parameter to set the feed-forward amount in Position Control Mode.

• Increasing the setting decreases the position deviation and increases the responsiveness.

Overshooting, however, will occur more easily.

• Use this parameter to set the time constant for the first-order lag filter inserted into the feed-

forward.

• Setting the Feed-forward Command Filter may improve operation if speed overshooting occurs or

the noise during operation is large when the feed forward is set high.

• Use this parameter to set the responsiveness of the position control system for the second position

loop.

• Use this parameter to set the responsiveness of the second speed loop.

Pn13 Speed Feedback Filter Time Constant

Setting range 0 to 5 Unit --- Default setting 0 Power OFF→ON ---

Pn14 Torque Command Filter Time Constant

Setting range 0 to 2500 Unit 0.01ms Default setting 80 Power OFF→ON ---

Pn15 Feed-forward Amount

Setting range −2000 to 2000 Unit 0.10% Default setting 300 Power OFF→ON ---

Pn16 Feed-forward Command Filter

Setting range 0 to 6400 Unit 0.01ms Default setting 100 Power OFF→ON ---

Pn17 Reserved

Setting range --- Unit --- Default setting --- Power OFF→ON ---

Pn18 Position Loop Gain 2

Setting range 1 to 3000 Unit 1/s Default setting 20 Power OFF→ON ---

Pn19 Speed Loop Gain 2

Setting range 1 to 3500 Unit Hz Default setting 80 Power OFF→ON ---

All modes

Position

All modes

5-61

5-16 User Parameters

Operating Functions

• Use this parameter to set the second speed loop integration time constant.

• Use this parameter to set the second speed feedback filter time constant.

• Use this parameter to set the second torque command filter time constant.

• The parameters from Pn18 to Pn1C are the gain and time constants to be selected when gain

switching is enabled in the Gain Switching Input Operating Mode Selection (Pn30).

• The gain is switched according to the condition set in the Control Gain Switch 1 Setting (Pn31).

• If the mechanical system inertia changes greatly or if you want to change the responsiveness

when the Servomotor is rotating and when it is being stopped, you can achieve the appropriate

control by setting the gains and time constants beforehand for each of these conditions, and switch

them according to the condition.

• These parameters are automatically changed by executing realtime autotuning. To set them

manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.

• Gain switching is enabled only for position control.

• Use this parameter to set the frequency of notch filter 1 for resonance suppression.

• The notch filter function will be disabled if this parameter is set to 1500.

• Use this parameter to set the width of notch filter 1 for resonance suppression to one of 5 levels.

• Increasing the setting increases the notch width. Normally, use the default setting.

Pn1A Speed Loop Integration Time Constant 2

Setting range 1 to 1000 Unit ms Default setting 50 Power OFF→ON ---

Pn1B Speed Feedback Filter Time Constant 2

Setting range 0 to 5 Unit --- Default setting 0 Power OFF→ON ---

Pn1C Torque Command Filter Time Constant 2

Setting range 0 to 2500 Unit 0.01 ms Default setting 100 Power OFF→ON ---

Pn1D Notch Filter 1 Frequency

Setting range 100 to 1500 Unit Hz Default setting 1500 Power OFF→ON ---

Pn1E Notch Filter 1 Width

Setting range 0 to 4 Unit --- Default setting 2 Power OFF→ON ---

Pn1F Reserved

Setting range --- Unit --- Default setting --- Power OFF→ON ---

All modes

5-62

5-16 User Parameters

Operating Functions

• Use this parameter to set the load inertia as a percentage of the Servomotor rotor inertia.

• Pn20 = (Load inertia ÷ Rotor inertia) × 100%

• When normal mode autotuning is executed, the load inertia will be automatically estimated after

the specified operation, and this parameter will be updated with the result.

• When realtime autotuning is enabled, the inertia ratio is continuously estimated and saved in

EEPROM every 30 min.

• If the inertia ratio is set correctly, the setting unit for the Speed Loop Gain (Pn11) and Speed Loop

Gain 2 (Pn19) will be Hz.

• If the Inertia Ratio (Pn20) is set larger than the actual value, the setting for speed loop gain will

increase. If the inertia ratio is set smaller than the actual value, the setting for speed loop gain will

decrease.

Explanation of Settings

• Use this parameter to set the operating mode for realtime autotuning.

• The higher the value that is set (e.g., 3 or 6), the faster the response is for a change in inertia during

operation. Operation, however, may be unstable depending on the operating pattern. Normally,

set the parameter to 1 or 4.

• Use a setting of 4 to 6 if a vertical axis is used.

• Use setting 7 if vibration is caused by gain switching.

• Use this parameter to set the machine rigidity to one of 16 levels when realtime autotuning is

enabled.

• If the setting is changed suddenly by a large amount, the gain will change rapidly, subjecting the

machine to shock. Always start by making small changes in the setting, and gradually increase the

setting while monitoring machine operation.

Pn20 Inertia Ratio

Setting range 0 to 10000 Unit % Default setting 300 Power OFF→ON ---

Pn21 Realtime Autotuning Mode Selection

Setting range 0 to 7 Unit --- Default setting 0 Power OFF→ON ---

Setting Explanation

0 Realtime autotuning is disabled.

1 Normal mode: There is almost no change.

2 Normal mode: There are gradual changes.

3 Normal mode: There are sudden changes.

4Vertical axis mode: There is almost no change.

5Vertical axis mode: There are gradual changes.

6Vertical axis mode: There are sudden changes.

7No gain switching: There is almost no change.

Pn22 Realtime Autotuning Machine Rigidity Selection

Setting range 0 to F Unit --- Default setting 2 Power OFF→ON ---

All modes

Low

High

0·1 - - - - - - - - - - - - - - - E·FPn22

Res

onsiveness

Servo gain

Machine rigidity

5-63

5-16 User Parameters

Operating Functions

Explanation of Settings

• Use this parameter to set the operation of the adaptive filter.

• The Adaptive Filter Table Number Display (Pn2F) will be reset to 0 when the adaptive filter is

disabled.

• The adaptive filter is normally disabled in the torque control mode.

Explanation of Settings

• Set the operating pattern for normal mode autotuning.

Pn23 Adaptive Filter Selection

Setting range 0 to 2 Unit --- Default setting 0 Power OFF→ON Yes

Setting Explanation

0 Adaptive filter disabled.

1 Adaptive filter enabled.

2 Hold (The adaptive filter frequency when the setting was changed to 2 will be held.)

Pn24 Vibration Filter Selection

Setting range 0 to 2 Unit --- Default setting 0 Power OFF→ON ---

Setting Explanation

0 No switching. (Both filter 1 and filter 2 are enabled.)

Filter 1 or filter 2 can be selected using vibration filter switching (DFSEL).

DFSEL open: Vibration filter 1 (Pn2B and Pn2C) is selected.

DFSEL closed: Vibration filter 2 (Pn2D and Pn2E) is selected.

Switching with position command direction.

Forward: Vibration filter 1 (Pn2B and Pn2C) is selected.

Reverse: Vibration filter 2 (Pn2D and Pn2E) is selected.

Pn25 Autotuning Operation Setting

Setting range 0 to 7 Unit --- Default setting 0 Power OFF→ON ---

Setting Rotation direction Number of rotations

0 Forward to reverse

Two rotations

1 Reverse to forward

2 Forward to forward

3 Reverse to reverse

4 Forward to reverse

One rotation

5 Reverse to forward

6 Forward to forward

7 Reverse to reverse

Position Speed

Position

All modes

5-64

5-16 User Parameters

Operating Functions

• Use this parameter to set the Servomotor’s allowable operating range for the position command

input range.

• An overrun limit error (alarm code 34) will occur if the setting is exceeded.

• The function will be disabled if the setting is 0.

• For details, refer to Overrun Limit on page 5-18.

Explanation of Settings

• The instantaneous speed observer can both increase the responsiveness and reduce vibration at

stopping by improving the speed detection accuracy for devices with high rigidity.

• The Inertia Ratio (Pn20) must be set correctly.

• The Instantaneous Speed Observer Setting (Pn27) will be 0 (disabled) if the Realtime Autotuning

Mode Selection (Pn21) is not set to 0 (enabled).

• Use this parameter to set the notch frequency of notch filter 2 for resonance suppression.

• The notch filter will be disabled if the setting is 1500.

• Use this parameter to set the notch width of notch filter 2 for resonance suppression.

• Increasing the setting will increase the notch width. Normally, use the default setting.

• Use this parameter to set the notch depth of notch filter 2 for resonance suppression.

• Increasing the setting will decrease the notch depth and the phase lag.

• Use this parameter to set vibration frequency 1 for damping control to suppress vibration at the

end of the load.

• Measure the frequency at the end of the load and make the setting in units of 0.1 Hz.

• Setting frequency: 10.0 to 200.0 Hz. The function will be disabled if the setting is 0 to 9.9 Hz.

• Refer to Damping Control on page 7-35 for more information.

Pn26 Overrun Limit Setting

Setting range 0 to 1000 Unit 0.1 revolution Default setting 10 Power OFF→ON ---

Pn27 Instantaneous Speed Observer Setting

Setting range 0 to 1 Unit --- Default setting 0 Power OFF→ON ---

Setting Explanation

0 Disabled

1 Enabled

Pn28 Notch Filter 2 Frequency

Setting range 100 to 1500 Unit Hz Default setting 1500 Power OFF→ON ---

Pn29 Notch Filter 2 Width

Setting range 0 to 4 Unit --- Default setting 2 Power OFF→ON ---

Pn2A Notch Filter 2 Depth

Setting range 0 to 99 Unit --- Default setting 0 Power OFF→ON ---

Pn2B Vibration Frequency 1

Setting range 0 to 2000 Unit 0.1 Hz Default setting 0 Power OFF→ON ---

Position

Position Speed

All modes

Position

5-65

5-16 User Parameters

Operating Functions

• First set the Vibration Frequency 1 (Pn2B). Then reduce the setting of Pn2C if torque saturation

occurs or increase the setting of Pn2C to increase operation speed. Normally, use a setting of 0.

• Other than the setting range, the following restriction also applies: 10.0 Hz − Pn2B ≤ Pn2C ≤ Pn2B.

• Refer to Damping Control on page 7-35 for more information.

• Use this parameter to set the vibration frequency 2 for damping control to suppress vibration at the

end of the load.

• Measure the frequency at the end of the load and make the setting in units of 0.1 Hz.

• Setting frequency: 10.0 to 200.0 Hz. The function will be disabled if the setting is 0 to 9.9 Hz.

• Refer to Damping Control on page 7-35 for more information.

• First set the Vibration Frequency 2 (Pn2D). Then reduce the setting of Pn2E if torque saturation

occurs or increase the setting of Pn2E to increase operation speed. Normally, use a setting of 0.

• Other than the setting range, the following restriction also applies: 10.0 Hz − Pn2D ≤ Pn2E ≤ Pn2D

• Refer to Damping Control on page 7-35 for more information.

Pn2C Vibration Filter 1 Setting

Setting range −200 to 2000 Unit 0.1 Hz Default setting 0 Power OFF→ON ---

Pn2D Vibration Frequency 2

Setting range 0 to 2000 Unit 0.1 Hz Default setting 0 Power OFF→ON ---

Pn2E Vibration Filter 2 Setting

Setting range −200 to 2000 Unit 0.1 Hz Default setting 0 Power OFF→ON ---

Position

5-66

5-16 User Parameters

Operating Functions

Explanation of Settings

• This parameter displays the table entry number corresponding to the frequency of the adaptive filter.

• This parameter is set automatically and cannot be changed if the adaptive filter is enabled (if the Adaptive

Filter Selection (Pn23) is not 0).

• When the adaptive filter is enabled, data will be saved in EEPROM every 30 min. If the adaptive filter is

enabled the next time the power supply is turned ON, adaptive operation will start with the data saved in

EEPROM as the default value.

• To clear this parameter and reset the adaptive operation, disable the adaptive filter by setting the

Adaptive Filter Selection (Pn23) to 0, and then enable it again.

Pn2F Adaptive Filter Table Number Display

Setting range 0 to 64 Unit --- Default setting 0 Power OFF→ON ---

Displayed

value

Notch Filter 1

Frequency (Hz)

Displayed

value

Notch Filter 1

Frequency (Hz)

Displayed

value

Notch Filter 1

Frequency (Hz)

0 Disabled 22 766 44 326

1 Disabled 23 737 45 314

2 Disabled 24 709 46 302

3 Disabled 25 682 47 290

4 Disabled 26 656 48 279

5 1482 27 631 49 269 (Disabled when Pn22 ≥ F)

6 1426 28 607 50 258 (Disabled when Pn22 ≥ F)

7 1372 29 584 51 248 (Disabled when Pn22 ≥ F)

8 1319 30 562 52 239 (Disabled when Pn22 ≥ F)

9 1269 31 540 53 230 (Disabled when Pn22 ≥ F)

10 1221 32 520 54 221 (Disabled when Pn22 ≥ E)

11 1174 33 500 55 213 (Disabled when Pn22 ≥ E)

12 1130 34 481 56 205 (Disabled when Pn22 ≥ E)

13 1087 35 462 57 197 (Disabled when Pn22 ≥ E)

14 1045 36 445 58 189 (Disabled when Pn22 ≥ E)

15 1005 37 428 59 182 (Disabled when Pn22 ≥ D)

16 967 38 412 60 Disabled

17 930 39 396 61 Disabled

18 895 40 381 62 Disabled

19 861 41 366 63 Disabled

20 828 42 352 64 Disabled

21 796 43 339

Position Speed

5-67

5-16 User Parameters

Operating Functions

Explanation of Settings

• Use this parameter to select whether to switch between PI and P operation or to switch between

gain 1 and gain 2 in Speed Control Mode.

• PI/P operation switching is performed using gain switching (GSEL: CN1 pin 27). PI is not changed,

however, if the Torque Limit Selection (Pn03) is set to 3.

• For information on conditions for switching between gain 1 and gain 2, refer to Gain Switching

Function on page 7-26.

Pn30 Gain Switching Input Operating Mode Selection

Setting range 0 or 1 Unit --- Default setting 1 Power OFF→ON ---

Setting Explanation

0 Gain 1 (PI/P switching enabled)

1 Gain 1/gain 2 switching enabled

Gain input Speed loop operation

COM open PI operation

COM connection P operation

All modes

5-68

5-16 User Parameters

Operating Functions

Explanation of Settings

Position Control Mode ({: Enabled, ×: Disabled)

Speed Control Mode

Pn31 Control Gain Switch 1 Setting

Setting range 0 to 10 Unit --- Default setting 0 Power OFF→ON ---

Setting

Explanation

Gain switching conditions Gain Switch 1

Time (Pn32) *1

Gain Switch 1

Level Setting

(Pn33)

Gain Switch 1

Hysteresis Set-

ting (Pn34) *2

0 Always gain 1 (Pn10 to Pn14) ×× ×

1 Always gain 2 (Pn18 to Pn1C) ×× ×

2Switching using Gain Switch Input

(GSEL) for CN1 pin 27 ×× ×

3Amount of change in torque

command (Figure A) {{ *3

(× 0.05%)

{ *3

(× 0.05%)

4 Always gain 1 (Pn10 to Pn14) ×× ×

5 Command speed (Figure B) {{ (r/min) { (r/min)

6Amount of position deviation

(Figure C) {{ *4

(Pulse)

{ *4

(Pulse)

7 Command pulses received (Figure D) {××

8Positioning Completed Signal (INP)

OFF (Figure E) {××

9 Actual Servomotor speed (Figure B) {{ (r/min) { (r/min)

10 Combination of command pulse input

and speed (Figure F) {{ *5

(r/min)

{ *5

(r/min)

Setting

Explanation

Gain switching conditions Gain Switch Time

(Pn32, 37) *1

Gain Switch

Level Setting

(Pn33, 38)

Gain Switch

Hysteresis Set-

ting (Pn34, 39) *2

0 Always gain 1 (Pn10 to Pn14) ×××

1 Always gain 2 (Pn18 to Pn1C) ×××

2Switching using Gain Switch Input

(GSEL) for CN1 pin 27 ×××

3Amount of change in torque

command (Figure A) {{ *3

(0.05%/166 µs)

{ *3

(0.05%/166 µs)

4Amount of change in speed

command (Figure B) {{ *5

(10 r/min/s)

{ *5

(10 r/min/s)

5 Command speed (Figure C) {{ (r/min) { (r/min)

All modes

5-69

5-16 User Parameters

Operating Functions

Torque Control Mode

• Use this parameter to select the conditions for switching between gain 1 and gain 2 when the Gain

Switching Input Operation Mode Selection (Pn30) is set to 1.

• The gain is always gain 1 regardless of the gain input if the Control Gain Switch 1 Setting (Pn31)

is 2 and the Torque Limit Selection (Pn03) is 3.

• If the Control Mode Setting (Pn02) is set to a composite mode (3, 4, or 5), the setting of this

parameter is valid when the first control mode is used.

*1. The Gain Switch 1 Time (Pn32) is used when returning from gain 2 to gain 1.

*2. The Gain Switch 1 Hysteresis Setting (Pn34) is defined as shown in the following figure.

*3. The amount of change is the value within 166 µs.

Example: When the condition is a 10% change in torque in 166 µs, the set value is 200.

*4. This is the encoder resolution.

*5. The meanings of the Gain Switch Time, Gain Switch Level Setting, and Gain Switch Hysteresis

Setting are different from normal if this parameter is set to 10. (Refer to Figure F.)

Setting

Explanation

Gain switching conditions Gain Switch Time

(Pn32, 37) *1

Gain Switch

Level Setting

(Pn33, 38)

Gain Switch

Hysteresis Set-

ting (Pn34, 39) *2

0 Always gain 1 (Pn10 to Pn14) ×××

1 Always gain 2 (Pn18 to Pn1C) ×××

2Switching using Gain Switch Input

(GSEL) for CN1 pin 27 ×××

3Amount of change in torque command

(Figure A) {{ *3

(0.05%/166 µs)

{ *3

(0.05%/166 µs)

Pn33

Pn34

Pn32

Gain 1 Gain 2 Gain 1

5-70

5-16 User Parameters

Operating Functions

• For Position Control Mode, use this parameter to set the delay time when returning from gain 2 to

gain 1 if the Control Gain Switch 1 Setting (Pn31) is 3 or 5 to 10.

• For Speed Control Mode, use this parameter to set the delay time when returning from gain 2 to

gain 1 if the Control Gain Switch 1 Setting (Pn31) is 3 to 5.

• For Torque Control Mode, use this parameter to set the delay time when returning from gain 2 to

gain 1 if the Control Gain Switch 1 Setting (Pn31) is 3.

Pn32 Gain Switch 1 Time

Setting range 0 to 10000 Unit × 166 µs Default setting 30 Power OFF→ON ---

22 22

INP

Speed V

Figure A

Torque T

Accumulated pulses

Level

Speed V Figure B

Figure C

Figure D

Figure E

Gain 1

Gain 1 Gain 1

Gain 1

Gain 2

Gain 1 Gain 1

Command

speed S

Speed V

Actual

speed N

Time

Gain 1

Command

speed S

Actual

speed N

Figure F

Level

Time

Gain 2 is used only during the Speed Loop Integration Time Constant.

Gain 1 is used at other times.

Time

All modes

5-71

5-16 User Parameters

Operating Functions

• For Position Control Mode, use this parameter to set the judgment level for switching between gain

1 and gain 2. If the Control Gain Switch 1 Setting (Pn31) is set to 3, 5, 6, 9, or 10, Pn33 is enabled.

The unit depends on the Control Gain Switch 1 Setting (Pn31).

• For Speed Control Mode, use this parameter to set the judgment level for switching between gain

1 and gain 2. If the Control Gain Switch 1 Setting (Pn31) is set to 3 to 5. Pn33 is enabled. The unit

depends on the Control Gain Switch 1 Setting (Pn31).

• For Torque Control Mode, use this parameter to set the judgment level for switching between gain

1 and gain 2. If the Control Gain Switch 1 Setting (Pn31) is set to 3, Pn33 is enabled. The unit

depends on the Control Gain Switch 1 Setting (Pn31).

• Use this parameter to set the hysteresis width for the judgment level set in the Gain Switch 1 Level

Setting (Pn33). The unit depends on the Control Gain Switch 1 Setting (Pn31). The following

shows the definitions for the Gain Switch 1 Time (Pn32), Gain Switch 1 Level Setting (Pn33), and

Gain Switch 1 Hysteresis Setting (Pn34).

• The settings for the Gain Switch 1 Level Setting (Pn33) and the Gain Switch 1 Hysteresis Setting

(Pn34) are effective as absolute values (positive/negative).

• When switching between gain 1 and gain 2 is enabled, set the phased switching time only for

position loop gain at gain switching.

Pn33 Gain Switch 1 Level Setting

Setting range 0 to 20000 Unit --- Default setting 600 Power OFF→ON ---

Pn34 Gain Switch 1 Hysteresis Setting

Setting range 0 to 20000 Unit --- Default setting 50 Power OFF→ON ---

Pn35 Position Loop Gain Switching Time

Setting range 0 to 10000 Unit × 166 µs Default setting 20 Power OFF→ON ---

All modes

Pn33

Pn34

Pn32

Gain 1 Gain 2 Gain 1

Position

Pn35=

Kp1 (Pn10)

166

166 166

Kp2 (Pn18)

Kp1 (Pn10) > Kp2 (Pn18)

Example:

Bold solid line

Thin solid line

Gain 1 Gain 2 Gain 1

5-72

5-16 User Parameters

Operating Functions

Explanation of Settings

• If the Control Mode Setting (Pn02) is set to a composite mode (3, 4, or 5), the setting of this

parameter is valid when the second control mode is used.

• Use this parameter to select the conditions for switching between gain 1 and gain 2 if the second

control mode is used when the Gain Switching Input Operating Mode Selection (Pn30) is set to 1.

• If 2 is selected, the Control Gain Switch 1 Setting (Pn31) is set to 2 and the Torque Limit Selection

(Pn03) is set to 3, the gain is always gain 1 regardless of the gain input.

• For information on switching levels and timing, refer to Gain Switching Function on page 7-26.

• Use this parameter to set the delay time when returning from gain 2 to gain 1 if the Control Gain

Switch 2 Setting (Pn36) is 3 to 5.

• Use this parameter to set the judgment level for switching between gain 1 and gain 2 when the

Control Gain Switch 2 Setting (Pn36) is set to 3 to 5. The unit depends on the setting for the Control

Gain Switch 2 Setting (Pn36).

• Use this parameter to set the hysteresis width for the judgment level set in the Gain Switch 2 Level

setting (Pn38). The unit depends on the Control Gain Switch 2 Setting (Pn36). The following shows

the definitions for the Gain Switch 2 Time (Pn37), Gain Switch 2 Level Setting (Pn38), and Gain

Switch 2 Hysteresis Setting (Pn39).

• The settings for the Gain Switch 2 Level Setting (Pn38) and the Gain Switch 2 Hysteresis Setting

Pn36 Control Gain Switch 2 Setting

Setting range 0 to 5 Unit --- Default setting 0 Power OFF→ON ---

Setting Explanation

0 Always gain 1

1 Always gain 2

2Gain 2 is selected when the Gain Switching Input (GSEL: CN1 pin 27) is ON. (The Gain

Switching Input Operating Mode Selection (Pn30) must be set to 1.)

3 Gain 2 is selected as the amount of change in the torque command increases.

4Gain 2 is selected as the amount of change in speed command (i.e., acceleration)

increases.

5 Gain 2 is selected as the command speed increases.

Pn37 Gain Switch 2 Time

Setting range 0 to 10000 Unit × 166 µs Default setting 30 Power OFF→ON ---

Pn38 Gain Switch 2 Level Setting

Setting range 0 to 20000 Unit --- Default setting 0 Power OFF→ON ---

Pn39 Gain Switch 2 Hysteresis Setting

Setting range 0 to 20000 Unit --- Default setting 0 Power OFF→ON ---

Speed Torque

Pn38

Pn39

Pn37

Gain 1 Gain 2 Gain 1

5-73

5-16 User Parameters

Operating Functions

(Pn39) are effective as absolute values (positive/negative).

• Use this parameter to set the speed for jog operation.

• Before use, refer to Jog Operation on page 6-24.

Position Control Parameters (Pn40 to Pn4E)

Explanation of Settings

• Use this parameter to select whether to use photocoupler or line-driver input for the command

pulse input.

Explanation of Settings

• Use this parameter to set the Servomotor rotation direction used for the command pulse input.

Pn3D Jog Speed

Setting range 0 to 500 Unit r/min Default setting 200 Power OFF→ON ---

Pn40 Command Pulse Input Selection

Setting range 0 or 1 Unit --- Default setting 0 Power OFF→ON Yes

Setting Explanation

0Photocoupler input (+PULS: CN1 pin 3, −PULS: CN1 pin 4, +SIGN: CN1 pin 5,

−SIGN: CN1 pin 6)

1Line driver input (+CWLD: CN1 pin 44, −CWLD: CN1 pin 45, +CCWLD: CN1 pin 46,

−CCWLD: CN1 pin 47)

Pn41 Command Pulse Rotation Direction Switch

Setting range 0 or 1 Unit --- Default setting 0 Power OFF→ON Yes

Setting Explanation

0 The Servomotor rotates in the direction specified by the command pulse.

1The Servomotor rotates in the opposite direction from the direction specified by the

command pulse.

All modes

Position

5-74

5-16 User Parameters

Operating Functions

Explanation of Settings

• Use this parameter to set the form of the pulse inputs sent as commands to the Servo Drive from

the position controller.

Explanation of Settings

• Use this parameter to enable or disable the Pulse Prohibit Input (IPG: CN1 pin 33).

• Command pulse inputs will be prohibited when the connection between the IPG input and COM is

open.

• Set this parameter to 1 when the IPG input is not used. This will eliminate the necessity to

externally connect the IPG input (CN1 pin 33) and COM (CN1 pin 41).

Pn42 Command Pulse Mode

Setting range 0 to 3 Unit --- Default setting 1 Power OFF→ON Yes

Setting Command pulse mode Servomotor forward command Servomotor reverse command

0 or 2

90° phase difference

(phases A and B) sig-

nal inputs

Line driver: t1 ≥ 2 µs

Open collector: t1 ≥ 5 µs

1Reverse pulse and for-

ward pulse inputs

Line driver: t2 ≥ 1 µs

Open collector: t2 ≥ 2.5 µs

Feed pulse input and

forward/reverse signal

input

Line driver: t2 ≥ 1 µs

Open collector: t2 ≥ 2.5 µs

Pn43 Command Pulse Prohibited Input

Setting range 0 or 1 Unit --- Default setting 1 Power OFF→ON ---

Setting Explanation

0 Enabled

1 Disabled

Position

Phase A

Phase B

Position

5-75

5-16 User Parameters

Operating Functions

• Use this parameter to set the number of encoder pulses output from the pulse outputs (+A: CN1

pin 21, −A: CN1 pin 22, −B: CN1 pin 48, +B: CN1 pin 49)

• If the Encoder Divider Denominator Setting (Pn45) is 0, the number of output pulses for one

Servomotor rotation can be set for A and B using the Encoder Divider Numerator Setting (Pn44).

The resolution of the pulse output after multiplication by 4 will be as follows:

Pulse output resolution per rotation = Encoder Divider Numerator Setting (Pn44) × 4

• If the Encoder Divider Denominator Setting (Pn45) is not 0, the pulse output resolution per rotation

can be set using the following encoder divider equation.

• The encoder resolution for a 17-bit absolute encoder is 131,072 pulses/rotation and a 2,500-pulse/

rotation, 5-core incremental encoder is 10,000 pulses/rotation.

• The pulse output resolution per rotation will never exceed the encoder resolution. (If the above

settings are used, the pulse output resolution per rotation will be equal to the encoder resolution.)

• One phase-Z signal is output for each rotation of the Servomotor.

• If the value from the above equation is a multiple of 4, phases Z and A are synchronized. In all

other cases, the output width of phase Z will coincide with the encoder resolution, so phases A and

Z will not be synchronized.

• Refer to 5-7 Encoder Dividing on page 5-15 for more information on the encoder divider.

Pn44 Encoder Divider Numerator Setting

Setting range 0 to 32767 Unit --- Default setting 2500 Power OFF→ON Yes

Pn45 Encoder Divider Denominator Setting

Setting range 0 to 32767 Unit --- Default setting 0 Power OFF→ON Yes

All modes

Pulse output resolution per rotation = Pn44 (Encoder Divider Numerator Setting)

Pn45 (Encoder Divider Denominator Setting) × Encoder resolution

Synched

Not synched

Pn44

Pn45

Encoder resolution ×: Multiple of 4

Pn44

Pn45

Encoder resolution ×: Not multiple of 4

5-76

5-16 User Parameters

Operating Functions

Explanation of Settings

• Use this parameter to set the phase−B logic for pulse output (−B: CN1 pin 48, +B: CN1 pin 49).

• This parameter can be used to invert the output direction of the phase−B pulse to reverse the

relation of the phase−B pulse to the phase-A pulse.

Pn46 Encoder Output Direction Switch

Setting range 0 or 1 Unit --- Default setting 0 Power OFF→ON Yes

Setting Phase Forward motor operation Reverse motor operation

--- Phase A

0 Non-inverted phase B

1 Inverted phase B

Setting Explanation

0 Phase−B output: Not inverted, Output source: Encoder position

1 Phase−B output: Inverted, Output source: Encoder position

All modes

5-77

5-16 User Parameters

Operating Functions

• Use these parameters to set the electronic gear.

• The electronic gear can be used for the following:

• To set the amount of Servomotor rotation or movement per input command pulse.

• To increase the nominal command pulse frequency by using a multiplier when the desired

Servomotor speed cannot be achieved due to the limited pulse oscillation capability of the host

controller.

• Electronic Gear Block Diagram

*1. Numerator 1 or Numerator 2 is selected using the Electronic Gear Switch Input (GESEL: CN1 pin

28).

• The gear ratio is set using the following equations.

If the numerator equals 0, the following value is set automatically.

Numerator ((Pn48 or Pn49) × 2Pn4A) = Encoder resolution

In this case, the number of command pulses per revolution can be set in Pn4B.

If the numerator does not equal 0, the gear ratio is as follows:

The upper limit of the calculated numerator ((Pn48 or Pn49) × 2Pn4A) is 4,194,304/ (Pn4D setting

+ 1).

Pn48 Electronic Gear Ratio Numerator 1

Setting range 0 to 10000 Unit --- Default setting 0 Power OFF→ON ---

Pn49 Electronic Gear Ratio Numerator 2

Setting range 0 to 10000 Unit --- Default setting 0 Power OFF→ON ---

Pn4A Electronic Gear Ratio Numerator Exponent

Setting range 0 to 17 Unit --- Default setting 0 Power OFF→ON ---

Pn4B Electronic Gear Ratio Denominator

Setting range 0 to 10000 Unit --- Default setting 10000 Power OFF→ON ---

GESEL input open Numerator 1 (Pn48) selected.

GESEL input connected to COM Numerator 2 (Pn49) selected.

Position

× 2

*1 F

−

Command pulses

Numerator 1 (Pn48)

Numerator 2 (Pn49)

Exponent (Pn4A)

Denominator (Pn4B)

Internal

command

Feedback

pulses

(resolution)

To deviation

counter

10,000 pulses/re

217

ulses/rev

Electronic gear ratio = Encoder resolution

Number of command pulses per Servomotor rotation (Pn4B)

Electronic gear ratio = Electronic gear ratio numerator (Pn48 or Pn49) × 2

Electronic gear ratio numerator exponent (Pn4A)

Electronic gear ratio denominator (Pn4B)

5-78

5-16 User Parameters

Operating Functions

Explanation of Settings

• The position command filter is the first-order lag filter for the command pulse input.

• The time constant of the position command filter can be set to one of eight values.

• The position command filter can be used for the following:

• If the command pulses change abruptly, the filter can be used to reduce the stepping movement

of the Servomotor.

• The following are examples of when the command pulses can change abruptly:

The electronic gear setting is high (10 times or higher).

The command pulse frequency is low.

Pn4C Position Command Filter Time Constant Setting

Setting range 0 to 7 Unit --- Default setting 0 Power OFF→ON ---

Setting Explanation

0No filter

1 Time constant: 0.2 ms

2 Time constant: 0.6 ms

3 Time constant: 1.3 ms

4 Time constant: 2.6 ms

5 Time constant: 5.3 ms

6 Time constant: 10.6 ms

7 Time constant: 21.2 ms

Position

5-79

5-16 User Parameters

Operating Functions

• Use this parameter to select the FIR filter time constant used for the command pulses (FIR: Finite

impulse response).

• The higher the setting, the smoother the command pulses.

• If the setting is 0, the control cycle will be (0 + 1) × 166 = 166 µs.

If the setting is 1, the control cycle will be (1 + 1) × 166 = 332 µs.

Likewise, if the setting is 31, the control cycle will be (31 + 1) × 166 = 5,312 µs.

Explanation of Settings

• If Pn4E is set to 0, the minimum time width of the ECRST signal will be as follows:

Pn4D Smoothing Filter Setting

Setting range 0 to 31 Unit --- Default setting 0 Power OFF→ON Yes

Pn4E Deviation Counter Reset Condition Setting

Setting range 0 to 2 Unit --- Default setting 1 Power OFF→ON ---

Setting Explanation

0 Clears the deviation counter when the signal is closed for 100 µs or longer.

1Clears the deviation counter on the falling edge of the signal (open and then closed for

100 µs or longer).

2 Disabled

Position

Command

Input position command Position command after

smoothing filter processing

Position command after FIR filter processing

tf = (Pn4E + 1) × Control cycle

Time

tftf

Response with position loop gain

Response with position

loop gain

Position

ECRST (pin 30) 100 µs min.

5-80

5-16 User Parameters

Operating Functions

Speed and Torque Control Parameters (Pn50 and Higher)

• Use this parameter to set the relation between the voltage applied to the Speed Command Input

(REF: CN1 pin 14) and the Servomotor speed.

• Refer to 5-2 Speed Control on page 5-3 for information on speed control.

• Refer to 5-4 Torque Control on page 5-8 for information on torque control.

Explanation of Settings

• Use this parameter to reverse the polarity of the Speed Command Input (REF: CN1 pin 14) to

change the Servomotor rotation direction without reversing the polarity of the commands from the

host controller.

• This parameter is set to 0 by default (counterclockwise (reverse) for positive commands) for

compatibility with all OMNUC W-Series Servo Drives.

• This parameter is disabled if the Zero Speed Designation/Speed Command Direction Switch

(Pn06) is set to 2.

• The operation of the Servomotor may be abnormal if the polarity of the speed command signal

from the Position Control Unit does not agree with the setting of this parameter when the Servo

Drive is in Speed Control Mode and the Servo Drive is used in combination with an external

Position Control Unit.

• Use this parameter to adjust the offset of the Speed Command Input (REF: CN1 pin 14).

• The offset amount is approximately the set value times 0.3 mV.

• There are two ways to adjust the offset.

• Manually

• Automatically

• The manual adjustment is as follows:

• To adjust the offset for individual Servo Drives, accurately input 0 V to the Speed/Torque

Command Input (REF/TREF1) (or connect REF/TREF1 to the signal ground), and then set this

parameter so that the Servomotor does not rotate.

• If you use a position loop in the host controller, set this parameter so that there are no

accumulated pulses at servo lock status.

• The automatic adjustment is as follows:

• This parameter will be automatically set when automatic offset adjustment is executed. Refer to

Automatic Offset Adjustment on page 6-22 for the procedure.

Pn50 Speed Command Scale

Setting range 10 to 2000 Unit (r/min)/V Default setting 300 Power OFF→ON ---

Pn51 Command Speed Rotation Direction Switch

Setting range 0 or 1 Unit --- Default setting 0 Power OFF→ON ---

Setting Explanation

0Direction of motor rotation:

Clockwise (forward) for positive commands when viewing the end of the shaft

1Direction of motor rotation:

Counterclockwise (reverse) for positive commands when viewing the end of the shaft

Pn52 Speed Command Offset Adjustment

Setting range −2047 to 2047 Unit 0.3 mV Default setting 0 Power OFF→ON ---

Speed Torque

Speed

Speed Torque

5-81

5-16 User Parameters

Operating Functions

• Pn56 is also the Speed Limit in Torque Control Mode. The Torque Command/Speed Limit

Selection (Pn5B) can be used to switch to an external analog limit.

• If internally set speed settings are enabled in the Command Speed Selection (Pn05), set the

number 1 to 4 internal speeds in Pn53 to Pn56 and the number 5 to 8 internal speeds in Pn74 to

Pn77. Set the speed in r/min.

• The polarity of the settings indicates the polarity of the internal command speed.

• The absolute value of the internally set speed is limited by the Overspeed Detection Level Setting

(Pn73).

• Use this parameter to set the first-order lag filter time constant in the Speed Command Input (REF:

CN1 pin 14).

Pn53 No. 1 Internally Set Speed

Setting range −20000 to 20000 Unit r/min Default setting 100 Power OFF→ON ---

Pn54 No. 2 Internally Set Speed

Setting range −20000 to 20000 Unit r/min Default setting 200 Power OFF→ON ---

Pn55 No. 3 Internally Set Speed

Setting range −20000 to 20000 Unit r/min Default setting 300 Power OFF→ON ---

Pn56 No. 4 Internally Set Speed

Setting range −20000 to 20000 Unit r/min Default setting 50 Power OFF→ON ---

Pn74 No. 5 Internally Set Speed

Setting range −20000 to 20000 Unit r/min Default setting 500 Power OFF→ON ---

Pn75 No. 6 Internally Set Speed

Setting range −20000 to 20000 Unit r/min Default setting 600 Power OFF→ON ---

Pn76 No. 7 Internally Set Speed

Setting range −20000 to 20000 Unit r/min Default setting 700 Power OFF→ON ---

Pn77 No. 8 Internally Set Speed

Setting range −20000 to 20000 Unit r/min Default setting 800 Power OFF→ON ---

+ Clockwise (forward) when viewing the end of the shaft

−Counterclockwise (reverse) when viewing the end of the shaft

Pn57 Speed Command Filter Time Constant

Setting range 0 to 6400 Unit 0.01 ms Default setting 0 Power OFF→ON ---

Speed

SpeedTorque

Speed

Speed Torque

5-82

5-16 User Parameters

Operating Functions

• Use these parameters to set acceleration and deceleration times for the speed command inside

the Servo Drive.

• A soft start can be set when inputting speed commands of stepping movement or when using

internally set speed.

• Do not set acceleration and deceleration times when using the Servo Drive in combination with an

external position loop. (Set both Pn58 and Pn59 to 0.)

• Refer to 5-13 Soft Start on page 5-27 for more information on the soft start function.

• Use this parameter to set the pseudo-S-curve acceleration/deceleration value to add to the speed

command to enable smooth operation. This parameter is useful for applications where impact may

occur due to a large change in acceleration or deceleration when starting or stopping with linear

acceleration or deceleration.

Pn5B Torqu e Command/Speed L imit Selection

Pn58 Soft Start Acceleration Time

Setting range 0 to 5000 Unit 2 ms/ (1000 r/min) Default setting 0 Power OFF→ON ---

Pn59 Soft Start Deceleration Time

Setting range 0 to 5000 Unit 2 ms/ (1000 r/min) Default setting 0 Power OFF→ON ---

Pn5A S-curve Acceleration/Deceleration Time Setting

Setting range 0 to 500 Unit 2 ms Default setting 0 Power OFF→ON ---

Speed

ta td

Internally Set Speed

Speed

1000 r/min

Speed

ta td

ts ts ts ts

ta: Pn58

td: Pn59

ts: Pn5A

> ts and > ts

Set as follows:

Speed

Set the linear acceleration and

deceleration times in Pn58 and

Pn59.

Set the time width for the S-curve

portion centered on the inflection

points for acceleration and

deceleration in Pn5A (unit: 2 ms).

5-83

5-16 User Parameters

Operating Functions

Explanation of Settings

• The use of this parameter depends on the control mode.

• Use this parameter to set the relation between the voltage applied to the torque command input

(TREF1: CN1 pin 14 or TREF2: CN1 pin 16) and the Servomotor’s output torque.

• Refer to 5-4 Torque Control on page 5-8 for information on torque command scaling.

Explanation of Settings

• Use this parameter to reverse the polarity of the Torque Command Input (REF/TREF1: CN1 pin

14 or PCL/TREF2: CN1 pin 16).

Pn5B Torque Command/Speed Limit Selection

Setting range 0 or 1 Unit --- Default setting 0 Power OFF→ON ---

Setting Control mode Torque command Speed limit

Torque control TREF1

(CN1 pin 14) Pn5b

Torque control in Position Control/Torque Control Mode

Torque control in Speed Control/Torque Control Mode TREF2

(CN1 pin 16)

Torque control

TREF2

(CN1 pin 16)

VLIM (CN1

pin 14)

Torque control in Position Control/Torque Control Mode

Torque control in Speed Control/Torque Control Mode

Pn5C Torque Command Scale

Setting range 10 to 100 Unit 0.1 V/100% Default setting 30 Power OFF→ON ---

Pn5D Torque Output Direction Switch

Setting range 0 or 1 Unit --- Default setting 0 Power OFF→ON ---

Setting Explanation

0Direction of motor torque:

Clockwise (forward) for positive commands when viewing the end of the shaft

1Direction of motor torque:

Counterclockwise (reverse) for positive commands when viewing the end of the shaft

Torque

5-84

5-16 User Parameters

Operating Functions

• Use these parameters to set the limit value for the output torque (Pn5E: No. 1 Torque Limit, Pn5F:

No. 2 Torque Limit) of the Servomotor.

• Refer to information on the Torque Limit Selection (Pn03) to select the torque limits.

• The maximum torque in the forward and reverse directions is limited in Torque Control Mode, and

the settings of the Torque Limit Selection (Pn03) and No. 2 Torque Limit (Pn5F) are ignored.

• Make the settings as a percentage of the rated torque.

Example: Maximum torque is limited to 150%

• Refer to 5-12 Torque Limit on page 5-25 for information on torque limits and the torque limit

selection.

Pn5E No. 1 Torque Limit

Setting range 0 to 500 Unit % Default setting 300 Power OFF→ON ---

Pn5F No. 2 Torque Limit

Setting range 0 to 500 Unit % Default setting 100 Power OFF→ON ---

All modes

Position Speed

200

100

200

300

Torque (%)

300 (max.)

Forward

(Rated) (Maximum)

Speed

Reverse

Pn5E, Pn5F = 150

100 (rated)

5-85

5-16 User Parameters

Operating Functions

• Use this parameter in combination with the Positioning Completion Condition Setting (Pn63) to set

the timing to output the Positioning Completed Output (INP: CN1 pin 39). The Positioning

Completed Output (INP) will turn ON when command pulse input is completed, the Servomotor

(workpiece) movement stops, and the number of the accumulated pulses in the deviation counter

is less than the setting of this parameter.

• For position control, set the number of encoder pulses.

• The basic unit for accumulated pulses is the encoder resolution. The encoder resolutions are as

follows:

• 17-bit encoder: 217 = 131,072

• 2,500-pulse/revolution encoder: 4 × 2500 = 10000

• If this parameter is set to a very small value, the time required for the INP signal to turn ON will

increase and the output may chatter. The setting of the Positioning Completion Range does not

affect the precision of the final position.

• Use this parameter to set the rotation speed threshold at which to output a zero speed detection output

or speed coincidence output from the general-purpose output (OUTM1: CN1 pin 12 or OUTM2: CN1 pin

40).

• If a speed detection output is assigned, an output will be made when the speed of the motor is

lower than the value set for this parameter.

• If a speed coincidence output is assigned, an output will be made when difference between the

speed command and the speed of the motor is lower than the value set for this parameter.

• The setting of this parameter is valid for both forward and reverse operation regardless of the

Servomotor rotation direction. This setting has a hysteresis of 10 r/min.

Pn60 Positioning Completion Range

Setting range 0 to 32767 Unit Pulse Default setting 25 Power OFF→ON ---

Pn61 Zero Speed Detection

Setting range 10 to 20000 Unit r/min Default setting 20 Power OFF→ON ---

Position

INP Pn60

Pn60

Accumulated pulses

All modes

OUTM1

Speed

Forward

Reverse

(Pn61 + 10) r/min

(Pn61 − 10) r/min

5-86

5-16 User Parameters

Operating Functions

• Use this parameter to set the rotation speed (r/min) at which to output the Servomotor Rotation

Detection Output (TGON: CN1 pin 39, TGONCOM: CN1 pin 38).

• The Servomotor Rotation Detection Output (TGON) will turn ON when the Servomotor speed

exceeds the setting of this parameter.

• The setting of this parameter is valid for both forward and reverse operation regardless of the

Servomotor direction. This setting has a hysteresis of 10 r/min.

Explanation of Settings

• Use this parameter in combination with the Positioning Completion Range (Pn60) to set the

operation for Positioning Completed Output (INP: CN1 pin 39).

Pn62 Rotation Speed for Motor Rotation Detection

Setting range 10 to 20000 Unit r/min Default setting 50 Power OFF→ON ---

Pn63 Positioning Completion Condition Setting

Setting range 0 to 3 Unit --- Default setting 0 Power OFF→ON ---

Setting Explanation

0Positioning completion output turns ON when the position deviation is within the Positioning

Completion Range (Pn60).

1Positioning completion output turns ON when the position deviation is within the Positioning

Completion Range (Pn60) and there is no position command.

Positioning completion output turns ON when the zero speed detection signal is ON, the po-

sition deviation is within the Positioning Completion Range (Pn60), and there is no position

command.

Positioning completion output turns ON when the position deviation is within the Positioning

Completion Range (Pn60) and there is no position command. The ON status will be main-

tained until the next position command is received.

Speed Torque

TGON

Speed

Forward

Reverse

OFF ON

(Pn62 + 10) r/min

(Pn62 − 10) r/min

Position

5-87

5-16 User Parameters

Operating Functions

Explanation of Settings

• Use this parameter to select whether to activate the main power supply undervoltage function

(alarm code 13) if the main power supply is interrupted for the Momentary Hold Time (Pn6D).

• If the Momentary Hold Time (Pn6D) is set to 1,000, Pn65 is disabled.

• If the setting of Momentary Hold Time (Pn6D) is too long and the voltage between P and N in the

main power supply converter drops below the specified value before a main power supply

interruption is detected, a main power supply undervoltage (alarm code 13) will occur regardless

of the setting of Pn65.

Explanation of Settings

• Use this parameter to set the drive conditions during deceleration or after stopping after the

Forward Drive Prohibit Input (POT: CN1 pin 9) or Reverse Drive Prohibit Input (NOT: CN1 pin 8)

is enabled.

• If this parameter is set to 2, the Emergency Stop Torque (Pn6E) will be used to limit the torque

during deceleration.

• With a vertical axis, there is a risk that the load may drop when drive is prohibited by the drive

prohibit input. To prevent this, it is recommended that the deceleration method be set to use

emergency stop torque in the Drive Prohibit Input Stop Selection parameter (Pn066), and that

stopping in the servo-lock state be set (set value: 2).

Pn65 Undervoltage Alarm Selection

Setting range 0 or 1 Unit --- Default setting 1 Power OFF→ON ---

Setting Explanation

When the main power supply is interrupted during Servo ON status, a main power supply

undervoltage alarm (alarm code 13) does not occur and the Servo OFF status is entered.

When the main power supply turns ON again, the Servo ON status is reset.

1When the main power supply is interrupted during Servo ON status, an error occurs for a

main power supply undervoltage (alarm code 13).

Pn66 Stop Selection for Drive Prohibition Input

Setting range 0 to 2 Unit --- Default setting 0 Power OFF→ON Yes

Setting Explanation

0During deceleration: The dynamic brake is activated. After stopping: The torque command

in the drive prohibit direction is set to 0. Deviation counter contents: Held

During deceleration: The torque command in the drive prohibit direction is set to 0. After

stopping: The torque command in the drive prohibit direction is set to 0. Deviation counter

contents: Held

2During deceleration: An emergency stop is performed. After stopping: The servo is locked.

Deviation counter contents: Cleared before and after deceleration.

All modes

5-88

5-16 User Parameters

Operating Functions

Explanation of Settings

• Use this parameter to set the operation to be performed after the main power supply is shut off if

the Undervoltage Alarm Selection (Pn65) is set to 0.

• Operation during deceleration and after stopping

• Clearing the deviation counter

• If this parameter is set to 8 or 9, the Emergency Stop Torque (Pn6E) will be used to limit the torque

during deceleration.

Explanation of Settings

• Use this parameter to set the operation to be performed after stopping or during deceleration when

any protective function of the Servo Drive operates and an error occurs.

• The deviation counter is cleared when an alarm is cleared.

Pn67 Stop Selection with Main Power OFF

Setting range 0 to 9 Unit --- Default setting 0 Power OFF→ON ---

Setting Explanation

During deceleration After stopping Deviation counter

0 Dynamic brake Dynamic brake Cleared

1 Free run Dynamic brake Cleared

2 Dynamic brake Servo free Cleared

3 Free run Servo free Cleared

4 Dynamic brake Dynamic brake Held

5 Free run Dynamic brake Held

6 Dynamic brake Servo free Held

7 Free run Servo free Held

8 Emergency stop Dynamic brake Cleared

9 Emergency stop Servo free Cleared

Pn68 Stop Selection for Alarm Generation

Setting range 0 to 3 Unit --- Default setting 0 Power OFF→ON ---

Setting Explanation

During deceleration After stopping Deviation counter

0 Dynamic brake Dynamic brake Held

1 Free run Dynamic brake Held

2 Dynamic brake Servo free Held

3 Free run Servo free Held

All modes

5-89

5-16 User Parameters

Operating Functions

• Use this parameter to set the operation to be performed after Servo OFF status is entered (i.e.,

after RUN (CN1 pin 29) changes from ON to OFF).

• Operation during deceleration and after stopping

• Clearing the deviation counter

• The relations between set values, operation, and deviation counter processing for this parameter

are the same as for the Stop Selection with Main Power OFF (Pn67).

• Use this parameter to set the brake timing from when the Brake Interlock Output (BKIRCOM: CN1

pin 10, BKIR: CN1 pin 11) turns OFF (i.e., braking held) until the Servomotor is deenergized (servo

free) when Servo OFF status is entered while the Servomotor is stopped.

• When the RUN Command Input is turned OFF while the Servomotor is stopped, the Brake

Interlock Signal (BKIR) will turn OFF, and the Servo will turn OFF after the time set for this

parameter (setting × 2 ms) elapses.

• Make the setting as follows to prevent the machine (workpiece) from moving or falling due to the

delay in the brake operation (tb).

Brake timing when stopped (setting × 2 ms) ≥ tb

• Refer to 5-10 Brake Interlock on page 5-20 for more information.

Pn69 Stop Selection with Servo OFF

Setting range 0 to 9 Unit --- Default setting 0 Power OFF→ON ---

Pn6A Brake Timing When Stopped

Setting range 0 to 100 Unit 2 ms Default setting 10 Power OFF→ON ---

All modes

Pn6A

RUN Command (RUN)

Brake Interlock (BKIR)

Actual brake

Servomotor ON/OFF

status

Released

Hold

OFF

5-90

5-16 User Parameters

Operating Functions

• Use this parameter to set the brake timing from when the RUN Command Input (RUN: CN1 pin

29) is detected to be OFF until the Brake Interlock Output (BKIRCOM: CN1 pin 10, BKIR: CN1 pin

11) turns OFF when Servo OFF status is entered while the Servomotor is operating.

When the RUN Command Input is turned OFF while the Servomotor is operating, the Servomo-

tor will decelerate reducing the number of rotations, and the Brake Interlock Signal (BKIR) will

turn OFF after the time set for this parameter has elapsed (setting × 2 ms).

“TB” in the above figure is the brake timing during operation (setting × 2 ms) or the time until the

speed of the Servomotor falls to 30 r/min or lower, whichever is shorter.

• Refer to 5-10 Brake Interlock on page 5-20 for more information.

Pn6B Brake Timing during Operation

Setting range 0 to 100 Unit 2 ms Default setting 50 Power OFF→ON ---

All modes

30 r/min

RUN Command (RUN)

Brake Interlock (BKIR)

Servomotor ON/OFF status

Servomotor speed

Released

Hold

OFF

5-91

5-16 User Parameters

Operating Functions

Explanation of Settings

• Do not touch the External Regeneration Resistor. It can be very hot and may cause burns.

• Always provide a temperature fuse or other protective measure when using an External

Regeneration Resistor. Regardless of whether the regeneration overload is enabled or disabled,

the External Regeneration Resistor can become extremely hot and may cause burning.

• Set this parameter depending on whether the built-in regeneration resistor is used, or the built-in

regeneration resistor is disconnected and an External Regeneration Resistor is connected. (The

External Regeneration Resistor is connected between B1 and B2.)

• To use the built-in regeneration resistor, always set this parameter to 0.

• Use this parameter to set the amount of time required until shutoff is detected if the main power

supply remains shut off.

• The main power OFF detection will be disabled if this parameter is set to 1000.

• Use this parameter to set the torque limit for the following cases.

• Drive prohibit deceleration with the Stop Selection for Drive Prohibition Input (Pn66) set to 2.

• Deceleration with the Stop Selection with Main Power OFF (Pn67) set to 8 or 9.

• Deceleration with the Stop Selection with Servo OFF (Pn69) set to 8 or 9.

• The normal torque limit will be used if this parameter is set to 0.

• Use this parameter to set the deviation counter overflow level.

• The set value is calculated using the following formula.

Set value = Deviation counter overflow detection pulses [pulses]/256

Pn6C Regeneration Resistor Selection

Setting range 0 to 3 Unit --- Default setting 0 Power OFF→ON Yes

Setting Explanation

Regeneration resistor used: Built-in resistor

The regeneration processing circuit will operate and the regeneration overload (alarm code

18) will operate according to the internal resistor (with approximately 1% duty).

Regeneration resistor used: External resistor

The regeneration processing circuit will operate, and regeneration overload (alarm code 18)

will cause a trip when the operating rate of the regeneration resistor exceeds 10%.

Regeneration resistor used: External resistor

The regeneration processing circuit will operate, but regeneration overload (alarm code 18)

will not.

Regeneration resistor used: None

The regeneration processing circuit and regeneration overload (alarm code 18) will not

operate, and all regenerative energy will be processed by the built-in capacitor.

Pn6D Momentary Hold Time

Setting range 35 to 1000 Unit 2 ms Default setting 35 Power OFF→ON Yes

Pn6E Emergency Stop Torque

Setting range 0 to 500 Unit % Default setting 0 Power OFF→ON ---

Pn70 Deviation Counter Overflow Level

Setting range 0 to 32767 Unit 256 × resolution Default setting 100 Power OFF→ON ---

All modes

5-92

5-16 User Parameters

Operating Functions

• If the positioning loop gain is small and the setting of this parameter is too small, a deviation

counter overflow (alarm code 24) may be detected even during normal operation.

• Deviation counter overflow (alarm code 24) will not be detected if this parameter is set to 0.

• Use this parameter to set the overflow level for Speed Command Input (REF: CN1 pin 14) or

Torque Command Input (TREF1: CN1 pin 14) using voltage after offset adjustment.

• Excessive analog input (alarm code 39) will not be detected if this parameter is set to 0.

• Use this parameter to set the overload detection level.

• The overload detection level will be 115% if this parameter is set to 0.

• This parameter should normally be set to 0. The setting should be changed only when it is

necessary to reduce the overload detection level.

• The setting of this parameter is limited to 115% of the Servomotor rating.

• Use this parameter to set the overspeed detection level.

• The overspeed detection level will be 1.2 times the maximum Servomotor rotation speed if this

parameter is set to 0.

• This parameter should normally be set to 0. The setting should be changed only when it is

necessary to reduce the overspeed detection level.

• The setting of this parameter is limited to 1.2 times the maximum Servomotor rotation speed.

• The detection margin of error for the setting is ±3 r/min for a 7-core absolute encoder and

±36 r/min for a 5-core incremental encoder.

Pn71 Speed Command/Torque Command Input Overflow Level Setting

Setting range 0 to 100 Unit 0.1 V Default setting 0 Power OFF→ON ---

Pn72 Overload Detection Level Setting

Setting range 0 to 500 Unit % Default setting 0 Power OFF→ON ---

Pn73 Overspeed Detection Level Setting

Setting range 0 to 20000 Unit r/min Default setting 0 Power OFF→ON ---

Speed Torque

All modes

Chapter 6

Operation

6-1 Operational Procedure ....................................... 6-1

6-2 Preparing for Operation...................................... 6-2

Items to Check Before Turning ON the Power......................6-2

Turning ON Power ................................................................6-3

Checking Displays ................................................................6-3

Absolute Encoder Setup .......................................................6-5

6-3 Using the Parameter Unit................................... 6-6

Names of Parts and Functions..............................................6-6

6-4 Setting the Mode ................................................ 6-7

Changing the Mode...............................................................6-7

Monitor Mode ........................................................................6-8

Parameter Setting Mode .......................................................6-17

Parameter Write Mode..........................................................6-19

Normal Mode Autotuning ......................................................6-20

Auxiliary Function Mode........................................................6-21

Copy Mode............................................................................6-25

6-5 Trial Operation ................................................... 6-28

Preparation for Trial Operation .............................................6-28

Trial Operation in Position Control Mode ..............................6-28

Trial Operation in Speed Control Mode ................................6-29

Trial Operation in Torque Control Mode ...............................6-29

6-1

6-1 Operational Procedure

Operation

6-1 Operational Procedure

After mounting, wiring, and connecting a power supply, check the operation of the Servomotor and

Servo Drive. Then make the function settings as required according to the use of the Servomotor

and Servo Drive. If the parameters are set incorrectly, there is a risk of an unpredictable Servomotor

operation. Set the parameters according to the instructions in this manual.

Item Contents Reference

Mounting and

installation

Install the Servomotor and Servo Drive according to the installation

conditions. (Do not connect the Servomotor to the mechanical

system before checking the no-load operation.)

4-1 Installation

Conditions

Wiring and

connections

Connect the Servomotor and Servo Drive to the power supply and

peripheral devices.

Specified installation and wiring requirements must be satisfied,

particularly for models conforming to the EC Directives.

4-2 Wiring

Preparing for

operation

Check the necessary items and then turn ON the power supply.

Check on the display to see whether there are any internal errors in

the Servo Drive.

If using a Servomotor with an absolute encoder, first set up the

absolute encoder.

6-2 Preparing for

Operation

Setting functions By means of the user parameters, set the functions according to the

operating conditions.

5-16 User Pa-

rameters

Trial operation

First, test operation without a load connected to the motor. Then turn

the power OFF and connect the mechanical system to the motor. If

using a Servomotor with an absolute encoder, set up the absolute

encoder and set the Motion Control Unit’s initial parameters.

Turn ON the power, and check to see whether protective functions,

such as the emergency stop and operational limits, work properly.

Check operation at both low speed and high speed using the system

without a workpiece, or with dummy workpieces.

Even without a load, the Servomotor may vibrate. If the Inertia Ratio

(Pn20) is set low, adjust the gain as required for operation.

6-5 Trial Opera-

tion

Adjustments Manually adjust the gain if necessary. Further adjust the various

functions to improve the control performance.

Chapter 7 Ad-

justment Func-

tions

Operation Operation can now be started. If any problems should occur, refer to

Chapter 8 Troubleshooting.

Chapter 8 Trou-

bleshooting

6-2

6-2 Preparing for Operation

Operation

6-2 Preparing for Operation

This section explains the procedure to prepare the mechanical system for operation following

installation and wiring of the Servomotor and Servo Drive. It explains what you need to check both

before and after turning ON the power.

It also explains the setup procedure required if using a Servomotor with an absolute encoder.

Items to Check Before Turning ON the Power

Checking Power Supply Voltage

• Check to be sure that the power supply voltage is within the ranges shown below.

R88D-GT@L (single-phase 100 VAC input)

Main-circuit power supply: Single-phase 100 to 115 VAC (85 to 127 V) 50/60 Hz

Control-circuit power supply: Single-phase 100 to 115 VAC (85 to 127 V) 50/60 Hz

R88D-GT01H/02H/04H/08H/10H/15H (single-phase or single-phase/three-phase 200 VAC input)

Main-circuit power supply: Single-phase or single-phase/three-phase 200 to 240 VAC

(170 to 264 V), 50/60 Hz

Control-circuit power supply: Single-phase or single-phase/three-phase 200 to 240 VAC

(170 to 264 V), 50/60 Hz

R88D-GT20H/30H/50H/75H (three-phase 200 VAC input)

Main-circuit power supply: Three-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz

Control-circuit power supply: Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz

Checking Terminal Block Wiring

• The main-circuit power supply input lines (L1/L3 or L1/L2/L3) must be properly connected to the

terminal block.

• The control-circuit power supply inputs (L1C/L2C) must be properly connected to the terminal

block.

• The Servomotor's red (U), white (V), and blue (W) power lines and the green/yellow ground wire

( ) must be properly connected to the terminal block.

Checking the Servomotor

• There should be no load on the Servomotor. (Do not connect the mechanical system.)

• The Servomotor’s power lines and the power cables must be securely connected.

Checking the Encoder Connectors

• The Encoder Cable must be securely connected to the Encoder Connector (CN2) at the Servo

Drive.

• The Encoder Cable must be securely connected to the Encoder Connector at the Servomotor.

Checking the Control I/O Connectors

• The Control Cable must be securely connected to the Control I/O Connector (CN1).

• The RUN Command Input (RUN) must be OFF.

Checking Parameter Unit Connections

• When using the Parameter Unit (R88A-PR02G), the enclosed cable must be securely connected

to the CN3B connector.

6-3

6-2 Preparing for Operation

Operation

Turning ON Power

• First carry out the preliminary checks, and then turn ON the control-circuit power supply.

It makes no difference whether or not the main-circuit power supply is turned ON.

• The alarm (/ALM) output will take approximately 2 seconds to turn ON after the power has been

turned ON. Do not attempt to detect an alarm using the Host Controller during this time (if power

is turned ON while the Host Controller is connected).

Checking Displays

 Displays on the Servo Drive

• The following will appear on the display on the Servo Drive when the power supply is turned ON.

Approx. 2 s

Approx. 0.6 s

…Default display (Determined

by the setting of parameter Pn01.)

8.8.8.8.8.8.

8k8k8k8k8k8k

rk k k k k0k

. . . . . .

6-4

6-2 Preparing for Operation

Operation

 Displays on the Parameter Unit

• Connect the Parameter Unit to the Servo Drive and turn ON the power to the Servo Drive, or

alternatively, connect the Parameter Unit to the Servo Drive when power to the Servo Drive is

already ON. The following displays will appear.

1 s

8.8.8.8.8.8.

8.8.

8k8k8k8k8k8k

8k8kk

rk k k k k0k

. . . . . .

. .

Ukekrk1.0k0k Ukekrk1.0k0k

Ukekrk1.0k0k

rk k k k k0k

k3.

k0.

· The Parameter Unit is initialized.

The display will flash every 0.6 s.

0.6 s 0.6 s 0.6 s

Servo Drive with unit number other than 0 Servo Drive with unit number 0

Communicating via RS-232 Only Communicating with Other Drives

connected via RS-485

The microcomputer

version is displayed.

(The numbers depend on

the microcomputer

version.)

The Drive's unit number

set in parameter Pn00 is

displayed.

Default Display

(Determined

by the setting of

parameter Pn01.)

The Parameter Unit

version is displayed.

The dot will flash if RS-485 is

connected. Set the unit numbe

of the Drive to connect to using

the Increment and Decrement

keys.

The Parameter Unit

version is displayed.

The specified unit number

is displayed.

Press the Data key.

(0.6 s later)

Default Display

The specified unit number

is displayed.

6-5

6-2 Preparing for Operation

Operation

Absolute Encoder Setup

You must set up the absolute encoder if using a Servomotor with an absolute encoder. The setup

is also required if an absolute encoder system down error (alarm code 40) occurs when you turn

ON the power supply for the first time or if the encoder cable is disconnected and then connected

again.

When using an absolute encoder, set Pn0B to 0 or 2 and set Pn45 to 0.

Absolute Encoder Setup Procedure

1. Turn ON the power supply and align the origin.

Turn ON the power supply, perform the origin alignment operation, and move the machine to the

origin position.

2. Go to Auxiliary Function Mode.

Press the Data key and Mode key on the Servo Drive. Auxiliary Function Mode will be displayed.

3. Go to Absolute Encoder Clear Mode.

Press the Data key again. Absolute Encode Clear Mode will be displayed.

4. Start clearing the absolute encoder.

Hold down the Increment key. Clearing the absolute encoder will be started.

5. Restart the Servo Drive.

Turn OFF the control power supply to the Servo Drive and then turn it back ON.

ABS

Auxiliary Function Mode

Select mode. Execute.

Automatic Offset

Adjustment Mode

Motor Trial

Operation Mode

Alarm Clear Mode

Absolute Encoder

Clear Mode

fknk_kokfk5. okfk5k k k-.

fknk_kjkokg. jkokgk k k-.

fknk_kakckl. akcklk k k-.

fknk_keknkc. eknkck k k-.

ekrkrkokrk .k

sktkakrktk k

fkiknkikskh.k

-k-k-k-k-k-.k

eknkck k-k-.k

eknkck k k-.k

Hold down the Increment

key for approx. 3 seconds.

The number of dashes on

the display will increase.

Clearing the absolute

encoder will be started.

Clearing will be finished

almost immediately.

Note: If you attempt to clear an incremental encoder,

"Error" will be displayed.

6-6

6-3 Using the Parameter Unit

Operation

6-3 Using the Parameter Unit

Names of Parts and Functions

Connector

Parameter Unit

Cable Display area

Operating area

8.8.8.8.8.8.

8.8

LED Display (6 Digits)

If an error occurs, all digits will flash and the

display will switch to the error display.

Unit No. Display (2 Digits)

Displays the selected Servo Drive's unit

number set in the Unit No. Setting (Pn00).

In Parameter Setting Mode, displays the

2-digit parameter number.

Mode Key

Switches between the following six modes.

· Monitor Mode ·

Normal Mode Autotuning

Parameter Setting Mode

Auxiliary Function Mode

Parameter Write Mode

· Copy Mode

Increment/Decrement Key

Increases or decreases parameter numbers

or set values.

Shift Key

Shifts the digit being changed to the left.

Data Key

Switches between the parameter and setting

displays, saves settings, etc.

6-7

6-4 Setting the Mode

Operation

6-4 Setting the Mode

Changing the Mode

Parameter Unit

default display

Monitor

Parameter

Setting

Parameter

Write

Normal Mode

Autotuning

Auxiliary

Function

Copy

6-8

6-4 Setting the Mode

Operation

Monitor Mode

Position deviation

Servomotor speed

Torque output

Control mode

I/O signal status

Alarm history

Warning display

Regeneration load

ratio

Overload load

ratio

Inertia ratio

Total feedback

pulses

Total command

pulses

Not used.

Automatic Servomotor

recognition enabled/

disabled display

Communications

method display

Position deviation: 8 pulses

1000r/min

Torque output: 100%

Position control display

Input signal No. 0 enabled

No current errors

No current warnings

30% of allowable

regeneration energy

Overload load ratio: 30%

Inertia ratio: 100%

Total feedback pulses: 50

Total command pulses: 10

Automatic Servomotor

recognition enabled

RS-232 communications

Software version Software version 0.23

(Note: Front panel displays.)

REF input +10.00 V

No servo ON input

Front Panel

Commu-

nications

selected.

Parameter Unit

Analog input value

Reason for no

rotation

6-9

6-4 Setting the Mode

Operation

• The Servomotor speed will be displayed the first time the power is turned ON after purchase.

To change the initial display when the power is turned ON, change the setting for the Default

Display (Pn01). For details, refer to Pn01 Default Display on page 5-51.

Position Deviation

• Displays the number of accumulated pulses in the deviation counter (unit: pulse).

• Accumulated pulses in reverse rotation are displayed with “−”.

Servomotor Speed

• Displays the Servomotor speed (unit: r/min).

• Speeds in reverse rotation are displayed with “−”.

Torque Output

• Displays the percentage of Servomotor torque output.

• When the rated toque output for the Servomotor is used, “100%” is displayed.

• Torque outputs in reverse rotation are displayed with “−”.

Control Mode

• Displays whether position control, speed control, or torque control is being used.

Position Control Mode

Speed Control Mode

Torque Control Mode

6-10

6-4 Setting the Mode

Operation

I/O Signal Status

• Displays the status of the control input and output signals connected to CN1.

Input Signals

CN1

Signal

No. Abbreviation Name Pin

No.

00 RUN RUN command 29

01 RESET Alarm reset 31

02 NOT Reverse drive prohibit 8

03 POT Forward drive prohibit 9

04 TVSEL Control mode switch 32

05 VZERO Zero speed designation 26

06 GESEL Electronic gear switch 28

08 IPG Pulse disable 33

09 GSEL Gain switch 27

0A ECRST Deviation counter reset 30

0C VSEL1 Internally set speed selection 1 33

0D VSEL2 Internally set speed selection 2 30

13 DFSEL Vibration filter switch 26

14 VSEL3 Internally set speed selection 3 28

15 TLSEL Torque limit switch 27

Input signal No. 00 ON

Output signal No. 1A OFF or disabled

OFF or disabled

Signal No. display (0 to 1F hex)

Input

Out

6-11

6-4 Setting the Mode

Operation

Output Signals

Switching between Input Signals and Output Signals

The following procedure can also be used to switch between inputs and outputs.

CN1

Signal

No. Abbreviation Name Pin

No.

00 READY Servo Ready 35

01 /ALM Alarm Output 37

02 INP Positioning Completion Output 39

03 BKIR Brake Interlock 11

04 OUTM1 Zero Speed Detection 12

05 OUTM2 Torque Limiting 40

06 --- Speed Conformity 12/40

09 TGON Servomotor Rotation Speed

Detection 39

If the decimal point is at the right of the signal number,

the signal number can be changed.

If the decimal point is at the right of the input/output

indication, you can switch between inputs and outputs.

Move the flashing decimal point with the Shift key.

Switches between inputs and outputs.

Press the Increment or Decrement key to select the signal number to be monitored.

(Highest input signal number)

(Lowest input signal number)

(Lowest output signal number)

(Highest output signal number)

6-12

6-4 Setting the Mode

Operation

Alarm History

• Up to the most recent 14 alarms, including the current one, can be viewed in the alarm history.

• The display will flash when an alarm occurs.

• If an alarm that is recorded in the history occurs, the alarm code for the current alarm and for alarm

0 will be the same.

Alarm code

("- -" is displayed if no alarms have occurred.)

: Current alarm

: Alarm 0 (newest alarm)

: Alarm 13

(

oldest alarm

)

6-13

6-4 Setting the Mode

Operation

Alarm Codes and Meanings

Note The following alarms are not recorded in the history.

11: Control power supply undervoltage

13: Undervoltage

36: Parameter error

37: Parameter corruption

38: Drive prohibit input error

95: Servomotor non-conformity

 Software Version

• Displays the software version of the Servo Drive.

Alarm

codes Meaning Alarm

codes Meaning

11 Control power supply undervoltage 45 Multi-turn counter error

12 Overvoltage 46 Encoder error 1

13 Undervoltage 47 Absolute encoder status

error

14 Overcurrent 48 Encoder phase Z error

15 Servo Drive overheat 49 Encoder PS signal error

16 Overload 58 CPU error 1

18 Regeneration overload 60 CPU error 2

21 Encoder disconnection detected 61 CPU error 3

23 Encoder communications error 62 CPU error 4

24 Deviation counter overflow 63 CPU error 5

26 Overspeed 65 Excessive analog input 2

27 Electronic gear setting error 66 Excessive analog input 3

34 Overrun limit error 73 CPU error 6

36 Parameter error 77 CPU error 7

37 Parameter corruption 81 CPU error 8

38 Drive prohibit input error 94 Encoder error 2

39 Excessive analog input 1 95 Servomotor non-conformity

40 Absolute encoder system

down error 96 CPU error 9

Absolute encoder counter

overflow error 97 CPU error 10

42 Absolute encoder overspeed

error 99 CPU error 11

44 One-turn counter error

ABS

6-14

6-4 Setting the Mode

Operation

Warning Display

Regeneration Load Ratio

• Displays the regeneration resistance load ratio as a percentage of the detection level for the

regeneration load.

Overload Load Ratio

• Displays the load ratio as a percentage of the rated load.

Inertia Ratio

Total Feedback Pulses and Total Command Pulses

• Displays the total number of pulses after the power supply is turned ON.

• The display on the front panel will overflow as shown in the following figure.

• The display on the Parameter Unit will be as shown in the following figure.

• Use the Shift key to switch the display between the upper and lower digits of the total number of

pulses.

• Hold down the Data key for 5 s or longer to reset the total pulses to 0.

: No warning, : Warning

Overload: 85% or more of the alarm level for

overload.

Absolute encoder battery voltage dropped to 3.2 V or less

Fan lock: Abnormal cooling fan speed.

Over-regeneration: 85% or more of the alarm level for regeneration

overload.

The alarm level will be 10% of the operating ratio of the regeneration

resistance if the Regeneration Resistor Selection (Pn6C) is set to 1.

Not used.

Displays the inertia ratio as a percentage.

2,147,483,647 pulses

−2,147,483,647 pulses

Power ON

ForwardReverse

Upper digits Lower digits

Hk-k2k1kk4k7 4k8k3k6k4k7

6-15

6-4 Setting the Mode

Operation

Automatic Servomotor Recognition

 Analog Input Value Display (Front Panel Operation)

Automatic recognition enabled (Always this indication is displayed.)

Input signal Input voltage (V)

Press the Increment or Decrement key to

select the signal to monitor.

The PCL analog input value (V) is displayed.

The REF analog input value (V)

after offset adjustment is displayed.

The NCL analog input value (V) is displayed.

Note: The displayed value will not be accurate if the voltage exceeds ±10 V.

6-16

6-4 Setting the Mode

Operation

Reason for No Rotation Display (Front Panel Operation)

A number is displayed to indicate the reason the Servomotor does not rotate.

Note The Servomotor may rotate even if a reason number other than 0 is displayed.

No. Reason

Relevant

control

modes

Description

Flash-

ing

Error or warning has

occurred All An error or warning has occurred.

0No reason All No reason has been detected. The motor operation should be

possible.

1Main power supply

interrupted All The main power supply to the Servo Drive is not turned ON.

2 No RUN input All The RUN command is not connected to COM.

3Drive prohibit input is

enabled All

When Pn04 = 0 (drive prohibit input enabled):

The Forward Drive Prohibit Input (POT) is open and the speed

command is in the forward direction.

The Reverse Drive Prohibit Input (NOT) is open and the speed

command is in the reverse direction.

4 Low torque limit All The currently effective torque limit, Pn5E (No. 1 Torque Limit) or Pn5F

(No. 2 Torque Limit), is less than 5% of the rated torque.

5Analog torque limit

input is enabled P, S

When Pn03=0 (analog torque limit input):

The forward analog torque limit input is negative and the speed

command is in the forward direction.

The reverse analog torque limit input is positive and the speed

command is in the reverse direction.

6 IPG input is disabled PPn43 = 0 (Command Pulse Prohibited Input Enabled) and the IPG input

is open.

Frequency of

command pulse input

is low

The position command per control cycle is 1 pulse or less and the

following are some of the possible causes.

The command pulse is not input correctly.

The input specified in Pn40 is not connected correctly.

The type of input specified in Pn41 or Pn42 is not correct.

8ECRST input is

enabled PPn4E = 0 (Clear deviation counter when signal is closed for 100 µs or

longer) and the deviation counter reset input (ECRST) is connected

to COM.

9VZERO input is

enabled S, T Pn06 = 1 (zero-speed designation input enabled) and the Zero-speed

Designation Input (VZERO) is open.

10 External speed

command is low SThe analog speed command is 0.06 V or smaller when the analog

speed command is selected.

11 Internal speed

command is zero SThe internal speed command is 30 r/min or less when the internal

speed command is selected.

12 Torque command is

low TThe analog torque command input (REF or PCL) is 5% or less of the

rated torque.

13 Speed limit is low T

Pn5B = 0 (limit speed with No. 4 Internally Set Speed) and the No. 4

Internally Set Speed (Pn56) is 30 r/min or lower.

Pn5B = 1 (limit speed with REF input) and the analog speed command

input (REF) is 0.06 V or lower.

14 Other All Reasons 1 to 13 do not apply, but the motor is rotating at 20 r/min or

lower. (Command is low, load is heavy, load is locked, load has hit

something, Servo Drive is faulty, Servomotor is faulty, etc.)

: Position control

Control mode Reason number

: Torque control

: Speed control

6-17

6-4 Setting the Mode

Operation

Parameter Setting Mode

1. Displaying Parameter Setting Mode

2. Setting the Parameter Number

3. Displaying the Parameter Setting

4. Changing the Parameter Setting

Key operation Display example Explanation

The item set for the Default Display (Pn01) is displayed.

Press the Data key to display Monitor Mode.

Press the Mode key to display Parameter Setting Mode.

Key operation Display example Explanation

Use the Shift, Increment, and Decrement keys to set the parameter number.

If the parameter number is large, the setting can be made more quickly by

using the Shift key to change the digit that is being set. The decimal point

will flash for the digit that can be set.

Key operation Display example Explanation

Press the Data key to display the setting.

Key operation Display example Explanation

Use the Shift, Increment, and Decrement key to change the setting.

The decimal point will flash for the digit that can be set.

Press the Data key to save the new setting.

4k0

6-18

6-4 Setting the Mode

Operation

5. Returning to Parameter Setting Mode

Key operation Display example Explanation

Press the Data key to return to Parameter Setting Mode.

Some parameters will be displayed with an “r” before the number when the

display returns to the Parameter Setting Mode Display. To enable the

settings that have been changed for these parameters, you must turn the

power supply OFF and ON after saving the parameters to the EEPROM.

When the setting for a parameter is saved, the new setting will be used for

control. Make gradual rather than large changes when changing values for

parameters that greatly affect motor operation. This is particularly true for

the speed loop gain and position loop gain.

For details on parameters, refer to Parameters Details on page 5-50.

Precautions

for Correct Use

6-19

6-4 Setting the Mode

Operation

Parameter Write Mode

Settings changed in Parameter Setting Mode must be saved to EEPROM. To do so, the following

procedure must be performed.

1. Saving Changed Settings

2. Returning to Parameter Write Mode

Key operation Display example Explanation

Press the Mode key to display Parameter Write Mode.

Press the Data key to enter Parameter Write Mode.

Press the Increment key for 5 s or longer.

The bar indicator will increase.

Writing will start. (This display will appear only momentarily.)

This display indicates a normal completion. In addition to the “Finish,” either

“Reset” or “Error” may be displayed. If “Reset” is displayed, writing has been

completed normally, but some of the changed parameters will be enabled

only after the power has been turned OFF and ON again. Turn OFF the

Servo Drive power supply and then turn it ON again. “Error” is displayed if

there is a writing error. Write the data again.

Key operation Display example Explanation

Press the Data key to return to Parameter Write Mode.

If a write error occurs, write the data again. If write errors continue to occur,

there may be a fault in the Servo Drive.

Do not turn OFF the power supply while writing to EEPROM. Incorrect data

may be written if the power supply is turned OFF. If the power supply is

turned OFF, perform the settings again for all parameters, and write the

data again.

Do not disconnect the Parameter Unit from the Servo Drive during the time

from writing start (“Start”) to writing completion (“Finish” or “Reset”). If the

Parameter Unit is disconnected, repeat the procedure from the beginning.

Precautions

for Correct Use

6-20

6-4 Setting the Mode

Operation

Normal Mode Autotuning

For details on normal mode autotuning, refer to Normal Mode Autotuning on page 7-16. This section

describes only the operating procedure.

1. Displaying Normal Mode Autotuning

2. Executing Normal Mode Autotuning

3. Returning to Normal Mode Autotuning

Key operation Display example Explanation

The item set for the Default Display (Pn01) is displayed.

Press the Data key to display Monitor Mode.

Press the Mode key three times to display Normal Mode Autotuning.

Key operation Display example Explanation

Press the Data key to enter Normal Mode Autotuning.

Press and hold the Increment key until “Start” is displayed.

The bar indicator will increase when the key is pressed for 5 s or longer.

The bar indicator will increase.

The Servomotor will start, and normal mode autotuning will begin.

This display indicates a normal completion.

“Error” will be displayed if a tuning error has occurred.

Key operation Display example Explanation

Press the Data key to return to Normal Mode Autotuning.

For details on normal mode autotuning, refer to Normal Mode Autotuning

on page 7-16. This section describes only the operating procedure.

Always save each gain value changed with normal mode autotuning in the

EEPROM so that the data is not lost when the power is turned OFF or for

some other reason.

If a tuning error occurs, the values for each gain will return to the values

before executing the tuning.

Precautions

for Correct Use

6-21

6-4 Setting the Mode

Operation

Auxiliary Function Mode

Auxiliary Function Mode includes the alarm reset, automatic offset adjustment, absolute encoder

reset, and jog operation.

Displaying Auxiliary Function Mode

Alarm Reset

1. Executing Alarm Reset

2. Returning to Auxiliary Function Mode

Key operation Display example Explanation

The item set for the Default Display (Pn01) is displayed.

Press the Data key to display Monitor Mode.

Press the Mode key four times to display Auxiliary Function Mode.

Key operation Display example Explanation

Press the Data key to enter Alarm Reset Mode.

Press and hold the Increment key until “Start” is displayed.

The bar indicator will increase when the key is pressed for 5 s or longer.

The bar indicator will increase.

Alarm reset will start.

This display indicates a normal completion.

“Error” will be displayed if the alarm could not be reset. Reset the power

supply to clear the error.

Key operation Display example Explanation

Press the Data key to return to Auxiliary Function Mode.

6-22

6-4 Setting the Mode

Operation

Automatic Offset Adjustment

1. Executing Automatic Offset Adjustment

Note Do not perform this operation if a position loop has been configured with the host system.

2. Returning to Auxiliary Function Mode

Key operation Display example Explanation

Press the Data key to enter Automatic Offset Adjustment Mode.

Press and hold the Increment key until “Start” is displayed.

The bar indicator will increase when the key is pressed for 5 s or longer.

The bar indicator will increase.

Automatic offset adjustment will start.

This display indicates a normal completion.

“Error” will be displayed if the automatic offset adjustment could not be

performed. Set a valid control mode or make the setting so that the offset

value does not exceed the range for the Speed Command Offset

Adjustment (Pn52), and then perform the procedure again.

Key operation Display example Explanation

Press the Data key to return to Auxiliary Function Mode.

Automatic offset adjustment cannot be performed in Position Control

Mode.

Data is not written to the EEPROM simply by performing automatic offset

adjustment.

The data must be written to the EEPROM for the results to be saved.

okfksk k k-.k

okfksk k-k-.k

fknk_kokfksk

Precautions

for Correct Use

6-23

6-4 Setting the Mode

Operation

Absolute Encoder Reset

1. Executing Absolute Encoder Reset

2. Returning to Auxiliary Function Mode

Key operation Display example Explanation

Press the Data key to enter Absolute Encoder Reset Mode.

Press and hold the Increment key until “Start” is displayed.

The bar indicator will increase when the key is pressed for 5 s or longer.

The bar indicator will increase.

Absolute encoder reset will start.

This display indicates a normal completion.

“Error” will be displayed if the absolute encoder reset could not be

performed. Check whether an unsupported encoder is connected, and then

perform the procedure again.

Key operation Display example Explanation

Press the Data key to return to Auxiliary Function Mode.

The absolute encoder can be reset only with systems that use an absolute

encoder.

Do not disconnect the Parameter Unit from the Servo Drive until resetting

the absolute encoder has completed. If the Parameter Unit is

disconnected, reconnect it and make the settings from the beginning.

ABS

eknkck k k-.

eknkck k-k-.

fknk_keknkc

Precautions

for Correct Use

6-24

6-4 Setting the Mode

Operation

Jog Operation

1. Executing Jog Operation

2. Returning to Auxiliary Function Mode

Key operation Display example Explanation

Press the Increment key to display the Jog Operation Mode from the alarm

reset display in Auxiliary Function Mode.

Press the Data key to enter Jog Operation Mode.

Press and hold the Increment key until “Ready” is displayed.

The bar indicator will increase when the key is pressed for 5 s or longer.

The bar indicator will increase.

This completes preparations for jog operation.

Press and hold the Shift key until “Sev_on” is displayed.

The decimal point will move to the left when the key is pressed for 3 s or

longer.

The Servo will turn ON.

Forward operation will be performed while the Increment key is pressed,

and reverse operation will be performed while the Decrement key is

pressed.

The Servomotor will stop when the key is released. The speed set for the

Jog Speed (Pn3D) will be used for jogging.

Key operation Display example Explanation

Press the Data key to return to Auxiliary Function Mode.

The Servo lock will be released.

6-25

6-4 Setting the Mode

Operation

Copy Mode

In Copy Mode, user parameters set in the Servo Drive can be copied to the Parameter Unit, and

user parameters stored in the Parameter Unit can be copied to the Servo Drive.

This function can be used to easily set the same user parameters for more than one Servo Drive.

Copying from the Servo Drive to the Parameter Unit

1. Displaying Copy Mode

2. Executing Copying

3. Returning to Copy Mode

Key operation Display example Explanation

The item set for the Default Display (Pn01) is displayed.

Press the Data key to display Monitor Mode.

Press the Mode key five times to display Copy Mode.

Key operation Display example Explanation

Press the Data key to enter Copy Mode.

Press and hold the Increment key until “EEPCLR” is displayed.

The bar indicator will increase when the key is pressed for 3 s or longer.

The bar indicator will increase.

Initialization of the EEPROM in the Parameter Unit will start.

This display indicates a normal completion.

Key operation Display example Explanation

Press the Data key to return to Copy Mode.

If “Error” is displayed before completion, repeat the procedure from the

beginning. Press the Data key to clear the error.

Do not disconnect the Parameter Unit from the Servo Drive while copying

is being performed. If the Parameter Unit is disconnected, connect it and

then repeat the procedure from the beginning.

If errors are repeatedly displayed, the following may be the cause: cable

disconnection, connector contact failure, incorrect operation due to noise,

or EEPROM fault in the Parameter Unit.

ekekpkcklkr

-k-

Precautions

for Correct Use

6-26

6-4 Setting the Mode

Operation

Copying from the Parameter Unit to the Servo Drive

1. Displaying Copy Mode

2. Checking the Servo Drive Model Code

3. Different Model Codes

Key operation Display example Explanation

The item set for the Default Display (Pn01) is displayed.

Press the Data key to display Monitor Mode.

Press the Mode key five times to display Copy Mode.

Press the Increment key to switch to the copy display for copying from the

Parameter Unit to the Servo Drive.

Key operation Display example Explanation

Press the Data key to enter Copy Mode.

Press and hold the Increment key until “EEP_CH” is displayed.

“DIFFER” will be displayed if a different model code is entered.

The bar indicator will increase when the key is pressed for 3 s or longer.

The bar indicator will increase.

The Servo Drive model code is being checked. If a different model code has

been entered, refer to 3. Different Model Codes below to perform the

procedure.

If the model codes match, the display will proceed to the display in 4. Exe-

cuting Copying.

Key operation Display example Explanation

The decimal point will move to the left when the Shift key is pressed for 3 s

or longer.

The model codes are being matched.

Press the Data key to cancel copying before completion.

6-27

6-4 Setting the Mode

Operation

4. Executing Copying

5. Returning to Copy Mode

Key operation Display example Explanation

Writing user parameters to the EEPROM of the Servo Drive will start.

This display indicates a normal completion.

Key operation Display example Explanation

Press the Data key to return to Copy Mode.

If “Error” is displayed before completion, repeat the procedure from the

beginning.

Press the Data key to clear the error.

If errors are repeatedly displayed, the following may be the cause: cable

disconnection, connector contact failure, incorrect operation due to noise,

or EEPROM fault in the Parameter Unit.

Do not disconnect the Parameter Unit from the Servo Drive while copying

is being performed. If the Parameter Unit is disconnected, incorrect data

may be written and the data may be corrupted. Copy the user parameters

again from the source Servo Drive to the Parameter Unit, and then copy

the user parameters from the Parameter Unit to the other Servo Drive.

ekekpk_kckh

-k-

Precautions

for Correct Use

6-28

6-5 Trial Operation

Operation

6-5 Trial Operation

When you have finished installation, wiring, and switch settings and have confirmed that status is

normal after turning ON the power supply, perform trial operation. The main purpose of trial

operation is to confirm that the servo system is electrically correct.

If an error occurs during the trial operation, refer to Chapter 8 Troubleshooting to eliminate the

cause. Then check for safety, and then retry the trial operation.

Preparation for Trial Operation

 Checks before Trial Operation

Check the following items before starting trial operation.

Wiring

• Make sure that all wiring is correct, especially the power supply input and motor output.

• Make sure that there are no short-circuits. Check the ground for short-circuits as well.

• Make sure that there are no loose connections.

Power Supply Voltage

• Make sure that the voltage corresponds to the rated voltage.

Motor Installation

• Make sure that the Servomotor has been securely installed.

Disconnection from Mechanical System

• If necessary, make sure that the Servomotor has been disconnected from the mechanical system.

Brake

• Make sure that the brake has been released.

Trial Operation in Position Control Mode

1. Connect connector CN1.

2. Input power (12 to 24 VDC) for the control signals (+24VIN, COM).

3. Turn ON the power supply to the Servo Drive.

4. Confirm that the parameters are set to the standard settings.

5. Set the outputs from the host device to agree with the Command Pulse Mode (Pn42).

6. Write the parameters to EEPROM and then turn OFF the power supply and turn it ON

again.

7. Connect the RUN Command Input (RUN: CN1 pin 29) to COM (CN1 pin 41).

Servo ON status will be entered and the Servomotor will be activated.

8. Input a low-frequency pulse signal from the host device to start low-speed

operation.

9. Check the Servomotor rotation speed in Monitor Mode.

Check to see if the Servomotor is rotating at the specified speed and to see if the Servomotor stops

when the command pulses are stopped.

6-29

6-5 Trial Operation

Operation

Trial Operation in Speed Control Mode

1. Connect connector CN1.

2. Input power (12 to 24 VDC) for the control signals (+24VIN, COM).

3. Turn ON the power supply to the Servo Drive.

4. Confirm that the parameters are set to the standard settings.

5. Connect the RUN Command Input (RUN: CN1 pin 29) to COM (CN1 pin 41). Servo ON

status will be entered and the Servomotor will be activated.

6. Close the Zero-speed Designation Input (VZERO) and gradually increase the DC

voltage across the Speed Command Input (REF: CN1 pin 14) and AGND (CN1 pin 15)

from 0 V. Check to see if the Servomotor rotates.

7. Check the Servomotor rotation speed in Monitor Mode.

Check to see if the Servomotor is rotating at the specified speed and to see if the Servomotor stops

when the command pulses are stopped. Use the following parameters to change the Servomotor

rotation speed or direction.

• Pn50: Speed Command Scale

• Pn51: Command Speed Rotation Direction Switch

Trial Operation in Torque Control Mode

1. Connect connector CN1.

2. Input power (12 to 24 VDC) for the control signals (+24VIN, COM).

3. Turn ON the power supply to the Servo Drive.

4. Confirm that the parameters are set to the standard settings.

5. Set a low speed in the No. 4 Internally Set Speed (Pn56).

6. Connect the RUN Command Input (RUN: CN1 pin 29) to COM (CN1 pin 41). Servo ON

status will be entered and the Servomotor will be activated.

7. Apply a positive or negative DC voltage across the Torque Command Input (TREF1:

CN1 pin 14) and AGND (CN1 pin 15). Check to see if the Servomotor rotates

according to the direction (forward/reverse) set in Pn56.

Use the following parameters to change the amount of the torque, direction of the torque, or speed

limit for the command voltage.

• Pn56: No. 4 Internally Set Speed (default value: 50 r/min)

• Pn5C: Torque Command Scale

• Pn5D: Torque Output Direction Switch

Chapter 7

Adjustment Functions

7-1 Gain Adjustment................................................. 7-1

Purpose of the Gain Adjustment ...........................................7-1

Gain Adjustment Methods.....................................................7-2

Gain Adjustment Procedure..................................................7-3

7-2 Realtime Autotuning........................................... 7-4

Realtime Autotuning Setting Method ....................................7-5

Operating Procedure.............................................................7-6

Fit Gain Function...................................................................7-7

Adaptive Filter .......................................................................7-11

Automatically Set Parameters...............................................7-12

7-3 Normal Mode Autotuning ................................... 7-14

Normal Mode Autotuning Setting Method .............................7-15

Automatically Set Parameters...............................................7-16

7-4 Disabling the Automatic Gain Adjustment

Function ............................................................. 7-19

Disabling Realtime Autotuning..............................................7-19

Disabling the Adaptive Filter .................................................7-20

7-5 Manual Tuning ................................................... 7-21

Basic Settings .......................................................................7-21

Gain Switching Function .......................................................7-26

Machine Resonance Control.................................................7-30

Automatic Gain Setting .........................................................7-32

Instantaneous Speed Observer ............................................7-33

Damping Control ...................................................................7-35

7-1

7-1 Gain Adjustment

Adjustment Functions

7-1 Gain Adjustment

OMNUC G-Series Servo Drives provide realtime autotuning and normal mode autotuning functions.

With these functions, gain adjustments can be made easily even by those who use a servo system

for the first time. If you cannot obtain desired responsiveness with autotuning, use manual tuning.

Purpose of the Gain Adjustment

The Servomotor must operate in response to commands from the host system with minimal time

delay and maximum reliability. The gain is adjusted to bring the actual operation of the Servomotor

as close as possible to the operations specified by the commands, and to maximize the

performance of the machine.

Example: Ball screw

Position Loop Gain:

Speed Loop Gain:

Speed Loop Integration

Time Constant:

Speed feed-forward

Inertia Ratio:

300

100

500

300

+2000

−2000

0.0 375250125 0.0 375250125 0.0 375250125

(r/min)

Command speed

Actual Servomotor speed

Low Gain Setting High Gain Setting

High Gain Setting and

Feed-forward Setting

Position Loop Gain:

Speed Loop Integration

Time Constant:

Speed feed-forward

Inertia Ratio:

Speed Loop Gain:

Position Loop Gain:

Speed Loop Integration

Time Constant:

Speed feed-forward

Inertia Ratio:

Speed Loop Gain:

7-2

7-1 Gain Adjustment

Adjustment Functions

Gain Adjustment Methods

Note 1. Take sufficient care for safety.

Note 2. If oscillation occurs (e.g., abnormal sound or vibration), immediately turn OFF the power supply or let the

servo OFF status occur.

Function Explanation

Refer-

ence

page

Automatic

adjust-

ment

Realtime autotuning

Realtime autotuning estimates the load inertia of the me-

chanical system in realtime and automatically sets the

optimal gain according to the estimated load inertia.

7-4

Fit gain function

The fit gain function automatically searches for the appropri-

ate rigidity setting by repeating input of an operation with a

specified pattern to automatically make the rigidity setting for

realtime autotuning when position control is performed.

7-7

Adaptive filter

The adaptive filter reduces resonance point vibration by

estimating the resonance frequency from the vibration com-

ponent that appears in the Servomotor speed during actual

operation and automatically sets the coefficient of the notch

filter, which removes the resonance component from the

torque command.

7-11

Normal Mode Autotuning

Normal mode autotuning automatically sets the appropriate

gain by operating the Servomotor with the command pattern

automatically generated by the Servo Drive and estimating

the load inertia from the torque required at that time.

7-14

Automatic gain adjustment reset This function disables the default settings for realtime auto-

tuning and the adaptive filter. 7-19

Manual

adjust-

ment

Manual tuning (basic)

Manual tuning is performed if autotuning cannot be executed

due to restrictions on the control mode or load conditions or

if ensuring the maximum responsiveness to match each load

is required.

Basic procedure

Position control mode adjustment 7-22

Speed control mode adjustment 7-24

Torque control mode adjustment 7-25

Gain switching

Gain switching can be used with internal data or external sig-

nals to perform such actions as reducing vibration at stop-

ping, shortening stabilization time, and improving command

follow-up.

7-26

Machine resonance suppression

It is sometimes not possible to set the gain high because of

vibration or sound due to resonance caused by shaft contor-

tion when the machine rigidity is low. In these cases, two

types of filters can be used to suppress resonance.

7-30

Automatic gain setting

This function initializes control parameters and gain switch-

ing parameters to settings that match the normal mode auto-

tuning rigidity parameters before manual tuning is

performed.

7-32

Manual tuning (application)

The following application functions can be used to further

improve performance if the specifications cannot be satisfied

using basic adjustment.

Instantaneous speed observer

The instantaneous speed observer both increases respon-

siveness and reduces vibration at stopping by estimating the

Servomotor speed using a load model and improving the

speed detection accuracy.

7-33

Damping control

Damping control reduces vibration by removing the vibration

frequency component from the command when the end of

mechanisms or devices vibrates.

7-35

7-3

7-1 Gain Adjustment

Adjustment Functions

Gain Adjustment Procedure

Gain Adjustment and Machine Rigidity

Do the following to increase the machine rigidity:

• Install the machine on a secure base so that it does not wobble.

• Use couplings that have a high rigidity, and that are designed for servo systems.

• Use a wide timing belt, and use a tension within the allowable axial load for the Servomotor.

• Use gears with small backlash.

The specific vibration (resonance frequency) of the mechanical system has a large impact on the

gain adjustment. The servo system responsiveness cannot be set high for machines with a low

resonance frequency (low machine rigidity).

Ye s

Start of adjustment

Will

rigidity also be set

automatically?

Is operation OK?

Ye s

Is operation OK?

Ye s

Realtime autotuning Normal mode autotuning

Fit gain function

Manual tuning

End of adjustment

Writing in EEPROM

Consult your OMRON

representative.

(Default setting)

Reset of

automatic

adjustment

function

Use automatic

adjustment?

Is command input

possible?

Realtime autotuning

setting

Reset of automatic

adjustment function

7-4

7-2 Realtime Autotuning

Adjustment Functions

7-2 Realtime Autotuning

Realtime autotuning estimates the load inertia of the machine in realtime, and automatically sets the

optimal gain according to the estimated load inertia.

Realtime autotuning can be applied to all control modes.

• Realtime autotuning may not function properly under the conditions

described in the following table. If realtime autotuning does not function

properly, use normal mode autotuning or manual tuning.

Conditions under which realtime autotuning does not function properly

Load inertia

•If the load inertia is too small or too large compared with the rotor inertia (i.e., less

than 3 times, more than 20 times, or more than the applicable load inertia ratio).

•If the load inertia changes quickly, i.e., in less than 10 seconds.

Load •If the machine rigidity is extremely low.

•If there is backlash or play in the system.

Operating

pattern

•If the speed is continuously run at a low speed below 100 r/min.

•If the acceleration/deceleration gradually changes at less than 2,000 r/min in 1 s.

•If the acceleration/deceleration torque is too small compared with the unbalanced

load and the viscous friction torque.

•If a speed of 100 r/min or an acceleration/deceleration of 2,000 r/min/s does not

continue for at least 50 ms.

Operation commands for

actual conditions of use

Position/speed

command

Position/speed

control

Servo Drive

Realtime autotuning

Estimated resonance frequency

Estimated load inertia

Current

control

Torque

command

Servo-

motor

current

Servomotor

speed

Servo-

motor

Encoder

Adaptive

filter

Automatic filter

adjustment

Automatic gain

adjustment

Precautions

for Correct Use

7-5

7-2 Realtime Autotuning

Adjustment Functions

Realtime Autotuning Setting Method

1. Stop the Servomotor (i.e., turn the servo OFF).

2. Set the Realtime Autotuning Mode Selection (Pn21) to 1 to 7.

The default setting is 1.

When the degree of load inertia change is high, set the value to 3 or 6.

Use a setting of 4 to 6 when the vertical axis is used.

Use setting 7 if vibration occurs due to gain switching.

3. Set the Realtime Autotuning Machine Rigidity Selection (Pn22) to 0 or a low value.

4. Turn the servo ON, and operate the machine as normally.

5. To increase system responsiveness, gradually increase the setting of the Realtime

Autotuning Machine Rigidity Selection (Pn22).

If the machine produces unusual noise or oscillation, return the Realtime Autotuning Machine

Rigidity Selection to a low value (e.g., 0 to 3) immediately.

6. Write data to the EEPROM if the results are to be saved.

Setting Realtime Autotuning Degree of change in load inertia during

operation

0 Not used ---

Normal mode

No change in load inertia

2 Gradual changes in load inertia

3 Sudden changes in load inertia

Vertical axis mode

No change in load inertia

5 Gradual changes in load inertia

6 Sudden changes in load inertia

7 No gain switching mode No change in load inertia

7-6

7-2 Realtime Autotuning

Adjustment Functions

Operating Procedure

ekekpk k-k-.

ekek_kskekt.

rkekskektk .

ekekpk k k-.

pknk_k k2k2.

pknk_k k2k1.

pknk_k k0k0.

Uknk_kskpkdk

rk k k k k0k

ekrkrkokrkkkk.

fkiknkikskh.

sktkakrktk

-k-k-k-k-k-.

Insert the Parameter Unit connector into CN3B of the

Servo Drive and turn ON the Servo Drive power

supply.

Setting Parameter Pn21

Press the key.

Select the number of the parameter to be set by

using the and keys.

(Pn21 is selected in this example.)

Change the value by using the and keys.

Setting Parameter Pn22

Select Pn22 by using the key.

(Default setting)

Increase the value by using the key.

Decrease the value by using the key.

Writing to EEPROM

Press the key.

End

Writing will start (momentary display).

The bars as shown in the figure on the right will

increase when the key is pressed down for

approx. 5 s.

Writing completed. Writing error occurred.

7-7

7-2 Realtime Autotuning

Adjustment Functions

Fit Gain Function

OMNUC G-Series products include a a fit gain function that automatically sets the rigidity to match

the device when realtime autotuning is used at position control. A fully automatic search is

performed for the optimal rigidity setting by repeating a specified reciprocating operation with

position control.

• In addition to the precautions for realtime autotuning, be aware of the following conditions under

which operation may not be performed correctly. If that occurs, use normal realtime autotuning.

• To be applicable, this function must satisfy the following conditions in

addition to the conditions for realtime autotuning.

Conditions under which the fit gain functions properly

Realtime

autotuning

operation

• The realtime autotuning operates normally.

• The Servo is ON.

• Pn21= 1 to 6. (Operation is not possible if Pn21 is 0 or 7.)

Adaptive filter • The adaptive filter is enabled.

Pn23 = 1: Enabled

Control mode

• The control mode is position control.

Pn02 = 0: Position control

Pn02 = 3: First control mode for position/speed control

Pn02 = 4: First control mode for position/torque control

Operating

pattern

•The position command is for reciprocating operation.

• The time per position command is at least 50 ms.

•The minimum frequency for the position command is 1 kpps.

(Required to determine the start and end of the command.)

Conditions under which the fit gain does not function properly

Operating

pattern

•One position command is too short, i.e., less than two revolutions.

•Positioning is not completed after the position command is completed and before

the next position command starts.

•The acceleration/deceleration is sudden, i.e., 3,000 r/min/0.1 s.

Position command

(reciprocating

command

for trapezoidal

speed waveform)

Servo Drive

Servo-

motor

current

Servo-

motor

speed

Servo-

motor

Encoder

Current

control

Torque

command

Adaptive

filter

Position/

speed control

(Vibration

detection)

Fit gain function

(Stabilization

time)

Position

deviation

−

Estimated resonance

frequency

Estimated load inertia

Realtime autotuning

Automatic setting of

rigidity and gain table

Precautions

for Correct Use

50 ms min.

1 s min.

OFF

Command

waveform

Positioning

com

leted

1 s min.

Acceleration/deceleration

≤

(3,000 r/min/0.1 s)

7-8

7-2 Realtime Autotuning

Adjustment Functions

Before starting the fit gain function, make the following settings using the fit gain window on the front

panel, parameter setting mode, the Parameter Unit, or CX-Drive.

Operating Procedure

1. Set the front panel display to the execution display of the fit gain window.

(Refer to the Front Panel Display Example on page 7-9 for information on using the front panel.)

2. With the dot at the far right flashing, decrease the rigidity to 0, and press the

Decrement key on the front panel for 3 s min. to start the fit gain function.

3. Input a position command that satisfies the operating pattern conditions given in

Precautions for Correct Use under Fit Gain Function on page 7-7.

If the fit gain is completed normally, will be displayed, and will be displayed

if it is completed with an error. (The display can be cleared using the keys.)

• Time is required for the change to be made for fit gain operation. It may take approximately 2 or

3 min. depending on the equipment configuration, which may require up to approximately 50

reciprocating operations. Normally, the fit gain will be completed when the optimal realtime rigidity

number is found.

• will be displayed in the following cases.

• The INP signal becomes unstable, or a realtime rigidity number without small vibration is not

found.

• The keys on the front panel are used while fit gain is operating or the applicable conditions are

not satisfied.

Parameter Setting Remarks

Realtime Autotuning

Mode Selection (Pn21)

Make one of the following settings.

1: Normal mode (almost no change)

2: Normal mode (gradual change)

3: Normal mode (sudden change)

4: Vertical axis mode (almost no change)

5: Vertical axis mode (gradual change)

6: Vertical axis mode (sudden change)

The parameters at the left

can also be set using the

execution display in the fit

gain window on the front

panel.

Realtime Autotuning

Machine Rigidity Selection

(Pn22)

0: Realtime rigidity No. 0

Adaptive Filter Selection

(Pn23) 1: Enabled

Positioning Completion

Range (Pn60)

17-bit encoder: 20 pulses min.

2,500 P/r encoder: 10 pulses min.

7-9

7-2 Realtime Autotuning

Adjustment Functions

Operating Procedure

Fit Gain Results

If fit gain is completed normally, will be displayed, and will be displayed if it

is completed with an error. To apply the results obtained from fit gain after resetting the power

supply, write the data to the EEPROM. (Refer to the following description.)

0k0k0.0k0k0

0k0k0.1k0k0

4k0k0.4k0k0

ekrkrkokrkkkk.

fkiknkikskh.

aktk_kfkikt fk k1k-k1k0.

Front Panel Display Example

Selection display Execution display

Fit gain window

Execution display in fit

gain window

The front panel display will

change to 000.000. Fit gain will start.

Value set for Pn21

(Pn23 = 1)

Perform the servo lock and set the rigidity to 0,

and then press the key for 3 s

while the dot ( ) at the far right is flashing

as shown in the display above.

The front panel display will change

along with the machine operation.

Time is required before the change

is made.

Completed normally. Error occurred.

f. k1k-k1k4k

Move the dot ( ) to this point using the key,

and press the key for 3 s min. to write the

present settings to the EEPROM.

7-10

7-2 Realtime Autotuning

Adjustment Functions

Automatically Set Parameters

The following parameters are set automatically.

The following parameters are set automatically. (The settings will not change even if realtime

autotuning is executed.)

Parameter No. Parameter name

Pn10 Position Loop Gain

Pn11 Speed Loop Gain

Pn12 Speed Loop Integration Time Constant

Pn13 Speed Feedback Filter Time Constant

Pn14 Torque Command Filter Time Constant

Pn18 Position Loop Gain 2

Pn19 Speed Loop Gain 2

Pn1A Speed Loop Integration Time Constant 2

Pn1B Speed Feedback Filter Time Constant 2

Pn1C Torque Command Filter Time Constant 2

Pn20 Inertia Ratio

Pn22 Realtime Autotuning Machine Rigidity Selection

Parameter No. Parameter name Set value

Pn15 Feed-forward Amount 300

Pn16 Feed-forward Command Filter 50

Pn27 Instantaneous Speed Observer Setting 0

Pn30 Gain Switching Input Operating Mode Selection 1

Pn31 Control Gain Switch 1 Setting 10

Pn32 Gain Switch 1 Time 1 30

Pn33 Gain Switch 1 Level Setting 50

Pn34 Gain Switch 1 Hysteresis Setting 33

Pn35 Position Loop Gain Switching Time 20

Pn36 Control Gain Switch 2 Setting 0

• Some degree of noise or vibration may occur during fit gain operation, but

this is normally not a problem because the gain is lowered automatically.

If the noise or vibration continues, however, press any key on the front

panel to cancel the fit gain operation.

Precautions

for Correct Use

7-11

7-2 Realtime Autotuning

Adjustment Functions

Adaptive Filter

The adaptive filter reduces resonance point vibration by estimating the resonance frequency from

the vibration component that appears in the Servomotor speed during actual operation, and

automatically sets the coefficient of the notch filter. This removes the resonance component from

the torque command.

• The adaptive filter may not operate correctly under the following conditions. If it does not, take

measures against resonance by following the manual adjustment procedure using Notch Filter 1

(Pn1D/1E) or Notch Filter 2 (Pn28 to 2A).

• Refer to Machine Resonance Control on page 7-30 for details on notch filters.

• Adaptive filter may not operate correctly under the following conditions.

Operating Procedure

1. Set the Adaptive Filter Selection (Pn23) to 1.

The adaptive filter will be enabled.

Set the Adaptive Filter Selection to 2 if the resonance point may not have changed when the

adaptive operation is completed (i.e., Pn2F does not change).

2. Write the data to the EEPROM if the results are to be saved.

• The adaptive filter operates under the following conditions.

Conditions under which the adaptive filter operates

Control mode • The control mode is not torque control.

Conditions under which the adaptive filter does not function properly

Resonance

points

• If the resonance frequency is 300 Hz or lower.

• If the resonance peak or control gain is low, and the Servomotor speed is not af-

fected by it.

• If there are multiple points of resonance.

Load • If the Servomotor speed with high-frequency components changes due to back-

lash or other non-linear elements.

Command

pattern

• If the acceleration/deceleration suddenly changes, i.e. 3,000 r/min or more

in 0.1 s.

Setting Adaptive filter Adaptive operation

0 Disabled ---

1Enabled Yes

2 Yes (hold)

Position/speed

control

Servo-

motor

current

Servo-

motor

speed

Servo-

motor

Encoder

Current

control

Adaptive

filter

Servo Drive

Estimated resonance

frequency

Estimated load inertia

Realtime autotuning

Position/speed

command

Operation commands for

actual conditions of use

Automatic filter

adjustment

Automatic gain

adjustment Torque

command

Precautions

for Correct Use

7-12

7-2 Realtime Autotuning

Adjustment Functions

Automatically Set Parameters

The following parameters are set automatically.

• An unusual noise or vibration may occur until the adaptive filter stabilizes

after startup, immediately after the first servo ON, or when the Realtime

Autotuning Machine Rigidity Selection (Pn22) is increased, but this is not

a problem if it disappears right away. If the unusual noise or vibration,

however, continues for three or more reciprocating operations, take one or

more of the following measures.

• Write the parameters used during normal operation to the EEPROM.

• Lower the Realtime Autotuning Machine Rigidity Selection (Pn22).

• Disable the adaptive filter by setting the Adaptive Filter Selection (Pn23)

to 0 (resetting the inertia estimation and the adaptive operation).

• Manually set the notch filter.

• Once unusual noise or vibration occurs, the Adaptive Filter Table Number

Display (Pn2F) may have changed to an extreme value. In this case, also

take the measures described above.

• The Adaptive Filter Table Number Display (Pn2F) is written to the

EEPROM every 30 minutes, and when the power supply is turned OFF

and turned ON again, this data is used as the initial values for the adaptive

operation.

• The adaptive filter is normally disabled when torque control is performed,

but the adaptive filter frequency used in the control mode before switching

will be held if torque control has been selected by setting the Control Mode

Selection (Pn02) to 4 or 5.

Parameter No. Parameter name

Pn10 Position Loop Gain

Pn11 Speed Loop Gain

Pn12 Speed Loop Integration Time Constant

Pn13 Speed Feedback Filter Time Constant

Pn14 Torque Command Filter Time Constant

Pn18 Position Loop Gain 2

Pn19 Speed Loop Gain 2

Pn1A Speed Loop Integration Time Constant 2

Pn1B Speed Feedback Filter Time Constant 2

Pn1C Torque Command Filter Time Constant 2

Pn20 Inertia Ratio

Precautions

for Correct Use

7-13

7-2 Realtime Autotuning

Adjustment Functions

The settings for the following parameters are automatically set and cannot be changed. (The

settings will not change even if realtime autotuning is executed.)

Note 1. Parameters that are automatically set cannot be changed if realtime autotuning is enabled.

Note 2. Pn31 is 10 when position control is used and the Realtime Autotuning Mode Selection

(Pn21) is set to 1 to 6. Otherwise, it is 0.

Parameter No. Parameter name Set value

Pn15 Feed-forward Amount 300

Pn16 Feed-forward Command Filter 50

Pn27 Instantaneous Speed Observer Setting 0

Pn30 Gain Switching Input Operating Mode Selection 1

Pn31 Control Gain Switch 1 Setting 10

Pn32 Gain Switch 1 Time 30

Pn33 Gain Switch 1 Level Setting 50

Pn34 Gain Switch 1 Hysteresis Setting 33

Pn35 Position Loop Gain Switching Time 20

Pn36 Control Gain Switch 2 Setting 0

• Unusual noise or vibration may occur until the load inertia is estimated or

the adaptive filter stabilizes after startup, immediately after the first servo

turns ON, or when the Realtime Autotuning Machine Rigidity Selection

(Pn22) is increased. This is not a problem if it disappears right away. If the

unusual noise or vibration, however, continues for three or more

reciprocating operations, take the following measures in any order you

can.

• Write the parameters used during normal operation to the EEPROM.

• Lower the Realtime Autotuning Machine Rigidity Selection (Pn22).

• Manually set the notch filter.

• Once unusual noise or vibration occurs, the Inertia Ratio (Pn20) may have

changed to an extreme value. In this case, also take the measures

described above.

• Out of the results of realtime autotuning, the Inertia Ratio (Pn20) is

automatically saved to the EEPROM every 30 minutes. Realtime

autotuning will use this saved data as the default value when the power is

turned OFF and turned ON again.

• The Instantaneous Speed Observer Setting (Pn27) will automatically be

disabled (0) if realtime autotuning is enabled.

Precautions

for Correct Use

7-14

7-3 Normal Mode Autotuning

Adjustment Functions

7-3 Normal Mode Autotuning

Normal mode autotuning operates the Servomotor according to command patterns automatically

created in the Servo Drive, then estimates the load inertia based on the torque required at that time

and automatically sets the appropriate gain.

Note Set the Torque Limit Selection (Pn03) to 1. Operation may be incorrect if the setting is not 1.

• Normal mode autotuning may not function properly under the conditions described in the following

table. If normal mode autotuning does not function properly, use manual tuning.

Note 1. A tuning error will occur if an error occurs, the servo turns OFF, the main power supply is

turned OFF, drive prohibit is enabled, or a deviation counter reset occurs while normal mode

autotuning is in operation.

Note 2. If normal mode autotuning is executed, and the load inertia cannot be estimated, the gain

will remain the same as it was before normal mode autotuning.

Note 3. When normal mode autotuning is being executed, the Servomotor output torque can be

output to the maximum set in the No. 1 Torque Limit (Pn5E) parameter.

Note 4. Take sufficient care to ensure safety. If vibration occurs, immediately turn OFF the power

supply or the servo and return the gain to the default by using the parameter settings.

• Normal mode autotuning operates under the following conditions.

Conditions under which normal mode autotuning operates

Control mode All control modes can be used.

Others • The servo is ON.

• The deviation counter reset signal is not input.

Conditions under which normal mode autotuning does not function properly

Load inertia

• If the load inertia is too small or too large compared with the rotor inertia (i.e., less

than 3 times, more than 20 times, or more than the applicable load inertia ratio).

• If the load inertia changes.

Load • If the machine rigidity is extremely low.

• If there is backlash or play in the system.

Servo-

motor

current

Servo-

motor

speed

Servo-

motor

Servo Drive Encoder

Current

control

Position/

speed control

Position command Normal mode autotuning

Estimated load

inertia

Motor acceleration

Torque

com-

mand

Automatic

gain

adjustment

Internal

position

command

generation

Servomotor torque

Precautions

for Correct Use

7-15

7-3 Normal Mode Autotuning

Adjustment Functions

Normal Mode Autotuning Operation

• Normal mode autotuning sets the responsiveness with the machine rigidity number.

Machine Rigidity Numbers

The degree of rigidity for the machine used is set to a number from 0 to F. The higher the rigidity of

the machine, the higher the rigidity number and gain that can be set. Normally, start with a low

rigidity number, increase the number in sequence while repeating normal mode autotuning, and

stop before oscillation, unusual noise, or vibration occurs.

• The operating pattern set in the Autotuning Operation Setting (Pn25) is repeated for up to five

cycles. The operating acceleration doubles each cycle starting with the third cycle. Depending on

the load, operation may end before completing five cycles or the operating acceleration may not

change. This is not an error.

Normal Mode Autotuning Setting Method

1. Set the operating pattern using the Autotuning Operation Setting (Pn25) parameter.

2. Move the load to a safe position even if the Servomotor performs the operating

pattern set in Pn25.

3. Prohibit the command.

4. Turn the servo ON.

5. Start normal mode autotuning.

Start normal mode autotuning from the front panel or by using CX-Drive. Refer to Front Panel

Display Example on page 7-9 for information on using the front panel.

6. Adjust the machine rigidity for the desired responsiveness at a level where vibration

does not occur.

7. If there are no problems with the results, write the data to the EEPROM.

7-16

7-3 Normal Mode Autotuning

Adjustment Functions

Automatically Set Parameters

Normal Mode Autotuning

• The parameters Pn15, Pn16, Pn1A, Pn30, and Pn32 to Pn36 are set to fixed values. For normal mode autotun-

ing, the default rigidity is 2.

*1. The value is 10 for position control and 0 for speed and torque control.

*2. The lower limit is set to 10 if a 17-bit encoder is used and to 25 if a 2,500-pulse/revolution encoder is used.

Parameter

No.

Parameter

name

Rigidity No.

0 1 2 3 4 5 6 7 8 9 A B C D E F

Pn10 Position Loop Gain 12 32 39 48 63 72 90 108 135 162 206 251 305 377 449 557

Pn11 Speed Loop Gain 9 18 22 27 35 40 50 60 75 90 115 140 170 210 250 310

Pn12

Speed Loop

Integration Time

Constant

62 31 25 21 16 14 12 11 9 8 7 6 5 4 4 3

Pn13

Speed Feedback

Filter Time

Constant

0000000000000 000

Pn14

Torque Command

Filter Time

Constant *2 253 126 103 84 65 57 45 38 30 25 20 16 13 11 10 10

Pn15 Feed-forward

Amount 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300

Pn16 Feed-forward

Command Filter 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50

Pn18 Position Loop Gain

219 38 46 57 73 84 105 126 157 188 241 293 356 440 524 649

Pn19 Speed Loop Gain 2 9 18 22 27 35 40 50 60 75 90 115 140 1170 210 250 310

Pn1A

Speed Loop

Integration Time

Constant 2

999 999 999 999 999 999 999 999 999 999 999 999 999 999 999 999

Pn1B

Speed Feedback

Filter Time

Constant 2

0000000000000 000

Pn1C

Torque Command

Filter Time

Constant 2 *2 253 126 103 84 65 57 45 38 30 25 20 16 13 11 10 10

Pn20 Inertia Ratio Estimated load inertia ratio

Pn27

Instantaneous

Speed Observer

Setting

0000000000000 000

Pn30

Gain Switching

Input Operating

Mode Selection

1111111111111 111

Pn31 Control Gain Switch

1 Setting *1 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10

Pn32 Gain Switch 1 Time 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30

Pn33 Gain Switch 1 Level

Setting 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50

Pn34 Gain Switch 1

Hysteresis Setting 33 33 33 33 33 33 33 33 33 33 33 33 33 33 33 33

Pn35 Position Loop Gain

Switching Time 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20

Pn36 Control Gain Switch

2 Setting 000000000000 0000

7-17

7-3 Normal Mode Autotuning

Adjustment Functions

Front Panel Operating Procedure

1. Switch to the Normal Mode Autotuning from the Monitor Mode.

Press the Data key and then press the Mode key three times to change the mode.

For details, refer to Normal Mode Autotuning on page 6-20.

2. Input the machine rigidity number using the Increment and Decrement keys.

Cannot be set to 0 when using the Parameter Unit.

3. Press the Data key to enter the Monitor/Run Mode.

4. Press and hold the Increment key until the display changes to .

The Servo will be ON for pin 29 of connector CN1.

Drive system Machine rigidity No.

Ball screw direct coupling 6 to C

Ball screw and timing belt 4 to A

Timing belt 2 to 8

Gears, rack and pinion drives 2 to 8

Machines with low rigidity, etc. 0 to 4

rkkkkkkkkkkkkkkkk0 Servomotor rotation speed display (default display)

aktk_knkok0.

Machine rigidity No.

aktk_knkokf.

aktk_knkok0.

Machine rigidity No.: High

Press the key to move in the direction of the arrow.

Press the key to move in the opposite direction of the arrow.

Machine rigidity No.: Low

7-18

7-3 Normal Mode Autotuning

Adjustment Functions

5. Press the Increment key for approx. 3 s.

The bar indicator will increase as shown in the following figure.

The Servomotor will start to rotate.

For a period of approximately 15 s, the Servomotor will make two revolutions in the forward/reverse

direction, which will comprise one cycle and will be repeated up to five times. There is no problem

if operation ends before five cycles have been completed.

6. Write the data to the EEPROM so that the gain values are not lost when the power

supply is shut off.

• Do not perform normal mode autotuning with the Servomotor or Servo Drive alone. The Inertia

Ratio (Pn20) will become 0.

Precautions for Correct Use

Problem Likely cause Countermeasures

An error is displayed.

An alarm has occurred, the servo is

OFF, or the deviation counter is

reset.

• Do not operate the Servomotor

near the Limit Switches or Origin

Proximity Sensor.

• Turn the servo ON.

• Release the deviation counter

reset.

Values for Pn10 or other

parameters related to gain

are the same as before

execution.

The load inertia cannot be

estimated.

• Lower Pn10 to 10 and Pn11 to

50, and then execute again.

• Make the adjustment manually.

(Input the calculated load

inertia.)

The Servomotor does not

rotate. The ECRST (pin 30) of CN1 is input. • Turn OFF the ECRST (pin 30) of

CN1.

sktkakrktk

ekrkrkokrkkkk.

fkiknkikskh.

-k-k-k-k-k-.

aktkuk k-k-.

aktkuk k k-.

Tuning completed normally. Tuning error occurred.

7-19

7-4 Disabling the Automatic Gain Adjustment Function

Adjustment Functions

7-4 Disabling the Automatic Gain

Adjustment Function

This section provides precautions for disabling realtime autotuning and the adaptive filter. These

functions are enabled by default.

Disabling Realtime Autotuning

By setting the Realtime Autotuning Mode Selection (Pn21) to 0, the automatic estimation of the

Inertia Ratio (Pn20) will stop, and realtime autotuning will be disabled.

However, the estimated Inertia Ratio (Pn20) will remain. If the Pn20 value is obviously incorrect,

perform normal mode autotuning or calculate and set the appropriate value manually.

• When disabling the automatic adjustment function, the RUN Command

Input (RUN) must be turned OFF.

• To enable the Realtime Autotuning Mode Selection (Pn21), turn OFF the

RUN Command Input (RUN), and then turn it back ON.

Precautions

for Correct Use

Precautions

for Correct Use

7-20

7-4 Disabling the Automatic Gain Adjustment Function

Adjustment Functions

Disabling the Adaptive Filter

The adaptive filter function, which performs automatic tracking in response to the load resonance,

can be disabled by setting the Adaptive Filter Selection (Pn23) to 0. If the adaptive filter is disabled

when it is correctly operating, suppressed resonance will become apparent, and noise or vibration

may occur. Therefore, before disabling the adaptive filter, perform copying function to the Notch

Filter 1 Frequency (Pn1D) of the Adaptive Filter Table Number Display (Pn2F) from the Fit Gain

Window on the front panel (refer to Front Panel Display Example on page 7-9) or manually set the

Notch Filter 1 Frequency (Pn1D) based on the Adaptive Filter Table Number Display (Pn2F) in the

following tables.

• Set the Notch Filter 1 Frequency (Pn1D) to 1,500 when disabling the adaptive filter using the above table.

Pn2F Notch Filter 1 Frequency (Hz) Pn2F Notch Filter 1 Frequency (Hz) Pn2F Notch Filter 1 Frequency (Hz)

0 (Disabled) 22 766 44 326

1 (Disabled) 23 737 45 314

2 (Disabled) 24 709 46 302

3 (Disabled) 25 682 47 290

4 (Disabled) 26 656 48 279

5 1482 27 631 49 269 (Disabled when Pn22 ≥ F)

6 1426 28 607 50 258 (Disabled when Pn22 ≥ F)

7 1372 29 584 51 248 (Disabled when Pn22 ≥ F)

8 1319 30 562 52 239 (Disabled when Pn22 ≥ F)

9 1269 31 540 53 230 (Disabled when Pn22 ≥ F)

10 1221 32 520 54 221 (Disabled when Pn22 ≥ E)

11 1174 33 500 55 213 (Disabled when Pn22 ≥ E)

12 1130 34 481 56 205 (Disabled when Pn22 ≥ E)

13 1087 35 462 57 197 (Disabled when Pn22 ≥ E)

14 1045 36 445 58 189 (Disabled when Pn22 ≥ E)

15 1005 37 428 59 182 (Disabled when Pn22 ≥ D)

16 967 38 412 60 (Disabled)

17 930 39 396 61 (Disabled)

18 895 40 381 62 (Disabled)

19 861 41 366 63 (Disabled)

20 828 42 352 64 (Disabled)

21 796 43 339

7-21

7-5 Manual Tuning

Adjustment Functions

7-5 Manual Tuning

Basic Settings

As described before, the OMNUC G-Series Servo Drives have an autotuning function. Depending

on load conditions or other restrictions, however, readjustment may be required if the gain cannot

be properly adjusted when autotuning is performed or the optimum responsiveness or stability is

required to match each load. This section describes how to perform manual tuning for each control

mode and function.

Before Manual Setting

The front panel or the Parameter Unit can be used to adjust the Servomotor (machine) while

monitoring the operation or noise, but more reliable adjustment can be performed quickly by using

waveform monitoring with the data tracing function of CX-Drive or by measuring the analog voltage

waveform with the monitor function.

Analog Monitor Output

The actual Servomotor speed, command speed, torque, and number of accumulated pulses can be

measured in the analog voltage level using an oscilloscope or other device. Set the type of signal

to be output and the output voltage level by setting the SP Selection (Pn07) and IM Selection

(Pn08). For details, refer to Control I/O Connector Specifications (CN1) on page 3-9 and Parameter

Tables on page 5-32.

CX-Drive Data Tracing

Commands to the Servomotor and Servomotor operation (e.g., speed, torque commands, and

position deviation) can be displayed on a computer as waveforms. Refer to the CX-Drive Operation

Manual (Cat. No. W453).

RS-232 connection cable

Connect to CN3B.

(Do not connect to CN3A.)

7-22

7-5 Manual Tuning

Adjustment Functions

Position Control Mode Adjustment

Use the following procedure to make adjustments in position control for the OMNUC G Series.

Write the data to EEPROM in the parameter write mode.

Increase the Position Loop Gain (Pn10),

but not so much that it causes overshooting.

Reduce the Speed Loop Gain (Pn11).

Start of adjustment

Disable realtime autotuning (Pn21 = 0 or 7).

Set each parameter to the values in Table 1.

Set the Inertia Ratio (Pn20) (value calculated at motor selection).

Operate with a normal operating pattern and load.

Positioning time and other operation performance satisfactory?

Ye s

No End of adjustment

Never make extreme adjustment or

changes to settings. Doing so will result

in unstable operation and may lead to

injuries. Adjust the gain in small

increments while checking Servomotor

operation.

Increase the Speed Loop Gain (Pn11),

but not so much that it causes hunting when the servo is locked.

Reduce the Speed Loop Integration Time Constant (Pn12),

but not so much that it causes hunting when the servo is locked.

Ye s

Does hunting (vibration) occur when the Servomotor is rotated?

End of adjustment

Increase the Speed Loop Integration Time

Constant (Pn12).

If vibration does not stop no matter how many times

you perform adjustments, or if positioning is slow:

Increase the Torque Command Filter Time

Constant (Pn14).

7-23

7-5 Manual Tuning

Adjustment Functions

Set the following parameters.

Table 1: Parameter Adjustment Values

*1. Input the Inertia Ratio (Pn20). The inertia ratio can be measured with normal mode autotuning

or set to a calculated value. When the inertia ratio is unknown, enter 300 as the inertia ratio.

Parameter No. Parameter name Guideline

Pn10 Position Loop Gain 30

Pn11 Speed Loop Gain 50

Pn12 Speed Loop Integration Time Constant 40

Pn13 Speed Feedback Filter Time Constant 0

Pn14 Torque Command Filter Time Constant 160

Pn15 Feed-forward Amount 0

Pn16 Feed-forward Command Filter 0

Pn18 Position Loop Gain 2 30

Pn19 Speed Loop Gain 2 50

Pn1A Speed Loop Integration Time Constant 2 40

Pn1B Speed Feedback Filter Time Constant 2 0

Pn1C Torque Command Filter Time Constant 2 160

Pn1D Notch Filter 1 Frequency 1500

Pn1E Notch Filter 1 Width 2

Pn20 Inertia Ratio *1

7-24

7-5 Manual Tuning

Adjustment Functions

Speed Control Mode Adjustment

With the OMNUC G Series, adjustments for speed control are almost the same as adjustments for

the position control mode. Use the following procedure to adjust parameters except for setting the

Position Loop Gain and Speed Feed-forward.

Start of adjustment

Disable realtime autotuning (Pn21 = 0 or 7).

Set each parameter to the values in Table 1 (Pn11, Pn12, and Pn14 only).

Set the Inertia Ratio (Pn20) (value calculated at motor selection).

Operate with a normal operating pattern and load.

Speed responsiveness and other operational performance satisfactory? Ye s

Increase the Speed Loop Gain (Pn11),

but not so much that it causes hunting when the servo is locked.

Reduce the Speed Loop Integration Time Constant (Pn12),

but not so much that it causes hunting when the servo is locked.

End of adjustment

Ye s

End of adjustment

Does hunting (vibration) occur when the Servomotor is rotated?

Reduce the Speed Loop Gain (Pn11).

Write the data to EEPROM in the parameter write mode.

Never make extreme adjustment or

changes to settings. Doing so will result

in unstable operation and may lead to

injuries.

Adjust the gain in small increments while

checking Servomotor operation.

Increase the Speed Loop Integration

Time Constant (Pn12).

If vibration does not stop no matter how many times

you perform adjustments, or if positioning is slow:

Increase the Torque Command Filter Time

Constant (Pn14).

7-25

7-5 Manual Tuning

Adjustment Functions

Torque Control Mode Adjustment

Torque control is based on a speed control loop using the No. 4 Internally Set Speed (Pn56) or the

Speed Command Input/Torque Command Input as the speed limit. This section describes the

settings for these speed limit values.

Setting Speed Limit Values

Set the speed limit value in the No.4 Internally Set Speed (Pn56) (if the Torque Command/Speed

Limit Selection (Pn5B) is set to 0) or input the speed limit value to the Speed Command Input/

Torque Command Input (REF/TREF1) (if the Torque Command/Speed Limit Selection (Pn5B) is set

to 1).

• When the Servomotor nears the speed limit, it will switch from torque control following the analog

torque command to speed control commanded with speed limit values determined by the No. 4

Internally Set Speed (Pn56) or the Speed Command Input/Torque Command Input (REF/TREF1).

• Parameters must be set according to the procedure given in Speed Control Mode Adjustment to

perform stable operation when the speed is limited.

• The input to the torque limit section will be small and the torque may not be produced as specified

by the analog torque command if the No.4 Internally Set Speed (Pn56) or the Speed Command

Input/Torque Command Input (REF/TREF1) is too small or if the Speed Loop Gain is too low or

the Speed Loop Integration Time Constant is 1000 (disabled).

7-26

7-5 Manual Tuning

Adjustment Functions

Gain Switching Function

With manual tuning, Gain 1 and Gain 2 can be set manually. The gain can be switched according

to the operation.

Switching from Gain 1 to Gain 2 can be used for the following applications.

• To increase responsiveness by increasing the gain during operation.

• To increase servo lock rigidity by increasing the gain when operation is stopped.

• To switch to an optimal gain according to the operating mode.

• To reduce the gain to suppress vibration when operation is stopped.

Application Example

The example is for a case where noise is a problem when the Servomotor is stopped (servo lock),

and the noise is reduced by switching to a lower gain setting after the Servomotor has stopped.

Refer to Normal Mode Autotuning on page 7-16 for information on making adjustments.

Parameter

No. Parameter name

Perform

manual tuning

without gain

switching.

Set Gain 2

(Pn18 to Pn1C)

to the same

values as Gain

1 (Pn10 to

Pn14).

Set gain

switching

conditions

(Pn30 to Pn35).

Adjust Pn11

and Pn14

(for Gain 1)

when stopped.

Pn10 Position Loop Gain 60

Pn11 Speed Loop Gain 50 30

Pn12 Speed Loop Integration Time

Constant 16

Pn13 Speed Feedback Filter Time

Constant 0

Pn14 Torque Command Filter Time

Constant 50 85

Pn15 Feed-forward Amount 300

Pn16 Feed-forward Command

Filter 50

Pn18 Position Loop Gain 2 60

Pn19 Speed Loop Gain 2 50

Pn1A Speed Loop Integration Time

Constant 2 16

Pn1B Speed Feedback Filter Time

Constant 2 0

Pn1C Torque Command Filter Time

Constant 2 60

Operation

Status

1 ms 2 ms

Drive Time

Gain

Command

speed

Stop

(Servo lock)

Low gain

(Gain 1)

Stop

(Servo lock)

Low gain

(Gain 1)

High gain

(Gain 2)

Vibration is suppressed

by lowering the gain.

7-27

7-5 Manual Tuning

Adjustment Functions

Setting Gain Switching Conditions

Position Control Mode ({: Relevant parameter enabled, ---: Disabled)

Parameter

No. Name

Perform

manual tuning

without gain

switching.

Set Gain 2

(Pn18 to Pn1C)

to the same

values as Gain

1 (Pn10 to

Pn14).

Set gain

switching

conditions

(Pn30 to Pn35).

Adjust Pn11

and Pn14

(for Gain 1)

when stopped.

Pn20 Inertia Ratio

• Enter the

value for

load calcu-

lation if

already

known.

• Perform

normal

mode auto-

tuning and

measure

the inertia

ratio.

• The default

is 300.

Pn30 Gain Switching Input

Operating Mode Selection 01

Pn31 Control Gain Switch 1 Setting 7

Pn32 Gain Switch 1 Time 30

Pn33 Gain Switch 1 Level Setting 0

Pn34 Gain Switch 1 Hysteresis

Setting 0

Pn35 Position Loop Gain Switching

Time 0

Gain Switch Setting Setting parameters for position control mode

Pn31 Conditions for switching to

gain 2

Fig-

ure

Gain Switch Time *1 Gain Switch Level

Setting

Gain Switch Hysteresis

Setting *2

Pn32 Pn33 Pn34

0 Always gain 1 --- --- --- ---

1 Always gain 2 --- --- --- ---

2Switching using Gain Switch

Input (GSEL) --- --- --- ---

3Amount of change in torque

command --- {{ *3 (0.05%/166 µs) { *3 (0.05%/166 µs)

4 Always gain 1 A --- --- ---

5 Command speed --- {{ (r/min) { (r/min)

6 Amount of position deviation C {{ *4 (pulse) { *4 (pulse)

7 Command pulses received D {--- ---

8Positioning Completed

Output F{--- ---

9 Actual Servomotor speed C {{ (r/min) { (r/min)

10 Combination of command

pulse input and speed G{{ (r/min) *6 { (r/min) *6

7-28

7-5 Manual Tuning

Adjustment Functions

Speed Control Mode

Torque Control Mode

*1. The Gain Switch Time (Pn32, Pn37) is used when returning from gain 2 to gain 1.

*2. The Gain Switch Hysteresis Setting (Pn34, Pn39) is defined as shown in the following figure.

*3. A setting of 200 is used for a 10% change in torque over a period of 166 µs.

10%/166 µs = setting of 200 × (0.05%/166 µs).

*4. Specify the encoder resolution based on the control mode.

*5. The setting is 1 given the condition of a change in speed of 10 r/min. over a period of 1 s.

*6. The delay, level, and hysteresis have different meanings when Pn31 = 10. (Refer to figure F.)

Gain Switch Setting Setting parameters for speed control mode

Pn31 Conditions for switching to

gain 2

Fig-

ure

Gain Switch Time *1 Gain Switch Level

Setting

Gain Switch Hysteresis

Setting *2

Pn32, 37 Pn33, 38 Pn34, 39

0 Always gain 1 --- --- --- ---

1 Always gain 2 --- --- --- ---

2Switching using Gain Switch

Input (GSEL) --- --- --- ---

3Amount of change in torque

command A{{ *3 (0.05%/166 µs) { *3 (0.05%/166 µs)

4Amount of change in speed

command B{{ *5 (10 r/min/s) { *5 (10 r/min/s)

5 Command speed C {{ (r/min) { (r/min)

Gain Switch Setting Setting parameters for torque control mode

Pn31 Conditions for switching to

gain 2

Fig-

ure

Gain Switch Time *1 Gain Switch Level

Setting

Gain Switch Hysteresis

Setting *2

Pn32, 37 Pn33, 38 Pn34, 39

0 Always gain 1 --- --- --- ---

1 Always gain 2 --- --- --- ---

2Switching using Gain Switch

Input (GSEL) --- --- --- ---

3Amount of change in torque

command --- {{ *3 (0.05%/166 µs) { *3 (0.05%/166 µs)

Pn33

Pn34

Pn32

Gain 1 Gain 1

Gain 2

7-29

7-5 Manual Tuning

Adjustment Functions

Speed V

Accumulated pulses

Torque T

Gain 2 only for Speed Loop Integration Time Constant. Gain 1 for others.

∆T

22 22

INP

Time

Level

Gain 1 Gain 1

Gain 2

Gain 1 Gain 2

Gain 1 Gain 1

Gain 2

Gain 1 Gain 1 Gain 2

Gain 1 Gain 2

Time

Figure B

Figure A Figure C

Figure D

Figure E

Figure F

Command speed S

Actual speed N

7-30

7-5 Manual Tuning

Adjustment Functions

Machine Resonance Control

When machine rigidity is low, shaft torsion may cause resonance, leading to vibration or noise, thus

not allowing the gain to be set to a high value. In this case, the resonance can be suppressed by

using the two filter types.

Torque Command Filter (Pn14, Pn1C)

The filter time constant is set to attenuate the resonance frequency. The cut-off frequency can be

calculated using the following equation.

Cut-off frequency (Hz) fc =

Notch Filter

• Adaptive Filter (Pn23, Pn2F)

The OMNUC G-Series Servo Drives use an adaptive filter to control vibration for loads that are

difficult to handle with the previous notch filters and torque filters, such as when each device has

a different resonance point. The adaptive filter is enabled by setting the Adaptive Filter Selection

(Pn23) to 1.

• Notch Filters 1 and 2 (Pn1D, Pn1E, Pn28, Pn29, and Pn2A)

The OMNUC G-Series Servo Drives provide two normal notch filters. Notch Filter 1 can be used

to adjust the frequency and width, and Notch Filter 2 can be used to adjust frequency, width, and

depth with parameters.

Parameter

No. Parameter name Explanation

Pn23 Adaptive Filter

Selection 1: The adaptive filter is enabled.

Pn2F Adaptive Filter Table

Number Display

Displays the table number corresponding to the frequency for

the adaptive filter.

The setting of this parameter cannot be changed.

Parameter

No. Parameter name Explanation

Pn1D Notch Filter 1

Frequency Set 10% lower.

Pn1E Notch Filter 1 Width Set according to the characteristics of the resonance points.

Pn28 Notch Filter 2

Frequency Set 10% lower.

Pn29 Notch Filter 2 Width Set according to the characteristics of the resonance points.

Pn2A Notch Filter 2 Depth

2π × parameter setting × 10

−5

2πT

7-31

7-5 Manual Tuning

Adjustment Functions

Devices that have a resonance

point that changes due to

individual differences and age

deterioration

Devices that have a resonance

point with a frequency that does

not change

Instantaneous Suppression

Tracking the Resonance Point

Torque

command

Automatic frequency

tracking

Width

Adaptive filter Notch filter Toque filter

Cut-off frequency

Suppression of Large Resonance

Point with a Frequency that Does

not Change

Lowering All Resonance Peaks

in a High Frequency Range

Torque command

after filter

f f

-3dB

Notch Filter Characteristics

Gain

Notch Filter Characteristics

Gain Gain Gain

Machine characteristics at resonance Machine characteristics at resonance

Anti-resonance

Resonance

Anti-resonance Anti-resonance

Frequency

Frequency Frequency

Frequency

Fre-

quency

Adjust a bit lower (approx. 0.9 f).

Notch

Torque command filter characteristics

Torque Command Filter

No more

resonance

peak

Cut-off frequency

Resonance

peak falls.

Examples of applicable devices

Speed response

Devices that have a resonance

peak in a frequency range

separated from the speed

response

-3dB

7-32

7-5 Manual Tuning

Adjustment Functions

Automatic Gain Setting

Automatic gain setting initializes the control parameters and the gain switching parameters to gain

settings for normal mode autotuning to match the rigidity before manual tuning is performed.

Operating Procedure

Refer to Front Panel Display Example on page 7-9.

1. Stop operation.

2. Start the automatic gain setting function in the fit gain window on the front panel.

If the fit gain is completed normally, will be displayed, and will be displayed

if it is completed with an error. (The display can be cleared using the keys.)

3. Write data to the EEPROM if the results are to be saved.

Automatically Set Parameters

The following parameters are set automatically.

Settings for the following parameters are set automatically.

*1. The setting is 10 for position control and 0 for speed and torque control.

• Stop operation before making changes when executing the automatic gain

setting function.

Parameter No. Parameter name

Pn10 Position Loop Gain

Pn11 Speed Loop Gain

Pn12 Speed Loop Integration Time Constant

Pn13 Speed Feedback Filter Time Constant

Pn14 Torque Command Filter Time Constant

Pn18 Position Loop Gain 2

Pn19 Speed Loop Gain 2

Pn1A Speed Loop Integration Time Constant 2

Pn1B Speed Feedback Filter Time Constant 2

Pn1C Torque Command Filter Time Constant 2

Parameter No. Parameter name Set value

Pn15 Feed-forward Amount 300

Pn16 Feed-forward Command Filter 50

Pn27 Instantaneous Speed Observer Setting 0

Pn30 Gain Switching Input Operating Mode Selection 1

Pn31 Control Gain Switch 1 Setting 10 *1

Pn32 Gain Switch 1 Time 30

Pn33 Gain Switch 1 Level Setting 50

Pn34 Gain Switch 1 Hysteresis Setting 33

Pn35 Position Loop Gain Switching Time 20

Pn36 Control Gain Switch 2 Setting 0

Precautions

for Correct Use

7-33

7-5 Manual Tuning

Adjustment Functions

Instantaneous Speed Observer

The instantaneous speed observer improves speed detection accuracy, increases responsiveness,

and reduces vibration at stopping by estimating the Servomotor speed using a load model.

• The instantaneous speed observer may not function properly or the effect may not be apparent

under the following conditions.

• The instantaneous speed observer cannot be used unless the following

conditions are satisfied.

Conditions under which the instantaneous speed observer operates

Control mode

• Position control or speed control is used.

Pn02 = 0: Position control

Pn02 = 1: Speed control

Pn02 = 3: Position/speed control

Pn02 = 4: Position control only

Pn02 = 5: Speed control only

Encoder • A 7-core absolute encoder is used.

Conditions under which the instantaneous speed observer does not function properly

Load

•If the margin of error with the actual device is too large for the inertia load of the

Servomotor and load combined.

Example : If there is a large resonance point at the frequency of 300 Hz or lower.

: There is a non-linear element, such as large backlash.

•If the load inertia changes.

•If a large disturbance torque with high-frequency elements is applied.

Others • If the stabilization range for positioning is extremely small.

Servo Drive

Encoder

Load

Servo-

motor

Servo-

motor

current

Feedback

pulse

(Total inertia)

Torque

command Current

control

Speed

command Speed

control

To position control

Estimated

speed

Load model

Instantaneous

Speed Observer

Precautions

for Correct Use

7-34

7-5 Manual Tuning

Adjustment Functions

Operating Procedure

1. Set the Inertia Ratio (Pn20).

Set the inertia ratio as correctly as possible.

• Use the Pn20 setting if the Inertia Ratio (Pn20) is found using realtime autotuning that can be used

in normal position control.

• Input the calculated value if it is already known by load calculation.

• If the inertia ratio is not known, perform normal mode autotuning and measure the inertia.

2. Perform adjustments for normal position control.

• Refer to Position Control Mode Adjustment on page 7-22.

3. Set the Instantaneous Speed Observer Setting (Pn27).

• Set the Instantaneous Speed Observer Setting (Pn27) to 1. The speed detection method will

switch to Instantaneous Speed Observer.

• If the change in torque waveform or the operation noise is large, return the setting to 0 and check

the precautions above as well as the Inertia Ratio (Pn20) again.

• If the change in torque waveform or the operation noise is small, make small adjustments in the

Inertia Ratio (Pn20) to find the setting that makes the smallest change while monitoring the

position deviation waveform and the actual speed waveform. If the Position Loop Gain or Speed

Loop Gain is changed, the optimal setting for the Inertia Ratio (Pn20) may have changed, so set

it again by making small adjustments.

7-35

7-5 Manual Tuning

Adjustment Functions

Damping Control

When the machine end vibrates, damping removes the vibration frequency from the commands,

reducing vibration.

• Stop operation before changing the parameters or switching with DFSEL/PNSEL.

• Under the following conditions, damping control may not operate properly or may have no effect.

• The following conditions must be met to use damping control.

Conditions under which damping control operates

Control Mode

• The Position Control Mode must be used.

Pn02 = 0: Position control

Pn02 = 3: Control mode 1 for position/speed control

Pn02 = 4: Control mode 1 for position/torque control

Conditions under which the effect of damping control is inhibited

Load

• If forces other than commands, such as external forces, cause vibration.

• If the ratio of the resonance frequency to anti-resonance frequency is large.

• If the vibration frequency is outside the range of 10.0 to 200.0 Hz.

Encoder

Load

Servo-

motor

Servo Drive

Feedback pulse

Position

command

Torque

com-

mand Current

control

Position/

speed

control

Coupling

Servo Drive

Servomotor

Move-

ment

Moving body

Ball screw

Machine table

Set the frequency of the vibrating end.

Control

filter

Position controller

Vibrating end

Vibration measured

with Displacement Sensor

Precautions

for Correct Use

7-36

7-5 Manual Tuning

Adjustment Functions

Operating Procedure

1. Setting the Vibration Frequency (Frequency 1: Pn2B, Frequency 2: Pn2D)

Measure the vibration frequency at the end of the machine. When the end vibration can be

measured directly using a laser displacement sensor, read the vibration frequency f (Hz) from the

waveform measurement and set it as the Vibration Frequency (Pn2B, Pn2D). If no measurement

device is available, use CX-Drive data tracing function, and read the residual vibration frequency

(Hz) from the position deviation waveform as shown in the following figure.

2. Setting the Vibration Filter (Filter 1: Pn2C, Filter 2: Pn2E)

First, set the Vibration Filter (Pn2C, Pn2E) to 0. The stabilization time can be reduced by setting a

large value; however, torque ripple will increase at the command change point as shown in the

following figure. Set a range that will not cause torque saturation under actual operation conditions.

The effects of vibration suppression will be lost if torque saturation occurs.

• The vibration filter setting is restricted by the following equation.

10.0 Hz − Vibration frequency ≤ Vibration filter setting ≤ Vibration frequency

3. Set the Vibration Filter Selection (Pn24).

Vibration filters 1 and 2 can be switched according to the conditions of the machine vibration.

• The following gives the vibration frequency in the

figure.

(Pn2B, Pn2D) = 10 × f

• Example:

When the vibration cycle is 100 ms and 20 ms, the

vibration frequency is 10 Hz and 40 Hz,

therefore set Pn2B = 100, Pn2D = 400.

Pn24 Switching mode

0 No switching (1 and 2 both enabled)

Switching with DFSEL/PNSEL input

Open: Vibration filter 1

Closed: Vibration filter 2

Switching with command direction

Forward operation: Vibration filter 1

Reverse operation: Vibration filter 2

Command

speed

Position deviation

Calculation of

vibration frequency

Vibration cycle T

f (Hz) = T(s)

Vibration filter

setting appropriate

Torque command

Vibration filter setting too large

Torque saturation

Chapter 8

Troubleshooting

8-1 Error Processing ................................................ 8-1

Preliminary Checks When a Problem Occurs.......................8-1

Precautions When Troubleshooting......................................8-2

Replacing the Servomotor and Servo Drive..........................8-2

8-2 Alarm Table........................................................ 8-3

8-3 Troubleshooting ................................................. 8-6

Error Diagnosis Using the Displayed Alarm Codes ..............8-6

Error Diagnosis Using the Operating Status .........................8-15

8-4 Overload Characteristics

(Electronic Thermal Function) ............................ 8-20

Overload Characteristics Graphs..........................................8-20

8-5 Periodic Maintenance......................................... 8-21

Servomotor Service Life........................................................8-21

Servo Drive Service Life .......................................................8-22

Replacing the Absolute Encoder Battery ..............................8-23

8-1

8-1 Error Processing

Troubleshooting

8-1 Error Processing

Preliminary Checks When a Problem Occurs

This section explains the preliminary checks and analytical tools required to determine the cause of

a problem if one occurs.

Checking the Power Supply Voltage

• Check the voltage at the power supply input terminals.

Main-circuit Power Supply Input Terminals (L1, L2, and L3)

R88D-GT@L (50 W to 400 W) : Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz

R88D-GT@H (100 W to 1.5 kW) : Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz

(750 W to 1.5 kW) : Three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz

(2 kW to 7.5 kW) : Three-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz

Control Circuit Power Supply Input Terminals (L1C and L2C)

R88D-GT@L (50 W to 400 W) : Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz

R88D-GT@H (100 W to 1.5 kW) : Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz

(2 kW to 7.5 kW) : Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz

If the voltage is outside of this range, there is a risk of operation failure, so be sure that the power

supply is correct.

• Check the voltage of the sequence input power supply. (+24 VIN Terminal (CN1 pin 7))

Within the range of 11 to 25 VDC

If the voltage is outside of this range, there is a risk of operation failure, so be sure that the power

supply is correct.

Checking Whether an Alarm Has Occurred

• Evaluate the problem using the 7-segment LED display on the front panel and using the operation

keys. You can also evaluate the problem by using the R88A-PR02G Parameter Unit.

• When an alarm has occurred:

Check the alarm code that is displayed (@@) and evaluate the problem based on the alarm that

is indicated.

• When an alarm has not occurred:

Make an analysis according to the problem.

• In either case, refer to 8-3 Troubleshooting for details.

8-2

8-1 Error Processing

Troubleshooting

Precautions When Troubleshooting

When checking and verifying I/O after a problem has occurred, the Servo Drive may suddenly start

to operate or suddenly stop, so always take the following precautions.

You should assure that anything not described in this manual is not possible with this product.

Precautions

• Disconnect the cable before checking for wire breakage. Even if you test conduction with the cable

connected, test results may not be accurate due to conduction via bypassing circuit.

• If the encoder signal is lost, the Servomotor may run away, or an error may occur. Be sure to

disconnect the Servomotor from the mechanical system before checking the encoder signal.

• When measuring the encoder output, perform the measurement based on the SENGND (CN1 pin

13). When an oscilloscope is used for measurement, it will not be affected by noise if

measurements are performed using the differential between CH1 and CH2.

• When performing tests, first check that there are no persons in the vicinity of the equipment, and

that the equipment will not be damaged even if the Servomotor runs away. Before performing the

tests, verify that you can immediately stop the machine using an emergency stop even if the

Servomotor runs away.

Replacing the Servomotor and Servo Drive

Use the following procedure to replace the Servomotor or Servo Drive.

Replacing the Servomotor

1. Replace the Servomotor.

2. Perform origin position alignment (for position control).

• When the Servomotor is replaced, the Servomotor’s origin position (phase Z) may deviate, so

origin alignment must be performed.

• Refer to the Position Controller’s manual for details on performing origin alignment.

3. Set up the absolute encoder.

• If a Servomotor with an absolute encoder is used, the absolute value data in the absolute encoder

will be cleared when the Servomotor is replaced, so setup is again required. The rotation data will

be different from before the Servomotor was replaced, so reset the initial Motion Control Unit

parameters.

• For details, refer to Absolute Encoder Setup Procedure on page 6-5.

Replacing the Servo Drive

1. Copy the parameters.

Use the Parameter Unit or the operation keys on the Servo Drive to write down all the parameter

settings.

2. Replace the Servo Drive.

3. Set the parameters.

Use the Parameter Unit or the operation keys on the Servo Drive to set all the parameters.

4. Set up the absolute encoder.

• If a Servomotor with an absolute encoder is used, the absolute value data in the absolute encoder

will be cleared when the Servo Drive is replaced, so setup is again required. The rotation data will

be different from before the Servo Drive was replaced, so reset the initial Motion Control Unit

parameters.

• For details, refer to Absolute Encoder Setup Procedure on page 6-5.

8-3

8-2 Alarm Table

Troubleshooting

8-2 Alarm Table

If the Servo Drive detects an error, the Alarm Output (ALM) will turn ON, the power drive circuit in

the Servo Drive will turn OFF, and the alarm code will be displayed.

• Refer to Error Diagnosis Using the Displayed Alarm Codes on page 8-6 for

appropriate alarm countermeasures.

• Reset the alarm using one of the following methods. Remove the cause of

the alarm first.

• Turn ON the Alarm Reset Input (RESET).

• Turn OFF the power supply, then turn it ON again.

• Reset the alarm on the Parameter Unit.

Note, however, that some alarms can only be cleared by recycling the power

(turn ON → OFF → ON). Refer to the Alarms table on the next page.

• If you clear an alarm while the RUN Command Input (RUN) is turned ON,

the Servo Drive will start operation as soon as the alarm is cleared, which

is dangerous. Be sure to turn OFF the RUN Command Input (RUN) before

clearing the alarm. If the RUN Command Input (RUN) is always ON, first

check safety sufficiently before clearing the alarm.

Precautions

for Correct Use

8-4

8-2 Alarm Table

Troubleshooting

Alarms

Alarm

code Error detection function Detection details and cause of error Alarm reset

possible

11 Control power supply undervoltage The DC voltage of the main circuit fell

below the specified value. Yes

12 Overvoltage The DC voltage in the main circuit is

abnormally high. Yes

13 Main power supply undervoltage The DC voltage of the main circuit is low. Yes

14 Overcurrent

Overcurrent flowed to the IGBT.

Servomotor power line ground fault or

short circuit.

15 Servo Drive overheating The temperature of the Servo Drive

radiator exceeded the specified value. No

16 Overload

Operation was performed with torque

significantly exceeding the rating for

several seconds to several tens of

seconds.

Yes

18 Regeneration overload

The regeneration energy exceeds the

processing capacity of the regeneration

resistor.

21 Encoder communications error The encoder wiring is disconnected. No

23 Encoder communications data error

Communications cannot be performed

between the Encoder and the Servo

Drive.

24 Deviation counter overflow

The number of accumulated pulses in the

deviation counter exceeded the setting for

the Deviation Counter Overflow Level

(Pn70).

Yes

26 Overspeed The Servomotor exceeded the maximum

number of rotations. Yes

27 Electronic gear setting error The setting for the electronic gear ratio

(Pn48 to 4B) is not appropriate. Yes

34 Overrun limit error

The Servomotor exceeded the allowable

operating range set in the Overrun Limit

Setting (Pn26) with respect to the position

command input.

Yes

36 Parameter error

Data in the parameter save area was

corrupted when the power supply was

turned ON and data was read from the

EEPROM.

37 Parameter corruption

The checksum for the data read from the

EEPROM when the power supply was

turned ON does not match.

38 Drive prohibit input error The forward drive prohibit and reverse

drive prohibit inputs are both turned OFF. Yes

39 Excessive analog input 1

A voltage exceeding the Speed

Command/ Torque Command Input

Overflow Level Setting (Pn71) was

applied to the Speed Command Input

(REF: CN1 pin 14).

Yes

40 Absolute encoder system

down error

The voltage supplied to the absolute

encoder is lower than the specified value. Yes

41 Absolute encoder counter

overflow error

The multi-turn counter of the absolute

encoder exceeds the specified value. No

ABS

8-5

8-2 Alarm Table

Troubleshooting

42 Absolute encoder overspeed

error

The Servomotor rotation speed exceeds

the specified value when only the battery

power supply of the absolute encoder is

used.

Yes

44 Absolute encoder one-turn counter error A one-turn counter error was detected. No

45 Absolute encoder multi-turn counter error

An absolute encoder multi-turn counter or

incremental encoder phase-AB signal er-

ror was detected.

46 Encoder error 1 The Servomotor is faulty. No

47 Absolute encoder status error The rotation of the absolute encoder is

higher than the specified value. Yes

48 Encoder phase Z error A phase-Z pulse was not detected

regularly. No

49 Encoder PS signal error A logic error was detected in the PS

signal. No

58 CPU error 1 The Servo Drive is faulty. No

60 CPU error 2 The Servo Drive is faulty. No

61 CPU error 3 The Servo Drive is faulty. No

62 CPU error 4 The Servo Drive is faulty. No

63 CPU error 5 The Servo Drive is faulty. No

65 Excessive analog input 2

A voltage exceeding the Speed

Command/ Torque Command Input

Overflow Level Setting (Pn71) was

applied to the analog command input

(CN1 pin 16).

Yes

66 Excessive analog input 3

A voltage exceeding the Speed Com-

mand/ Torque Command Input Overflow

Level Setting (Pn71) was applied to the

analog command input (CN1 pin 18).

Yes

73 CPU error 6 The Servo Drive is faulty. No

77 CPU error 7 The Servo Drive is faulty. No

81 CPU error 8 The Servo Drive is faulty. No

94 Encoder error 2 The Servomotor is faulty. No

95 Servomotor non-conformity

The combination of the Servomotor and

Servo Drive is not appropriate.

The encoder was not connected when the

power supply was turned ON.

96 CPU error 9 The Servo Drive is faulty. No

97 CPU error 10 The Servo Drive is faulty. No

99 CPU error 11 The Servo Drive is faulty. No

Alarm

code Error detection function Detection details and cause of error Alarm reset

possible

ABS

8-6

8-3 Troubleshooting

Troubleshooting

8-3 Troubleshooting

If an error occurs in the machine, determine the error conditions from the alarm indicator and

operating status, identify the cause of the error, and take appropriate countermeasures.

Error Diagnosis Using the Displayed Alarm Codes

Alarm

code Error Status when error occurs Cause Countermeasure

11 Power supply

undervoltage

Occurs when the power

supply is turned ON.

• The power supply

voltage is low.

• Momentary power

interruption occurred.

• Power supply capacity

is insufficient.

• The power supply

voltage is reduced

because the main

power supply is OFF.

• The main power

supply is not input.

• Increase the power

supply capacity.

•Change the power

supply.

• Turn ON the power

supply.

• Power supply capacity

is insufficient.

• Increase the power

supply capacity.

• Phase loss. • Connect the phases

(L1, L2, L3) of the

power supply voltage

correctly.

• For single-phase,

connect to L1 and L3

correctly.

• The main circuit power

supply is damaged.

• Control PCB error.

• Replace the Servo

Drive.

8-7

8-3 Troubleshooting

Troubleshooting

12 Overvoltage

Occurs when power

supply is turned ON.

• Main circuit power

supply voltage is

outside allowable

range.

• Change the main

circuit power supply

voltage to within

allowable range.

Occurs when Servomo-

tor is decelerating.

• Load inertia is too

great.

• Calculate the regener-

ative energy, and

connect an External

Regeneration Resistor

with the required

regeneration

absorption capacity.

• Extend the

deceleration time.

• Main circuit power

supply voltage is

outside allowable

range.

• Change main circuit

power supply voltage

to within allowable

range.

Occurs during descent

(vertical axis).

• Gravitational torque is

too large.

• Add a counterbalance

to the machine to

lower gravitational

torque.

• Slow the descent

speed.

• Calculate the regener-

ative energy, and

connect an External

Regeneration Resistor

with the required

regeneration

absorption capacity.

13 Main power supply

undervoltage

Occurs when the Servo

Drive is turned ON.

• The power supply

voltage is low.

• Momentary power

interruption occurred.

• Power supply capacity

is insufficient.

• The power supply

voltage is reduced

because the main

power supply is OFF.

• The main power

supply is not input.

• Check the power

supply capacity.

• Change the power

supply.

• Turn ON the power

supply.

• Extend the

Momentary Hold Time

(Pn6D).

Occurs when power

supply is turned ON.

• Phase loss. • Correctly connect the

phases of the power

supply voltage.

• Correctly connect the

single phase.

• The main circuit power

supply is damaged.

• Control PCB error.

• Replace the Servo

Drive.

Alarm

code Error Status when error occurs Cause Countermeasure

8-8

8-3 Troubleshooting

Troubleshooting

14 Overcurrent Occurs when the Servo

Drive is turned ON.

• Control PCB error • Replace the Servo

Drive.

• Servomotor power line

is short-circuited or

ground-faulted

between phases.

• Repair the short-cir-

cuited or ground-fault-

ed wire.

• Measure the

insulation resistance

at the Servomotor

and, if there is a short-

circuit, replace the

Servomotor.

• Miswiring between

phase U, phase V,

phase W, and ground.

• Correct the wiring.

• Servomotor winding is

burned out.

• Measure the winding

resistance, and if the

winding is burned out,

replace the Servomo-

tor.

• The relay for the

dynamic brake has

been consequently

welded.

• Do not frequently input

the RUN Command

Input.

• Do not operate the

system by turning the

servo ON and OFF.

• Servomotor

non-conformity

• Use a Servomotor that

is appropriate for use

with the Servo Drive.

• The pulse input timing

is too fast.

• Wait 100 ms min.

before inputting

pulses after turning

ON the RUN

Command Input

(RUN).

• The resistor in the

Servo Drive is

abnormally

overheating.

• Reduce the ambient

temperature of the

Servo Drive to 55°C or

lower.

• If the relay doesn’t

click when the power

supply is turned ON,

replace the Servo

Drive.

15 Servo Drive

overheating Occurs during operation.

• The ambient tempera-

ture is too high.

• The load is too large.

• Lower the ambient

temperature.

• Increase the capacity

of the Servo Drive and

Servomotor.

• Lighten the load.

• Extend the accelera-

tion and deceleration

times.

Alarm

code Error Status when error occurs Cause Countermeasure

8-9

8-3 Troubleshooting

Troubleshooting

16 Overload

Occurs when the Servo

Drive is turned ON.

• There is an error in the

Servomotor wiring

(e.g., the wiring or the

contacts are faulty).

• Wire the Servomotor

power cable correctly.

• The electromagnetic

brake is ON.

• Turn OFF the brake.

• The Servo Drive is

faulty.

• Replace the Servo

Drive.

Occurs during operation.

• The actual torque

exceeds the rated

torque.

• The starting torque

exceeds the maximum

torque.

• Review the load

conditions and

operating conditions.

• Review the Servomo-

tor capacity.

• An unusual noise, os-

cillation, or vibration is

caused by faulty gain

adjustment.

• Adjust the gain

correctly.

• The Servo Drive is

faulty.

• Replace the Servo

Drive.

Alarm

code Error Status when error occurs Cause Countermeasure

8-10

8-3 Troubleshooting

Troubleshooting

18 Regeneration

overload

Occurs when the Servo-

motor is decelerating.

• Load inertia is too

great.

• Calculate the

regenerative energy,

and connect an

External Regeneration

Resistor with the

required regeneration

absorption capacity.

• Extend the

deceleration time.

• The deceleration time

is too short.

• The Servomotor

rotation speed is too

high.

• Reduce the Servomo-

tor rotation speed.

• Extend the

deceleration time.

• Calculate the

regenerative energy,

and connect an

External Regeneration

Resistor with the

required regeneration

absorption capacity.

• The operating limit of

the External Regener-

ation Resistor is limit-

ed to 10%.

• Set Pn6C to 2.

For details, refer to

Parameters Details on

page 5-50.

Occurs during descent

(vertical axis)

• Gravitational torque is

too large.

• Add a counterbalance

to the machine to

lower gravitational

torque.

• Reduce the descent

speed.

• Calculate the

regenerative energy

and connect an

External Regeneration

Resistor with the

required regeneration

absorption capacity.

• The operating limit of

the External Regener-

ation Resistor is limit-

ed to 10%.

• Set Pn6C to 2.

For details, refer to

Parameters Details on

page 5-50.

21 Encoder

communications error Occurs during operation.

• The encoder is

disconnected.

• Connector contacts

are faulty.

• Fix the locations that

are disconnected.

• Correct the wiring.

• The encoder wiring is

incorrect.

• Correct the wiring

• The encoder is dam-

aged.

• Replace the Servomo-

tor.

• The Servo Drive is

faulty.

• Replace the Servo

Drive.

• The Servomotor is

mechanically being

held.

• If the Servomotor

shaft is held by

external force, release

it.

Alarm

code Error Status when error occurs Cause Countermeasure

8-11

8-3 Troubleshooting

Troubleshooting

Encoder

communications data

error

Occurs when the power

supply is turned ON or

during operation.

• The encoder signal

wiring is incorrect.

• Correct the wiring.

• Noise on the encoder

wiring causes

incorrect operation.

• Take measures

against noise on the

encoder wiring.

• The power supply

voltage for the

encoder has dropped

(especially when the

cable is long.)

• Provide the required

encoder power supply

voltage (5 VDC±5%).

24 Deviation counter

overflow

Occurs when the Servo-

motor does not rotate

even when command

pulses are input.

• The Servomotor

power wiring or the

encoder wiring is

incorrect.

• Correct the wiring.

• The Servomotor is

mechanically being

held.

• If the Servomotor

shaft is held by

external force, release

it.

• Release the electro-

magnetic brake.

• Control PCB error. • Replace the Servo

Drive.

Occurs during

high-speed rotation.

• The Servomotor

power wiring or the

encoder wiring is

incorrect.

• Correct the wiring.

Occurs when a long

string of command

pulses is given.

• Gain adjustment is

insufficient.

• Adjust the gain.

• The acceleration and

deceleration rapid.

• Extend the accelera-

tion and deceleration

times.

• The load is too large. • Reduce the load.

• Select a suitable

Servomotor.

Occurs during operation.

• The setting for the

Deviation Counter

Overflow Level (Pn70)

was exceeded.

• Increase the setting of

Pn70.

• Reduce the rotation

speed.

• Lighten the load.

• Extend the accelera-

tion and deceleration

times.

Alarm

code Error Status when error occurs Cause Countermeasure

8-12

8-3 Troubleshooting

Troubleshooting

26 Overspeed

Occurs during high-

speed rotation.

• The speed command

input is too large.

• Set the command

pulse frequency to

500 kpps max.

• The setting for the

Electronic Gear Ratio

Numerator (Pn48 or

Pn49) is not

appropriate.

• Set Pn48 and Pn49 so

that the command

pulse frequency is

500 kpps max.

• The maximum number

of rotations is

exceeded due to

overshooting.

• Adjust the gain.

• Reduce the maximum

command speed.

• The encoder wiring is

incorrect.

• Correct the wiring

Occurs when torque limit

switching is used.

• The Overspeed

Detection Level

Setting (Pn73) has

been exceeded.

• If torque limit

switching is used,

correctly set the

allowable operating

speed for Pn73.

27 Electronic gear setting

error

Occurs when command

signal is input or com-

mand is input.

• The setting for the

Electronic Gear Ratio

Numerator (Pn48 or

Pn49) is not appropri-

ate.

• Set Pn48 and Pn49 so

that the command

pulse frequency is

500 kpps max.

34 Overrun limit error Occurs during operation.

•The Overrun Limit

Setting (Pn26) is ex-

ceeded during opera-

tion.

• Adjust the gain.

• Increase the setting

for Pn26.

• Set Pn26 to 0 to

disable the function.

36 Overrun limit error Occurs when the power

supply is turned ON.

• There are data errors

in the parameters that

were read.

• Reset all parameters.

• The Servo Drive is

faulty.

• Replace the Servo

Drive.

37 Parameter corruption Occurs when the power

supply is turned ON.

• The parameters that

were read are corrupt.

• Replace the Servo

Drive.

38 Drive prohibit input

error

Occurs when the Servo

Drive is turned ON or

during operation.

• The Forward Drive

Prohibit Input (POT)

and Reverse Drive

Prohibit Input (NOT)

were both OFF at the

same time.

• Correct the wiring.

• Replace the limit

sensor.

• Check whether the

power supply for

control is input

correctly.

• Check whether the

setting for Drive Pro-

hibit Input Selection

(Pn04) is correct.

39 Excessive analog

input 1 Occurs during operation.

• The voltage input to

pin 14 is too high.

• Lower the input

voltage.

• Change the value for

Pn71.

Alarm

code Error Status when error occurs Cause Countermeasure

8-13

8-3 Troubleshooting

Troubleshooting

Absolute encoder

system down error

Occurs when the power

supply is turned ON or

during operation.

• The voltage supplied

to the absolute

encoder is low.

• Set up the absolute

encoder.

• Connect the battery

power supply.

Absolute encoder

counter overflow error Occurs during operation.

• The multi-turn counter

of the absolute

encoder exceeds the

specified value.

• Properly set the

Operation Switch

when Using Absolute

Encoder (Pn0B).

Absolute encoder

overspeed error Occurs when the power

supply is turned ON.

• The Servomotor

rotation speed

exceeds the specified

value when the battery

power supply is turned

ON.

• The wiring is incorrect.

• Lower the Servomotor

rotation speed and

supply power.

• Check the wiring.

44 Absolute encoder

one-turn counter error

Occurs when the power

supply is turned ON.

• The encoder is faulty. • Replace the Servomo-

tor.

Absolute encoder

multi-turn counter er-

ror

Occurs when the power

supply is turned ON.

• The encoder is faulty. • Replace the Servomo-

tor.

46 Encoder error 1 Occurs when the power

supply is turned ON

• The Servomotor is

faulty.

• Replace the Servo

Drive.

• Replace the Servomo-

tor.

Absolute encoder

status error Occurs when the power

supply is turned ON.

• The Servomotor was

moving when the

power supply was

turned ON.

• Do not let the Servo-

motor move when the

power supply is turned

ON.

48 Encoder phase Z error Occurs during operation.

• A phase-Z pulse from

the encoder was not

detected regularly.

• Replace the Servomo-

tor.

49 Encoder PS signal

error Occurs during operation.

• A logic error was

detected in the PS

signal from the

encoder.

• Replace the Servomo-

tor.

58 CPU error 1 Occurs when the power

supply is turned ON.

• The Servo Drive is

faulty.

• Replace the Servo

Drive.

60 CPU error 2 Occurs when the power

supply is turned ON.

• The Servo Drive is

faulty.

• Replace the Servo

Drive.

61 CPU error 3 Occurs when the power

supply is turned ON.

• The Servo Drive is

faulty.

• Replace the Servo

Drive.

62 CPU error 4 Occurs when the power

supply is turned ON.

• The Servo Drive is

faulty.

• Replace the Servo

Drive.

63 CPU error 5 Occurs when the power

supply is turned ON.

• The Servo Drive is

faulty.

• Replace the Servo

Drive.

65 Excessive analog

input 2 Occurs during operation.

• The voltage input to

pin 16 is too high.

• Reduce the input

voltage.

• Change the value for

Pn71.

Alarm

code Error Status when error occurs Cause Countermeasure

ABS

8-14

8-3 Troubleshooting

Troubleshooting

66 Excessive analog

input 3 Occurs during operation.

• The voltage input to

pin 18 is too high.

• Reduce the input

voltage.

• Change the value for

Pn71.

73 CPU error 6 Occurs when the power

supply is turned ON.

• The Servo Drive is

faulty.

• Replace the Servo

Drive.

77 CPU error 7 Occurs when the power

supply is turned ON.

• The Servo Drive is

faulty.

• Replace the Servo

Drive.

81 CPU error 8 Occurs when the power

supply is turned ON.

• The Servo Drive is

faulty.

• Replace the Servo

Drive.

94 Encoder error 2 Occurs when the power

supply is turned ON.

• The Servomotor is

faulty.

• Replace the Servo

Drive.

• Replace the Servomo-

tor.

95 Servomotor

non-conformity

Occurs when the power

supply is turned ON.

• The Servomotor and

Servo Drive combina-

tion is incorrect.

• Use a correct

combination.

• The encoder wiring is

disconnected.

• Wire the encoder.

• Fix the locations that

are disconnected.

96 CPU error 9 Occurs when the power

supply is turned ON.

• The Servo Drive is

faulty.

• Replace the Servo

Drive.

97 CPU error 10 Occurs when the power

supply is turned ON.

• The Servo Drive is

faulty.

• Replace the Servo

Drive.

99 CPU error 11 Occurs when the power

supply is turned ON.

• The Servo Drive is

faulty.

• Replace the Servo

Drive.

Alarm

code Error Status when error occurs Cause Countermeasure

8-15

8-3 Troubleshooting

Troubleshooting

Error Diagnosis Using the Operating Status

Symptom Probable cause Items to check Countermeasures

The power LED

indicator (PWR)

does not light

when the power

supply is turned

ON.

The power supply cable is

wired incorrectly.

Check whether the power supply

input is within the allowed voltage

range.

Supply the correct voltage.

Check whether the power supply

input is wired correctly. Correct the wiring.

The Servomotor

does not rotate

even if

commands are

input from the

Controller.

(Continued on

next page.)

The RUN Command Input

is OFF.

In monitor mode, check whether the

RUN signal is ON or OFF.

• Turn ON the RUN

Command Input.

• Correct the wiring.

The Forward Drive Prohibit

Input (POT) and Reverse

Drive Prohibit Input (NOT)

are OFF.

In monitor mode, check whether the

POT input and NOT input are ON or

OFF.

• Turn ON the POT and

NOT inputs.

• If the POT and NOT

inputs are not used,

disabled them.

The control mode is not

correct.

Check the Control Mode Selection

(Pn02).

Set the control mode to

match the command type.

The Deviation Counter

Reset Input (ECRST) is

ON.

In monitor mode, check whether the

ECRST Input is ON or OFF.

• Turn the ECRST Input

OFF.

• Correct the wiring.

The Command Pulse Mode

(Pn42) is incorrect.

Check the Controller’s command

pulse type and the Servo Drive’s

command pulse type.

Set the Servo Drive’s pulse

type to match the Control-

ler’s command pulse type.

The Zero Speed Designa-

tion Input (VZERO) is OFF.

In monitor mode, check whether the

VZERO Input is ON or OFF.

• Turn ON the VZERO

Input.

• Correct the wiring.

The internally set speeds

are not set.

Check the settings for Pn53 to

Pn56 or Pn74 to Pn77. Set the desired speeds.

No. 1 Torque Limit (Pn5E)

or No. 2 Torque Limit

(Pn5F) is set to 0.

Check the setting for Pn5E or

Pn5F.

Return the setting to the

default.

The Servomotor Power

Cable is wired incorrectly. Check the wiring. Correct the wiring.

The Encoder Cable is wired

incorrectly.

The Control I/O Connector

CN1) is wired incorrectly.

Check the command pulse’s wiring. Correct the wiring.

Check the command pulse type.

Set the Servo Drive’s pulse

type to match the Control-

ler’s command pulse type.

Check the command pulse’s

voltage.

Connect a resistor that

matches the voltage.

The power supply is not

ON.

Check whether the power supply is

ON and check the PWR LED

indicator.

Turn ON the power supply.

Check the voltage across the power

supply terminals.

Wire the power supply’s ON

circuit correctly.

The speed command is

disabled.

Check if the speed command

procedure is correct.

• Correctly set the external

analog command.

• Correctly set the internal

speed.

8-16

8-3 Troubleshooting

Troubleshooting

The Servomotor

does not rotate

even if

commands are

input from the

Controller.

The torque command is

disabled.

Check if the torque command input

procedure is correct.

Correctly set the torque

command.

The CW Input and CCW

Input are ON at the same

time.

Check the command pulse’s wiring.

• Input the pulse signal ei-

ther to the CW Input or

CCW Input to the pulse

signal.

• Always turn OFF the ter-

minal that is not being

input to.

Servo Drive is faulty. --- Replace the Servo Drive.

The Servomotor

operates

momentarily, but

then it does not

operate after that.

The Servomotor Power

Cable is wired incorrectly.

Check the wiring of the Servomotor

Power Cable’s phases U, V, and W. Wire correctly.

The Encoder Cable is wired

incorrectly. Check the Encoder Cable’s wiring. Wire correctly.

The Servomotor

rotates without a

command.

The command pulse input

is incorrect.

Check the command pulse type. Set the correct command

pulse input.

Check the command pulse’s

voltage.

Connect a resistor that

matches the voltage.

Servo Drive is faulty. --- Replace the Servo Drive.

The Servomotor

rotates in the

opposite direction

from the

command.

The CW input and CCW

input connections are

reversed.

Check the Controller’s command

pulse type and the Servo Drive’s

command pulse type.

Connect the CW pulse signal

to the CW Input and the

CCW pulse signal to the

CCW Input.

Symptom Probable cause Items to check Countermeasures

8-17

8-3 Troubleshooting

Troubleshooting

Servomotor

rotation is

unstable.

The Servomotor Power

Cable or Encoder Cable is

wired incorrectly.

Check the wiring of the Servomotor

Power Cable’s phases U, V, and W

and check the Encoder Cable’s

wiring.

Wire correctly.

The coupling system

between the Servomotor

shaft and the mechanical

system has eccentricity or

loose screws, or the torque

is fluctuating due to

engagement between

pulleys or gears.

Check the mechanical system’s

coupling section.

Review and adjust the

machine.

Try rotating the Servomotor without

a load. (Disconnect it from the

mechanical system.)

The load’s moment of

inertia exceeds the Servo

Drive’s allowed value.

Try rotating the Servomotor without

a load. (Disconnect it from the

mechanical system.)

• Lighten the load.

• Replace the Servomotor

and Servo Drive with

higher capacity models.

The pulse signal line’s

connections are loose.

Check the pulse signal wiring at the

Controller and Servo Drive. Wire correctly.

Check the Controller’s command

pulse type and the Servo Drive’s

command pulse type.

Set the Servo Drive’s pulse

type to match the Control-

ler’s command pulse type.

The gain is wrong. ---

• Use normal mode

autotuning.

• Adjust the gain manually.

The CN1 input signal is

chattering.

Check the RUN Command Input

(RUN), Deviation Counter Reset

Input (ECRST), Zero Speed

Designation Input (VZERO),

Internally set Speed Selection 1

Input (VSEL1) and Internally Set

Speed Selection 2 Input (VSEL2).

Correct the wiring so that

there is no chattering.

The Servomotor

is overheating.

The ambient temperature is

too high.

Check that the ambient tempera-

ture around the Servomotor is

below 40°C.

Lower the ambient tempera-

ture to 40°C or less. (Use a

cooler or fan.)

Ventilation is obstructed. Check to see whether anything is

blocking ventilation. Improve ventilation.

The Servomotor is

overloaded. Try rotating the Servomotor without

a load. (Disconnect it from the

mechanical system.)

• Reduce the load.

• Replace the Servomotor

and Servo Drive with

higher capacity models.

The Servomotor is

vibrating.

The holding

brake is

ineffective.

Power is supplied to the

holding brake.

Check whether power is supplied to

the holding brake.

Configure a circuit that cuts

power to the holding brake

when the motor stops and

the load is held by the

holding brake.

The Servomotor

does not stop or

is hard to stop

even if the RUN

Command Input

(RUN) is turned

OFF while the

Servomotor is

rotating.

The load inertia is too large.

Check the following:

• Is the load too large?

• Is the Servomotor speed too

high?

Re-evaluate the load

conditions and replace the

Servomotor/Servo Drive with

appropriate models if

necessary.

The stop circuit failed. --- Replace the Servo Drive.

Symptom Probable cause Items to check Countermeasures

8-18

8-3 Troubleshooting

Troubleshooting

The Servomotor

is producing

unusual noises or

the machine is

vibrating.

There are problems with

the machine’s installation.

Check whether the Servomotor’s

mounting screws are loose.

Tighten the mounting

screws.

Check whether the axes are

misaligned in the mechanical

coupling system.

Align the mechanical

couplings.

Check whether the coupling is

unbalanced.

Adjust the coupling’s

balance.

There is a problem with the

bearings.

Check for noise or vibration around

the bearings.

Contact your OMRON

representative.

The gain is wrong. ---

• Use normal mode

autotuning.

• Adjust the gain manually.

The Speed Feedback Filter

Time Constant (Pn13) is

wrong.

Check the setting of Pn13.

Return the setting to 0

(default) or increase the

setting.

Noise is entering the

Control I/O Cable because

the cable does not meet

specifications.

Check that the cable wire is a

twisted-pair wire or shielded

twisted-pair cable with wires of at

least 0.08 mm2.

Use Control I/O Cable that

meets specifications.

Noise is entering the Con-

trol I/O Cable because the

cable is longer than the

specified length.

Check the length of the Control I/O

Cable.

Shorten the Control I/O

Cable to 3 m or less.

Noise is entering the cable

because the Encoder

Cable does not meet

specifications.

Check that the cable wires are

shielded twisted-pair wires that are

at least 0.12 mm2.

Use Encoder Cable that

meets specifications.

Noise is entering the

Encoder Cable because

the cable is longer than the

specified length.

Check the length of the Encoder

Cable.

Shorten the Encoder Cable

to less than 50 m.

Noise is entering the signal

wires because the Encoder

Cable is stuck or the sheath

is damaged.

Check the Encoder Cable for cuts

or other damage.

Correct the Encoder Cable’s

pathway to prevent damage.

Too much noise is entering

the Encoder Cable.

Separate the Encoder Cables far

from high-current lines or check

whether the lines are too close.

Install the Encoder Cable

where it won’t be subjected

to surges.

The FG’s potential is fluctu-

ating due to devices near

the Servomotor, such as

welding machines.

Check for ground problems (loss of

ground or incomplete ground) at

equipment such as welding

machines near the Servomotor.

Ground the equipment

properly and prevent

currents from flowing to the

encoder FG.

Errors are being caused by

excessive vibration or

shock on the encoder.

There are problems with mechani-

cal vibration or motor installation

(such as the mounting surface,

attachment, or axial offset).

Reduce the mechanical

vibration or correct the

Servomotor’s installation.

The machine and the

Servomotor are resonating.

Check whether the machine is

resonating.

• Readjust the Torque

Command Filter Time

Constant.

• If there is resonance, set

the Notch Filter 1

Frequency (Pn1D) and

Notch Filter 1 Width

(Pn1E).

Symptom Probable cause Items to check Countermeasures

8-19

8-3 Troubleshooting

Troubleshooting

Vibration is

occurring at the

same frequency

as the power

supply.

Inductive noise is

occurring.

Check whether the Servo Drive

control signal lines are too long.

Shorten the control signal

lines.

Check to see whether control signal

lines and power supply lines are

bundled together.

• Separate control signal

lines from power supply

lines.

• Use a low-impedance

power supply for control

signals.

The position is

misaligned.

(Position

misalignment

occurs without an

alarm being

output.)

There is an error in the

coupling of the mechanical

system and the Servomo-

tor.

Check whether the coupling of the

mechanical system and the Servo-

motor is misaligned.

Correct the coupling

between the mechanical

system and the Servomotor.

Noise is entering the Devia-

tion Counter Reset Input

(ECRST).

Check whether the control signal

lines and power supply lines are

bundled together.

Separate the control signal

lines from the power supply

lines or take other measures

against noise.

The gain is wrong. ---

• Perform normal mode

autotuning.

• Perform manual tuning.

The load inertia is too large.

Check the following:

• Check whether the load is too

large.

• Check whether the rotation

speed of the Servomotor is too

high.

• Adjust the gain.

• Review the load condi-

tions, and replace the

Servomotor and Servo

Drive with appropriate

models.

Symptom Probable cause Items to check Countermeasures

8-20

8-4 Overload Characteristics (Electronic Thermal Function)

Troubleshooting

8-4 Overload Characteristics

(Electronic Thermal Function)

An overload protection (electronic thermal) function is built into the Servo Drive to protect the Servo

Drive and Servomotor from overloading.

If an overload does occur, first eliminate the cause of the error and then wait at least one minute for

the Servomotor temperature to drop before turning ON the power again.

If the power is turned ON again repeatedly at short intervals, the Servomotor windings may burn out.

Overload Characteristics Graphs

The following graphs show the characteristics of the load rate and electronic thermal function’s

operation time.

When the torque command = 0, and a constant torque command is continuously applied after three

or more times the overload time constant has elapsed, the overload time t [s] will be:

t [s] = − Overload time constant [s] × loge (1 − Overload level [%] / Torque command [%]) 2

(The overload time constant [s] depends on the Servomotor. The standard overload level is 115%.)

• Overload (alarm code 16) cannot be reset for approximately 10 seconds

after its occurrence.

100

0.1

100

150 200 250 300

115

50 W

100 W (100 V)

100 W (200 V)

200 W

400 W

750 W

Time (s)

Torque (%)

100

115

0.1

100

150 200 250 300

R88M-G@10T 900 W to 6 kW

R88M-G@20T 1 kW to 5 kW

R88M-G@15T 7.5 kW

R88M-G@30T 1 kW to 5 kW

R88M-GP@

100 W to 400 W

Time (s)

Torque (%)

Precautions

for Correct Use

8-21

8-5 Periodic Maintenance

Troubleshooting

8-5 Periodic Maintenance

Servomotors and Servo Drives contain many components and will operate properly only when each

of the individual components is operating properly.

Some of the electrical and mechanical components require maintenance depending on application

conditions. Periodic inspection and part replacement are necessary to ensure proper long-term

operation of Servomotors and Servo Drives. (quotes from “The Recommendation for Periodic

Maintenance of a General-purpose Inverter” published by JEMA)

The periodic maintenance cycle depends on the installation environment and application conditions

of the Servomotor or Servo Drive.

Recommended maintenance times are listed below for Servomotors and Servo Drives. Use these

for reference in determining actual maintenance schedules.

Servomotor Service Life

• The service life for components is listed below.

Bearings: 20,000 hours

Decelerator: 20,000 hours

Oil seal: 5,000 hours

Encoder: 30,000 hours

These values presume an ambient Servomotor operating temperature of 40°C, shaft loads within

the allowable range, rated operation (rated torque and rated r/min), and proper installation as

described in this manual.

The oil seal can be replaced.

• The radial loads during operation (rotation) on timing pulleys and other components contacting

belts is twice the still load. Consult with the belt and pulley manufacturers and adjust designs and

system settings so that the allowable shaft load is not exceeded even during operation. If a

Servomotor is used under a shaft load exceeding the allowable limit, the Servomotor shaft can

break, the bearings can burn out, and other problems can occur.

Resume operation only after transferring to the new Unit the

contents of the data required for operation.

Not doing so may result in equipment damage.

Do not attempt to disassemble or repair any of the products.

Any attempt to do so may result in electric shock or injury.

Caution

8-22

8-5 Periodic Maintenance

Troubleshooting

Servo Drive Service Life

• Details on the service life of the Servo Drive are provided below.

Aluminum electrolytic capacitors: 28,000 hours

(at an ambient Servo Drive operating temperature of 55°C, the rated operation output (rated

torque), installed as described in this manual.)

Axial fan: 10,000 to 30,000 hours

Inrush current prevention relay: Approx. 20,000 operations (The service life depends on the

operating conditions.)

• When using the Servo Drive in continuous operation, use fans or air conditioners to maintain an

ambient operating temperature below 40°C.

• We recommend that ambient operating temperature and the power ON time be reduced as much

as possible to lengthen the service life of the Servo Drive.

• The life of aluminum electrolytic capacitors is greatly affected by the ambient operating

temperature. Generally speaking, an increase of 10°C in the ambient operating temperature will

reduce capacitor life by 50%.

• The aluminum electrolytic capacitors deteriorate even when the Servo Drive is stored with no

power supplied. If the Servo Drive is not used for a long time, we recommend a periodic inspection

and part replacement schedule of five years.

• If the Servomotor or Servo Drive is not to be used for a long time, or if they are to be used under

conditions worse than those described above, a periodic inspection schedule of five years is

recommended.

• Upon request, OMRON will examine the Servo Drive and Servomotor and determine if a

replacement is required.

8-23

8-5 Periodic Maintenance

Troubleshooting

Replacing the Absolute Encoder Battery

Replace the Absolute Encoder Backup Battery if it has been used for more than three years or if an

absolute encoder system down error (alarm code 40) has occurred.

Replacement Battery Model and Specifications

Mounting the Backup Battery

Mounting the Battery for the First Time

Connect the absolute encoder battery to the Servomotor, and then set up the absolute encoder.

Refer to Absolute Encoder Setup Procedure on page 6-5.

Once the absolute encoder battery is attached, it is recommended that the control power supply be

turned ON and OFF once a day to refresh the battery.

If you neglect to refresh the battery, battery errors will occur due to voltage delay in the battery.

Replacing the Battery

If a battery alarm occurs, the absolute encoder battery must be replaced.

Replace the battery with the control power supply of the Servo Drive ON. If the battery is replaced

with the control power supply of the Servo Drive OFF, data held in the encoder will be lost. Once

the absolute encoder battery has been replaced, clear the battery alarm from the front panel. Refer

to Alarm Reset on page 6-21 for information on clearing alarms.

Note If the absolute encoder is cleared using the front panel or the absolute values are cleared

using communications, all error and rotation data will be lost and the absolute encoder must

be set up. Refer to Absolute Encoder Setup Procedure on page 6-5.

Item Specifications

Name Absolute Encoder Backup Battery

Model R88A-BAT01G

Battery model ER6V (Toshiba)

Battery voltage 3.6 V

Current capacity 2000 mA·h

ABS

8-24

8-5 Periodic Maintenance

Troubleshooting

Battery Mounting Procedure

1. Prepare the R88A-BAT01G replacement battery.

2. Remove the battery box cover.

3. Put the battery into the battery box.

4. Close the cover to the battery box.

R88A-BAT01G

Raise the hooks to remove the cover.

Attach the connector.Insert the battery.

Make sure that the connector

wiring does not get caught when

closing the cover to the battery

box.

Chapter 9

Appendix

9-1 Connection Examples ........................................ 9-1

9-2 Parameter Tables............................................... 9-11

9-1

9-1 Connection Examples

Appendix

9-1 Connection Examples

Connection Example 1: Connecting to SYSMAC CJ1W-NC133/233/433

• The example shows a three-phase, 200-VAC input to the Servo Drive for

the main circuit power supply. Be sure to provide a power supply and

wiring conforming to the power supply specifications for the Servo Drive in

use.

• Incorrect signal wiring can cause damage to Units and the Servo Drive.

• Leave unused signal lines open and do not wire them.

• Use mode 2 for origin search.

• The diode recommended for surge absorption is the RU 2 manufactured

by Sanken Electric or the equivalent.

• Make the setting so that the Servo can be turned ON and OFF with the

RUN signal.

MC1

SUP

NFB ONOFF

X1MC1 MC2

MC2

MC1

MC1 MC2

MC2

0-V power supply for output

24-V power supply for outputs

Reactor

Servomotor Power

Cable

R88A-CAG@

Main circuit power supply

Main circuit contact

Surge killer

CJ1W-NC133/233/433 R88D-GT@

R88M-G@

Contents

5-VDC power supply (for pulse output)

5-V GND (for pulse output)

X-axis dev. cntr. reset output

X-axis origin line driver input

X-axis origin common

X-axis positioning complete input

Input common

X-axis external interrupt input

X-axis origin proximity input

X-axis CCW limit input

X-axis CW limit input

X-axis emerg. stop input

X-axis

pulse

output

Red

White

Blue

Green/

Yellow

Noise filter

3-phase 200 to 240 VAC 50/60 Hz

(Ground to

100 or less.)

CW (output (+))

CCW (output (+))

Encoder Cable

R88A-CRG@

Brake Cable

5VDC

24 VDC

Shell

R88A-CAGA@B

R88A-CAGE@B

Precautions

for Correct Use

9-2

9-1 Connection Examples

Appendix

Connection Example 2: Connecting to SYSMAC CJ1W-NC113/213/413

• The example shows a three-phase, 200-VAC input to the Servo Drive for

the main circuit power supply. Be sure to provide a power supply and

wiring conforming to the power supply specifications for the Servo Drive in

use.

• Incorrect signal wiring can cause damage to Units and the Servo Drive.

• Leave unused signal lines open and do not wire them.

• Use mode 2 for origin search.

• The diode recommended for surge absorption is the RU 2 manufactured

by Sanken Electric or the equivalent.

• Make the setting so that the Servo can be turned ON and OFF with the

RUN signal.

ONOFF MC1 MC2

SUP

MC2

MC1

X1MC1 MC2

MC1 MC2

0-V power supply for output

24-V power supply for outputs

Reactor

Servomotor Power

Cable

R88A-CAG@

Main circuit power supply

Main circuit contact

Surge killer

CJ1W-NC113/213/413 R88D-GT@

R88M-G@

Contents

X-axis dev. cntr. reset output

X-axis origin line driver input

X-axis origin common

X-axis positioning complete input

Input common

X-axis external interrupt input

X-axis origin proximity input

X-axis CCW limit input

X-axis CW limit input

X-axis emerg. stop input

X-axis

pulse

output

Red

White

Blue

Green/

Yellow

Noise filter

3-phase 200 to 240 VAC 50/60 Hz

(Ground to

100 or less.)

Encoder Cable

R88A-CRG@

Brake Cable

R88A-CAGA@B

R88A-CAGE@B

24 VDC

Shell

CCW (with a resistor)

CCW (without a resistor)

CW (with a resistor)

CW (without a resistor)

24 VDC

Precautions

for Correct Use

9-3

9-1 Connection Examples

Appendix

Connection Example 3: Connecting to SYSMAC CS1W-NC133/233/433

• The example shows a three-phase, 200-VAC input to the Servo Drive for

the main circuit power supply. Be sure to provide a power supply and

wiring conforming to the power supply specifications for the Servo Drive in

use.

• Incorrect signal wiring can cause damage to Units and the Servo Drive.

• Leave unused signal lines open and do not wire them.

• Use mode 2 for origin search.

• The diode recommended for surge absorption is the RU 2 manufactured

by Sanken Electric or the equivalent.

• Make the setting so that the Servo can be turned ON and OFF with the

RUN signal.

No.

CN1 TB

L1C

L2C

A10

A16

A14

A12

A24

A19

A21

A23

A22

A20

CN2

MC1

NFB ONOFF

X1MC1 MC2

MC1 MC2

SUP

MC2

MC1

MC2

0-V power supply for output

24-V power supply for outputs

Reactor

Servomotor Power

Cable

R88A-CAG@

Main circuit power supply

Main circuit contact

Surge killer

CJ1W-NC133/233/433 R88D-GT@

R88M-G@

Contents

X-axis dev. cntr. reset output

X-axis origin line driver input

X-axis origin common

X-axis positioning complete input

Input common

X-axis external interrupt input

X-axis origin proximity input

X-axis CCW limit input

X-axis CW limit input

X-axis emerg. stop input

X-axis

pulse

output

Red

White

Blue

Green/

Yellow

Noise filter

3-phase 200 to 240 VAC 50/60 Hz

(Ground to

100 Ω or less.)

Encoder Cable

R88A-CRG@

Brake Cable

R88A-CAGA@B

R88A-CAGE@B

24 VDC

5VDC

24 VDC

Shell

CCW (with a resistor)

CCW (without a resistor)

CW (with a resistor)

CW (without a resistor)

5-VDC power supply (for pulse output)

5-V GND (for pulse output)

Precautions

for Correct Use

9-4

9-1 Connection Examples

Appendix

Connection Example 4: Connecting to SYSMAC CS1W-NC113/213/413 or

C200HW-NC113/213/413

• The example shows a three-phase, 200-VAC input to the Servo Drive for

the main circuit power supply. Be sure to provide a power supply and

wiring conforming to the power supply specifications for the Servo Drive in

use.

• Incorrect signal wiring can cause damage to Units and the Servo Drive.

• Leave unused signal lines open and do not wire them.

• Use mode 2 for origin search.

• The diode recommended for surge absorption is the RU 2 manufactured

by Sanken Electric or the equivalent.

• Make the setting so that the Servo can be turned ON and OFF with the

RUN signal.

No.

A16

A14

A12

A24

A19

A21

A23

A22

A20

A10

MC1

NFB ONOFF

X1MC1

SUP

MC2

MC1

MC2

MC1 MC2

MC2

0-V power supply for output

24-V power supply for outputs

Reactor

Servomotor Power

Cable

R88A-CAG@

Main circuit power supply

Main circuit contact

Surge killer

CS1W-NC113/213/413

C200HW-NC113/213/413 R88D-GT@

R88M-G@

Contents

X-axis dev. cntr. reset output

X-axis origin line driver input

X-axis origin common

X-axis positioning complete input

Input common

X-axis external interrupt input

X-axis origin proximity input

X-axis CCW limit input

X-axis CW limit input

X-axis emerg. stop input

X-axis

pulse

output

Red

White

Blue

Green/

Yellow

Noise filter

3-phase 200 to 240 VAC 50/60 Hz

(Ground to

100 Ω or less.)

Encoder Cable

R88A-CRG@

Brake Cable

R88A-CAGA@B

R88A-CAGE@B

24 VDC

Shell

CCW (with a resistor)

CCW (without a resistor)

CW (with a resistor)

CW (without a resistor)

Precautions

for Correct Use

9-5

9-1 Connection Examples

Appendix

Connection Example 5: Connecting to a SYSMAC Motion Control Unit

• The example shows a three-phase, 200-VAC input to the Servo Drive for

the main circuit power supply. Be sure to provide a power supply and

wiring conforming to the power supply specifications for the Servo Drive in

use.

• Incorrect signal wiring can cause damage to Units and the Servo Drive.

• Leave unused signal lines open and do not wire them.

• Connect terminals and wiring marked with an asterisk (*) when using an

Absolute Encoder.

• This wiring diagram is an example of X-axis wiring only. For other axes,

connections must be made in the same way with the Servo Drive.

• Always close unused NC input terminals at the Motion Control Unit’s I/O

connectors.

• Make the setting so that the Servo can be turned ON and OFF with the

RUN signal.

No.

No. XB

MC1

NFB ONOFF

MC1

SUP

MC2

MC1

MC2

MC1MC2

MC2

Reactor

Servomotor Power

Cable

R88A-CAG@

Main circuit power supply

Main circuit contact

Surge killer

CS1W-MC221/421 (-V1) R88D-GT@

R88M-G@

Contents

I/O connector

Red

White

Blue

Green/

Yellow

Noise filter

3-phase 200 to 240 VAC 50/60 Hz

(Ground to

100 or less.)

Encoder Cable

R88A-CRG@

Brake Cable

R88A-CAGA@B

R88A-CAGE@B

24 VDC

Battery*

2.8 to 4.5 V DC

24 VDC

Shell

24 V input

24 V input ground

X-axis alarm input

X-axis RUN command output

X-axis alarm reset output

X-axis SEN signal ground

X-axis SEN signal output

X-axis feedback ground

X-axis phase A input

X-axis phase B input

X-axis phase Z input

X-axis speed command

X-axis speed command ground

24 V output

24 V output ground

24 V input

X-axis CW limit input

X-axis CCW limit input

X-axis emerg. stop input

X-axis origin proximity input

24 V input ground

DRV connector

Precautions

for Correct Use

9-6

9-1 Connection Examples

Appendix

Connection Example 6: Connecting to SYSMAC CP1H-Y@@DT-D

• Incorrect signal wiring can cause damage to Units and the Servo Drive.

• Leave unused signal lines open and do not wire them.

• Do not share the power supply for brakes (24 VDC) with the 24-VDC power

supply for controls.

• The diode recommended for surge absorption is the RU 2 manufactured

by Sanken Electric or the equivalent.

NFB ONOFF

X1 MC1

MC1

SUP

MC2

MC1

MC2

MC1 MC2

MC2

24 VDC

Shell

Output terminal block

CW0+

CCW0+

Origin search 0 (CIO 0101.02)

24-VDC input terminal (+)

COM (CIO 0101.00 to CIO 0101.03)

Input terminal block

24-VDC input ter

Pulse 0 origin input signal (CIO 0001.03)

COM (CIO 0000)

Pulse 0 origin proximity input signal (CIO 0001.05)

Reactor

Main circuit power supply

Main circuit contact

Servo error display

Surge killer

CP1H-Y20DT-D R88-GT@

Noise filter

3-phase 200 to 240 VAC 50/60 Hz

R88M-G@

Servomotor

Power Cable

R88A-CAG@

Red

White

Blue

Green/

Yellow

Encoder Cable

R88A-CRG@

Brake Cable

R88A-CAGA@B

R88A-CAGE@B

Pulse

output 0

Precautions

for Correct Use

9-7

9-1 Connection Examples

Appendix

Connection Example 7: Connecting to SYSMAC CP1H-X@@DT-D/

CP1L-@@@DT-D

• Incorrect signal wiring can cause damage to Units and the Servo Drive.

• Leave unused signal lines open and do not wire them.

• Do not share the power supply for brakes (24 VDC) with the 24-VDC power

supply for controls.

• The diode recommended for surge absorption is the RU 2 manufactured

by Sanken Electric or the equivalent.

NFB ONOFF

X1 MC1

MC1

MC2

SUP

MC2

MC1

MC2

MC1MC2

24 VDC

Shell

Reactor

Main circuit power supply

Main circuit contact

Servo error display

Surge killer

CP1H-X40DT-D R88-GT@

Noise filter

3-phase 200 to 240 VAC 50/60 Hz

R88M-G@

Output terminal block

CW0 (CIO 0100.00)

COM (for CIO 0100.00)

CCW0 (CIO 0100.01)

COM (for CIO 0100.01)

Origin search 0 (CIO 0101.02)

24-VDC input terminal (+)

COM (CIO 0101.00 to 0101.03)

Input terminal block

24-VDC input ter

Pulse 0 origin input signal (CIO 0001.03)

COM (CIO 0000)

Pulse 0 origin proximity input signal (CIO 0000.01)

Servomotor

Power Cable

R88A-CAG@

Red

White

Blue

Green/

Yellow

Encoder Cable

R88A-CRG@

Brake Cable

R88A-CAGA@B

R88A-CAGE@B

Pulse

output 0

Precautions

for Correct Use

9-8

9-1 Connection Examples

Appendix

Connection Example 8: Connecting to SYSMAC CJ1M

• Incorrect signal wiring can cause damage to Units and the Servo Drive.

• Leave unused signal lines open and do not wire them.

• Use mode 2 for origin search.

• Use the 24-VDC power supply for command pulse signals as a dedicated

power supply.

• Do not share the power supply for brakes (24 VDC) with the 24-VDC power

supply for controls.

• The diode recommended for surge absorption is the RU 2 manufactured

by Sanken Electric or the equivalent.

No.

NFB ONOFF

X1 X1MC1

17 M

DC24V

SUP

MC2

MC1

MC2

MC1MC2

MC1 MC2

24 VDC

Shell

Contents

Input for the output power supply

Output COM

Origin input

signal

Positioning

completed

output

Origin

proximity input

signal

CW output

CCW output

CJ1M

3-phase 200 to 240 VAC 50/60 Hz

Main circuit power supply

Noise filter

Main circuit contact

Servo error display

Surge killer

Reactor

R88-GT@

R88M-G@

Pulse

output 0

Servomotor

Power Cable

R88A-CAG@

Red

White

Blue

Green/

Yellow

Encoder Cable

R88A-CRG@

Brake Cable

R88A-CAGA@B

R88A-CAGE@B

(Ground to

100 Ω or less.)

Precautions

for Correct Use

9-9

9-1 Connection Examples

Appendix

Connection Example 9: Connecting to a SYSMAC CS1W-HCP22-V1 Customizable

Counter Unit

*1. The I/O bits for the CS1W-HCP22 depend on the memory allocations in the CIO Area.

Change the wiring according to the allocations.

• Incorrect signal wiring can cause damage to Units and the Servo Drive.

• Leave unused signal lines open and do not wire them.

• Use the 24-VDC power supply for command pulse signals as a dedicated

power supply.

• The diode recommended for surge absorption is the RU 2 manufactured

by Sanken Electric or the equivalent.

• Do not share the power supply for brakes (24 VDC) with the 24-VDC power

supply for controls.

No.

A19

A20

A18

A16

A10

B12

B9 X1

MC1

NFB ONOFF

X1MC1

SUP

MC2

MC1

MC2

MC1 MC2

MC2

VDC

24 VDC

Shell

Contents

Special I/O connector

I/O connector

CS1W-HCP22-V1

3-phase 200 to 240 VAC 50/60 Hz

Main circuit power supply

Noise filter

Main circuit contact

Surge killer

Reactor

R88-GT@

R88M-G@

Pulse

output 1

Servomotor

Power Cable

R88A-CAG@

Red

White

Blue

Green/

Yellow

Encoder Cable

R88A-CRG@

Brake Cable

R88A-CAGA@B

R88A-CAGE@B

(Ground to

100 or less.)

24-VDC power supply (for output)

Common

CCW (1.6 kW)

CW (1.6 kW)

Phase-Z LD+

Phase-Z LD

24 V (for output)

Deviation counter clear *1

Common (for output)

Deviation positioning completed signal *1

Servo ON*1

Alarm reset *1

Origin proximity input signal *1

CCW limit input signal *1

CW limit input signal *1

Common (for input) *1

Precautions

for Correct Use

9-10

9-1 Connection Examples

Appendix

Connection Example 10: Connecting to a SYSMAC CS1W-HCA12/22-V1

Customizable Counter Unit

*1. The I/O bits for the CS1W-HCA12/22 depend on the memory allocations in the CIO Area.

Change the wiring according to the allocations.

• Incorrect signal wiring can cause damage to Units and the Servo Drive.

• Leave unused signal lines open and do not wire them.

• Use the 24-VDC power supply for command pulse signals as a dedicated

power supply.

• The diode recommended for surge absorption is the RU 2 manufactured

by Sanken Electric or the equivalent.

• Do not share the power supply for brakes (24 VDC) with the 24-VDC power

supply for controls.

No.

A19

A20

B19

B20

B12

A10

MC1

NFB ONOFF

X1MC1

SUP

MC2

MC1

MC2

MC1 MC2

MC2

VDC

24 VDC

Shell

Contents

Special I/O connector

I/O connector

CS1W-HCA12/22-V1

3-phase 200 to 240 VAC 50/60 Hz

Main circuit power supply

Noise filter

Main circuit contact

Surge killer

Reactor

R88-GT@

R88M-G@

Servomotor

Power Cable

R88A-CAG@

Red

White

Blue

Green/

Yellow

Encoder Cable

R88A-CRG@

Brake Cable

R88A-CAGA@B

R88A-CAGE@B

(Ground to

100 or less.)

Phase-A LD+

Phase-A LD

Phase-B LD+

Phase-B LD

Phase-Z LD+

Phase-Z LD

Analog output 1 (+)

Analog output 1 ( )

Analog output 2 (+)

Analog output 2 ( )

Origin proximity input signal *1

CCW limit input signal *1

CW limit input signal *1

Common (for input)

Servo ON*1

Alarm reset *1

Precautions

for Correct Use

9-11

9-2 Parameter Tables

Appendix

9-2 Parameter Tables

• Some parameters are enabled by turning the power OFF and then ON again. (Those parameters

are indicated in the table.) After changing these parameters, turn OFF the power, confirm that the

power indicator has gone OFF, and then turn ON the power again.

• Do not change the parameters or settings marked “Reserved”.

Function Selection Parameters

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

00 Unit No. Setting Set the unit number. 1 --- 0 to 15 Yes

01 Default Display

Set the data to display on the Parameter Unit when the

power supply is turned ON.

1 0 to 17 Ye s

0 Position deviation Pulses

1 Servomotor rotation speed r/min

2 Torque output %

3 Control mode ---

4 I/O signal status ---

5 Alarm code and history ---

6 Software version ---

7 Warning display ---

8 Regeneration load ratio %

9 Overload load ratio %

10 Inertia ratio %

11 Total feedback pulses Pulses

12 Total command pulses Pulses

13 Reserved ---

14 Reserved ---

15 Automatic Servomotor recognition display ---

16 Analog input value ---

17 Reason for no rotation ---

9-12

9-2 Parameter Tables

Appendix

02 Control Mode

Selection

Set the control mode to be used.

0 --- 0 to 6 Ye s

0 Position

1 Speed

2 Torque

3 Position/speed

4 Position/torque

5 Speed/torque

6 Reserved

03 Torque Limit

Selection

Set the torque limit method for forward and reverse op-

eration.

1 --- 0 to 3 ---

0Use PCL and NCL as analog torque limit in-

puts.

1Use Pn5E as the limit value for forward and

reverse operation.

2 Forward: Use Pn5E, Reverse: Use Pn5F.

3GSEL/TLSEL input is open: Use Pn5E,

Input is closed: Use Pn5F.

04 Drive Prohibit

Input Selection

You can stop the Servomotor from rotating beyond the

device's travel distance range by setting limit inputs.

1 --- 0 to 2 Ye s

0 POT input and NOT input enabled.

1 POT input and NOT input disabled.

2POT input and NOT input enabled (alarm

code 38 appears).

05 Command

Speed Selection

Select the speed command when using speed control.

0 --- 0 to 3 ---

0 Speed command input (REF)

1No. 1 Internally Set Speed to No. 4 Internally

Set Speed (Pn53 to Pn56)

No. 1 Internally Set Speed to No. 3 Internally

Set Speed (Pn53 to Pn55) and External

Speed Command (REF)

3No. 1 Internally Set Speed to No. 8 Internally

Set Speed (Pn53 to Pn56 and Pn74 to Pn77)

Zero Speed

Designation/

Speed

Command

Direction Switch

Set the function of the Zero-speed Designation Input

(VZERO).

0 --- 0 to 2 ---

The zero-speed designation input will be ig-

nored, and a zero-speed designation will not

be detected.

The zero-speed designation input will be en-

abled, and the speed command will be as-

sumed to be zero when the connection

between the input and common is open.

2 Used as the speed command sign.

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

9-13

9-2 Parameter Tables

Appendix

07 SP Selection

Select the relation between the output voltage level

and the speed.

3 --- 0 to 9 ---

0 Actual Servomotor speed: 6 V/47 r/min

1 Actual Servomotor speed: 6 V/188 r/min

2 Actual Servomotor speed: 6 V/750 r/min

3 Actual Servomotor speed: 6 V/3000 r/min

4 Actual Servomotor speed: 1.5 V/3000 r/min

5 Command speed: 6 V/47 r/min

6 Command speed: 6 V/188 r/min

7 Command speed: 6 V/750 r/min

8 Command speed: 6 V/3000 r/min

9 Command speed: 1.5 V/3000 r/min

08 IM Selection

Select the relation between the output voltage level

and the torque or number of pulses.

0 --- 0 to 12 ---

0 Torque command: 3 V/rated (100%) torque

1 Position deviation: 3 V/31 pulses

2 Position deviation: 3 V/125 pulses

3 Position deviation: 3 V/500 pulses

4 Position deviation: 3 V/2000 pulses

5 Position deviation: 3 V/8000 pulses

6 Reserved

7 Reserved

8 Reserved

9 Reserved

10 Reserved

11 Torque command: 3 V/200% torque

12 Torque command: 3 V/400% torque

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

9-14

9-2 Parameter Tables

Appendix

General-

purpose Output

2 Selection

Assign the function of General-purpose Output 2

(OUTM2).

0 --- 0 to 8 ---

0 Output during torque limit

1 Zero speed detection output

Warning output for regeneration overload,

overload, absolute encoder battery, or fan

lock.

3 Regeneration overload warning output

4 Overload warning

5 Absolute encoder battery warning output

6 Fan lock warning output

7 Reserved

8 Speed conformity output

General-

purpose Output

1 Selection

Assign the function of General-purpose Output 1

(OUTM1).

1 --- 0 to 8 ---

0 Output during torque limit

1 Zero speed detection output

Warning output for regeneration overload,

overload, absolute encoder battery, or fan

lock.

3 Regeneration overload warning output

4 Overload warning

5 Absolute encoder battery warning output

6 Fan lock warning output

7 Reserved

8 Speed conformity output

Operation

Switch When

Using Absolute

Encoder

Set the operating method for the 17-bit absolute en-

coder.

0 --- 0 to 2 Yes

0 Use as absolute encoder.

1 Use as incremental encoder.

2Use as absolute encoder but ignore multi-turn

counter overflow.

0C RS-232 Baud

Rate Setting

Select the baud rate for the RS-232 port.

2 --- 0 to 5 Yes

0 2,400 bps

1 4,800 bps

2 9,600 bps

3 19,200 bps

4 38,400 bps

5 57,600 bps

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

9-15

9-2 Parameter Tables

Appendix

0D RS-485 Baud

Rate Setting

Select the baud rate for RS-485 communications.

2 --- 0 to 5 Yes

0 2,400 bps

1 4,800 bps

2 9,600 bps

3 19,200 bps

4 38,400 bps

5 57,600 bps

Front Key

Protection

Setting

Front panel key operation can be limited to Monitor

Mode.

0 --- 0 to 1 Yes

0 All enabled

1 Limited to Monitor Mode

0F Reserved (Do not change setting.) --- --- --- ---

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

9-16

9-2 Parameter Tables

Appendix

Gain Parameters

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

10 Position Loop

Gain Set to adjust position control system responsiveness. 40 1/s 0 to

3000 ---

11 Speed Loop

Gain Set to adjust speed loop responsiveness. 50 Hz 1 to

3500 ---

Speed Loop

Integration Time

Constant

Set to adjust the speed loop integration time constant. 20 ms 1 to

1000 ---

Speed

Feedback Filter

Time Constant

The encoder signal is converted to the speed signal

via the low pass filter. 0 --- 0 to 5 ---

Torque

Command Filter

Time Constant

Set to adjust the first-order lag filter time constant for

the torque command section. 80 0.01 ms 0 to

2500 ---

15 Feed-forward

Amount

Set the position control feed-forward compensation

value. 300 0.1%

−2000

2000

---

16 Feed-forward

Command Filter

Set the time constant of the first-order lag filter used

in the speed feed-forward section. 100 0.01 ms 0 to

6400 ---

17 Reserved (Do not change setting.) --- --- --- ---

18 Position Loop

Gain 2 Set to adjust position control system responsiveness. 20 1/s 0 to

3000 ---

19 Speed Loop

Gain 2 Set to adjust speed loop responsiveness. 80 Hz 1 to

3500 ---

Speed Loop

Integration Time

Constant 2

Set to adjust the speed loop integration time constant. 50 ms 1 to

1000 ---

Speed

Feedback Filter

Time Constant 2

The encoder signal is converted to the speed signal

via the low pass filter. 0 --- 0 to 5 ---

Torque

Command Filter

Time Constant 2

Set to adjust the first-order lag filter time constant for

the torque command section. 100 0.01 ms 0 to

2500 ---

1D Notch Filter 1

Frequency

Set the notch frequency of the resonance suppres-

sion notch filter. 1500 Hz 100 to

1500 ---

1E Notch Filter 1

Width

Set the width to one of five levels for the resonance

suppression notch filter. Normally, use the default set-

ting.

2 --- 0 to 4 ---

1F Reserved (Do not change setting.) --- --- --- ---

20 Inertia Ratio Set the ratio between the mechanical system inertia

and the Servomotor rotor inertia. 300 % 0 to

10000 ---

9-17

9-2 Parameter Tables

Appendix

Realtime

Autotuning

Mode Selection

Set the operating mode for realtime autotuning.

0 --- 0 to 7 ---

0 Realtime autotuning is not used.

Realtime autotuning is used in normal mode.

Use this setting if there are almost no chang-

es in load inertia during operation.

Realtime autotuning is used in normal mode.

Use this setting if there are gradual changes

in load inertia during operation.

Realtime autotuning is used in normal mode.

Use this setting if there are sudden changes

in load inertia during operation.

Realtime autotuning is used in vertical axis

mode. Use this setting if there are almost no

changes in load inertia during operation.

Realtime autotuning is used in vertical axis

mode. Use this setting if there are gradual

changes in load inertia during operation.

Realtime autotuning is used in vertical axis

mode. Use this setting if there are sudden

changes in load inertia during operation.

7Set to use realtime autotuning without

switching the gain.

Realtime

Autotuning

Machine Rigidity

Selection

Set the machine rigidity to one of 16 levels during re-

altime autotuning.

The higher the machine rigidity, the greater the setting

needs to be.

The higher the setting, the higher the responsiveness.

When the Parameter Unit is used, 0 cannot be set.

2 --- 0 to F ---

23 Adaptive Filter

Selection

Enable or disable the adaptive filter.

0 --- 0 to 2 ---

0 Adaptive filter disabled.

1Adaptive filter enabled. Adaptive operation

performed.

2Adaptive filter enabled. Adaptive operation

will not be performed (i.e., it will be held).

24 Vibration Filter

Selection

Vibration filters 1 and 2 can be switched.

0 --- 0 to 2 ---

0No switching. (Both filter 1 and filter 2 are en-

abled.)

Switching with the DFSEL/PNSEL input.

Open: Vibration filter 1

Closed: Vibration filter 2

Switching with command direction.

Forward: Vibration filter 1

Reverse: Vibration filter 2

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

9-18

9-2 Parameter Tables

Appendix

Autotuning

Operation

Setting

Set the operating pattern for normal mode autotuning.

0 --- 0 to 7 ---

0Rotation direction: Forward to reverse, two

rotations

1Rotation direction: Reverse to forward, two

rotations

2Rotation direction: Forward to forward, two

rotations

3Rotation direction: Reverse to reverse, two

rotations

4Rotation direction: Forward to reverse, one

rotation

5Rotation direction: Reverse to forward, one

rotation

6Rotation direction: Forward to forward, one

rotation

7Rotation direction: Reverse to reverse, one

rotation

26 Overrun Limit

Setting

Set the allowable operating range for the Servomotor.

The overrun limit function is disabled if the parameter

is set to 0.

10 0.1 ro-

tation

0 to

1000 ---

Instantaneous

Speed Observer

Setting

Set the instantaneous speed observer.

0 --- 0 to 1 ---0 Disabled

1 Enabled

28 Notch Filter 2

Frequency

Set the notch frequency of the resonance suppres-

sion notch filter. 1500 Hz 100 to

1500 ---

29 Notch Filter 2

Width

Set the notch filter width to one of five levels for the

resonance suppression notch filter. Normally, use the

default setting.

2 --- 0 to 4 ---

2A Notch Filter 2

Depth

Set the depth of the resonance suppression notch fil-

ter. 0 --- 0 to 99 ---

2B Vibration

Frequency 1

Set vibration frequency 1 to suppress vibration at the

end of the load in damping control. 00.1Hz

0 to

2000 ---

2C Vibration Filter 1

Setting

Set vibration filter 1 to suppress vibration at the end of

the load in damping control. 00.1Hz

−200

2000

---

2D Vibration

Frequency 2

Set vibration frequency 2 to suppress vibration at the

end of the load in damping control. 00.1Hz

0 to

2000 ---

2E Vibration Filter 2

Setting

Set vibration filter 2 to suppress vibration at the end of

the load in damping control. 00.1Hz

−200

2000

---

Adaptive Filter

Table Number

Display

Displays the table entry number corresponding to the

frequency for the adaptive filter.

This parameter is set automatically and cannot be

changed if the adaptive filter is enabled (i.e., if Real-

time Autotuning Mode Selection (Pn21) is 1 to 3 or 7).

0 --- 0 to 64 ---

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

9-19

9-2 Parameter Tables

Appendix

Gain Switching

Input Operating

Mode Selection

Enable or disable gain switching.

If gain switching is enabled, the setting of the Control

Gain Switch Setting (Pn31) is used as the condition

for switching between gain 1 and gain 2.

1 --- 0 to 1 ---

Disabled. The gain set in Pn10 to Pn14 is

used, and the Gain Switching Input (GSEL)

will be used to switch between PI operation

and P operation.

Enabled. The gain will be switched between

gain 1 (Pn10 to Pn14) and gain 2 (Pn18 to

Pn1C).

31 Control Gain

Switch 1 Setting

Select the condition for switching between gain 1 and

gain 2. The details depend on the control mode.

If a composite mode is set, the setting of this param-

eter is valid when the first control mode is used. The

Gain Switching Input Operating Mode Selection

(Pn30) must be set to 1 (enabled).

0 --- 0 to 10 ---

0 Always gain 1

1 Always gain 2

2Switching using Gain Switching Input

(GSEL)

3 Amount of change in torque command

4 Always gain 1

5 Command speed

6 Amount of position deviation

7 Command pulses received

8 Positioning Completed Signal (INP) OFF

9 Actual Servomotor speed

10 Combination of command pulse input and

speed

32 Gain Switch 1

Time

This parameter is enabled when the Control Gain

Switch 1 Setting (Pn31) is 3 to 10. Set the delay time

from the moment the condition set in the Control Gain

Switch 1 Setting (Pn31) is not met until returning to

gain 1.

30 166 µs0 to

10000 ---

33 Gain Switch 1

Level Setting

This parameter is enabled when the Control Gain

Switch 1 Setting (Pn31) is 3 to 6, 9, or 10. Set the

judgment level for switching between gain 1 and gain

The unit for the setting depends on the condition set

in the Control Gain Switch 1 Setting (Pn31).

600 --- 0 to

20000 ---

Gain Switch 1

Hysteresis

Setting

Set the hysteresis width above and below the judg-

ment level set in the Gain Switch 1 Level Setting

(Pn33).

50 --- 0 to

20000 ---

Position Loop

Gain Switching

Time

When switching between gain 1 and gain 2 is en-

abled, set the phased switching time only for the posi-

tion loop gain at gain switching.

20 166 µs0 to

10000 ---

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

9-20

9-2 Parameter Tables

Appendix

36 Control Gain

Switch 2 Setting

Select the condition for switching between gain 1 and

gain 2 in the second control mode.

The Gain Switching Input Operating Mode Selection

(Pn30) must be set to 1 (enabled).

0 --- 0 to 5 ---

0 Always gain 1

1 Always gain 2

2 Switching using gain switching input (GSEL)

3 Amount of change in torque command

4 Amount of change in speed command

5 Command speed

37 Gain Switch 2

Time

This parameter is enabled when Control Gain Switch

2 Setting (Pn36) is 3 to 5. Set the delay time for return-

ing from gain 2 to gain 1.

30 166 µs0 to

10000 ---

38 Gain Switch 2

Level Setting

This parameter is enabled when Control Gain Switch

2 Setting (Pn36) is 3 to 5. Set the judgment level for

switching between gain 1 and gain 2. The unit de-

pends on the setting of Control Gain Switch 2 Setting

(Pn36).

0 --- 0 to

20000 ---

Gain Switch 2

Hysteresis

Setting

Set the hysteresis width above and below the judg-

ment level set in the Gain Switch 2 Level Setting

(Pn38). The unit depends on the setting of the Control

Gain Switch 2 Setting (Pn36).

0 --- 0 to

20000 ---

3A Reserved (Do not change setting.) --- --- --- ---

3B Reserved (Do not change setting.) --- --- --- ---

3C Reserved (Do not change setting.) --- --- --- ---

3D Jog Speed Set the speed for jogging. 200 r/min 0 to

500 ---

3E Reserved (Do not change setting.) --- --- --- ---

3F Reserved (Do not change setting.) --- --- --- ---

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

9-21

9-2 Parameter Tables

Appendix

Position Control Parameters

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

Command

Pulse Input

Selection

Selects whether to use photocoupler or line-driver-only

input for the command pulse input.

0 --- 0 to 1 Yes

0 Photocoupler

1 Input for line driver only

Command

Pulse Rotation

Direction Switch

Set the Servomotor rotation direction for the command

pulse input.

0 --- 0 to 1 Yes

0The Servomotor rotates in the direction spec-

ified by the command pulse.

The Servomotor rotates in the opposite direc-

tion from the direction specified by the com-

mand pulse.

42 Command

Pulse Mode

Set the form of the pulse inputs sent as command to

the Servo Drive from a position controller.

1 --- 0 to 3 Yes

090° phase difference (phase A/B) signal in-

puts

1 Forward pulse and reverse pulse inputs

290° phase difference (phase A/B) signal in-

puts

3 Feed pulses and forward/reverse signal input

Command

Pulse Prohibited

Input Setting

Enable or disable the pulse disable input (IPG).

1 --- 0 to 1 ---

0 Enabled

1 Disabled

Encoder Divider

Numerator

Setting Set the number of encoder pulses (+A, −A, −B, +B) out-

put from the Servo Drive for each Servomotor rotation.

2500 --- 1 to

32767 Yes

Encoder Divider

Denominator

Setting

0---

0 to

32767 Yes

46 Encoder Output

Direction Switch

Set the phase-B logic for pulse output (−B, +B).

0 --- 0 to 1 Yes

0 Phase-B output: Not reversed.

1 Phase-B output: Reversed.

47 Reserved (Do not change setting.) --- --- --- ---

9-22

9-2 Parameter Tables

Appendix

Electronic Gear

Ratio Numerator

Set the pulse rate for command pulses and Servomo-

tor travel distance. If Pn48 or Pn49 is 0, the encoder

resolution is set to a numerator.

0 --- 0 to

10000 ---

Electronic Gear

Ratio Numerator

0 --- 0 to

10000 ---

Electronic Gear

Ratio Numerator

Exponent

0 --- 0 to 17 ---

Electronic Gear

Ratio

Denominator

10000 --- 1 to

10000 ---

Position

Command Filter

Time Constant

Setting

Set the time constant for the first-order lag filter for the

command pulse input.

If the parameter is set to 0, the filter will not function.

The larger the setting, the larger the time constant.

0 --- 0 to 7 ---

4D Smoothing Filter

Setting

Select the FIR filter time constant used for the com-

mand pulse input.

The higher the setting, the smoother the command

pulses.

0 --- 0 to 31 Yes

Deviation

Counter Reset

Condition

Setting

Set the deviation counter reset conditions.

1 --- 0 to 2 ---

0Clears the deviation counter when the signal

is closed for 100 µs or longer.

Clears the deviation counter on the falling

edge of the signal (open and then closed for

100 µs or longer).

2 Disabled

4F Reserved (Do not change setting.) --- --- --- ---

No.

Parameter

name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

Electronic Gear Ratio Numerator 1 (Pn48)

Electronic Gear Ratio Numerator 2 (Pn49)

Electronic Gear Ratio

Numerator Exponent (Pn4A)

× 2

Electronic Gear Ratio Denominator (Pn4B)

9-23

9-2 Parameter Tables

Appendix

Speed and Torque Control Parameters

No. Parameter name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

50 Speed

Command Scale

Set the relation between the voltage applied to the

Speed Command Input (REF) and the Servomotor

speed.

300 (r/min)

10 to

2000 ---

Command

Speed Rotation

Direction Switch

Set to reverse the polarity of the speed command input

(REF).

0 --- 0 to 1 ---

0Forward

1Reverse

Speed

Command

Offset

Adjustment

Set to adjust the offset of the Speed Command Input

(REF). 00.3 mV

−2047

to 2047 ---

53 No. 1 Internally

Set Speed Set the No. 1 internally set rotation speed. 100 r/min

−20000

20000

---

54 No. 2 Internally

Set Speed Set the No. 2 internally set rotation speed. 200 r/min

−20000

20000

---

55 No. 3 Internally

Set Speed Set the No. 3 internally set rotation speed. 300 r/min

−20000

20000

---

56 No. 4 Internally

Set Speed

Set the No. 4 internally set rotation speed.

For torque control (when Pn5B = 0), set the speed limit. 50 r/min

−20000

20000

---

74 No. 5 Internally

Set Speed Set the No. 5 internally set rotation speed. 500 r/min

−20000

20000

---

75 No. 6 Internally

Set Speed Set the No. 6 internally set rotation speed. 600 r/min

−20000

20000

---

76 No. 7 Internally

Set Speed Set the No. 7 internally set rotation speed. 700 r/min

−20000

20000

---

77 No. 8 Internally

Set Speed Set the No. 8 internally set rotation speed. 800 r/min

−20000

20000

---

Speed

Command Filter

Time Constant

Set the first-order lag filter time constant in the Speed

Command Input (REF: CN1 pin 14). 00.01

0 to

6400 ---

Soft Start

Acceleration

Time

Set the acceleration time for the speed command. 0

2 ms

(1000

r/min)

0 to

5000 ---

Soft Start

Deceleration

Time

Set the deceleration time for the speed command. 0

2 ms

(1000

r/min)

0 to

5000 ---

9-24

9-2 Parameter Tables

Appendix

S-curve

Acceleration/

Deceleration

Time Setting

Set the pseudo-S-curve acceleration/deceleration val-

ue to add to the speed command to enable smooth op-

eration.

02 ms

0 to

500 ---

Torque

Command/

Speed Limit

Selection

Select the input for the torque command and speed

limit. For the settings and control mode, refer to the

description of the Torque Command/Speed Limit Se-

lection on page 5-83.

0 --- 0 to 1 ---

5C Torque

Command Scale

Set the relation between the voltage applied to the

Speed Limit Input (VLIM) and the Servomotor speed. 30 0.1 V/

100%

10 to

100 ---

5D Torque Output

Direction Switch

Set to reverse the polarity of the Torque Command

Input (REF/TREF1 or PCL/TREF2).

0 --- 0 to 1 ---

0Forward

1Reverse

5E No. 1 Torque

Limit Set the limit to the Servomotor's maximum torque. 300 % 0 to

500 ---

5F No. 2 Torque

Limit Set the limit to the Servomotor's maximum torque. 100 % 0 to

500 ---

No. Parameter name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

9-25

9-2 Parameter Tables

Appendix

Sequence Parameters

No. Parameter name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

Positioning

Completion

Range

Set the range for the Positioning Completed Output

(INP). 25 Pulse 0 to

32767 ---

61 Zero Speed

Detection

Set the rotation speed to output for the general-pur-

pose output (zero speed detection output or speed co-

incidence output).

20 r/min 10 to

20000 ---

Rotation Speed

for Motor

Rotation

Detection

Set the rotation speed for the Servomotor Rotation

Detection Output (TGON) for Internally Set Speed

Control.

50 r/min 10 to

20000 ---

Positioning

Completion

Condition Setting

Set the operation for positioning completion output

(INP).

0 --- 0 to 3 ---

Positioning completion output turns ON when

the position deviation is within the Positioning

Completion Range (Pn60).

Positioning completion output turns ON when

the position deviation is within the Positioning

Completion Range (Pn60) and there is no

position command.

Positioning completion output turns ON when

the zero speed detection signal is ON and the

position deviation is within the Positioning

Completion Range (Pn60) and there is no

position command.

Positioning completion output turns ON when

the position deviation is within the Positioning

Completion Range (Pn60) and there is no

position command. The ON status will then be

held until the next position command is

received.

64 Reserved (Do not change setting.) --- --- --- ---

65 Undervoltage

Alarm Selection

Select whether to activate the main power supply

undervoltage function (alarm code 13) if the main

power supply is interrupted for the Momentary Hold

Time (Pn6D) during Servo ON.

1 --- 0 to 1 ---

A main power supply undervoltage alarm

(alarm code 13) is not generated and the

Servomotor turns OFF. When the main power

supply turns ON again, the Servo ON status

returns.

1An error is generated for a main power supply

undervoltage alarm (alarm code 13).

9-26

9-2 Parameter Tables

Appendix

Stop Selection

for Drive

Prohibition Input

Set the operation used to decelerate to a stop after the

Forward Drive Prohibit Input (POT) or Reverse Drive

Prohibit Input (NOT) has been received.

0 --- 0 to 2 Yes

0The torque in the drive prohibit direction is

disabled, and the dynamic brake is activated.

The torque in the drive prohibit direction is

disabled, and free-run deceleration is

performed.

The torque in the drive prohibit direction is

disabled, and an emergency stop is

performed.

Stop Selection

with Main Power

OFF

Set one of the following operations to be performed

after the main power supply is cut off if the Undervolt-

age Alarm Selection (Pn65) is set to 0.

Operation during deceleration and after stopping

Clearing the deviation counter

0 --- 0 to 9 ---

During deceleration: Dynamic brake

After stopping: Dynamic brake

Deviation counter: Clear

During deceleration: Free run

After stopping: Dynamic brake

Deviation counter: Clear

During deceleration: Dynamic brake

After stopping: Servo free

Deviation counter: Clear

During deceleration: Free run

After stopping: Servo free

Deviation counter: Clear

During deceleration: Dynamic brake

After stopping: Dynamic brake

Deviation counter: Hold

During deceleration: Free run

After stopping: Dynamic brake

Deviation counter: Hold

During deceleration: Dynamic brake

After stopping: Servo free

Deviation counter: Hold

During deceleration: Free run

After stopping: Servo free

Deviation counter: Hold

During deceleration: Emergency stop

After stopping: Dynamic brake

Deviation counter: Clear

During deceleration: Emergency stop

After stopping: Servo free

Deviation counter: Clear

No. Parameter name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

9-27

9-2 Parameter Tables

Appendix

Stop Selection

for Alarm

Generation

Set the operation to be performed after stopping or dur-

ing deceleration when any protective function of the

Servo Drive operates and an error occurs.

0 --- 0 to 3 ---

0During deceleration: Dynamic brake

After stopping: Dynamic brake

1During deceleration: Free run

After stopping: Dynamic brake

2During deceleration: Dynamic brake

After stopping: Servo free

3During deceleration: Free run

After stopping: Servo free

69 Stop Selection

with Servo OFF

Set the operation to be performed after the Servomotor

turns OFF (i.e., RUN ON to OFF).

The relation between set values, operation, and devia-

tion counter processing for this parameter is the same

as for the Stop Selection with Main Power OFF (Pn67).

0 --- 0 to 9 ---

6A Brake Timing

when Stopped

When the Servomotor is stopped and the RUN Com-

mand Input (RUN) is turned OFF, the Brake Interlock

Signal (BKIR) will turn OFF, and the Servomotor will

turn OFF after waiting for the time period set for this pa-

rameter (i.e., setting × 2 ms).

10 2 ms 0 to

100 ---

6B Brake Timing

during Operation

When the Servomotor is stopped and the RUN Com-

mand Input (RUN) is turned OFF, the Servomotor will

decelerate to reduce rotation speed, and the Brake In-

terlock Signal (BKIR) will turn OFF after the set time for

the parameter (i.e., setting × 2 ms) has elapsed.

BKIR will also turn OFF if the speed drops to 30 r/min

or lower before the set time elapses.

50 2 ms 0 to

100 ---

Regeneration

Resistor

Selection

Set whether to use a built-in resistor or to add an Exter-

nal Regeneration Resistor.

0 --- 0 to 3 Yes

Regeneration resistor used: Built-in resistor

The regeneration processing circuit will oper-

ate and the regeneration overload (alarm

code 18) will be enabled according to the in-

ternal resistance (with approximately 1% du-

ty).

Regeneration resistor used: External resistor

The regeneration processing circuit will oper-

ate, and regeneration overload (alarm code

18) will cause a trip when the operating rate of

the regeneration resistor exceeds 10%.

Regeneration resistor used: External resistor

The regeneration processing circuit will oper-

ate, but regeneration overload (alarm code

18) will not occur.

Regeneration resistor used: None

The regeneration processing circuit and re-

generation overload (alarm code 18) will not

operate, and all regenerative energy will be

processed by the built-in capacitor.

6D Momentary Hold

Time

Set the amount of time required until shutoff is detected

if the main power supply continues to shut off. 35 2 ms 35 to

1000 Yes

No. Parameter name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

9-28

9-2 Parameter Tables

Appendix

6E Emergency Stop

Torque

Set the torque limit for the following cases.

Drive prohibit deceleration with the Stop Selection

for Drive Prohibition Input (Pn66) set to 2.

Deceleration with the Stop Selection with Main Pow-

er OFF (Pn67) set to 8 or 9.

Deceleration with the Stop Selection with Servo OFF

(Pn69) set to 8 or 9.

0 to

500 ---

6F Reserved (Do not change setting.) --- --- --- ---

Deviation

Counter

Overflow Level

Set the deviation counter overflow level. 100 × 256

pulses

0 to

32767 ---

Speed

Command/

Torque

Command Input

Overflow Level

Setting

Set the overflow level for Speed Command Input (REF)

or Torque Command Input (TREF) using voltage after

offset adjustment.

0 0.1 V 0 to

100 ---

Overload

Detection Level

Setting

Set the overload detection level. 0 % 0 to

500 ---

Overspeed

Detection Level

Setting

Set the overspeed detection level. 0 r/min 0 to

20000 ---

78 Reserved (Do not change setting.) --- --- --- ---

79 Reserved (Do not change setting.) --- --- --- ---

7A Reserved (Do not change setting.) --- --- --- ---

7B Reserved (Do not change setting.) --- --- --- ---

7C Reserved (Do not change setting.) --- --- --- ---

7D Reserved (Do not change setting.) --- --- --- ---

7E Reserved (Do not change setting.) --- --- --- ---

7F Reserved (Do not change setting.) --- --- --- ---

No. Parameter name Setting Explanation Default

setting Unit Setting

range

Power

OFF→

Index-1

Index

Numerics

1,000-r/min Servomotors................................... 2-4, 3-43

12 to 24-VDC Power Supply Input (24VIN) .............. 3-12

2,000-r/min Servomotors................................... 2-3, 3-41

24-V Open-collector Input for Command Pulse

(+24VCW)................................................................. 3-12

3,000-r/min Flat Servomotors ............................ 2-3, 3-39

3,000-r/min Servomotors................................... 2-2, 3-33

90-degree Phase Difference Pulse Input

(Phase A) (FA).......................................................... 3-12

90-degree Phase Difference Pulse Input

(Phase B) (FB).......................................................... 3-12

Absolute Encoder Battery Cable ..................... 2-20, 3-63

Absolute Encoder Reset Mode................................. 6-23

absolute encoder setup .............................................. 6-5

absolute encoders .................................................... 3-46

adaptive filter ............................................................ 7-11

Adaptive Filter Selection (Pn23)............................... 5-63

Adaptive Filter Table Number Display (Pn2F) .......... 5-66

Alarm Output (/ALM)........................................ 3-15, 3-29

Alarm Reset Input (RESET) ............................ 3-13, 3-25

Alarm Reset Mode.................................................... 6-21

alarm table.................................................................. 8-4

allowable current ...................................................... 4-25

Analog Input Ground (AGND)................................... 3-12

applicable standards................................................. 1-10

Automatic Offset Adjustment Mode.......................... 6-22

Autotuning Operation Setting (Pn25)........................ 5-63

autotuning table........................................................ 7-16

Backup Battery Input (BAT)...................................... 3-14

Brake Cables............................................................ 3-79

Brake Cables (Robot Cables).......................... 2-20, 3-81

Brake Cables (Standard Cables).............................. 2-17

brake interlock .......................................................... 5-20

Brake Interlock Output (BKIR).................................. 3-15

Brake Timing during Operation (Pn6B) .................... 5-90

Brake Timing When Stopped (Pn6A) ....................... 5-89

cable specifications .................................................. 3-57

changing the mode..................................................... 6-7

check pins................................................................... 1-4

clamp cores .............................................................. 4-37

Command Pulse Input Selection (Pn40) .................. 5-73

Command Pulse Mode (Pn42) ................................. 5-74

Command Pulse Prohibited Input (Pn43)................. 5-74

Command Speed Rotation Direction Switch (Pn51). 5-80

Command Speed Selection (Pn05) .......................... 5-53

Communications Cables.........................2-20, 3-84, 3-85

communications connector specifications (CN3A) ... 3-31

Computer Monitor Cables................................ 3-84, 4-14

connecting cables..................................................... 4-11

connection examples.................................................. 9-1

connector specifications ........................................... 3-57

Connector Terminal Block Cables................... 2-23, 3-94

Connector Terminal Blocks ...................................... 2-23

Connectors ............................................................... 2-20

Connector-Terminal Block Conversion Unit ............. 3-96

Connector-Terminal Blocks and Cables................... 4-16

contactors ................................................................. 4-39

control cable specifications....................................... 3-57

Control Cables.......................................................... 2-23

Control Gain Switch 1 Setting (Pn31)....................... 5-68

Control Gain Switch 2 Setting (Pn36)....................... 5-72

control I/O connector specifications............................ 3-9

control I/O connectors .............................................. 3-86

control input circuits.................................................. 3-17

control input signals.................................................. 3-12

Control Mode Selection (Pn02) ................................ 5-52

Control Mode Switch Input (TVSEL)................ 3-13, 3-25

control mode switching ............................................. 5-11

control output circuits................................................ 3-26

control output sequence ........................................... 3-27

Copy Mode ............................................................... 6-24

damping control ........................................................ 7-35

Decelerator dimensions............................................ 2-49

Decelerator installation conditions.............................. 4-7

Decelerator specifications ........................................ 3-47

Decelerators ............................................................... 2-7

Decelerators for 1,000-r/min Servomotors

(Backlash = 3’ Max.)........................................ 2-55, 3-52

Decelerators for 2,000-r/min Servomotors

(Backlash = 3’ Max.)........................................ 2-53, 3-50

Decelerators for 3,000-r/min Flat Servomotors

(Backlash = 15’ Max.)...................................... 2-61, 3-56

Decelerators for 3,000-r/min Flat Servomotors

(Backlash = 3’ Max.)........................................ 2-57, 3-53

Decelerators for 3,000-r/min Servomotors

(Backlash = 15’ Max.)...................................... 2-59, 3-54

Decelerators for 3,000-r/min Servomotors

(Backlash = 3’ Max.)........................................ 2-49, 3-47

Default Display (Pn01).............................................. 5-51

Deviation Counter Overflow Level (Pn70) ................ 5-91

Deviation Counter Reset Condition Setting (Pn4E).. 5-79

Deviation Counter Reset Input (ECRST)......... 3-13, 3-24

Direction Signal (SIGN) ..........................3-12, 3-20, 3-22

disabling adaptive filter............................................. 7-20

disabling realtime autotuning.................................... 7-19

disabling the automatic gain adjustment function..... 7-19

Drive Prohibit Input Selection (Pn04) ....................... 5-53

EC Directives............................................................ 1-10

electronic gear.......................................................... 5-16

Electronic Gear Ratio Denominator (Pn4B).............. 5-77

Electronic Gear Ratio Numerator 1 (Pn48)............... 5-77

Electronic Gear Ratio Numerator 2 (Pn49)............... 5-77

Electronic Gear Ratio Numerator Exponent (Pn4A). 5-77

Electronic Gear Switch (GESEL).............................. 3-13

electronic thermal function........................................ 8-20

Emergency Stop Torque (Pn6E) .............................. 5-91

encoder cable noise resistance ................................ 4-40

Encoder Cables........................................................ 3-57

Encoder Cables (Robot Cables).............2-18, 3-60, 4-13

Encoder Cables (Standard Cables)........2-14, 3-57, 4-12

encoder connector specifications (CN2)................... 3-30

Index

Index-2

encoder connectors.................................................. 3-86

Encoder Divider Denominator Setting (Pn45) .......... 5-75

Encoder Divider Numerator Setting (Pn44).............. 5-75

encoder dividing ....................................................... 5-15

Encoder Output Direction Switch (Pn46).................. 5-76

encoder outputs (phases A, B, and Z)...................... 3-28

Encoder Phase-A - Output (-A) ................................ 3-15

Encoder Phase-A + Output (+A)............................... 3-15

Encoder Phase-B - Output (-B) ................................ 3-15

Encoder Phase-B + Output (+B)............................... 3-15

Encoder Phase-Z - Output (-Z)................................. 3-15

Encoder Phase-Z + Output (+Z) ............................... 3-15

encoder specifications.............................................. 3-46

error diagnosis using the displayed alarm codes ....... 8-6

error diagnosis using the operating status................ 8-15

error processing.......................................................... 8-1

external dimensions.................................................. 2-25

External Regeneration Resistor Dimensions............ 2-63

External Regeneration Resistor specifications....... 3-130

External Regeneration Resistors.............................. 2-23

Feed Pulse (PULS).................................3-12, 3-20, 3-22

Feed-forward Amount (Pn15)................................... 5-60

Feed-forward Command Filter (Pn16)...................... 5-60

fit gain function ........................................................... 7-7

Forward Drive Prohibit.............................................. 5-14

Forward Drive Prohibit Input (POT)................. 3-12, 3-24

Forward Pulse (CCW) ............................3-12, 3-20, 3-22

Forward Pulse (CCWLD).......................................... 3-14

Forward Torque Limit Input (PCL)............................ 3-12

Frame Ground (FG).................................................. 3-15

Front Key Protection Setting (Pn0E) ........................ 5-57

gain adjustment .......................................................... 7-1

Gain Switch (GSEL) ................................................. 3-13

Gain Switch 1 Hysteresis Setting (Pn34).................. 5-71

Gain Switch 1 Level Setting (Pn33).......................... 5-71

Gain Switch 1 Time (Pn32)....................................... 5-70

Gain Switch 2 Hysteresis Setting (Pn39).................. 5-72

Gain Switch 2 Level Setting (Pn38).......................... 5-72

Gain Switch 2 Time (Pn37)....................................... 5-72

gain switching........................................................... 5-24

gain switching function ............................................. 7-26

Gain Switching Input Operating Mode Selection

(Pn30)....................................................................... 5-67

General-purpose Control Cables............2-23, 3-92, 4-16

General-purpose Output 1 (OUTM1)........................ 3-15

General-purpose Output 1 Selection (Pn0A)............ 5-56

General-purpose Output 2 (OUTM2)........................ 3-15

General-purpose Output 2 Selection (Pn09) ............ 5-55

General-purpose Output Common (COM) ............... 3-15

harmonic current countermeasures.......................... 4-41

IM Selection (Pn08).................................................. 5-55

incremental encoders ............................................... 3-46

Inertia Ratio (Pn20) .................................................. 5-62

instantaneous speed observer ................................. 7-33

Instantaneous Speed Observer Setting (Pn27)........ 5-64

internally set speed control......................................... 5-5

Internally Set Speed Selection 1 (VSEL1)................ 3-13

Internally Set Speed Selection 2 (VSEL2)................ 3-13

Internally Set Speed Selection 3 (VSEL3)................ 3-13

Jog Operation Mode ................................................. 6-24

Jog Speed (Pn3D).................................................... 5-73

leakage breakers ...................................................... 4-33

machine resonance control ...................................... 7-30

machine rigidity numbers.......................................... 7-15

main circuit connector................................................. 3-6

Main Circuit Connector Specifications (CNA)....3-6, 4-21

Main Circuit Terminal Block Specifications

...........................................................3-7, 3-8, 4-22, 4-23

manual tuning........................................................... 7-21

Momentary Hold Time (Pn6D).................................. 5-91

Monitor Mode.............................................................. 6-8

Motion Control Unit Cables.............................. 3-89, 4-16

Mounting Brackets (L brackets for rack mounting)... 2-24

mounting hole dimensions........................................ 2-25

No. 1 Internally Set Speed (Pn53)............................ 5-81

No. 1 Torque Limit (Pn5E)........................................ 5-84

No. 2 Internally Set Speed (Pn54)............................ 5-81

No. 2 Torque Limit (Pn5F)........................................ 5-84

No. 3 Internally Set Speed (Pn55)............................ 5-81

No. 4 Internally Set Speed (Pn56)............................ 5-81

No. 5 Internally Set Speed (Pn74)............................ 5-81

No. 6 Internally Set Speed (Pn75)............................ 5-81

No. 7 Internally Set Speed (Pn76)............................ 5-81

No. 8 Internally Set Speed (Pn77)............................ 5-81

no-fuse breakers....................................................... 4-32

noise filters ....................................4-35, 4-36, 4-37, 4-43

noise filters for brake power supply.......................... 4-36

noise filters for power supply input ........................... 4-35

noise filters for Servomotor output............................ 4-43

Normal mode autotuning ................................. 6-20, 7-14

Notch Filter 1 Frequency (Pn1D).............................. 5-61

Notch Filter 1 Width (Pn1E)...................................... 5-61

Notch Filter 2 Depth (Pn2A) ..................................... 5-64

Notch Filter 2 Frequency (Pn28) .............................. 5-64

Notch Filter 2 Width (Pn29) ...................................... 5-64

oil seal ........................................................................ 4-5

Operation Switch When Using Absolute Encoder

(Pn0B) ...................................................................... 5-56

operational procedure................................................. 6-1

overload characteristics............................................ 8-20

Overload Detection Level Setting (Pn72) ................. 5-92

overrun limit.............................................................. 5-18

Overrun Limit Setting (Pn26).................................... 5-64

Overspeed Detection Level Setting (Pn73) .............. 5-92

Index

Index-3

parameter details...................................................... 5-50

Parameter Setting Mode........................................... 6-17

parameter tables.............................................. 5-32, 9-11

Parameter Unit Connector specifications (CN3B) .... 3-31

Parameter Unit dimensions ...................................... 2-45

Parameter Unit specifications................................. 3-129

Parameter Write Mode ............................................. 6-19

periodic maintenance ............................................... 8-21

phase-Z output (open-collector output) .................... 3-26

Phase-Z Output (Z)................................................... 3-15

Phase-Z Output Common (ZCOM)........................... 3-15

pin arrangement ....................................................... 3-16

position command filter............................................. 5-28

Position Command Filter Time Constant Setting

(Pn4C) ...................................................................... 5-78

Position Command Pulse ................................ 3-17, 3-18

position control ........................................................... 5-1

Position Control Mode .............................................. 7-22

Position Control Unit-Servo Relay Unit Cable

specifications.......................................................... 3-116

position feedback output........................................... 3-26

Position Loop Gain (Pn10) ....................................... 5-58

Position Loop Gain 2 (Pn18) .................................... 5-60

Position Loop Gain Switching Time (Pn35).............. 5-71

Positioning Completed Output (INP) ............... 3-15, 3-29

Positioning Completion Condition Setting (Pn63)..... 5-86

Positioning Completion Range (Pn60) ..................... 5-85

Power Cables (Robot Cables).................................. 4-14

Power Cables (Standard Cables) ............................. 4-13

Power cables for Servomotors with brakes

(Robot Cables) ......................................................... 3-76

power cables for Servomotors with brakes

(Standard Cables) .................................................... 3-73

Power cables for Servomotors without brakes

(Robot Cables) ......................................................... 3-69

power cables for Servomotors without brakes

(Standard Cables) .................................................... 3-64

preparing for operation ............................................... 6-2

protective functions..................................................... 3-5

Pulse Prohibit Input (IPG)................................ 3-13, 3-25

radio noise filters ...................................................... 4-37

Reactor dimensions.................................................. 2-64

Reactors ...............................................2-23, 3-131, 4-41

Realtime Autotuning Machine Rigidity Selection

(Pn22)....................................................................... 5-62

Realtime Autotuning Mode Selection (Pn21)............ 5-62

Regeneration Resistor Selection (Pn6C).................. 5-91

regenerative energy.................................................. 4-45

regenerative energy

(External Regeneration Resistors) ........................... 4-49

regenerative energy absorption................................ 4-48

replacement procedure...................................... 8-2, 8-23

replacing the Absolute Encoder Battery ................... 8-23

replacing the Servo Drive ........................................... 8-2

replacing the Servomotor ........................................... 8-2

Reverse Drive Prohibit.............................................. 5-14

Reverse Drive Prohibit Input (NOT)................. 3-12, 3-24

Reverse Pulse (CW)................................................. 3-12

Reverse Pulse (CWLD) ............................................ 3-14

Reverse Torque Limit Input (NCL)............................ 3-12

Rotation Speed for Motor Rotation Detection

(Pn62)....................................................................... 5-86

rotational speed characteristics for 1,000-r/min

Servomotors ............................................................. 3-44

rotational speed characteristics for 2,000-r/min

Servomotors ............................................................. 3-42

rotational speed characteristics for 3,000-r/min Flat

Servomotors ............................................................. 3-40

rotational speed characteristics for 3,000-r/min

Servomotors ............................................................. 3-36

RS-232 Baud Rate Setting (Pn0C)........................... 5-57

RS-485 Baud Rate Setting (Pn0D)........................... 5-57

RS-485 communications cables............................... 4-15

RUN Command (RUN).................................... 3-13, 3-24

S-curve Acceleration/Deceleration Time Settings

(Pn5A) ...................................................................... 5-82

sensor input.............................................................. 3-19

Sensor ON Input (SEN)............................................ 3-12

Sequence Input ........................................................ 3-19

Sequence Output...................................................... 3-26

Servo Drive characteristics......................................... 3-2

Servo Drive dimensions............................................ 2-25

Servo Drive functions ................................................. 1-4

Servo Drive general specifications ............................. 3-1

Servo Drive installation conditions.............................. 4-1

Servo Drive models .................................................... 2-1

Servo Drive part names.............................................. 1-3

Servo Drive service life............................................. 8-22

Servo Drive-Servo Relay Unit Cables .................... 3-112

Servo Drive-Servomotor combinations....................... 2-5

Servo Ready Output (READY) ........................ 3-15, 3-29

Servo Relay Unit Cables for Position Control Units.. 2-22

Servo Relay Unit Cables for Servo Drives................ 2-21

Servo Relay Units..................................................... 2-21

Servomotor and Decelerator Combinations ............. 2-46

Servomotor characteristics ....................................... 3-33

Servomotor connector specifications (CNB)...... 3-6, 4-21

Servomotor general specifications ........................... 3-32

Servomotor installation conditions.............................. 4-3

Servomotor models .................................................... 2-2

Servomotor Power Cables (Robot Cables) .............. 2-19

Servomotor Power Cables (Standard Cables) ......... 2-15

Servomotor Rotation Speed Detection Output

(TGON)............................................................ 3-15, 3-29

Servomotor service life ............................................. 8-21

setting the mode ......................................................... 6-7

Smoothing Filter Setting (Pn4D)............................... 5-79

soft start.................................................................... 5-27

Soft Start Acceleration Time (Pn58)......................... 5-82

Soft Start Deceleration Time (Pn59)......................... 5-82

SP Selection (Pn07) ................................................. 5-54

Speed Command Filter Time Constant (Pn57) ........ 5-81

Speed Command Input (REF)................3-12, 3-17, 3-24

Speed Command Offset Adjustment (Pn52) ............ 5-80

Speed Command Rotation Direction Switch

(PNSEL) ................................................................... 3-13

Speed Command Scale (Pn50)................................ 5-80

Index

Index-4

Speed Command/Torque Command Input

Overflow Level Setting (Pn71).................................. 5-92

speed control.............................................................. 5-3

speed control mode adjustment ............................... 7-24

Speed Feedback Filter Time Constant (Pn13) ......... 5-60

Speed Feedback Filter Time Constant 2 (Pn1B)...... 5-61

speed limit ................................................................ 5-29

Speed Limit Input (VLIM).......................................... 3-12

speed limit values..................................................... 7-25

Speed Loop Gain (Pn11).......................................... 5-59

Speed Loop Gain 2 (Pn19)....................................... 5-60

Speed Loop Integration Time Constant (Pn12)........ 5-59

Speed Loop Integration Time Constant 2 (Pn1A)..... 5-61

Stop Selection for Alarm Generation (Pn68) ............ 5-88

Stop Selection for Drive Prohibition Input (Pn66)..... 5-87

Stop Selection with Main Power OFF (Pn67)........... 5-88

Stop Selection with Servo OFF (Pn69)..................... 5-89

surge absorbers........................................................ 4-34

surge suppressors.................................................... 4-39

Switching the Control Mode...................................... 5-11

system block diagrams............................................... 1-5

system configuration................................................... 1-2

terminal block wire sizes........................................... 4-24

terminal block wiring................................................. 4-26

Torque Command Filter Time Constant (Pn14) ....... 5-60

Torque Command Filter Time Constant 2 (Pn1C).... 5-61

Torque Command Input (TREF1)............................. 3-12

Torque Command Input (TREF2)............................. 3-12

Torque Command Scale (Pn5C) .............................. 5-83

Torque Command/Speed Limit Selection (Pn5B)..... 5-83

torque control.............................................................. 5-8

torque control mode adjustment............................... 7-25

torque limit ................................................................ 5-25

Torque Limit Selection (Pn03).................................. 5-52

Torque Limit Switch (TLSEL).................................... 3-13

Torque Output Direction Switch (Pn5D) ................... 5-83

trial operation............................................................ 6-28

troubleshooting........................................................... 8-6

UL and CSA standards............................................. 1-10

Undervoltage Alarm Selection (Pn65) ...................... 5-87

Unit No. Setting (Pn00)............................................. 5-50

unit No. switch ............................................................ 1-4

user parameters ....................................................... 5-30

using the Parameter Unit............................................ 6-6

Vibration Filter 1 Setting (Pn2C)............................... 5-65

Vibration Filter 2 Setting (Pn2E)............................... 5-65

Vibration Filter Selection (Pn24)............................... 5-63

Vibration Filter Switch (DFSEL)................................ 3-13

Vibration Frequency 1 (Pn2B) .................................. 5-64

Vibration Frequency 2 (Pn2D) .................................. 5-65

wire sizes.................................................................. 4-25

wiring conforming to EMC Directives........................ 4-27

Zero Speed Designation Input (VZERO) .................. 3-13

Zero Speed Designation/Speed Command

Direction Switch (Pn06)............................................ 5-54

Zero Speed Detection (Pn61)................................... 5-85

R-1

Revision History

A manual revision code appears as a suffix to the catalog number on the front and back covers of the

manual.

The following table outlines the changes made to the manual during each revision. Page numbers refer to

the previous version.

Revision code Date Revised content and pages

01 February 2008 Original production

02 July 2008 Changes were made throughout the manual to add information, and make

minor corrections.

03 October 2009 Changes were made throughout the manual to add information, and make

minor corrections.

Cat. No. I562-E1-03

Revision code

Terms and Conditions of Sale

1. Offer; Acceptance. These terms and conditions (these "Terms") are deemed

part of all quotes, agreements, purchase orders, acknowledgments, price lists,

catalogs, manuals, brochures and other documents, whether electronic or in

writing, relating to the sale of products or services (collectively, the "Products")

by Omron Electronics LLC and its subsidiary companies (“Omron”). Omron

objects to any terms or conditions proposed in Buyer’s purchase order or other

documents which are inconsistent with, or in addition to, these Terms.

2. Prices; Payment Terms. All prices stated are current, subject to change with-

out notice by Omron. Omron reserves the right to increase or decrease prices

on any unshipped portions of outstanding orders. Payments for Products are

due net 30 days unless otherwise stated in the invoice.

3. Discounts. Cash discounts, if any, will apply only on the net amount of invoices

sent to Buyer after deducting transportation charges, taxes and duties, and will

be allowed only if (i) the invoice is paid according to Omron’s payment terms

and (ii) Buyer has no past due amounts.

4. Interest. Omron, at its option, may charge Buyer 1-1/2% interest per month or

the maximum legal rate, whichever is less, on any balance not paid within the

stated terms.

5. Orders. Omron will accept no order less than $200 net billing.

6. Governmental Approvals. Buyer shall be responsible for, and shall bear all

costs involved in, obtaining any government approvals required for the impor-

tation or sale of the Products.

7. Taxes. All taxes, duties and other governmental charges (other than general

real property and income taxes), including any interest or penalties thereon,

imposed directly or indirectly on Omron or required to be collected directly or

indirectly by Omron for the manufacture, production, sale, delivery, importa-

tion, consumption or use of the Products sold hereunder (including customs

duties and sales, excise, use, turnover and license taxes) shall be charged to

and remitted by Buyer to Omron.

8. Financial. If the financial position of Buyer at any time becomes unsatisfactory

to Omron, Omron reserves the right to stop shipments or require satisfactory

security or payment in advance. If Buyer fails to make payment or otherwise

comply with these Terms or any related agreement, Omron may (without liabil-

ity and in addition to other remedies) cancel any unshipped portion of Prod-

ucts sold hereunder and stop any Products in transit until Buyer pays all

amounts, including amounts payable hereunder, whether or not then due,

which are owing to it by Buyer. Buyer shall in any event remain liable for all

unpaid accounts.

9. Cancellation; Etc. Orders are not subject to rescheduling or cancellation

unless Buyer indemnifies Omron against all related costs or expenses.

10. Force Majeure. Omron shall not be liable for any delay or failure in delivery

resulting from causes beyond its control, including earthquakes, fires, floods,

strikes or other labor disputes, shortage of labor or materials, accidents to

machinery, acts of sabotage, riots, delay in or lack of transportation or the

requirements of any government authority.

11. Shipping; Delivery. Unless otherwise expressly agreed in writing by Omron:

a. Shipments shall be by a carrier selected by Omron; Omron will not drop ship

except in “break down” situations.

b. Such carrier shall act as the agent of Buyer and delivery to such carrier shall

constitute delivery to Buyer;

c. All sales and shipments of Products shall be FOB shipping point (unless oth-

erwise stated in writing by Omron), at which point title and risk of loss shall

pass from Omron to Buyer; provided that Omron shall retain a security inter-

est in the Products until the full purchase price is paid;

d. Delivery and shipping dates are estimates only; and

e. Omron will package Products as it deems proper for protection against nor-

mal handling and extra charges apply to special conditions.

12. Claims. Any claim by Buyer against Omron for shortage or damage to the

Products occurring before delivery to the carrier must be presented in writing

to Omron within 30 days of receipt of shipment and include the original trans-

portation bill signed by the carrier noting that the carrier received the Products

from Omron in the condition claimed.

13. Warranties. (a) Exclusive Warranty. Omron’s exclusive warranty is that the

Products will be free from defects in materials and workmanship for a period of

twelve months from the date of sale by Omron (or such other period expressed

in writing by Omron). Omron disclaims all other warranties, express or implied.

(b) Limitations. OMRON MAKES NO WARRANTY OR REPRESENTATION,

EXPRESS OR IMPLIED, ABOUT NON-INFRINGEMENT, MERCHANTABIL-

ITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS.

BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE

PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR

INTENDED USE. Omron further disclaims all warranties and responsibility of

any type for claims or expenses based on infringement by the Products or oth-

erwise of any intellectual property right. (c) Buyer Remedy. Omron’s sole obli-

gation hereunder shall be, at Omron’s election, to (i) replace (in the form

originally shipped with Buyer responsible for labor charges for removal or

replacement thereof) the non-complying Product, (ii) repair the non-complying

Product, or (iii) repay or credit Buyer an amount equal to the purchase price of

the non-complying Product; provided that in no event shall Omron be responsi-

ble for warranty, repair, indemnity or any other claims or expenses regarding

the Products unless Omron’s analysis confirms that the Products were prop-

erly handled, stored, installed and maintained and not subject to contamina-

tion, abuse, misuse or inappropriate modification. Return of any Products by

Buyer must be approved in writing by Omron before shipment. Omron Compa-

nies shall not be liable for the suitability or unsuitability or the results from the

use of Products in combination with any electrical or electronic components,

circuits, system assemblies or any other materials or substances or environ-

ments. Any advice, recommendations or information given orally or in writing,

are not to be construed as an amendment or addition to the above warranty.

See http://www.omron247.com or contact your Omron representative for pub-

lished information.

14. Limitation on Liability; Etc. OMRON COMPANIES SHALL NOT BE LIABLE

FOR SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES,

LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY

WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS

BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.

Further, in no event shall liability of Omron Companies exceed the individual

price of the Product on which liability is asserted.

15. Indemnities. Buyer shall indemnify and hold harmless Omron Companies and

their employees from and against all liabilities, losses, claims, costs and

expenses (including attorney's fees and expenses) related to any claim, inves-

tigation, litigation or proceeding (whether or not Omron is a party) which arises

or is alleged to arise from Buyer's acts or omissions under these Terms or in

any way with respect to the Products. Without limiting the foregoing, Buyer (at

its own expense) shall indemnify and hold harmless Omron and defend or set-

tle any action brought against such Companies to the extent based on a claim

that any Product made to Buyer specifications infringed intellectual property

rights of another party.

16. Property; Confidentiality. Any intellectual property in the Products is the exclu-

sive property of Omron Companies and Buyer shall not attempt to duplicate it

in any way without the written permission of Omron. Notwithstanding any

charges to Buyer for engineering or tooling, all engineering and tooling shall

remain the exclusive property of Omron. All information and materials supplied

by Omron to Buyer relating to the Products are confidential and proprietary,

and Buyer shall limit distribution thereof to its trusted employees and strictly

prevent disclosure to any third party.

17. Export Controls. Buyer shall comply with all applicable laws, regulations and

licenses regarding (i) export of products or information; (iii) sale of products to

“forbidden” or other proscribed persons; and (ii) disclosure to non-citizens of

regulated technology or information.

18. Miscellaneous. (a) Waiver. No failure or delay by Omron in exercising any right

and no course of dealing between Buyer and Omron shall operate as a waiver

of rights by Omron. (b) Assignment. Buyer may not assign its rights hereunder

without Omron's written consent. (c) Law. These Terms are governed by the

law of the jurisdiction of the home office of the Omron company from which

Buyer is purchasing the Products (without regard to conflict of law princi-

ples). (d) Amendment. These Terms constitute the entire agreement between

Buyer and Omron relating to the Products, and no provision may be changed

or waived unless in writing signed by the parties. (e) Severability

. If any provi-

sion hereof is rendered ineffective or invalid, such provision shall not invalidate

any other provision. (f) Setoff. Buyer shall have no right to set off any amounts

against the amount owing in respect of this invoice. (g) Definitions. As used

herein, “including” means “including without limitation”; and “Omron Compa-

nies” (or similar words) mean Omron Corporation and any direct or indirect

subsidiary or affiliate thereof.

Certain Precautions on Specifications and Use

1. Suitability of Use. Omron Companies shall not be responsible for conformity

with any standards, codes or regulations which apply to the combination of the

Product in the Buyer’s application or use of the Product. At Buyer’s request,

Omron will provide applicable third party certification documents identifying

ratings and limitations of use which apply to the Product. This information by

itself is not sufficient for a complete determination of the suitability of the Prod-

uct in combination with the end product, machine, system, or other application

or use. Buyer shall be solely responsible for determining appropriateness of

the particular Product with respect to Buyer’s application, product or system.

Buyer shall take application responsibility in all cases but the following is a

non-exhaustive list of applications for which particular attention must be given:

(i) Outdoor use, uses involving potential chemical contamination or electrical

interference, or conditions or uses not described in this document.

(ii) Use in consumer products or any use in significant quantities.

(iii) Energy control systems, combustion systems, railroad systems, aviation

systems, medical equipment, amusement machines, vehicles, safety equip-

ment, and installations subject to separate industry or government regulations.

(iv) Systems, machines and equipment that could present a risk to life or prop-

erty. Please know and observe all prohibitions of use applicable to this Prod-

uct.

NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS

RISK TO LIFE OR PROPERTY OR IN LARGE QUANTITIES WITHOUT

ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO

ADDRESS THE RISKS, AND THAT THE OMRON’S PRODUCT IS PROP-

ERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE

OVERALL EQUIPMENT OR SYSTEM.

2. Programmable Products. Omron Companies shall not be responsible for the

user’s programming of a programmable Product, or any consequence thereof.

3. Performance Data. Data presented in Omron Company websites, catalogs

and other materials is provided as a guide for the user in determining suitabil-

ity and does not constitute a warranty. It may represent the result of Omron’s

test conditions, and the user must correlate it to actual application require-

ments. Actual performance is subject to the Omron’s Warranty and Limitations

of Liability.

4. Change in Specifications. Product specifications and accessories may be

changed at any time based on improvements and other reasons. It is our prac-

tice to change part numbers when published ratings or features are changed,

or when significant construction changes are made. However, some specifica-

tions of the Product may be changed without any notice. When in doubt, spe-

cial part numbers may be assigned to fix or establish key specifications for

your application. Please consult with your Omron’s representative at any time

to confirm actual specifications of purchased Product.

5. Errors and Omissions. Information presented by Omron Companies has been

checked and is believed to be accurate; however, no responsibility is assumed

for clerical, typographical or proofreading errors or omissions.

OMRON ELECTRONICS LLC •

THE AMERICAS HEADQUARTERS

Schaumburg, IL USA • 847.843.7900 • 800.556.6766 • www.omron247.com

OMRON CANADA, INC. • HEAD OFFICE

Toronto, ON, Canada • 416.286.6465 • 866.986.6766 •

www.omron247.com

OMRON ELETRÔNICA DO BRASIL LTDA • HEAD OFFICE

São Paulo, SP, Brasil • 55.11.2101.6300 • www.omron.com.br

OMRON ELECTRONICS MEXICO SA DE CV • HEAD OFFICE

Apodaca, N.L. • 52.811.156.99.10 • 001.800.556.6766 •

mela@omron.com

OMRON ARGENTINA • SALES OFFICE

Cono Sur • 54.11.4783.5300

OMRON CHILE • SALES OFFICE

Santiago • 56.9.9917.3920

OTHER OMRON LATIN AMERICA SALES

54.11.4783.5300

Cat. No. I562-E1-03 10/09 Specifications are subject to change without notice. Printed in U.S.A.