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- Manufacturer or author: akock
- PDF pages: 12
Technical content
117SmartStep 2 servo drive AC Servo systems R7D-BP@, R88D-GP08H SmartStep 2 servo drive Another step forward in drive simplicity On-line Auto-tuning and Easy set up Ultra-compact size. The foot print is only 48% that of the SmartStep series Two torque limits Electronic gear, four internal speed settings and wide range of pulse settings Adaptive filters for suppresion of vibration and resonance Configuration and commissioning using CX Drive- software Ratings 230 VAC single-phase 50 W to 750 W (0.16 to
2.4 Nm)
(Refer to G- Series servomotor s chapter) Connector termin al block General purpose controller (with pulse output) Position control unit Personal computer software: CX-One Encoder cable
118 AC servo systems
Servo motor / servo drive combination Servo motor SmartStep2 servo drive Family Voltage Speed Rated torque Capacity Model Cylindric 50 -750 W 230 V 3000 min -1 0.16 Nm 50 W R88M-G05030H- @S2 R7D-BP01H
0.32 Nm 100 W R88M-G10030H- @S2 R7D-BP01H
0.64 Nm 200 W R88M-G20030H- @S2 R7D-BP02HH
1.3 Nm 400 W R88M-G40030H- @S2 R7D-BP04H
2.4 Nm 750 W R88M-G75030H- @S2 R88D-GP08H
Flat 100-400 W 0.32 Nm 100 W R88M-GP10030H- @S2 R7D-BP01H
0.64 Nm 200 W R88M-GP20030H- @S2 R7D-BP02HH
1.3 Nm 400 W R88M-GP40030H- @S2 R7D-BP04H
Servo drive type designation SmartStep 2 Servo Drive Drive Type Source voltage Capacity P: Pulse input control R7D-BP01H H: Single-phase
230 VAC for 100/400 W
HH: Single-phase
230 VAC for 200 W
H: 230 V R88D-GP08H SmartStep 2 Servo Drive (750 W) Drive Type P: Pulse input control Capacity
750 W08
SmartStep 2 servo drive 119 AC Servo systems General specifications Performance specifications Servodrive part names SmartStep2 Servo Drive (100 - 400 W models) Servo drive specifications Item Specification Ambient operating temperature 0 to 55 C Ambient operating humidity 90% max. (with no condensation) Ambient storage temperature -20 to 65 C Ambient storage humidity 90% max. (with no condensation) Storage/operating atmosphere No corrosive gases. Vibration resistance 10 to 60 Hz; acceleration : 5.9 m/s² (0.6G) max. Impact resistance Acceleration 19.6 m/s 2 max., 3 times each in X, Y, and Z directions, Insulation resistance Between power supply/power line terminals and frame ground: 0.5 M min. (at 500 VDC) Dielectric strength Between power supply/power 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). International standards Approval obtained for UL: UL 508C; cUL: cUL C22.2 No 14 Approval EC : EMC EN55011 class A Group 1, EN 61000-6-2, low voltage EN50178 Item 200 VAC input type
100 W 200 W 400 W 750 W
R7D-BP01H R7D-BP02HH R7D-BP04H R88D-GP08H Continuous output current (rms) 1.0 A 1.6 A 2.5 A 4 A Momentary maximum output current (rms) 3.3 A 4.9 A 7.8 A 14.1 A Main-circuit power supply Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz Single-phase/three-phase 200 to 240 VAC (170 to
264 V), 50/60 Hz
Control circuit input power - Single-phase 200 to
240 VAC (170 to 264 V)
Control method All-digital method Feedback 10,000 pulses/revol ution incremental encoder Inverter method PWM method based on IGBT PWM frequency 12 kHz 6 kHz Weight 0.35 kg 0.42 kg 0.42 kg 1.5 kg Compatible motor voltage 200 V Command pulse response Line drive: 500 kpps Compatible motor capacity 50 W 100 W
200 W 400 W 750 W
(R88M-) G05030H G10030H GP10030H G020030H GP20030H G40030H GP40030H G75030H Alarm indicator (ALM) Power supply indicator Communications connector (CN3) Control I/O connector (CN1) Encoder input connector (CN2) Motor connector (CNB) FG terminals for power supply and Servomotor power Main circuit connector (CNA) C N C N C N A C N B C N PWR ALM
120 AC servo systems
SmartStep2 Servo Drive (750 W model) UNIT No. AC SERVO DRIVER DATA RS-485 Communications connector (CN3A) RS-232 Communications connector/ Parameter unit connector (CN3B) External regeneration resistor connection terminals Display area Settings area Encoder connector (CN2) Control I/O connector (CN1) Servomotor connection terminals Protective ground terminals Main-circuit power terminals Control-circuit power terminals Analog monitor outputs
SmartStep 2 servo drive 121 AC Servo systems Servo drives Filters Dimensions Filter model Rated current Leakage current Rated voltage R7A-FIB104-RE 4 A 3.5 mA 250 VAC single-phase R88A-FIK107-RE 6.6 A 3.5 mA 250 VAC single-phase Two, M4 C N C N C N B C N A C N ALMPWR 5.1 5.2 105 5.2 di 130 120 140 140 1300.5 55 15 2070 Mounting Hole Dimensions C N C N C N B C N A C N ALMPWR 5.1 5.2 105 5.2 di 130 120 140 140 1300.5 Two, M4 15 2570 Mounting Hole Dimensions UNIT No. AC SERVO DRIVER DATA IM SPG 500.57.5 Two, M4 1400.5 150 17070 150 R7D-BP01H (230 V, 100 W) R7D-BP02HH/04H (230 V, 200-400 W) R88D-GP08H (230 V, 750 W) 179±1165±1 40±1 44±1 input terminals input terminals 2 x 170 mm 1 x 130 mm connector to servo drive power supply input output flexes output flexes drive mounts 2 x M4 190 180 40 35 drive mounts output flexes R7A-FIB104-RE R88A-FIK107-RE
122 AC servo systems
Single-phase, 230 VAC *1. An External Regeneration Resistor can be connected. Connect this resistor if the regenerative energy exceeds regeneration absorption capacity in the Servo Drive. Note:1. The dynamic brake operates when the main circuit power supply or the control circuit power supply is turned OFF. 2. When turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN) signal at the same time. Installation 4.7 k 4.7 k 4.7 k 4.7 k 4.7 k 4.7 k 4.7 k BKIR Brake Interlock Maximum operating voltage: 30 VDC Maximum Output Current: 50 mA DC RUN Command Input +CW CW +CCW CCW Reverse pulse Forward pulse 2RUN 124VIN12 to 24 VDC Frame ground FGShell, 26 Z-phase Output (open collector output) /ALM Z GND Alarm Output INP OGND Positioning Completed Output RESET 3 Alarm Reset Input ECRST4 Deviation Counter Reset Input Gain Switch Input GSEL 5 GESEL 6 Electronic Gear Switch Input Reverse Drive Prohibit Input Forward Drive Prohibit Input NOT 7 POT 8
12 WARN
220 220 Line driver output Conforms to EIA RS-422A (Load resistance: 220 min.) 4.7 k SMARTSTEP2 Servo drive (100-400 W) Encoder Servo motor CN1 CN2 U V W Regeneration resistor *1 CNA CNB P Noise filter Contactor N Thermal switch
SmartStep 2 servo drive 123 AC Servo systems *1 B3-B2 are short-circuited. If the internal regenerative resistor is insufficient, remove the wire between B2 and B3 and connect an external regen- erative resistor between B1 and B2. *2 Use only when an absolute encoder. If a backup battery is co nnected, an encoder cable with a battery is not required. *3 The default values are ZSP (zero-speed detection) for OUTM1 and T -LIMIT (at torque limit) for OUTM2. SMARTSTEP2 Servo drive (750W) Encoder Servo motorB3 B2 U V W L1C L2C Noise filter Single-Phase 200 to 230 VAC Contactor N Thermal switch CN1 3 k 110 43 k 3k 220 Servo ON +CW -CW +CCW -CCW +CWLD -CWLD Reverse pulse Forward pulse BKIR Alarm output BKIRCOM READY READYCOM ALMCOM /ALM37 INPCOM INP39 31RESET 30ECRST 28GESEL 27GSEL 26DFSEL 29RUN 7+24 VIN Alarm reset Deviation counter reset Electronic gear switching Gain switching Vibration filter switching 12 to 24 VDC External power supply 12 to 24 VDC Maximum service voltage: 30 VDC Maximum output current: 50 mADC Reverse pulse 110 43 k 33IPG Pulse prohibition 500 kpps max. 2 Mpps max. 8NOT Reverse run prohibited 9POT Forward run prohibited OUTM1 General-purpose output 1*3 4.7 k 4.7 k 4.7 k 43 k 3 k +CCWLD -CCWLD Forward pulse +A21 -A22 +B49 -B48 +Z23 -Z24 Line-driver output corresponding with the EIA RS-422A communications method (load resistance 120 W min.) 220 43 k 3k 4.7 k 4.7 k 4.7 k 4.7 k 4.7 k 4.7 k +24 VCW 2.2 k +24 VCCW 2.2 k 20100 4.7 k 1 µF SEN SENGND13 Sensor ON BAT BATGND Backup battery*2 (3.6 V) Position reference Shell CNB CNA CN2 Servo ready output Positioning completed output COM- OUTM240 Brake release signal output
25 ZCOM
Z Phase-Z output (output collector output) Encoder phase-A output Encoder phase-B output Encoder phase-Z output General-purpose output 2*3
124 AC servo systems
SmartStep2 Servo Drive Configuration (100-400 W) Note: The symbols ABCDE... show the recommended sequence to select the components in a SmartStep 2 servo system Servo motor Note: ABCD refer to G-Series motor chapter for detailed motor specifications and selection. Servo drives Power Supply cables (for CNA) Control cables (for CN1)
Ordering information
Symbol Specifications SmartStep 2 drive model Compatible servo motors A Cylindrical type Flat type E 200 VAC 100 W R7D-BP01H R88M-G05030H- @ - R88M-G10030H-@ R88M-GP10030H-@
200 W R7D-BP02HH R88M-G20030H- @ R88M-GP20030H-@
400 W R7D-BP04H R88M-G40030H- @ R88M-GP40030H-@
Symbol Specifications Model Appearance E Power Supply Input Cable for Single-Phase Power (connectors at- tached) R7A-CLB002S2 Symbol Description Connect to Model F Control cable (line-driver output for 1 axis) Position control unit (high-speed type) CJ1W-NC234 CJ1W-NC434 1 m XW2Z-100J-G12 5 m XW2Z-500J-G12 10 m XW2Z-10MJ-G12 Control cable (open-collector output for 1 axis) Position control unit (high-speed type) CJ1W-NC214 CJ1W-NC414 1 m XW2Z-100J-G16 3 m XW2Z-300J-G16 Control cable (line-driver output for 2 axis) Position control unit (high-speed type) CJ1W-NC234 CJ1W-NC434 1 m XW2Z-100J-G4 5 m XW2Z-500J-G4 10 m XW2Z-10MJ-G4 Control cable (open-collector output for 2 axis) Position control unit (high-speed type) CJ1W-NC214 CJ1W-NC414 1 m XW2Z-100J-G8 3 m XW2Z-300J-G8 G Terminal block cable for external signals (for input common, forward/reverse run prohibited inputs, emergency stop input, origin proximity input and interrupt input) Position control units (high-speed type) CJ1W-NC234 CJ1W-NC434 CJ1W-NC214 CJ1W-NC414 0.5 m XW2Z-C50X 1 m XW2Z-100X 2 m XW2Z-200X 3 m XW2Z-300X 5 m XW2Z-500X 10 m XW2Z-010X H Terminal block for external signals ( with M3 screw and for pin terminals) - XW2B-20G4 Terminal block ext. signals ( with M3.5 screw and for fork/round terminals) - XW2B-20G5 Terminal block ext. signals ( with M3 screw and fork/round pin terminals) - XW2D-20G6 B C D Position control unit KK L NM O SmartStep 2 Servo drive (100-400W model s) Terminal block General purpose signals (with pulse output) Position control unit Personal computer software: CX-One A E F G H I J Encoder cable Power cable Brake cable Filter Position control unit -High- speed type- P G-Series Servo motor (Refer to G- Series servo motor s chapter)
SmartStep 2 servo drive 125 AC Servo systems Cable for CN3 Filters Connectors External regeneration resistor External regeneration resistor cable Parameter unit & computer software I Cable from servo relay unit to servo drive CS1W-NC1 @3, CJ1W-NC1@3, C200HW-NC113, CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3, C200HW-NC213/413, CQM1H-PLB21 or CQM1-CPU43-V1 1 m XW2Z-100J-B29 2 m XW2Z-200J-B29 CJ1M-CPU21/22/23 1 m XW2Z-100J-B32 2 m XW2Z-200J-B32 J Servo relay unit CS1W-NC1 @3, CJ1W-NC1@3 or C200HW-NC113 position control unit - XW2B-20J6-1B (1 axis) CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3 or C200HW-NC213/413 position control unit - XW2B-40J6-2B (2 axes) CQM1H-PLB21 or CQM1-CPU43-V1 - XW2B-20J6-3B (1 axis) CJ1M-CPU21/22/23 - XW2B-20J6-8A (1 axis) XW2B-40J6-9A (2 axes) K Position control unit connecting cable CJ1W-NC133 0.5 m XW2Z-050J-A18 1 m XW2Z-100J-A18 CJ1W-NC233/433 0.5 m XW2Z-050J-A19 1 m XW2Z-100J-A19 CS1W-NC133 0.5 m XW2Z-050J-A10 1 m XW2Z-100J-A10 CS1W-NC233/433 0.5 m XW2Z-050J-A11 1 m XW2Z-100J-A11 CJ1W-NC113 0.5 m XW2Z-050J-A14 1 m XW2Z-100J-A14 CJ1W-NC213/413 0.5 m XW2Z-050J-A15 1 m XW2Z-100J-A15 CS1W-NC113 C200HW-NC113 0.5 m XW2Z-050J-A6 1 m XW2Z-100J-A6 CS1W-NC213/413 C200HW-NC213/413 0.5 m XW2Z-050J-A7 1 m XW2Z-100J-A7 CJ1M-CPU21/22/23 0.5 m XW2Z-050J-A33 1 m XW2Z-100J-A33 CQM1H-PLB21 CQM1-CPU43-V1 0.5 m XW2Z-050J-A3 1 m XW2Z-100J-A3 L General purpose cable For general purpose controllers 1 m R7A-CPB001S 2 m R7A-CPB002S M Terminal block cable For general purpose controllers 1 m XW2Z-100J-B28 2 m XW2Z-200J-B28 N Terminal block ( with M3 screw and for pin terminals) - XW2B-34G4 Terminal block ( with M3.5 screw and for fork/round terminals) - XW2B-34G5 Terminal block ( with M3 screw and fork/round pin terminals) - XW2D-34G6 Symbol Name Lengh Model O Personal Computer Monitor Cable 2 m R88A-CCG002P2 Symbol Applicable servo drive Rated current Rated voltage Filter model P R7D-BP01H/ 02HH/ 04H 4 A 1 pH, 230 V R7A-FIB104-RE Symbol Description Connect to Model Specifications Model Main Circuit Connector (CNA) R7A-CNB01P Servomotor Connector (CNB) R7A-CNB01A Control I/O Connector (CN1) R88A-CNW01C Encoder Input Connector (CN2) R88A-CNW01R Servomotor Connector for Encoder Cable R88A-CNG02R Servomotor Connector for Servomotor Power Cable R88A-CNG01A Brake Cable Connector R88A-CNG01B Specification Model
80 W, 50 R88A-RR08050S
80 W, 100 R88A-RR080100S
220 W, 47 R88A-RR22047S
External Regenerative Resistor Connection Cable, 2 meters R7A-CLB002RG Specifications Model Parameter copy unit (with cable) R88A-PR02G Configuration and monitoring software tool for servo drives and inverters. (CX-drive version 1.8 or higher) CX-drive
126 AC servo systems
SmartStep2 Servo Drive Configuration (750W) Note: The symbols ABCDE... show the recommended sequence to select the components in a SmartStep 2 servo system. Servo motor Note: ACDE refer to G-Series motor chapter for detailed motor specifications and selection. Servo drives Control cables (for CN1) Symbol Specifications Servo drive model A Compatible rotary servo motors Cylindric type B 1 phase 200 VAC 750 W R88D-GP08H R88M-G75030H- @ Symbol Description Connect to Model F Control cable (line-driver output for 1 axis) Position control units (high-speed type) CJ1W-NC234 CJ1W-NC434 1 m XW2Z-100J-G9 5 m XW2Z-500J-G9 10 m XW2Z-10MJ-G9 Control cable (open-collector output for 1 axis) Position control units (high-speed type) CJ1W-NC214 CJ1W-NC414 1 m XW2Z-100J-G13 3 m XW2Z-300J-G13 Control cable (line-driver output for 2 axis) Position control units (high-speed type) CJ1W-NC234 CJ1W-NC434 1 m XW2Z-100J-G1 5 m XW2Z-500J-G1 10 m XW2Z-10MJ-G1 Control cable (open-collector output for 2 axis) Position control units (high-speed type) CJ1W-NC214 CJ1W-NC414 1 m XW2Z-100J-G5 3 m XW2Z-300J-G5 G Terminal block cable for external signals (for input common, forward/reverse run prohibited inputs, emergency stop input, origin proximity input and interrupt input) Position control units (high-speed type) CJ1W-NC234 CJ1W-NC434 CJ1W-NC214 CJ1W-NC414 0.5 m XW2Z-C50X 1 m XW2Z-100X 2 m XW2Z-200X 3 m XW2Z-300X 5 m XW2Z-500X 10 m XW2Z-010X H Terminal block for external signals (M3 screw, pin terminals) - XW2B-20G4 Terminal block ext. signals(M3.5 screw, fork/round terminals) - XW2B-20G5 Terminal block ext. signals(M3 screw, fork/round terminals) - XW2D-20G6 I Cable from servo relay unit to servo drive CS1W-NC1 @3, CJ1W-NC1@3, C200HW-NC113/213/413, CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3 or CQM1H-PLB21 1 m XW2Z-100J-B25 2 m XW2Z-200J-B25 CJ1M-CPU21/22/23 1 m XW2Z-100J-B31 2 m XW2Z-200J-B31 J Servo relay unit CS1W-NC1 @3, CJ1W-NC1@3 or C200HW-NC113 position control unit - XW2B-20J6-1B (1 axis) CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3 or C200HW-NC213/413 position control unit - XW2B-40J6-2B (2 axes) CQM1H-PLB21 - XW2B-20J6-3B (1 axis) CJ1M-CPU21/22/23 - XW2B-20J6-8A (1 axis) XW2B-40J6-9A (2 axes) Position control unit Power cable SmartStep 2 Servo drive (750W model) Terminal block General purpose signals (with pulse output) Position control unit Personal computer software: CX-One Brake cable A B D I L K M F J N Filter External regenerative resistor Position control unit -High- speed type- O Terminal block for external signals G H P Q Encoder c ableC E G-Series Servo motor (Refer to G- Series servo motor s chapter)
SmartStep 2 servo drive 127 AC Servo systems Computer cable (for CN3) Filter External regenerative resistor Connectors Computer software K Position control unit connecting cable CQM1H-PLB21 0.5 m XW2Z-050J-A3 1 m XW2Z-100J-A3 CS1W-NC113 or C200HW-NC113 0.5 m XW2Z-050J-A6 1 m XW2Z-100J-A6 CS1W-NC213/413 or C200HW-NC213/413 0.5 m XW2Z-050J-A7 1 m XW2Z-100J-A7 CS1W-NC133 0.5 m XW2Z-050J-A10 1 m XW2Z-100J-A10 CS1W-NC233/433 0.5 m XW2Z-050J-A11 1 m XW2Z-100J-A11 CJ1W-NC113 0.5 m XW2Z-050J-A14 1 m XW2Z-100J-A14 CJ1W-NC213/413 0.5 m XW2Z-050J-A15 1 m XW2Z-100J-A15 CJ1W-NC133 0.5 m XW2Z-050J-A18 1 m XW2Z-100J-A18 CJ1W-NC233/433 0.5 m XW2Z-050J-A19 1 m XW2Z-100J-A19 CJ1M-CPU21/22/23 0.5 m XW2Z-050J-A33 1 m XW2Z-100J-A33 L General purpose cable For general purpose controllers 1 m R88A-CPG001S 2 m R88A-CPG002S M Terminal block cable For general pu rpose controllers 1 m XW2Z-100J-B24 2 m XW2Z-200J-B24 N Terminal block (M3 screw and for pin terminals) - XW2B-50G4 Terminal block (M3.5 screw and for fork/round terminals) - XW2B-50G5 Terminal block (M3 screw and for fork/found terminals) - XW2D-50G6 Symbol Description Connect to Model Symbol Name Model O Computer cable RS232 2 m R88A-CCG002P2 Symbol Applicable servodrive Filter model Rated current Leak- age current Rated voltage P R88D-GP08H R88A-FIK107-RE 6.6 A 3.5 mA 250 VAC single- phase Symbol Regenerative resistor unit model Specifications Q R88A-RR08050S 50 80 W R88A-RR080100S 100 80 W R88A-RR22047S 47 0 W R88A-RR50020S 20 500 W Specifications Model I/O connector kit -50 pins- (for CN1) R88A-CNU11C Power cable connector (motor side) R88A-CNG01A Encoder connector (Servo drive side CN2) R88A-CNW01R Incremental encoder cable connector (motor side) R88A-CNG02R Specifications Model Configuration and monitoring software tool for servo drives and inverters (CX-drive version 1.91 or higher). CX-Drive
128 AC servo systems
In the interest of product improvement, specifications are subject to change without notice. ALL DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527. Cat. No. I106E-EN-02B