User manual OMRON SMARTSTEP SERVO MOTORS DATASHEET

[. . . ] R7M-A@, R7M-AP@ SmartStep servo motors The smart alternative to stepper motors · SmartStep motors can be controlled by SmartStep drive and XtraDrive · Cylindrical and flat servo motor types are available · Easy to setup, easy to operate. [. . . ] (at 500 VDC) Between power line terminals and FG: 1, 500 VAC for 1 min at 50/60 Hz Any direction Type B Totally-enclosed self-cooling IP55 for both the cylindrical and flat servo motors V-15 Flange-mounting Approval obtained for UL, cUL, and EN (EMC directive and low-voltage directive) Performance specifications Flat servo motors Item Rated output Rated torque Rated rotation speed Momentary maximum rotation speed Momentary maximum torque Rated current Momentary maximum current Rotor inertia Power rate Allowable radial load Allowable thrust load Weight Without brake With brake Encoder resolution Radiation shield dimensions Brake Brake inertia specifications Excitation voltage Power consumption (at 20 °C) Current consumption (at 20 °C) Static friction torque Attraction time Release time Backlash Rating Insulation grade Applicable servo driver (R7D-) R7M-AP10030-@ R7M-AP20030-@ R7M-AP40030-@ 100 W 200 W 400 W 0. 318 Nm 0. 637 Nm 1. 27 Nm 3, 000 r/min 3, 000 r/min 3, 000 r/min 4, 500 r/min 4, 500 r/min 4, 500 r/min 0. 96 Nm 1. 91 Nm 3. 82 Nm 0. 89 A (rms) 2. 0 A (rms) 2. 6 A (rms) 2. 8 A (rms) 6. 0 A (rms) 8. 0 A (rms) 2. 09 × 10-5 kgm2 3. 47 × 10-5 kgm2 6. 5 × 10-6 kgm2 15. 7 kW/s 19. 4 kW/s 46. 8 kW/s 78 N 245 N 245 N 49 N 68 N 68 N 0. 7 kg 1. 4 kg 2. 1 kg 0. 9 kg 1. 9 kg 2. 6 kg 2, 000 pulses/revolution for phase-A and phase-B, 1 pulse/revolution for phase-Z t6 × 250 mm square 1. 52 × 10-5 kgm2 1. 52 × 10-5 kgm2 3. 1 × 10-6 kgm2 24 VDC ±10% 7. 5 W 7. 6 W 8. 2 W 0. 31 A 0. 32 A 0. 34 A 0. 4 Nm min. 1° 1° 1° Continuous Continuous Continuous Type F Type F Type F AP01H AP02H AP04H R7M-AP75030-@ 750 W 2. 39 Nm 3, 000 r/min 4, 500 r/min 7. 1 Nm 4. 1 A (rms) 13. 9 A (rms) 2. 11 × 10-4 kgm2 26. 9 kW/s 392 N 147 N 4. 2 kg 5. 7 kg t12 × 300 mm square 8. 75 × 10-5 kgm2 7. 5 W 0. 31 A 3. 5 Nm min. 1° Continuous Type F AP08H 182 AC servo systems Cylindrical servo motors Item Rated output Rated torque Rated rotation speed Momentary maximum rotation speed Momentary maximum torque Rated current Momentary maximum current Rotor inertia Power rate Allowable radial load Allowable thrust load Weight Without brake With brake Encoder resolution Radiation shield dimensions Brake Brake inertia specifications Excitation voltage Power consumption (at 20 °C) Current consumption (at 20 °C) Static friction torque Attraction time Release time Backlash Rating Insulation grade Applicable servo driver (R7D-) R7M-A03030-@ R7M-A05030-@ R7M-A10030-@ R7M-A20030-@ R7M-A40030-@ 30 W 50 W 100 W 200 W 400 W 0. 095 Nm 0. 159 Nm 0. 318 Nm 0. 637 Nm 1. 27 Nm 3, 000 r/min 3, 000 r/min 3, 000 r/min 3, 000 r/min 3, 000 r/min 4, 500 r/min 4, 500 r/min 4, 500 r/min 4, 500 r/min 4, 500 r/min 0. 29 Nm 0. 48 Nm 0. 96 Nm 1. 91 Nm 3. 82 Nm 0. 42 A (rms) 0. 6 A (rms) 0. 87 A (rms) 2. 0 A (rms) 2. 6 A (rms) 1. 3 A (rms) 1. 9 A (rms) 2. 8 A (rms) 6. 0 A (rms) 8. 0 A (rms) 1. 7 × 10-6 kgm2 2. 2 × 10-6 kgm2 3. 6 × 10-6 kgm2 1. 19 × 10-5 kgm2 1. 87 × 10-5 kgm2 5. 31 kW/s 11. 5 kW/s 28. 1 kW/s 34. 1 kW/s 86. 3 kW/s 68 N 68 N 78 N 245 N 245 N 54 N 54 N 54 N 74 N 74 N 0. 3 kg 0. 4 kg 0. 5 kg 1. 1 kg 1. 7 kg 0. 6 kg 0. 7 kg 0. 8 kg 1. 6 kg 2. 2 kg 2, 000 pulses/revolution for phase-A and phase-B, 1 pulse/revolution for phase-Z t6 × 250 mm square 0. 85 × 10-6 kgm2 0. 85 × 10-6 kgm2 0. 85 × 10-6 kgm2 6. 4 × 10-6 kgm2 6. 4 × 10-6 kgm2 24 VDC ±10% V 6W 6W 6W 7W 7W 0. 25 A 0. 25 A 0. 25 A 0. 29 A 0. 29 A 0. 2 Nm min. 1° 1° 1° 1° 1° Continuous Continuous Continuous Continuous Continuous Type F Type F Type F Type F Type F APA3H APA5H AP01H AP02H AP04H R7M-A75030-@ 750 W 2. 39 Nm 3, 000 r/min 4, 500 r/min 7. 1 Nm 4. 4 A (rms) 13. 9 A (rms) 6. 67 × 10-5 kgm2 85. 6 kW/s 392 N 147 N 3. 4 kg 4. 3 kg 1. 7 × 10-5 kgm2 7. 7 W 0. 32 A 2. 45 Nm min. 1° Continuous Type F AP08H Torque and rotation speed characteristics Flat servo motors The following graphs show the characteristics with a 3 m standard cable and R7D-AP@H servo driver (200 VAC input) R7M-AP10030 (100 W) (N·m) 1. 0 0. 96 0. 96 (3725) 0. 8 R7M-AP20030 (200 W) (N·m) 2. 0 1. 91 1. 91 (3600) 0. 8 Repeated usage 0. 6 1. 5 Repeated usage 1. 4 1. 0 0. 4 0. 318 0. 2 0. 318 0. 637 0. 222 0. 637 0. 5 Continuous usage Continuous usage (r/min) 0. 452 0 1000 2000 3000 4000 5000 0 (r/min) 1000 2000 3000 4000 5000 R7M-AP40030 (400 W) (N·m) 4. 0 3. 82 R7M-AP75030 (750 W) (N·m) 8. 0 7. 1 6. 0 (2350) 3. 82 (3250) (2500) 7. 1 (3200) 3. 0 Single-phase 200 VAC input Repeated usage 3-phase 200 VAC input 2. 0 Repeated usage 1. 77 1. 27 1. 27 1. 22 0. 89 4. 0 2. 39 2. 0 2. 39 2. 45 1. 64 1. 54 1. 0 Continuous usage 0 Continuous usage (r/min) 1000 2000 3000 4000 5000 0 (r/min) 1000 2000 3000 4000 5000 SmartStep servo motors 183 Torque and rotation speed characteristics Cylindrical servo motors The following graphs show the characteristics with a 3 m standard cable and an R7D-AP@H servo driver (200 VAC input. ) R7M-A03030 (30 W) (N·m) 0. 3 0. 29 0. 29 R7M-A05030 (50 W) (N·m) 0. 5 0. 48 0. 48 0. 4 0. 2 Repeated usage 0. 3 Repeated usage 0. 2 0. 1 0. 095 0. 095 0. 069 0. 159 0. 1 0. 159 Continuous usage (r/min) 1000 2000 3000 4000 5000 Continuous usage 0. 107 0 0 (r/min) 1000 2000 3000 4000 5000 R7M-A10030 (100 W) (N·m) 1. 0 0. 96 0. 96 (3600) 0. 8 0. 91 R7M-A20030 (200 W) (N·m) 2. 0 1. 91 1. 91 (3650) 1. 5 0. 6 Repeated usage 1. 0 Repeated usage 1. 33 0. 4 0. 318 0. 2 0. 318 0. 222 0. 5 0. 637 0. 637 0. 452 Continuous usage Continuous usage (r/min) 0 1000 2000 3000 4000 5000 0 (r/min) 1000 2000 3000 4000 5000 R7M-A40030 (400 W) (N·m) 4. 0 3. 82 (2000) 3. 82 (2900) R7M-A75030 (750 W) (N·m) 8. 0 7. 1 6. 0 7. 1 (2225) 3. 0 Repeated usage 2. 0 1. 27 1. 0 1. 27 1. 45 1. 24 0. 89 2. 0 4. 0 Repeated usage 2. 39 2. 39 Continuous usage Continuous usage 1. 24 0 (r/min) 1000 2000 3000 4000 5000 0 (r/min) 1000 2000 3000 4000 5000 184 AC servo systems Dimensions Cylindrical servo motors (3, 000 r/min) 200 VAC: 30W/50W/100W/200W/400W/750W Without brake: R7M-A03030-S1-D/A05030-S1-D/A10030-S1-D/A20030-S1-D/A40030-S1-D/A75030-S1-D With brake: R7M-A03030-BS1-D/A05030-BS1-D/A10030-BS1-D/A20030-BS1-D/A40030-BS1-D/A75030-BS1-D Model Dimensions (mm) LL Without brake With brake 69. 5 101 77 108. 5 94. 5 135 96. 5 136 124. 5 164 145 189. 5 LR 25 Flange surface C D1 D2 40 46 30h7 Axis end S QK 6h6 14 8h6 14h6 16h6 R7M-A03030@ R7M-A05030@ R7M-A10030@ R7M-A20030@ R7M-A40030@ R7M-A75030@ F 2. 5 G 5 Z Two, 4. 3 dia. b 2 3 5 h 2 3 5 t1 1. 2 1. 8 3 30 40 60 80 70 90 50h7 70h7 3 3 6 8 Four, 5. 5 dia. @30-BS1-D (With brake) 300 Axis end dimensions b t1 300 300 h Hole with "Z" mark QK* S dia. G LL F LR LL G F LR C C Flat servo motors (3, 000 r/min) 200 VAC: 100W/200W/400W/750W Without brake: R7M-AP10030-S1-D/AP20030-S1-D/AP40030-S1-D/AP75030-S1-D With brake: R7M-AP10030-BS1-D/AP20030-BS1-D/AP40030-BS1-D/AP75030-BS1-D Model Dimensions (mm) LL Without brake With brake 62 91 67 98. 5 87 118. 5 86. 5 120 LR 25 30 40 Flange surface C D1 60 70 80 90 120 145 Axis End S QK 8h6 14 14h6 16 16h6 22 R7M-AP10030@ R7M-AP20030@ R7M-AP40030@ R7M-AP75030@ D2 50h7 70h7 110h7 F 3 3 3. 5 G 6 8 10 Z 5. 5 7 10 b 3 5 h 3 5 t1 1. 8 3 R7M-AP@30-BS1-D (With brake) 300 Axis end dimensions b t1 300 300 h Four, Z-dia. [. . . ] I45E-EN-01 In the interest of product improvement, specifications are subject to change without notice. 188 AC servo systems [. . . ]