R88D-GN@, R88D-GT@
G-Series servo drive
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AC Servo systems
A compact servo drive family for motion
control. Compact size and integrated
MECHATROLINK-II motion bus.
ML2 and Analog/ Pulse servo drive models
High-response frequency of 1 kHZ
Auto-tuning for easy and quick start-up
Vibration suppression
Positioning, speed or torque control
Separate power and control power supply
Fast and accurate positioning
Incremental and absolute encoder
Ratings
• 230 VAC Single-phase 100 W to 1.5 kW (8.62 Nm)
System configuration
MECHATROLINK-II control
Motion controllers
CJ1W-NC MECHATROLINK-II
Trajexia stand-alone
Trajexia in PLC
5 6
G
G
X1
X10
01
9 01
ADR
9 01
78
ADR
78
4
78
78
5 6
IM
X10
X1
23
SP
IM
23
01
23
SP
23
23
4
78
AC SE
RVO DRIVER
9 01
COM
COM
MECHATROLINK-II
ADR
X10
X1
23
23
5 6
Power cable
01
9 01
23
23
23
G
ADR
X10
4
01
X1
G-Series ML2
Servo drive
AC SE
RVO DRIVER
AC SE
RVO DRIVER
AC SE
RVO DRIVER
9 01
5 6
ADR
X10
4
01
G-Series ML2
Servo drive
5 6
AC SE
RVO DRIVER
COM
IM
G-Series ML2
Servo drive
4
G-Series ML2
Servo drive
G-Series ML2
Servo drive
SP
Personal computer
software: CX-One
X1
COM
COM
SP
SP
IM
IM
G
G
Terminator
Encoder cable
Open Analogue/Pulse control
G-Series
servo motors
Personal computer:
Sofware CX-One
Power cable
Motion control unit
Cylindric servo motors
(50 W - 1.5 kW)
Encoder cable
Flat servo motors (100-400 W)
G-Series servo drive
Position
control unit
G-Series
Analogue/ Pulse
Servo drive
General purpose cable
Terminal block for
Servo drive I/O general
purpose signals
103
Servo motor supported
Family
Cylindric
Servo motor
Voltage Speed
Rated torque
230 V
3000 min-1 0.16 Nm
0.32 Nm
0.64 Nm
1.3 Nm
2.4 Nm
3.18 Nm
4.77 Nm
2000 min-1 4.8 Nm
7.15 Nm
1000 min-1 8.62 Nm
3000 min-1 0.32 Nm
50 - 750 W
900 - 1500 W
Flat
100-400 W
Capacity
50 W
100 W
200 W
400 W
750 W
1000 W
1500 W
1000 W
1500 W
900 W
100 W
Model
R88M-G05030@-@S2
R88M-G10030@-@S2
R88M-G20030@-@S2
R88M-G40030@-@S2
R88M-G75030@-@S2
R88M-G1K030T-@S2
R88M-G1K530T-@S2
R88M-G1K020T-@S2
R88M-G1K520T-@S2
R88M-G90010T-@S2
R88M-GP10030@-@S2
G-Series servo drive
MECHATROLINK-II
Analog/ Pulse
R88D-GN01H-ML2
R88D-GT01H
R88D-GN01H-ML2
R88D-GT01H
R88D-GN02H-ML2
R88D-GT02H
R88D-GN04H-ML2
R88D-GT04H
R88D-GN08H-ML2
R88D-GT08H
R88D-GN15H-ML2
R88D-GT15H
R88D-GN15H-ML2
R88D-GT15H
R88D-GN10H-ML2
R88D-GT10H
R88D-GN15H-ML2
R88D-GT15H
R88D-GN15H-ML2
R88D-GT15H
R88D-GN01H-ML2
R88D-GT01H
0.64 Nm
200 W
R88M-GP20030@-@S2 R88D-GN02H-ML2
R88D-GT02H
1.3 Nm
400 W
R88M-GP40030@-@S2 R88D-GN04H-ML2
R88D-GT04H
Type designation
Servo drive
R88D-GN04H-ML2
G-Series servo drive
Model
Drive type
Blank: Analogue/ pulse type
ML2: MECHATROLINK-II communications
T: Analogue/ pulse type
N: Network type
Source voltage
Capacity
01
02
04
08
10
15
H: 230 V
100 W
200 W
400 W
750 W
1.0 kW
1.5 kW
Servo drive specifications
General specifications
Basic specifications
R88D-G@
R88M-G@
01H@
05030@/10030@
02H@
20030@
04H@
40030@
08H@
75030@
1.1
1.5
10H@
G1K020T@
15H@
90010T@ / 1K030T@ /
1K5@0T@
R88M-GP@
10030@
20030@
40030@
Max. applicable motor capacity
W
100
200
400
750
1000
1500
Continuous output current
Arms
1.16
1.6
2.7
4.0
5.9
9.8
Max. output current
Arms
3.5
5.3
7.1
14.1
21.2
28.3
Input power
Main circuit
For single-phase, 200 to 240 VAC +10 to -15%
For single-phase/ three-phase, 200 to 240 VAC +10 to -15%
(50/60 Hz)
(50/60 Hz)
Supply
Control circuit
For single-phase, 200 to 240 VAC + 10 to -15% (50/60 Hz)
Control method
IGBT-driven PWM method
Feedback
Serial encoder (incremental/absolute)
Usage/storage temperature
0 to +55 °C / -20 to 65 °C
Usage/storage humidity
90% RH or less (non-condensing)
Altitude
1000m or less above sea level
Vibration/shock resistance
5.88 m/s2 / 19.6 m/s2
Conditions
Servo drive type
Applicable
servomotor
Configuration
Approx. weight
104
Base mounted
Kg
0.8
1.7
AC servo systems
Load variance
Voltage variance
Temperature variance
Frequency characteristics
Torque control accuracy (reproducibility)
Soft start time setting
MECHATROLINK
Communication
During 0 to 100% load ±0.01 max. (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)
Sequence input signal
Emergency stop, 3 external latch signals, forward/reverse torque limit, forward/reverse run prohibit, origin proximity, 3 general-purpose inputs
Sequence output signal
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
RS-232
Interface
Personal computer
communications Transmission rate
From 2400 to 57600 bps
Functions
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
32 bytes
Functions
Parameter setting, status display, alarm display (monitor, clear, history), default values function
Tuning
Horizontal and vertical axis mode. One parameter rigidity setting. Load inertia detection.
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
Integrated functions
Analog/pulse servo drive specifications
Input signal
Load variance
Voltage variance
Temperature dependence
Frequency characteristics
Torque control accuracy (reproducibility)
Soft start time setting
Command pulse Input pulse type
Input pulse frequency
Electronic gearing
Speed control
Input signal
I/O signal Speed/torque control Position control
Performance
Control mode
Speed variance
Torque control
Speed reference voltage
Torque limit
Preset speed control
Torque reference voltage
Speed limit
Sequence input signal
Sequence output signal
G-Series servo drive
Position, speed and torque control mode
During 0 to 100% load ±0.01 max. (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)
Signal + pulse, 90º phase displacement 2-phase pulse (phase A/B) or reverse and forward pulses (CW/CCW)
500 kpps max. line-driver input, 200 kpps max. open-collector input
0,01<Numerator/Denominator<100
10 VDC at 3000 r/min: set at delivery (the scale can be set by parameters)
3 VDC at rated torque (torque can be limited separately in positive/negative direction)
Preset speed is selectable from 8 internal settings by digital inputs.
3 VDC at rated torque: set at delivery (the scale and polarity can be set by parameters).
Speed limit can be set by parameter.
Forward/reverse run prohibit, deviation counter reset, alarm reset, control mode switch, pulse prohibited, speed
selection, gain switch, zero speed designation, origin proximity
Brake release, servo ready and alarm output. It is possible also to output two types of configurable signals: current limit, rotation speed detection, warning signal, speed coincidence, positioning completed
105
AC Servo systems
Performance
Command Input
Speed variance
Communications
I/O signal Position/Speed/torque control mode
MECHATROLINK-II servo drive specifications
Communications
Integrated functions
RS-232
communications
Interface
Transmission rate
Functions
RS-485
communications
data
Interface
Transmission rate
Functions
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
Communication data interface between servo drives.and 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
Horizontal and vertical axis mode. One parameter rigidity setting. Load inertia detection.
Operates when main power OFF, servo alarm, overtravel or servo OFF
Built-in regeneration resistor in models from 750 W to 1.5 kW. External regeneration resistor optionally.
Dynamic brake, disables torque or emergency stop torque during POT and NOT operation
Emergency stop input
Optional division pulses possible
Overvoltage, undervoltage, overcurrent, overload, regeneration overload, servo drive overheat
The actual servomotor speed, command speed, torque and number of accumulated pulses can be measured
using an oscilloscope or other device.
A 6-digit 7-segment LED display shows the servo drive status, alarm codes, parameters, etc.
Unit No. switch for serial communications. Value from 0 to F. To identify which servo drive the computer is
accesing in RS232 communications when multiple servo drives.
Tuning
Dynamic brake (DB)
Regenerative processing
Overtravel (OT) prevention function
Emergency stop (STOP)
Encoder divider function
Protective functions
Analog monitor Ouput
Panel operator
Display functions
Switches
Servo drive part names
Display area
Rotary switches
for ML-II node address
Display area
AC SERVO DRIVE
2 3
2 3
X10
9 0 1
7 8
ADR
4 5 6
0 1
X1
COM
Analog monitor 1 & 2 check pins
(SP, IM, G)
SP
ML-II comms
status LED indicator
IM
G
Unit No. switch
RS-232 comms connector (CN3)
ML-II comms connector
(CN6A, CN6B)
Settings area
Analog monitor 1 check pin (IM)
Analog monitor 2 check pin (SP)
Main-circuit power terminals
(L1, L2, L3)
Main-circuit power terminals
(L1, L2, L3)
Control-circuit power terminals
(L1C, L2C)
Control-circuit power terminals
(L1C, L2C)
Check pin (G: GND)
RS-485
comms connector
(CN3A)
RS-232
Comms connector/
Parameter Unit connector
(CN3B)
Control I/O connector (CN1)
External regenerative resistor
connection terminals (B1, B2, B3)
Control I/O connector (CN1)
Servo motor connection terminals
(U, V, W)
External regeneration resistor
connection terminals (B1, B2, B3)
Servo motor connection terminals
(U, V, W)
Encoder connector (CN2)
Encoder connector (CN2)
Protective ground terminals
MECHATROLINK-II servo drive
106
Protective ground terminals
Analogue/ pulse servo drive
AC servo systems
I/O specifications
Symbol
L1
L2
L3
L1C
L2C
Name
Main circuits power supply input
Function
AC power input terminals for the main circuit
Note: for single-phase connect the power supply input to L1 and L3
Control circuit power supply input
AC power input terminals for the control circuit
Servomotor connector (CNB) specifications
Symbol
B1
B2
B3
Name
Function
External regeneration resistor connection terminals Up to 400 W:
U
V
W
Servo motor connection terminals
If regenerative energy is high, connect an external regeneration resistor between B1 and B2.
From 750 W to 1.5kW: Normally B2 and B3 are connected. If regenerative energy is
high, remove the short-circuit bar between B2 and B3 and
connect an external regeneration resistor between B1 and
B2.
Terminals for outputs to the servomotor.
Frame ground
Ground terminal. Ground to 100 or less.
I/O signals (CN1) - Input signals (for MECHATROLINK-II servo drives)
Pin No.
1
Signal name
+24VIN
2
3
4
5
22
6
23
7
8
19
STOP
EXT3
EXT2
EXT1
20
21
34
33
Function
Control power supply input for sequence signals: users must provide the +24 V power supply.
Allowable voltage range: 12 to 24 VDC
Emergency Stop Input
Input for emergency stop. Emergency stop function factory default: enable.
External Latch Signals
This external signal input latches the current value feedback pulse counter.
Minimal signal width must be 1 ms.
IN1
IN0
IN2
PCL
NCL
External general-purpose Input 0
External general-purpose Input 1
External general-purpose Input 2
Forward Torque Limit Input
Reverse Torque Limit Input
Forward Run Prohibit Input
Reverse Run Prohibit Input
Origin Proximity Input
Battery backup input for absolute
encoder
POT
NOT
DEC
BAT
BATCOM
This input is used as external general-purpose input.
This signal input selects the torque limit.
Forward/ reverse drive rotation overtravel input. Stops servomotor when movable
part travels beyond the allowable range of motion.
Connect the origin proximity input signal in the origin search operation.
Connecting pin for the absolute backup battery. Do not connect when a battery is
connected to the servomotor encoder cable.
I/O signals (CN1) - output signals (for MECHATROLINK-II servo drives)
Pin No.
15
16
29
30
31
32
36
35
Signal name
/ALM
ALMCOM
OUTM2
OUTM2COM
OUTM3
OUTM3COM
OUTM1
OUTM1COM
Function
The output turns OFF when an alarm is generated in the Servo drive.
General-purpose output.
The fucntion for this output is selected by changing the parameter:
INP1 (Positioning completed), VCMP (Speed conformity signal), TGON (Servomotor rotation speed detection), READY
(Servo ready), CLIM (Current limit detection), VLIM (Speed limit detection), BKIR (Brake interlock), WARN (Warning signal)
I/O signals (CN1) - Input signals (for analog/pulse servo drives)
Pin No.
1
3
4
2
5
6
44
45
46
47
14
15
16
Control mode Signal name
Position
+24 VCW
+CW
-CW
+24 VCW
+CCW
-CCW
+CWLD
-CWLD
+CCWLD
-CCWLD
Speed
REF
Torque
TREF1
VLIM
AGND1
Torque
TREF2
Position/Speed PCL
18
17
NCL
-
G-Series servo drive
AGND
Function
Reference pulse input for line driver and open collector according to parameter setting.
Input mode:
Sign + pulse string
Reverse/forward pulse (CCW/CW pulse)
Two-phase pulse (90° phase differential)
Reference pulse input for line driver only.
Input mode:
Reverse/forward pulse (CW/CCW pulse)
Speed reference input: ±10 V/rated motor speed (input gain can be modified using a parameter).
Torque reference input: ±10 V/rated motor torque (input gain can be modified using a parameter).
Speed limit input: ±10 V/rated motor speed (input gain can be modified using a parameter).
Analog signal ground
Torque reference input: ±10 V/rated motor torque (input gain can be modified using a parameter).
Forward torque limit input: ±10 V/rated motor torque (input gain can be modified using a parameter).
Reverse torque limit input: ±10 V/rated motor torque (input gain can be modified using a parameter).
Analog signal ground
107
AC Servo systems
Main circuit connector (CNA) specifications
Pin No.
7
Control mode Signal name
Common
+24 VIN
RUN
Position
DFSEL
Speed
PNSEL
Speed/Torque VZERO
GSEL
Common
TLSEL
Position
GESEL
VSEL3
Speed
29
26
27
28
Position
30
ECRST
VSEL2
Speed
31
Common
RESET
TVSEL
32
Function
Control power supply input for sequence signals: users must provide the +24 V power supply (12 to 24 V).
Servo ON: this turn ON the servo.
Vibration filter switching
Enables vibration filter according parameter setting.
Speed command rotation direction switch
Zero speed designation
Speed command is regarder as 0. This function is enable/disabled by parameter.
Gain switching
Enables gain value according parameter setting.
Torque limit switch.
Electronic gear switching
Switches the numerator fro electronic gear ratio.
Internal speed selection 3
Input to select the desired speed setting during internally speed operation.
The speed selecton is combining this input with VSEL1 and VSEL2 inputs.
Error counter reset input.
Resets the position error counter.
Internal speed selection 2
Input to select the desired speed setting during internally speed operation.
The speed selecton is combining this input with VSEL1 and VSEL3 inputs.
Alarm reset input.
Release the alarm status. The error counter is reset when the alarm is reset.
Control mode switching
Position speed
Position torque
Position/
Speed/Torque
Position
33
IPG
VSEL1
Speed
8
9
20
13
42
43
50
NOT
POT
SEN
SENGND
BAT (+)
BATGND (-)
FG
Common
Common
Common
Enables control mode switching
Torque speed
Pulse prohibition input. Digital input to inhibit the position reference pulse.
Internal speed selection 1
Input to select the desired speed setting during internally speed operation.
The speed selecton is combining this input with VSEL2 and VSEL3 inputs.
Reverse run prohibited
Overtravel prohibited: stops servomotor when movable part travels beyond the
allowable range of motion.
Forward run prohibited
Sensor ON input. Initial data request signal when using an absolute encoder.
Sensor ON signal ground.
Backup battery connection terminals when the absolute encoder power is interrupted. Do not connect when an
absolute encoder battery cable for backup is used.
Frame ground
I/O signals (CN1) - Output signals (for analog/pulse servo drives)
Pin No.
21
22
49
48
23
24
19
25
11
10
35
34
37
36
39
38
39
38
-
Control mode
Common
12
40
41
Common
108
Signal name
+A
-A
+B
-B
+Z
-Z
Z
Speed/torque
Position
-
ZCOM
BKIR
BKIRCOM
READY
READYCOM
/ALM
ALMCOM
TGON
TGONCOM
INP
INPCOM
INP2
P-CMD
ZSP
WARN1
WARN2
ALM-ATB
VCMP
V-CMD
V-LIMIT
T-LIMIT
OUTM1
OUTM2
COM
Function
Encoder phase A+
Encoder phase AEncoder phase B+
Encoder phase BEncoder phase Z+
Encoder phase ZEncoder phase-Z output
Encoder signals are output according Encoder Dividing Numerator parameter.
This is the line-driver output (equivalent to R422).
Phase Z is output for encoder signals. Open-collector output.
Encoder phase-Z common
Brake release signal output Timing signal for operating the electromagnetic brake on a motor.
Servo ready: ON if there is not servo alarm when the control/main circuit power supply is turned ON.
Servo alarm: turns OFF when an error is detected.
Motor rotation speed detection. This output turns ON when the motor rotation speed reaches the speed set in a parameter.
Positioning complete output: turns ON when position error is equal to setting parameter.
Position complete output 2
Position command status
Zero speed
Warning 1
Warning 2
Alarm output
Speed conformity output
speed command status
Speed limit detection
Torque limit detection
General-purpose Output 1
General-purpose Output2
General-purpose common
The function of output signals allocated to pins 11,10, 34 to 39 can be changed with these options by parameters settings.
Use the parameter settings to assign the desired function
Output ground common
AC servo systems
Dimensions
Servo drives
R88D-GN01/02H-ML2, R88D-GT01/02H (200 V, 100 to 200 W)
70
40
132 (for ML2 models)
130 (for analogue/ pulse models)
4
Two, M4
ADR
0 1
9 0 1
7 8
2 3
2 3
AC Servo systems
AC SERVO DRIVER
4 5 6
X10
X1
COM
SP
IM
150
150
1400.5
G
6
280.5
40
R88D-GN04H-ML2, R88D-GT04H (200 V, 400 W)
70
55
132 (for ML2 models)
130 (for analogue/ pulse models)
4
Two, M4
AC SERVO DRIVER
ADR
9
0 1
2 3
2 3
7 8
0 1
4 5 6
X10
X1
COM
SP
IM
150
150
1400.5
G
6
430.5
55
R88D-GN08H-ML2, R88D-GT08H (200 V, 750 W)
70
65
172 (for ML2 models)
170 (for analogue/ pulse models)
Two, M4
4
AC SERVO DRIVER
ADR
9
0 1
2 3
2 3
7 8
0 1
4 5 6
X10
X1
COM
SP
IM
1400.5
150
150
G
7.5
500.5
65
G-Series servo drive
109
R88D-GN10/15H-ML2, R88D-GT10/15H (200 V, 1 kW to 1,5 kW )
172 (for ML2 models)
170 (for analogue/ pulse models)
70
85
4
Two, M4
AC SERVO DRIVER
ADR
9 01
2 3
2 3
7 8
0 1
4 5 6
X10
X1
COM
SP
IM
1400.5
150
150
G
7.5
700.5
85
Filters
W
M2
ØM
D
drive
mounts
H M1
output
flexes
Filter model
R88A-FIK102-RE
R88A-FIK104-RE
R88A-FIK107-RE
R88A-FIK114-RE
110
Rated current
2.4 A
4.1 A
6.6 A
14.2 A
Leakage current
3.5 mA
3.5 mA
3.5 mA
3.5 mA
External dimensions
H
W
190
42
190
57
190
64
190
86
D
44
30
35
35
Mount dimensions
M1
M2
180
20
180
30
180
40
180
60
FIlter Fixing Rated voltage
M4
M4
M4
M4
250 VAC single-phase
AC servo systems
Installation
Single-phase, 230 VAC
L1
L2
L3
N
Thermal switch
L1
Noise filter
CNB
L3
CNA
L2C
B1
*2
B3
Servo motor
U
V
W
G-Series
Servo drive
ML2 model
L1C
Single-Phase
200 to 230 VAC
AC Servo systems
Contactor
Encoder
CN2
CNB
B2
CN1
12 to 24 VDC
24VIN 1
4.7k
15 /ALM
Alarm Output
1k
Emergency Stop
STOP 2
4.7k
External
Latch 3
1k
36 OUTM1
General-purpose Output 1
EXT3 3
4.7k
External
Latch 2
16 ALMCOM
1k
EXT2 4
35 OUTM1COM
29 OUTM2
General-purpose Output 2
4.7k
External
Latch 1
1k
EXT1 5
4.7k
30 OUTM2COM
31 OUTM3
General-purpose Output 3
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
4.7k
General-purpose
Input 2
34 BAT
IN0 22
33
Backup Battery*1
BATCOM
1k
IN2 23
Shell
FG
*1 For use only with an absolute encoder. If a backup battery is connected to CN1 I/O connector, an encoder cable with a battery is not required.
*2 For servo drives from 750 W, B2 and B3 are short-circuited. If the internal regenerative resistor is insufficient, remove the wire between B2 and
B3 and connect an external resistor between B1 and B2.
G-Series servo drive
111
Single-phase, 230 VAC
L1
L2
L3
N
*2
B1
B3
B2
Thermal switch
Servo motor
U
V
CNB
W
Contactor
G-Series
servo drive
Analogue/ Pulse model
L1
Noise filter
L3
CNA
Encoder
CN2
L1C
Single-Phase
200 to 230 VAC
L2C
+24 VCW 1 2.2 k
CN1
+CW 3
Reverse pulse
11 BKIR
Brake release signal output
10 BKIRCOM
-CW 4 220 
500 kpps max.
+24 VCCW 2 2.2 k
35 READY
Servo ready output
+CCW 5
Forward pulse
34 READYCOM
-CCW 6 220 
Position reference*3
-CWLD 45
2 Mpps max.
Forward pulse
110 
3k  43 k
+CCWLD 46 3k  43 k
-CCWLD 47
Maximum
output current: 50 mADC
37 /ALM
Alarm output
36 ALMCOM
+CWLD 44 3 k 43 k
Reverse pulse
External power supply 12 to 24 VDC
Maximum
service voltage: 30 VDC
39 INP
Positioning completed output
110 
38 INPCOM
3 k 43 k
12
OUTM1
General purpose Output 1
12 to 24 VDC
+24 VIN 7
Servo ON
Vibration filter
switching
4.7 k
40
OUTM2
General purpose Output 2
4.7 k
41
COM
4.7 k
19 Z
Phase-Z output
(open-collector output)
25 ZCOM
RUN 29
DFSEL 26
Gain switching
21 +A
GSEL 27
4.7 k
22 -A
Electronic gear
switching
GESEL 28
method (load resistance 120  min.)
49 +B
Encoder phase-B output
4.7 k
48 -B
4.7 k
24 -Z
Deviation counter reset
23 +Z
ECRST 30
Encoder phase-Z output
Alarm reset
100 20 SEN
RESET 31
4.7 k
1 µF
Control mode
switching
Encoder phase-A output Line-driver output corresponding
with the EIA RS-422A communications
4.7 k
13
Sensor ON
SENGND
TVSEL 32
4.7 k
42
Pulse prohibition
43
IPG 33
BAT
BATGND
Backup battery*1
(3.6 V)
4.7 k
20 k 14 REF/TREF1/VLIM
Reverse run
prohibited
3.83 k
NOT 8
Speed/Torque command or Speed limit
15 AGND
4.7 k
Forward run
prohibited
*4
(±10 V/rated speed or torque)
10 k 16 PCL/TREF2
POT 9
3.83 k
Forward torque limit/Torque command
17 AGND
10 k 18 NCL
*4
(±12 V/rated speed or torque)
Reverse torque limit
3.83 k
*4
Reverse torque limit
50 FG
Frame ground
(±12 V/rated speed or torque)
*1 For use only with an absolute encoder. If a backup battery is connected to CN1 I/O connector, an encoder cable with a battery is not required.
*2 For servo drives from 750 W, B2 and B3 are short-circuited. If the internal regenerative resistor is insufficient, remove the wire between B2 and
B3 and connect an external resistor between B1 and B2.
*3 Only available in Position control mode.
*4 The input function depends on control mode used (Position, speed or torque control).
112
AC servo systems
Ordering information
G-Series MECHATROLINK-II model reference configuration
A G-Series Cylindrical type servo motor
B G-Series MECHATROLINK-II
J
AC SE
RVO DRIVER
9 01
5 6
23
23
78
ADR
X10
4
01
X1
COM
CN3
SP
3000 rpm (50-750W)
3000 rpm (1000-1500 W)
2000 rpm (1000-1500 W)
1000 rpm (900 W)
A G-Series Flat type
IM
I
G
CN6
L Filter
K MECHATROLINK-II cables
M External
regenerative
resistor
D Power cable
servo motor
Position control unit:
CJ1W-NC MECHATROLINK-
E
Servo drive I/O signals
F
I/O signals cable
Motion controller unit:
Trajexia stand-alone
Trajexia in PLC
CN1
H
G
C Encoder cable
3000 rpm (100-400 W)
MECHATROLINK-II
Motion controllers
Terminal block
for Servo drive I/O
signals
Note: The symbols ABCDE... show the recommended sequence to select the components in a G-Series servo system
Servo motors, power & encoder cables
Note: ACD Refer to the G-Series servo motor chapter for servomotor, motor cables or connectors selection
Servo drives
Specifica- Servo drive model A Compatible rotary servo motors
tions
Cylindric type
Flat type
100 W R88D-GN01H-ML2 R88M-G05030@
R88M-GP10030@
R88M-G10030@
200 W R88D-GN02H-ML2 R88M-G20030@
R88M-GP20030@
400 W R88D-GN04H-ML2 R88M-G40030@
R88M-GP40030@
750 W R88D-GN08H-ML2 R88M-G75030@
1.0 kW R88D-GN10H-ML2 R88M-G1K020T@ 1.5 kW R88D-GN15H-ML2 R88M-G90010T@ R88M-G1K030T@ R88M-G1K520T@ R88M-G1K530T@ -
Symbol
K
Specifications
MECHATROLINK-II
Terminator resistor
MECHATROLINK-II cables
1 phase 200 VAC
B
MECHATROLINK-II cables (for CN6)
Symbol
F
General purpose cable
G
Terminal block cable
H
Terminal block
Connect to
Servo drive I/O signals
1m
2m
1m
2m
-
Model
R88A-CNU01C
R88A-CPGB001S-E
R88A-CPGB002S-E
XW2Z-100J-B33
XW2Z-200J-B33
XW2B-20G4
XW2B-20G5
XW2D-20G6
Symbol Name
Computer cable RS232
I
2m
Model
R88A-CCG002P2
Trajexia-PLC motion controller
Position Controller Unit for CJ1 PLC
Position Controller Unit for CS1 PLC
G-Series servo drive
0.5 m
1m
3m
5m
10 m
20 m
30 m
JEPMC-W6003-A5-E
JEPMC-W6003-01-E
JEPMC-W6003-03-E
JEPMC-W6003-05-E
JEPMC-W6003-10-E
JEPMC-W6003-20-E
JEPMC-W6003-30-E
Applicable
servodrive
Filter model
Rated Leak- Rated
current age
voltage
current
R88D-GN01H@
R88D-GN02H@
R88D-GN04H@
R88D-GN08H@
R88D-GN10H@
R88D-GN15H@
R88A-FIK102-RE 2.4 A
R88A-FIK104-RE 4.1 A
R88A-FIK107-RE 6.6 A
R88A-FIK114-RE 14.2 A
3.5 mA 250 VAC
single3.5 mA phase
3.5 mA
3.5 mA
External regenerative resistor
Symbol
Regenerative resistor unit model
R88A-RR08050S
R88A-RR080100S
R88A-RR22047S
R88A-RR50020S
Specifications
50 , 80 W
100 , 80 W
47 , 220 W
20 , 500 W
Computer software
MECHATROLINK-II Motion controllers
Symbol Name
Trajexia stand-alone motion controller
J
L
M
Computer cable (for CN3)
Model
JEPMC-W6022-E
Filters
Control cables (for CN1)
Symbol Name
I/O connector kit
E
Length
-
Model
TJ2-MC64 (64 axes)
TJ1-MC16 (16 axes)
TJ1-MC04 (4 axes)
CJ1W-MCH72 (30 axes)
CJ1W-MC472 (4 axes)
CJ1W-NCF71 (16 axes)
CJ1W-NC471 (4 axes)
CJ1W-NC271 (2 axes)
CS1W-NCF71 (16 axes)
CS1W-NC471 (4 axes)
CS1W-NC271 (2 axes)
Specifications
Configuration and monitoring software tool for servo drives and
inverters. (CX-drive version 1.70 or higher)
Complete OMRON software package including CX-drive.
(CX-One version 3.10 or higher)
Model
CX-drive
CX-One
113
AC Servo systems
Personal computer:
Sofware CX-One
Servo drive
Ordering information
G-Series Analog/pulse model reference configuration
B
A G-Series Cylindrical type servo motor
G-Series Analogue/ Pulse
Servo drive
P Filter
3000 rpm (50-750W)
Q
D Power cable
External
regenerative
resistor
CN3
O
CN1
E
3000 rpm (1000-1500 W)
2000 rpm (1000-1500 W)
1000 rpm (900 W)
Personal computer:
Sofware CX-One
RS232 computer cable
Motion control unit
F
Position control unit
-High-speed type-
H Terminal block
for external signals
K
I
C Encoder cable
G
Position control unit
A G-Series Flat type
servo motor
J
L
General purpose cable
M
3000 rpm (100-400 W)
N
Terminal block for Servo drive
I/O general purpose signals
Note: The symbols ABCDE... show the recommended sequence to select the components in a G-Series servo system
Servo motors, power & encoder cables
Note: ACD Refer to the G-Series servo motor chapter for servomotor, motor cables or connectors selection
Servo drives
Specifications
B
1 phase 200 VAC
Servo drive model
100 W
R88D-GT01H
200 W
400 W
750 W
1.0 kW
1.5 kW
R88D-GT02H
R88D-GT04H
R88D-GT08H
R88D-GT10H
R88D-GT15H
A
Compatible rotary servo motors
Cylindric type
R88M-G05030@
R88M-G10030@
R88M-G20030@
R88M-G40030@
R88M-G75030@
R88M-G1K020T@
R88M-G90010T@
R88M-G1K030T@
R88M-G1K520T@
R88M-G1K530T@
Flat type
R88M-GP10030@
R88M-GP20030@
R88M-GP40030@
-
Control cables (for CN1)
Symbol Description
Control cable
E
(1 axis)
Connect to
Motion control units
CS1W-MC221
CS1W-MC421
Control cable
(2 axis)
Motion control units
CS1W-MC221
CS1W-MC421
Control cable
(line-driver output for 1 axis)
Position control units (high-speed type)
CJ1W-NC234
CJ1W-NC434
Control cable
(open-collector output for 1 axis)
Position control units (high-speed type)
CJ1W-NC214
CJ1W-NC414
Position control units (high-speed type)
CJ1W-NC234
CJ1W-NC434
F
Control cable
(line-driver output for 2 axis)
Control cable
(open-collector output for 2 axis)
114
Position control units (high-speed type)
CJ1W-NC214
CJ1W-NC414
1m
2m
3m
5m
1m
2m
3m
5m
1m
5m
10 m
1m
3m
Model
R88A-CPG001M1
R88A-CPG002M1
R88A-CPG003M1
R88A-CPG005M1
R88A-CPG001M2
R88A-CPG002M2
R88A-CPG003M2
R88A-CPG005M2
XW2Z-100J-G9
XW2Z-500J-G9
XW2Z-10MJ-G9
XW2Z-100J-G13
XW2Z-300J-G13
1m
5m
10 m
1m
3m
XW2Z-100J-G1
XW2Z-500J-G1
XW2Z-10MJ-G1
XW2Z-100J-G5
XW2Z-300J-G5
AC servo systems
H
I
J
K
Connect to
Position control units (high-speed type)
CJ1W-NC234
CJ1W-NC434
CJ1W-NC214
CJ1W-NC414
Terminal block for external signals (M3 screw, pin terminals)
Terminal block for ext. signals (M3.5 screw, fork/round terminals)
Terminal block for ext. signals (M3 screw, fork/round terminals)
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
CJ1M-CPU21/22/23
Servo relay unit
Position control units
CS1W-NC1@3, CJ1W-NC1@3 or C200HW-NC113
Position control units
CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3 or
C200HW-NC213/413
CQM1H-PLB21 or CQM1-CPU43
CJ1M-CPU21/22/23
Position control unit
connecting cable
CQM1H-PLB21 or CQM1-CPU43
CS1W-NC113 or C200HW-NC113
CS1W-NC213/413 or C200HW-NC213/413
CS1W-NC133
CS1W-NC233/433
CJ1W-NC113
CJ1W-NC213/413
CJ1W-NC133
CJ1W-NC233/433
CJ1M-CPU21/22/23
L
General purpose cable
For general purpose controllers
M
Terminal block cable
For general purpose controllers
N
Terminal block (M3 screw and for pin terminals)
Terminal block (M3.5 screw and for fork/round terminals)
Terminal block (M3 screw and for fork/round terminals)
Computer cable (for CN3)
Model
R88A-CCG002P2
2m
1m
2m
-
XW2Z-100J-B31
XW2Z-200J-B31
XW2B-20J6-1B (1 axis)
-
XW2B-40J6-2B (2 axes)
-
XW2B-20J6-3B (1 axis)
XW2B-20J6-8A (1 axis)
XW2B-40J6-9A (2 axes)
XW2Z-050J-A3
XW2Z-100J-A3
XW2Z-050J-A6
XW2Z-100J-A6
XW2Z-050J-A7
XW2Z-100J-A7
XW2Z-050J-A10
XW2Z-100J-A10
XW2Z-050J-A11
XW2Z-100J-A11
XW2Z-050J-A14
XW2Z-100J-A14
XW2Z-050J-A15
XW2Z-100J-A15
XW2Z-050J-A18
XW2Z-100J-A18
XW2Z-050J-A19
XW2Z-100J-A19
XW2Z-050J-A33
XW2Z-100J-A33
R88A-CPG001S
R88A-CPG002S
XW2Z-100J-B24
XW2Z-200J-B24
XW2B-50G4
XW2B-50G5
XW2D-50G6
0.5 m
1m
0.5 m
1m
0.5 m
1m
0.5 m
1m
0.5 m
1m
0.5 m
1m
0.5 m
1m
0.5 m
1m
0.5 m
1m
0.5 m
1m
1m
2m
1m
2m
-
Specifications
I/O connector kit, 50 pins (for CN1)
Model
R88A-CNU11C
Computer software
Filters
P
Model
XW2Z-C50X
XW2Z-100X
XW2Z-200X
XW2Z-300X
XW2Z-500X
XW2Z-010X
XW2B-20G4
XW2B-20G5
XW2D-20G6
XW2Z-100J-B25
XW2Z-200J-B25
Connectors
Symbol Name
Computer cable RS232
O
Symbol
0.5 m
1m
2m
3m
5m
10 m
1m
2m
Applicable
servodrive
Filter model
Rated Leak- Rated
current age
voltage
current
R88D-GT01H
R88D-GT02H
R88D-GT04H
R88D-GT08H
R88D-GT10H
R88D-GT15H
R88A-FIK102-RE 2.4 A
R88A-FIK104-RE 4.1 A
R88A-FIK107-RE 6.6 A
R88A-FIK114-RE 14.2 A
3.5 mA 250 VAC
single3.5 mA phase
3.5 mA
3.5 mA
Specifications
Configuration and monitoring software tool for servo drives and
inverters. (CX-drive version 1.70 or higher)
Complete OMRON software package including CX-drive.
(CX-One version 3.10 or higher)
Model
CX-drive
CX-One
External regenerative resistor
Symbol
Q
Regenerative resistor unit model
R88A-RR08050S
R88A-RR080100S
R88A-RR22047S
R88A-RR50020S
G-Series servo drive
Specifications
50 , 80 W
100 , 80 W
47 , 220 W
20 , 500 W
115
AC Servo systems
Symbol Description
G
Terminal block cable for external signals
(for input common, forward/reverse run prohibited inputs,
emergency stop input, origin proximity input and interrupt input)
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. I108E-EN-02
116
In the interest of product improvement, specifications are subject to change without notice.
AC servo systems
Mouser Electronics
Authorized Distributor
Click to View Pricing, Inventory, Delivery & Lifecycle Information:
Omron:
R88M-G20030H-BOS2 R88M-G10030S-O R88M-G10030T-B R88M-G10030H-BO R88M-G3K010T-S2 R88MG40030H-BS2 R88M-G2K010T-B R88M-GP10030S-BO R88M-GP20030S-B R88M-G90010T-BOS2 R88MG1K520T-S2 R88M-G2K020T-BOS2 R88M-G20030L-BOS2 R88M-G20030T R88M-G20030T-S2 R88M-G10030H-O
R88M-GP40030H-O R88M-G75030H-S2 R88M-G10030L-BS2 R88M-GP20030H-S2 R88M-G10030L-S2 R88MG40030T R88M-G05030T R88M-GP10030T-BS2 R88M-G1K020T-BOS2 R88M-GP40030T-B R88M-G90010T-OS2
R88M-G40030L-OS2 R88M-GP10030L R88M-G10030S-OS2 R88M-G3K030T-B R88M-G20030H-S2 R88MG2K030T-O R88M-GP20030T-BOS2 R88M-G40030T-BOS2 R88M-G1K030T-O R88M-G40030H R88M-G20030H-B
R88M-G20030L-OS2 R88M-G20030S-O R88M-G05030T-OS2 R88M-G40030T-OS2 R88M-G3K010T R88MGP40030L R88M-G3K020T-O R88M-G20030H-BS2 R88M-GP40030S-O R88M-GP10030L-BOS2 R88M-G75030TBO R88M-G05030H-B R88M-G10030T-BS2 R88M-G3K020T-BO R88M-GP20030T-OS2 R88M-G1K020T-OS2
R88M-G20030S-B R88M-G75030H-BOS2 R88M-G3K020T-BOS2 R88M-G90010T-S2 R88M-GP20030T-BS2 R88MG40030S-BS2 R88M-G75030T-O R88M-G2K020T-S2 R88M-GP20030S-BO R88M-G20030L-S2 R88M-GP20030SBS2 R88M-GP10030S-O R88M-G75030H-B R88M-GP20030T-S2 R88M-GP10030T-O R88M-G2K020T-BS2
R88M-G75030T-BOS2 R88M-G10030H-OS2 R88M-G1K530T-BOS2 R88M-G20030T-BOS2 R88M-GP10030T-S2
R88M-G75030H R88M-GP10030L-B R88M-GP40030S-BOS2 R88M-G20030H-O R88M-G1K530T R88M-G1K020TBS2 R88M-G2K010T-O R88M-GP40030L-B R88M-GP40030T-O R88M-G3K020T-OS2 R88M-G05030H-BS2
R88M-GP40030H-OS2 R88M-G40030T-BS2 R88M-G05030T-BS2 R88M-GP20030H R88M-G40030S-O R88MG2K030T-OS2 R88M-G2K020T R88M-G40030S-BO R88M-G20030T-B R88M-GP10030H-O R88M-G2K010T-BO
R88M-G3K010T-BS2 R88M-G10030T-BO R88M-G90010T