Detailed instructions for use are in the User's Guide.
[. . . ] Reliability is increased since the single-cable connection is much more rugged than a multiple-wiring solution.
footprint 15 x 4 cm
· Auto-tuning for easy and quick start-up · Built-in MECHATROLINK-II motion bus reduces
cabling and allows remote servo configuration and diagnosis
· High starting torque: 300% for 3 secs. · Positioning, speed or torque control · Separate power and control power supply · Fast and accurate positioning · Servomotor range from 50 W to 1. 5 kW · Incremental and absolute encoder available · Cylindrical and flat servo motors
up to 3, 000 rpm
· Compatible with SmartStep 2 servomotors · Vibration suppression
Fast and simple auto-tuning
The graphs show a move profile with a G-series servo in an application with an inertia ratio of 16:1. Tuning is possible via the easy to use CX-Drive, and takes just 1 minute to complete. [. . . ] (at rated speed) 0% at ±10% of rated voltage (at rated speed) 0 to 50ºC ±0. 1% max. (at rated speed) 1 kHz ±3% (at 20% to 100% of rated torque) 0 to 10 s (acceleration time and deceleration time can be set) MECHATROLINK-II commands (for sequence, motion, data setting/reference, monitor, adjustament and other commands) R88D-GN@ R88M-G@ 01H-ML2 05030@/10030@ 02H-ML2 20030@ 04H-ML2 40030@ 08H-ML2 75030@ 10H-ML2 G1K020T@
I/O signal Position/Speed/torque control mode
Basic specifications
Sequence input signal Sequence output signal
Emergency stop, 3 external latch signals, forward/reverse torque limit, forward/reverse run prohibit, origin proximity, 3 general-purpose inputs It is possible to output three types of signals: positioning completed, speed coincidence, rotation speed detection, servo ready, current limit, speed limit, brake release and warning signal
G-Series servo system
7
Servo drive type Applicable servomotor RS-232 communications
R88D-GN@ R88M-G@ R88M-GP@ Interface Transmission rate Functions
01H-ML2 05030@/10030@
02H-ML2 20030@
04H-ML2 40030@
08H-ML2 75030@
10H-ML2 G1K020T@
10030@ 20030@ 40030@ Personal computer From 2400 to 57600 bps Parameter setting, status display, alarm display (monitor, clear, history), servo drive data tracing function, test run/autotuning operations, real time trace, absolute encoder setting, default values function MECHATROLINK Communications protocol MECHATROLINK-II communications Transmission rate 10 Mbps Data length 17 bytes and 32 bytes Functions Parameter setting, status display, alarm display (monitor, clear, history), default values function Automatic load inertia detection Horizontal and vertical axis mode. Dynamic brake (DB) Operates when main power OFF, servo alarm, overtravel or servo OFF Regenerative processing Built-in regeneration resistor in models from 750 W to 1. 5 kW. External regeneration resistor optionally. Overtravel (OT) prevention function Dynamic brake, disables torque or emergency stop torque during POT and NOT operation Emergency stop (STOP) Emergency stop input Encoder divider function Optional division pulses possible Electronic gearing 0, 01<Numerator/Denominator<100 Internal speed setting function 8 internal speeds Protective functions Overvoltage, undervoltage, overcurrent, overload, regeneration overload, servo drive overheat Analog monitor Ouput The actual servomotor speed, command speed, torque and number of accumulated pulses can be measured using an oscilloscope or other device. Panel operator Display functions A 2-digit 7-segment LED display shows the servo drive status, alarm codes, parameters, etc. MECHATROLINK-II communications status LED indicator (COM) Switches Rotary switch for setting the MECHATROLINK-II node address Communications
15H-ML2 90010T@/1K030T@/ 1K5@0T@ -
Servo drive part names
Display area Rotary switches for ML-II node address
AC SERVO DRIVE
01
Integrated functions
ADR
78 23
9 01
23
X10
X1
COM
ML-II comms status LED indicator RS-232 comms connector (CN3) ML-II comms connector (CN6A, CN6B)
Analog monitor check pins (SP, IM, G)
SP IM G
Main-circuit power terminals (L1, L2, L3) Control-circuit power terminals (L1C, L2C)
External regenerative resistor connection terminals (B1, B2, B3)
Servomotor connection terminals (U, V, W)
Protective ground terminals
8
456
Control I/O connector (CN1)
Encoder connector (CN2)
AC servo systems
Dimensions
Servo drives R88D-GN01H-ML2 / GN02H-ML2 (200 V, 100 to 200 W)
40 70 132 4 Two, M4
AC SERVO DRIVER
01
ADR
78 23
9 01
23
456
X10
X1
COM SP IM G
6
28±0. 5 40
R88D-GN04H-ML2 (200 V, 400 W)
55 70 132 4 Two, M4
AC SERVO DRIVER
01
ADR
9
78 23
01
23
X10
X1
COM SP IM G
6
43±0. 5 55
R88D-GN08H-ML2 (200 V, 750 W)
65 70 172 4 Two, M4
AC SERVO DRIVER
01
ADR
9
01
78
X10
X1
COM SP IM G
140±0. 5
150
150
140±0. 5
150
150
7. 5
50±0. 5 65
G-Series servo system
140±0. 5
150
150
456
23
456
23
9
R88D-GN10H-ML2 / GN15H-ML2 (200 V, 1 kW to 1, 5 kW )
85 70 172 4 Two, M4
AC SERVO DRIVER
01
ADR
78 23
9 01
23
456
X10
X1
COM SP IM G
7. 5
70±0. 5 85
Servo motors type designation
Servo motor
R88M-GP10030H-BOS2
G-Series Servomotor Motor Type
Blank: Cylinder type P: Flat type
Shaft end specifications
Blank Straigth shaft, no key Straigth, key, tapped S2
Oil seal specifications
Blank No oil seal Oil seal O
Capacity
050 100 200 400 750 900 1K0 1K5 50 W 100 W 200 W 400 W 750 W 900 W 1 kW 1. 5 kW
Brake specifications
Blank No brake Brake B
Voltage and encoder specifications
H: 230 V with incremental encoder T: 230 V with absolute encoder
Rated Speed (r/min)
10 20 30 1000 2000 3000
10
AC servo systems
140±0. 5
150
150
Servo motor specifications
Cylindrical servo motors 3000/2000/1000 r/min Ratings and specifications
Applied voltage Servo motor model R88M-@ Rated output W Rated torque N·m Instantaneous peak torque N·m Rated current A (rms) Instantaneous max. speed Torque constant Rotor moment of inertia (JM) Allowable load moment of inertia (JL) Rated power rate Applicable Encoder Allowable radial load Allowable thrust load Approx. speed Torque constant Rotor moment of inertia (JM) Allowable load moment of inertia (JL) Rated power rate Applicable encoder Allowable radial load Allowable thrust load Approx. mass Brake specifications Rated voltage Holding brake moment of inertia J Power consumption (at 20°C) Current consumption (at 20°C) Static friction torque Rise time for holding torque Release time Rating Basic specifications Insulation grade Ambient operating/ storage temperature Ambient operating/ storage humidity Vibration class Insulation resistance Enclosure Vibration resistance Mounting kg·m2x10-4 W A N. m (minimum) ms (max. ) ms (max) Continuous Type B 0 to +40 °C/ -20 to 80°C 85% RH max. at 500 VDC between the power terminals and FG terminal Totally-enclosed, self-cooling, IP65 (excluding shaft opening and lead wire ends) Vibration acceleration 49 m/s2 Flange-mounted 0. 03 7 0. 29 0. 29 50 15 N N Kg (without brake) Kg (with brake) 68 58 0. 7 0. 9 1. 3 2 24VDC +/-10% 0. 09 10 0. 41 1. 27 60 W N·m N·m A (rms) A (rms) min-1 min-1 N·m/A (rms) kg·m2x10-4 Multiple of (JM) kW/s 10. 2 0. 34 0. 1 GP10030@ 100 0. 32 0. 86 1 3. 1 230 V GP20030@ 200 0. 64 1. 8 1. 6 4. 9 3000 5000 0. 42 0. 35 20 11. 5 Incremental (10000 pulses) Incremental /Absolute encoder(17 bits) 245 98 1. 8 2. 5 25. 5 0. 54 0. 64 GP40030@ 400 1. 3 3. 65 2. 5 7. 5
Torque-speed charecteristics
R88M-GP10030H/T (100 W) R88M-GP20030H/T (200 W) R88M-GP40030H/T (400 W)
(N·m) (N·m) (N·m)
1. 0 0. 86
0. 86
2. 0 1. 8
1. 8 (4500)
4. 0 3. 65
3. 65 (3600) 2. 0 0. 78
Repetitive usage
0. 5 0. 32 0. 32 0. 19
Repetitive usage 1. 0 0. 64 0. 64 Continuous usage
0 0. 38
Repetitive usage 2. 0 1. 3 1. 3 Continuous usage
0
Continuous usage
0
1000 2000 3000 4000 5000 (r/min)
1000 2000 3000 4000 5000 (r/min)
1000 2000 3000 4000 5000 (r/min)
12
AC servo systems
Dimensions
Servo motors
Cylindrical type 3000 r/min (230 V, 50-100 W)
Dimensions (mm) Model R88M-G05030@-@S2 R88M-G10030@-@S2 Without brake LL 72 92 With brake LL 102 122 26. 5 46. 5 LN Flange surface D 30h7 Shaft end S 8h6 B 3h9 0. 3 0. 5 Aprox. Mass (Kg) Without brake With brake 0. 5 0. 7
Encoder connector
LL
Brake connector Servomotor connector 25 6 3
(Dimensions of shaft end with key and tap)
230
14 12. 5
200
Two, 4. 3 dia.
32
LN
S D
46
dia.
M3 x 6L (Tap x Depth)
Cylindrical type 3000 r/min (230 V, 200-750 W)
Dimensions (mm) Model R88M-G20030@-@S2 R88M-G40030@-@S2 R88M-G75030@-@S2 Without brake LL 79. 5 99 112. 2 With brake LL 116 135. 5 149. 2 35 53 90 70h7 80 8 6 30 43 LR KL1 D1 70 Flange surface D2 50h7 C 60 G 6. 5 Z 4. 5 S 11h6 14h6 19h6 QK 18 22. 5 22 Shaft end B 4h9 5h9 6h9 H 4 5 6 T1 2. 5 3 3. 5 Aprox. Mass (Kg) Tap x depth Without brake With brake M4x8L M5x10L 0. 8 1. 2 2. 3 1. 3 1. 7 3. 1
Encoder connector LL
Brake connector Servomotor connector LR 3 (Dimensions of shaft end with key and tap)
G
220
200
Four, Z dia.
C×C
QK B H T1
KL1
D1
dia.
S
3
G-Series servo system
D2
1. 8
40 × 40
B
Tap x Depth
13
Cylindrical type 3000, 2000 and 1000 r/min (230 V, 900 kW - 1. 5 kW)
Dimensions (mm) Model R88M-G1K030T-@S2 R88M-G1K530T-@S2 R88M-G1K020T-@S2 R88M-G1K520T-@S2 R88M-G90010T-@S2 Without brake With brake LR KL1 LL 175 180 150 175 175 LL 200 205 175 200 200 70 55 98 D1 100 Flange surface D2 D3 C 90 G 7 F Z S QK 42 41 Shaft end B 6h9 8h9 H 6 7 T1 3. 5 4 Tap x depth M5x12L Aprox. Mass (Kg) Without brake 4. 5 5. 1 22h6 6. 8 8. 5 With brake 5. 1 6. 5 8. 7 10. 1 10
80h7 120
3 6. 6 19h6 9 6
103 115
95h7 135 100 10
118 145 110h7 165 130 12
Servomotor/brake connector Encoder connector G 84 F KL1
Four, Z dia.
(Dimensions of shaft end with key and tap) LL LR C×C
QK H
B T1
S
D2
D3
dia.
D1
dia
.
Tap x Depth
Flat type 3000 r/min (230 V, 100 W - 400 W)
Dimensions (mm) Model R88M-GP10030H-@S2 R88M-GP10030T-@S2 R88M-GP20030H-@S2 R88M-GP20030T-@S2 R88M-GP40030H-@S2 R88M-GP40030T-@S2
Encoder connector
Without brake LL 60. 5 87. 5 67. 5 94. 5 82. 5 109. 5
With brake LL 84. 5 111. 5 100 127 115 142
LR
KL1 D1
Flange surface D2 C F 3 5 G 7 8 Z 4. 5 S 8h6 QK 12. 5 18 B
Shaft end H 3 4 5 T1 1. 8 2. 5 3. 0
Aprox. Mass (Kg) Tap x depth Without brake With brake M3x6L M4x8L M5x10L 0. 7 1. 3 1. 8 0. 9 2 2. 5
25 30
43 53
70 90
50h7 60 70h7 80
3h9 4h9 5h9
5. 5 11h6
14h6 22. 5
Motor connector
LL
LR
Brake connector
(Dimensions of shaft end with key and tap)
220 (7) (7) 200 GF Four, Z dia. C×C
QK
B H T1
KL1
14
D2
D1
dia
S
.
Tap x Depth
AC servo systems
Installation
Single-phase, 230 VAC
L1 L2 L3 N
Thermal switch
Contactor
Noise filter
L1 L3 CNA L1C L2C B1 CNB
U V W
Servo motor
Single-Phase 200 to 230 VAC
G-Series Servo drive
Optical encoder
Regeneration resistor *3
*2
B3 B2
CNB
CN2
CN1
12 to 24 VDC Emergency Stop STOP 2 +24VIN 1
4. 7k 1k 4. 7k
15 /ALM
Alarm Output
16 ALMCOM 36 OUTM1
General-purpose Output 1
External Latch 3
1k
EXT3 3
4. 7k
External Latch 2
35 OUTM1COM 29 OUTM2
General-purpose Output 2
1k
EXT2 4
4. 7k
External Latch 1
1k
EXT1 5
30 OUTM2COM 31 OUTM3
General-purpose Output 3
4. 7k
General-purpose Input 1
1k
IN1 6
32 OUTM3COM
4. 7k
Forword Torque Limit Input
1k
PCL 7
4. 7k
Reverse Torque Limit Input
1k
NCL 8
4. 7k
Forward run Prohibit Input
1k
POT 19
4. 7k
Reverse run Prohibit Input
1k
NOT 20
4. 7k
Origin Proximity Input
1k
DEC 21
4. 7k
General-purpose Input0
1k
IN0 22
34 BAT 33
Backup Battery *1 BATCOM
4. 7k
General-purpose Input 2
1k
IN2 23
Shell
FG
*1 Connect when using an absolute encoder. [. . . ] To convert grams into ounces, multiply by 0. 03527. In the interest of product improvement, specifications are subject to change without notice.
18
AC servo systems
OMRON EUROPE B. V. Wegalaan 67-69, NL-2132 JD, Hoofddorp, The Netherlands. [. . . ]