OMNUC

AC Servo Motor and AC Servo Driver

Effortless Functionality Capacities Ranging from 30 to 750 w

U Series

Functions
All your Servomotor functional needs combined, to make optimal operation a reality.
Soft Start
Speed Control This function stops and starts the Servomotor within the set acceleration and deceleration times. A positioning system can be easily established, without the need for a positioner or host controller.
External speed command Servo Driver internal speed command

Internal Speed Control

Position Control Speed Control With this function, the motor can be rotated at the first through to the third speeds set in the user parameters, making it easy to achieve positioning and speed switching operations.
Speed Rotation direction command Forward o ad rotation t ti Internal speed setting First speed Second speed Third speed Reverse e e se rotation t ti First speed Second speed Third speed Servolock engaged Controller

Position Lock
Speed Control When the Servomotor stops, this function sets off the position loop and activates the position lock. It prevents drifts peculiar to analog input.
Motor U series

Speed 1 Speed 2 Speed 3 Speed 4 Speed 5 Speed 6 Stop

Electrical Gears
Position Control The degree of movement per pulse can be set for each command.
1,000 pulses

Torque Control
Torque Control Controls the Servomotor using a torque proportional to the analog input voltage. It can be used for tension control and controlled stopping.

Electrical gears Servo Driver 8,192 pulses

Encoder Resolution
Position Control Torque Control Speed Control The number of encoder pulses per motor rotation can be set to match the response frequency of the host controller.
Controller A 1,000 pulses/rotation

One rotation

Servomotor

Reverse Rotation Mode

Position Control Torque Control Speed Control The forward and reverse rotation commands can be switched at the parameter level, without changing the Servomotor or encoder wiring.
Command Forward rotation command Reverse rotation command
Forward rotation

Controller B

Default setting CCW

Reverse rotation mode CW

Controller C

720 pulses/rotation

CW

CCW

500 pulses/rotation

Forward rotation

Reverse rotation

Reverse rotation

Functions
Rich Command Pulse Mode
Position Control Available for all types of command pulse.
Logic setting Positive logic setting Command pulse mode Feed pulse and direction signal H 90_ phase difference signals A-, B-phase feed pulse (Multiplication by 1, 2, & 4 possible) Reverse pulse and forward pulse 90 L 90 Motor forward command Motor reverse command

L L

Negative logic setting

Feed pulse and direction signal L 90_ phase difference signals A-, B-phase feed pulse (Multiplication by 1, 2, & 4 possible) Reverse pulse and forward pulse 90 H 90

H H

Alarm History Display

Position Control Torque Control Speed Control Stores the past ten errors, even if the power supply is cut off, making accurate troubleshooting possible.
Display (Alarm history) : A40 A51 A71 : Overvoltage detected Overspeed detected Overload detected Description

Bias Function
Position Control This function can be used to reduce the position control time, according to the load conditions.
Speed Servomotor speed with bias Servomotor speed without bias Positioning completion Speed command Time Reduced time

Feed-forward Function
Position Control The stabilization period is reduced by using the feed-forward function.
Speed command Speed Without feed-forward function

Time With feed forward function Reduced time

Torque Command Filter

Position Control Torque Control Speed Control If the appropriate time constant is set, resonance with the load can be prevented.

Brake Interlock
Position Control Torque Control Speed Control Outputs a special signal, making the holding magnetic brake operating sequence easy.

Emergency Stop Torque

Position Control Torque Control Speed Control The control torque for overtravel time can be set, preventing damage to machinery.
Servomotor

U Series

System Configuration
Our product synergy meets a variety of needs. When an OMRON Position Control Unit is used, the system configuration remains the same.
Position Control in a Medium-scale System Position Control in a Large-scale System

SYSMAC C200HX/HG/HE Programmable Controller

C200H-NC112 C200H-NC211 Position Control Unit

3G2A5-NC111EV1 Position Control Unit

SYSMAC CVM1/CV/C1000H/C2000H Programmable Controller

C500-NC222-E Position Control Unit

Pulse train input

To Analog Input Servo Driver

Pulse Train Input Models

AC Servo Driver AC Servomotor with Incremental Encoder

R88M-UjjjjjHA (30 to 750 W: 200 V) R88M-UjjjjjLA (30 to 300 W: 100 V) R88D-UPjjHA (Single-phase 200 VAC) R88D-UPjjLA (Single-phase 100 VAC)

System Configuration

Multi-axis Control Using the G Language

SYSMAC CVM1/CV-series Programmable Controller

CV500-MC421 CV500-MC221 Motion Control Unit

C200H-MC221 Motion Control Unit

SYSMAC C200HX/HG/HE Programmable Controller

To C500-NC222-E Position Control Unit

Analog input command

Analog Input Models

AC Servo Driver AC Servomotor with Incremental Encoder

R88M-UjjjjjHA (30 to 750 W: 200 V) R88M-UjjjjjLA (30 to 300 W: 100 V)

R88D-UAjjHA (Single-phase 200 VAC) R88D-UAjjLA (Single-phase 100 VAC)

Using Parameter Units

Parameter Unit Keys and Functions Keys
PR02U
Display Displays motor rotation speed, speed commands, torque command monitoring values, User parameter set values and the Servo Driver status.
RESET

PR03U

Function Alarm reset Mode switching Data memory

SERVO

DATA

Servo ON/OFF during jog operations Switching between parameter display and data display; data memory Increments parameter numbers and data values. Decrements parameter numbers and data values. Left shift for operation digits

DATA

DATA

Handy-type R88A-PR02U

Mounted-type R88A-PR03U

Right shift for operation digits

Changing Modes
To change modes, press the MODE/SET Key.

Power ON

Status display mode

Settings mode

Monitor mode

Alarm history display mode

(Display example)

.. b b
Baseblock

c n

0 0

u n

0 0

0
No alarm

a. 9 9

System check mode

Speed feedback

Status Display Mode

Baseblock Speed conformity (for speed control) In position (for position control) Rotation detected/Current limit detected Inputting speed command (for speed control) Inputting command pulse (for position control)

Symbol display bb

Contents Baseblock (no power to motor) In operation (running) Forward rotation prohibited Reverse rotation prohibited Alarm display (Refer to alarm table.)

rUn p%t
n%t a.02

b
Main circuit power ON Power ON/Control circuit power ON Bit data display Symbol display

Inputting torque command (for torque control) Inputting deviation counter reset signal (for position control)

Using Parameter Units

Mode Changes and Display Contents
Power ON Bit Displays Power ON / Control circuit power ON Baseblock (motor not receiving power) Speed conformity / In position Inputting torque command Inputting deviation counter reset signal Inputting speed command / Inputting command pulse Motor rotation detected / Current limit detected Symbol Displays Baseblock / In operation (running) Forward rotation prohibited / Reverse rotation prohibited Alarm display Jog operation Command offset automatic adjustment Clear alarm history data Command offset manual adjustment Motor parameters check Auto-tuning

Status display mode

Settings mode

System check mode (Cn-00)

Setup parameter no. 1 (Cn-01)

Sequence input signal switch Process selection following momentary stop reset Abnormal stop selection / Control mode selection Deviation counter processing / P control selection P control switch conditions / Encoder selection Torque feed-forward function selection Pulse prohibit switch

Setup parameter no. 2 (Cn-02)

Reverse mode / Origin error mask Input command mode / Command pulse mode Deviation counter clear Command pulse logic return Parameter Unit monitoring level switch Torque command filter time constant (HA/LA Models) Monitoring switch 1/2 Torque feed forward selection TREF switch (HA/LA Models)

User parameters (Cn-03 onwards) Speed feedback / Speed command / Torque command Number of pulses from U-phase edge / Electrical angle Internal status bit display 1 / Internal status bit display 2 Command pulse speed display / position deviation / input pulse counter

Monitor mode

Alarm history display mode

Error number 0: Error one time before Error number 9: Error ten time before

Note: Items which can be set and monitored differ according to the type of Servo Driver or Servomotor used. Refer to the Users Manual for details.

Using Parameter Units

Monitor Mode
Monitor no. Un-00 Un-01 Monitor contents Speed feedback Speed command Unit r/min r/min Explanation Displays actual rotational speed of motor. Displays commands to speed loop when controlling via internally set speeds. 0 will be displayed when controlling with pulse trains. The command to the current loop is displayed as 100% of the rated torque. The number of pulses from the U-phase edge is displayed in units of encoder resolution. Displays the electrical angle of the motor. Displays Servo Driver internal information as either lit or not lit. y Displays the command pulse counter converted to a frequency (r/min). Displays the pulse count (position deviation) remaining on the deviation counter in command units (based on input pulses). Counts and displays the input pulses.

Un-02 Un-03 Un-04 Un-05 Un-06 Un-07 Un-08 Un-09

Torque command Number of pulses from U-phase edge Electrical angle

% Pulses Degrees

Internal status bit display 1 --Internal status bit display 2 --Command pulse speed r/min display Position deviation (deviation counter) Input pulse counter Command units Command units

10

Using Parameter Units

Alarm Table
Display l a.02 a.04 a.10 a.31 Alarm code Alarm

ALO1 ALO2 ALO3

OFF OFF OFF

ALM
OFF

Error detection function f i Parameter corruption

Detection contents; cause of error The checksum for the parameters read from the EEPROM does not match.

Remarks

OFF ON ON

OFF OFF ON

OFF OFF OFF

OFF OFF OFF

Parameter setting Incorrect parameter setting. error Overcurrent Deviation counter overflow Overcurrent or overheating detected. The pulses remaining on the deviation counter exceed the deviation counter overflow level set in Cn-1E. Main circuit DC voltage exceeded the allowable value. Detected at 4,950 r/min. Detected at reverse limit characteristics when the output torque exceeds120% of the rated torque. The final signal from the AC Convertor was not output within the fixed time. Faulty power or encoder wiring. Connector not properly connected. Encoder not properly wired. Either Phase A or Phase B signal was disconnected or short circuited. Encoder S phase was disconnected or short circuited. The power supply was re-started within the power retention period. This is history data only, and is not an alarm. Data could not be transmitted after the power supply was turned on. (It no longer exists in the alarm history.) Transmission timeout error (It no longer exists in the alarm history.) For position control only

a.40 a.51 a.70

OFF ON ON

OFF OFF ON

ON ON ON

OFF OFF OFF

Overvoltage Over speed Overload

a.b1 a.c1 a.c2 a.c3 a.c4 a.f3 a.99 cpf00 cpf01

OFF

OFF

OFF

OFF

Command input reading error. Runaway detected Phase error detected Encoder A or B phase wire disconnection Encoder S phase wire disconnection Momentary power failure alarm Alarm reset power supply turned on Parameter Unit transmission error 1 Parameter Unit transmission error 2

For speed and torque control only.

ON ON ON

OFF OFF OFF

ON ON ON

OFF OFF OFF

ON

OFF

ON

OFF

OFF

ON

OFF

OFF

OFF

OFF

OFF

ON

OFF

OFF

OFF

OFF

---

---

---

---

Note: --- means indefinite.

11

Servomotor Specifications
Performance Specifications
200-VAC Servomotors
Item Symbol IEC Unit U03030HA W kgfScm NSm Rated rotational speed Momentary maximum rotational speed Momentary maximum torque (see note 1) r m r/min r/min kgfScm NSm Momentary maximum/rated current ratio Rated current (see note 1) Momentary maximum current (see note 1) Rotor inertia INC ( t (see note 4) Torque constant (see note 1) 30 0.974 0.095 3000 4500 2.92 0.29 310 0.42 1.3 0.21 104 0.21 105 2.60 0.255 8.89 4.36 1.5 15.8 23.1 1.5 19 186 13 127 7 68 5.5 54 Approx. 0.3 Approx. 0.6 UA02HA UP02HA 4.87 0.48 317 0.60 1.9 0.27 104 0.26 105 2.92 0.286 9.98 9.63 0.9 9.64 16.9 1.8 19 186 13 127 7 68 5.5 54 Approx. 0.4 Approx. 0.7 UA03HA UP03HA 9.75 0.96 322 0.87 2.8 0.41 104 0.40 105 4.16 0.408 14.0 25.4 0.5 6.99 13.2 1.9 19 186 13 127 8 78 5.5 54 Approx. 0.5 Approx. 0.8 UA04HA UP04HA 19.5 1.91 300 2.0 6.0 1.26 104 1.23 105 3.62 0.355 12.4 32.8 0.4 1.34 7.2 5.4 50 490 18 176 25 245 7.5 74 Approx. 1.1 Approx. 1.6 UA08HA UP08HA 0.59 104 0.58 105 39.0 3.82 308 2.6 8.0 1.95 104 1.91 105 5.44 0.533 18.6 84.6 0.3 1.23 7.9 6.4 50 490 18 176 25 245 7.5 74 Approx. 1.7 Approx. 2.2 UA12HA UP12HA 72.9 7.10 316 4.4 13.9 6.85 104 6.71 105 6.01 0.590 20.6 85.1 0.3 0.45 5.7 13 75 735 40 392 40 392 15 147 Approx. 3.4 Approx. 4.3 UA20HA UP20HA 1.43 104 1.40 105 U05030HA 50 1.62 0.159 With Incremental Encoder (R88M-) U10030HA 100 3.25 0.318 U20030HA 200 6.49 0.637 U40030HA 400 13.0 1.27 U75030HA 750 24.3 2.39 Rated output (see note 1) Rated torque (see note 1)

Pr Tr

Tm

I m/r Ir Im

% A (rms) A (rms) kgfScmSs2 kgSm2 (GD2/4)

Jr

Kt

kgfScm/A NSm/A

Induced voltage constant (see note 1) Power rate (see note 1) Mechanical time constant Winding resistance Winding inductance Electrical time constant Momentary allowable radial load INC ( (see note 4) t Momentary allowable thrust load INC ( (see note 4) t Allowable radial load INC ( t (see note 4) Allowable thrust load INC ( t (see note 4) Weight INC ( (see note 4) t Corresponding Servo Driver (R88D-) Brake ifi ti specifications (see note 2) Without brakes With brakes Analog output Pulse train output Brake inertia

Ki
Qp

mV/ (r/min) kW/s ms mH ms kgf N

tm
Rw
Lw

te
F mr

F mt

kgf N

Fr

kgf N

Ft

kgf N

kg kg

Jb

kgfScmSs2 kgSm2 (GD2/4)

0.09 104 0.09 105 24 VDC  10% (no polarity) 6 0.25 2.0 min. 0.2 min. 40 max. 20 max. 1_ (reference value) Continuous Type F 3.5 min. 0.34 min. 60 max. 30 max.

Magnetized voltage Power consumption (at 20C) Current consumption (at 20C) Static friction torque

Ub Pb
Ib

V W A kgfScm NSm

6.5 0.27 15.0 min. 1.5 min. 100 max. 40 max.

6 0.25 25.0 min. 2.5 min. 200 max. 50 max.

Tb

Absorption time (see note 3) Release time (see note 3) Backlash Rating Insulation grade

t ba t br

ms ms -------

12

Servomotor Specifications
100-VAC Servomotors
Item Symbol IEC Unit U03030LA W kgfScm NSm Rated rotational speed Momentary maximum rotational speed Momentary maximum torque (see note 1) r m r/min r/min kgfScm NSm Momentary maximum/rated current ratio Rated current (see note 1) Momentary maximum current (see note 1) Rotor inertia INC ( (see note 4) t Torque constant (see note 1) 30 0.974 0.095 3000 4500 2.92 0.29 317 0.63 2.0 0.21 104 0.21 105 1.72 0.168 5.87 4.36 1.6 7.22 9.7 1.3 19 186 13 127 7 68 5.5 54 Approx. 0.3 Approx. 0.6 UA03LA UP03LA kgfScmSs2 kgSm2 (GD2/4) Magnetized voltage Power consumption (at 20C) Current consumption (at 20C) Static friction torque 0.09 104 0.09 105 24 VDC  10% (no polarity) 6 0.25 2.0 min. 0.2 min. 40 max. 20 max. 1_ (reference value) Continuous Type F 3.5 min. 0.34 min. 60 max. 30 max. 6.5 0.27 15.0 min. 1.5 min. 100 max. 40 max. 4.87 0.48 322 0.9 2.9 0.27 104 0.26 105 1.98 0.194 6.79 9.63 0.9 4.34 6.9 1.6 19 186 13 127 7 68 5.5 54 Approx. 0.4 Approx. 0.7 UA04LA UP04LA 9.75 0.96 323 2.2 7.1 0.41 104 0.40 105 1.59 0.156 5.43 25.4 0.6 1.22 2.0 1.6 19 186 13 127 8 78 5.5 54 Approx. 0.5 Approx. 0.8 UA10LA UP10LA 19.5 1.91 311 2.7 8.4 1.26 104 1.23 105 2.60 0.255 8.9 32.8 0.4 0.706 4.0 5.7 50 490 18 176 25 245 7.5 74 Approx. 1.1 Approx. 1.6 UA12LA UP12LA 0.59 104 0.58 105 38.0 3.72 400 3.7 14.8 1.95 104 1.91 105 2.85 0.279 9.74 47.3 0.3 0.435 2.3 5.3 50 490 18 176 25 245 7.5 74 Approx. 1.7 Approx. 2.2 UA15LA UP15LA 50 1.62 0.159 With Incremental Encoder (R88M-) U05030LA U10030LA 100 3.25 0.318 U20030LA 200 6.49 0.637 U30030LA 300 9.74 0.954 Rated output (see note 1) Rated torque (see note 1)

Pr Tr

Tm

I m/r Ir Im

% A (rms) A (rms) kgfScmSs2 kgSm2 (GD2/4)

Jr

Kt

kgfScm/A NSm/A

Induced voltage constant (see note 1) Power rate (see note 1) Mechanical time constant Winding resistance Winding inductance Electrical time constant Momentary allowable radial load INC ( (see note 4) t Momentary allowable thrust load INC ( t (see note 4) Allowable radial load INC ( t (see note 4) Allowable thrust load INC ( (see note 4) t Weight INC ( (see note 4) t Corresponding Corres onding S Di (R88D ) Servo Driver (R88D-) Brake s ecifications specifications ( t (see note 2) Without brakes With brakes Analog output Pulse train output Brake inertia

Ki
Qp

mV/ (r/min) kW/s ms mH ms kgf N

tm
Rw
Lw

te
F mr

F mt

kgf N

Fr

kgf N

Ft

kgf N

kg kg

Jb

Ub Pb
Ib

V W A kgfScm NSm

Tb

Absorption time (see note 3) Release time (see note 3) Backlash Rating Insulation grade

t ba t br

ms ms -------

Note: 1. Values for these items, as well as those for torque, the rotational speed characteristics, are the values at an armature winding temperature of 100C, combined with the Servo Driver. Other values are at normal conditions (20C, 65%).The momentary maximum torque value is the reference value. 2. The brakes installed in the Servomotors have non-magnetized operation. (The magnetic brake is released when a magnetic current is applied.) 3. The operation time measurement is the measured value with a surge killer (CR50500, by Okaya Electric Industrial Co.) installed. 4. INC: Servomotor with Incremental Encoder attached. 5. The magnetic brakes installed in Servomotors with brakes are status-holding brakes. The magnetic brake is not meant to be used for braking. Using it for braking will damage it. During Servomotor operation, be sure to release the magnetic brake by applying a magnetic voltage. 6. Absolutely do not impact the Servomotor or the output shaft by striking them with an implement such as a hammer. Doing so will damage the Servomotor and encoder bearings.

13

Servomotor Specifications
General Specifications
Item Operating ambient temperature Operating ambient humidity Storage ambient temperature Storage ambient humidity Storage and operating atmosphere Vibration resistance Impact resistance Insulation resistance Dielectric strength Run position Insulation grade Structure Protective structure Vibration grade Mounting method 0C to 40C 20% to 80% RH (with no condensation) 10C to 75C 20% to 80% RH (with no condensation) No corrosive gasses. 10 to 150 Hz in X, Y, and Z directions with 0.2-mm double amplitude; acceleration: 2.5G {24.5 m/s2} max.; time coefficient: 8 min; 4 sweeps (see note 1) Acceleration 10G {98 m/s2} max., in X, Y, and Z directions, three times Between power line terminals and case: 10 M min. (500 VDC megger) Between power line terminals and case: 1,500 VAC for 1 min (10 mA max.) at 50/60 Hz (JEC2121) All directions Type B (JIS C4004) Totally-enclosed self-cooling IP-42 (JEM1030) (Cannot be used in environment with water-soluble cutting fluids.) (See note 2) V-15 (JEC2121) Flange-mounting Specifications

Note: 1. Vibration may be amplified due to sympathetic resonance of machinery, so use the Servomotor Driver under conditions which will not exceed 2G {19.6 m/s2} over a long period of time. 2. The drip-proofing specifications are special specifications covered by IP-44. (Models with drip-proof specifications provide drip-proofing on Servomotors with oil seals.) 3. The above items reflect individual evaluation testing. The results may differ under compounded conditions. 4. The Servomotor cannot be used in a misty atmosphere.

Servomotor Shaft Tolerance Load

Radial load

Thrust load

5 mm

The allowable radial load is the value at a point 5 mm from the end of the shaft. The allowable radial and thrust loads are values determined with a service life of 20,000 hours taken as a criteria.

Radiant Heat Conditions

When the AC Servomotor is operated continuously at a rated current, a radiant heat board, as noted below, must be fitted to the Servomotor flange. 30 to 750 W: t6  250 mm angle aluminium board or the above equivalent.

14

Torque and Rotation Speed Characteristics

200 VAC Specifications (With 3-m Standard Cable and 200-VAC Input)
R88M-U03030HA R88M-U05030HA R88M-U10030HA

Frequent use

Frequent use

Frequent use

Continuous use

Continuous use

Continuous use

R88M-U20030HA

R88M-U40030HA

R88M-U75030HA

Frequent use

Frequent use

Frequent use

Continuous use

Continuous use

Continuous use

100 VAC Specifications (With 3-m Standard Cable and 100-VAC Input)
R88M-U03030LA R88M-U05030LA R88M-U10030LA

Frequent use

Frequent use

Frequent use

Continuous use

Continuous use

Continuous use

R88M-U20030LA

R88M-U30030LA

Frequent use Frequent use

Continuous use

Continuous use

15

Servo Driver Specifications

General Specifications (For 30- to 750-W Models)
Item Operating ambient temperature Operating ambient humidity Storage ambient temperature Storage ambient humidity Storage and operating atmosphere Vibration resistance Impact resistance Insulation resistance Dielectric strength Protective structure Note: 1. 2. 3. 4. 0C to 55C 35% to 85% RH (with no condensation) 10C to 75C 35% to 85% RH (with no condensation) No corrosive gasses. 10 to 55 Hz in X, Y, and Z directions with 0.10-mm double amplitude; acceleration: 0.5 G {4.9 m/s2} max.; time coefficient: 8 min; 4 sweeps (see note 1) Acceleration 2 G {19.6 m/s2} max., in X, Y, and Z directions, three times Between power line terminals and case: 5 M min. (at 1,000 VDC) Between power line terminals and case: 1,000 VAC for 1 min (20 mA max.) at 50/60 Hz Built into panel. Specifications

Vibration may be amplified due to sympathetic resonance of machinery, so use the Servomotor under conditions which will not exceed 0.5 G {4.9 m/s2} over a long period of time. The above items reflect individual evaluation testing. The results may differ under compounded conditions. Absolutely do not conduct a withstand voltage test or other Megger tester tests on the Servo driver. If such tests are conducted, internal elements may be damaged. Depending on the operating conditions, some Servo Driver parts will require maintenance. Refer to the relevant operation manual for details.

Performance Specifications (30- to 750-W Analog Input Models)

Model R88D -UA02HA Continuous output current (0-P) Momentary maximum output current (0-P) Input power supply Control method Speed feedback Applicable load inertia INC (see note) 0.6 A 1.8 A R88D -UA03HA 0.85 A 2.7 A 200 V R88D -UA04HA 1.2 A 4.0 A R88D -UA08HA 2.8 A 8.5 A R88D -UA12HA 3.7 A 11.3 A R88D -UA20HA 6.2 A 19.7 A R88D -UA03LA 0.9 A 2.8 A R88D -UA04LA 1.3 A 4.1 A 100 V R88D -UA10LA 3.1 A 10 A R88D -UA12LA 3.8 A 12 A R88D -UA15LA 4.8 A 15 A

Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz All-digital servo Incremental encoder (magnetic), 2,048 pulses/revolution Maximum of 30 times motors rotor inertia Maximum of 20 times motors rotor inertia

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

Maximum of 30 times motors rotor inertia

Maximum of 20 times motors rotor inertia

Inverter method PWM frequency Applicable Servomotor INC (see note) Applicable Servomotor wattage Weight Capacity acity Speed control range Speed fluctuation rate (load characteristic) Speed fluctuation rate (voltage characteristic) Speed fluctuation rate (temperature characteristic) Frequency characteristics Torque control reproducibility Acceleration time setting Input signal Speed command voltage Torque command voltage Sequence input Output signal Position feedback output Speed monitor output Current monitor output Sequence output Dynamic brake stopping Protective functions Note:

PWM method based on IGBT 11 kHz R88MU03030HA 30 W Approx. 0.9 kg 1:5000 0.01% at 0 to 100% (at rated rotation speed) R88MU05030HA 50 W R88MU10030HA 100 W R88MU20030HA 200 W R88MU40030HA 400 W Approx. 1.2 kg 7.8 kHz R88MU75030HA 750 W Approx. 1.5 kg 11 kHz R88MU03030LA 30 W R88MU05030LA 50 W R88MU10030LA 100 W R88MU20030LA 200 W Approx. 1.2 kg 7.8 kHz R88MU30030LA 300 W Approx. 1.5 kg

Approx. 0.9 kg

0% at input voltage of 170 to 253 VAC

0% at input voltage of 85 to 127 VAC

0.2% max. at 0 to 50C

250 Hz (at the same load as the rotor inertia) 2.0% 0 to 10 s (Acceleration and deceleration times are set separately) 2 to 10 VDC (motor rotation by +command) / rated rotation speed Input impedance: Approx. 30 k; circuit time constant: Approx. 47 s 1 to 10 VDC / rated torque Input impedance: Approx. 30 k; circuit time constant: Approx. 47 s Run command, gain deceleration, forward/reverse current limit, forward/reverse drive prohibit, alarm reset, 24-VDC, 5-mA photocoupler input, external power supply: 241 VDC, 50 mA min. A-, B-, Z-phase line driver output (EIA RS-422A) A-phase and B-phase (dividing rate setting): 16 to N pulses/revolution, N=2,048 (incremental) Z-phase: 1 pulse/revolution 0.5 V/1000 r/min 0.5 V/100% Alarm output, alarm code output, motor rotation detection, brake interlock, speed conformity, open collector output, 30 VDC, 50 mA (except for alarm code output, which is 30 VDC, 20 mA) Operates when the power supply turns off, a servo alarm is generated or an overrun occurs. Overcurrent, grounding, overload, overvoltage, overspeeding, A/D errors, transmission errors, encoder errors, overrun prevention

INC: Servomotor with Incremental Encoder attached.

16

Servo Driver Specifications

Performance Specifications (30- to 750-W Pulse Train Input Models)
Model R88D -UP02HA Continuous output current (0-P) Momentary maximum output current (0-P) Input power supply Control method Speed feedback Applicable load inertia 0.6 A 1.8 A R88D -UP03HA 0.85 A 2.7 A 200 V R88D -UP04HA 1.2 A 4.0 A R88D -UP08HA 2.8 A 8.5 A R88D -UP12HA 3.7 A 11.3 A R88D -UP20HA 6.2 A 19.7 A R88D -UP03LA 0.9 A 2.8 A R88D -UP04LA 1.3 A 4.1 A 100 V R88D -UP10LA 3.1 A 10 A R88D -UP12LA 3.8 A 12 A R88D -UP15LA 4.8 A 15 A

Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz All-digital servo Incremental encoder (magnetic), 2,048 pulses/revolution Maximum of 30 times motors rotor inertia Maximum of 20 times motors rotor inertia

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

Maximum of 30 times motors rotor inertia

Maximum of 20 times motors rotor inertia

Inverter method PWM frequency Applicable Servomotor Applicable Servomotor wattage Weight Capacity Maximum response pulse frequency Position loop gain Electrical gear function Positioning completed width Feed forward compensation Bias setting Position accel/decel time constant setting Input signal Position command pulse input (see note) Deviation counter reset Sequence input Output signal Position feedback output Speed monitor output Current monitor output Sequence output Dynamic brake stopping Protective functions Note:

PWM method based on IGBT 11 kHz R88MU03030HA 30 W R88MU05030HA 50 W R88MU10030HA 100 W R88MU20030HA 200 W R88MU40030HA 400 W Approx. 1.2 kg 7.8 kHz R88MU75030HA 750 W Approx. 1.5 kg 11 kHz R88MU03030LA 30 W R88MU05030LA 50 W R88MU10030LA 100 W R88MU20030LA 200 W Approx. 1.2 kg 7.8 kHz R88MU30030LA 300 W Approx. 1.5 kg

Approx. 0.9 kg 200 kpps

Approx. 0.9 kg

1 to 500 (1/s) Electrical gear ratio range: 0.01 x (G1/G2) x 100 (G1, G2 = 1 to 65, 535) 0 to 250 (command units) 0 to 100% of the speed command (pulse frequency) 0 to 450 r/min 0 to 64 ms (acceleration and deceleration are set the same)

TTL line driver input photo isolation input power supply 6 mA to 3 V. Feed pulse/forward, reverse signal, forward pulse/reverse pulse, 90_ disparity (A-, B-phase) signal. TTL line driver input photo isolation input power supply 6 mA to 3 V. Run command, gain deceleration, forward/reverse current limit, forward/reverse drive prohibit, alarm reset, 24-VDC, 5-mA photocoupler input, external power supply: 241 VDC, 50 mA min. A-, B-, Z-phase line driver output (EIA RS-422A) A-phase and B-phase (dividing rate setting): 16 to 2,048 pulses/revolution Z-phase: 1 pulse/revolution 0.5 V/1000 r/min 0.5 V/100% Alarm output, alarm code output, motor rotation detection, brake interlock, positioning complete, open collector output, 30 VDC, 50 mA (except for alarm code output, which is 30 VDC, 20 mA) Operates when the power supply turns off, a servo alarm is generated or an overrun occurs. Overcurrent, grounding, overload, overvoltage, overspeeding, overrun prevention, transmission errors, encoder errors, deviation counter overrun

Ensure that the input pulse width meets the following conditions.

TIL, TIH 2.5 s

17

Options Specifications
Regeneration Unit Specifications (For 30- to 750-W Models)
General Specifications
Item
Operating ambient temperature Storage ambient temperature Operating ambient humidity Storage ambient humidity Storage and operating atmosphere Vibration resistance Impact resistance 0C to 55C 10C to 75C 35% to 85% RH (with no condensation) 35% to 85% RH (with no condensation) No corrosive gasses. 0.5 G {4.9 m/s2} max. Acceleration 2 G {19.6 m/s2} max.

Parameter Unit Specifications

General Specifications

Specifications

Item
Operating ambient temperature Storage ambient temperature Operating ambient humidity Storage ambient humidity Storage and operating atmosphere Vibration resistance Impact resistance 0C to 55C 10C to 75C

Specifications

35% to 85% RH (with no condensation) 35% to 85% RH (with no condensation) No corrosive gasses. 0.5 G {4.9 m/s2} max. Acceleration 2 G {19.6 m/s2} max.

Performance Specifications
Model
Regeneration operating voltage Regeneration processing current Average regeneration power Error detection function Alarm output 380 VDC 8 ADC 12 W (internal resistance: 50 , 60 W) Regeneration resistance disconnection, regeneration transistor damage, overvoltage 1b contact (open contact at time of protective function operation) (200 VAC drive possible.) Approx. 1 kg

Performance Specifications
Item
Type Accessory cable Connectors Display Weight Commu Communications i ti specifications Standard Communications method Baud rate Start bits Data Parity Stop bits Errors detected by Parameter Unit 1m 7910-7500SC (10 pins) 7-segment LED, 5 digits Approx. 0.18 kg RS-232C Asynchronous (ASYNC) 2,400 bps 1 bit 8 bits None 1 bit Display CPF00 Cannot transmit even after 5 seconds have elapses since power supply was turned on. A BCC error or faulty reception data has occurred for five consecutive times, or a time overrun (1 s) has occurred for three consecutive times. Approx. 0.02 kg RS-422A

R88A-RG08U

R88A-PR02U
Handy type

R88A-PR03U
Mounted type (Connected by connectors.) D sub-connector (9 pins)

Weight

Indicator LED Specifications

Item
POWER REGEN ALARM-REGEN ALARM-OV

Specifications
Lit while power flows through PN terminal. Lit during regeneration operation. Lit for regeneration resistance disconnection or regeneration transistor damage. Lit when overvoltage occurs.

CPF01

Note:

1. When the error detection function operates, an alarm

is output from the Unit.

2. Create a sequence so that the power supply (RT) to

the Servo Driver is cut off when an alarm is generated.

3. When the error detection function operates and the

Servo Drivers power supply is cut off, the Regeneration Unit wont be restored to its normal status until 2 to 3 seconds have elapsed, even if the power supply is turned on again. (Normal status is restored after the electrolytic capacitor in the Servo Driver has been discharged and the voltage between signals P and N drops.)

18

External Dimensions
AC Servomotors
30 to 100 W
INC
Encoder plug

30 W R88M-U03030HA/U03030LA 50 W R88M-U05030HA/U05030LA 100 W R88M-U10030HA/U10030LA

Model R88M-U03030HA R88M-U03030LA R88M-U05030HA R88M-U05030LA R88M-U10030HA R88M-U10030LA 119.5 95 9 5 94.5 8 102 0 77 6 L 9 5 94.5 LL 69 5 69.5 6 S
Sh6 dia.

Motor plug
18 14 dia.

Two, 4.3-mm dia. holes 46 dia.

Radius at 4 corners: 3.7

30h7 dia.

30 to 100 W

INC

With B

Encoder plug

30 W R88M-U03030HA-B/U03030LA-B 50 W R88M-U05030HA-B/U05030LA-B 100 W R88M-U10030HA-B/U10030LA-B

Model R88M-U03030HA-B R88M-U03030LA-B R88M-U05030HA-B R88M-U05030LA-B R88M-U10030HA-B R88M-U10030LA-B 160 60 135 35 40.5 05 8 133.5 33 5 108.5 08 5 3 5 31.5 6 L 126 6 LL 101 0 LB 31.5 3 5 S 6
Sh6 dia.

Motor plug
14 dia.

Two, 4.3-mm dia. holes 46 dia.

Radius at 4 corners: 3.7

30h7 dia.

200 to 400 W

INC

Encoder plug Motor plug

14 dia.

200 W R88M-U20030HA/U20030LA 300 W R88M-U30030LA 400 W R88M-U40030HA

Model R88M-U20030HA R88M-U20030LA R88M-U30030LA R88M-U40030HA 154.5 5 5 124.5 5 L 126.5 65 96 5 96.5 LL

14h6 dia.

Four, 5.5-mm dia. holes 70 dia.

Radius at 4 corners: 5.3

50h7 dia.

Note:

INC : Incremental Encoder Attached

With B : With brakes

19

External Dimensions
200 to 400 W
INC With B
Encoder plug Motor plug
14 dia.

200 W R88M-U20030HA-B/U20030LA-B 300 W R88M-U30030LA-B 400 W R88M-U40030HA-B

Model R88M-U20030HA-B R88M-U20030LA-B R88M-U30030LA-B R88M-U40030HA-B 194 9 164 6 166 66 L 136 36 LL

14h6 dia.

Four, 5.5-mm dia. holes 70 dia.

Radius at 4 corners: 5.3

50h7 dia.

750 W

INC
Encoder plug Motor plug
14 dia.

R88M-U75030HA

Four, 7-mm dia. holes 16h6 dia. 70h7 dia. 90 dia.

Radius at 4 corners: 8.2

750 W

INC

With B
Encoder plug Motor plug
14 dia.

R88M-U75030HA-B

Four, 7-mm dia. holes 16h6 dia. 90 dia. 70h7 dia.

Radius at 4 corners: 8.2

Note:

INC : Incremental Encoder Attached

With B : With brake

20

External Dimensions
AC Servo Drivers
200 VAC, 30 to 200 W
R88D-UA02HA/UA03HA/UA04HA/UA08HA R88D-UP02HA/UP03HA/UP04HA/UP08HA

100 VAC, 30 to 100 W

R88D-UA03LA/UA04LA/UA10LA R88D-UP03LA/UP04LA/UP10LA
160

4 Two, 6-mm dia. holes

200 VAC, 400 W

R88D-UA12HA R88D-UP12HA

100 VAC, 200 W

R88D-UA12LA R88D-UP12LA
4 Two, 6-mm dia. holes

200 VAC, 750 W

R88D-UA20HA R88D-UP20HA

100 VAC, 300 W

R88D-UA15LA R88D-UP15LA
Two, 6-mm dia. holes

Radius at 2 corners: 3

21

External Dimensions
Regeneration Unit
R88A-RG08U
6 dia.

Parameter Units
R88A-PR02U
Two, 4.5-mm dia. holes

R88A-PR03U
54 15 6.9

57.5

22

Terminal and Connector Functions (30 to 750 W)

Terminal Block Specifications
Signal
R T P N

Name
Power supply input Main circuit DC output

Function
Power input terminal for the main circuit and control circuit. (The voltage differs according to the model type.) These are the connection terminals for the Regeneration Unit (R88A-RG08U). Connect these when the regeneration energy is high.

Power supply indicator

Alarm indicator

U V W

Servomotor U-phase output Servomotor V-phase output Servomotor W-phase output Frame ground

Red White Blue Green

These are the terminals for outputs to the Servomotor.

CN3: Parameter Unit connector

This is the connection terminal. Use a class-3 or higher ground. It is used in common for Servomotor output and power supply input.

CN1: Control I/O connector

Encoder Input CN2 (Incremental Encoder)

Pin no.
1, 2, 3

Terminal block

Signal
E0V

Name
Encoder power supply GND Encoder power supply +5 V Rotation direction switch input

Interface
Power supply outlet for encoder: 5 V, 120 mA CN2: Encoder connector

4, 5, 6 7

E5V DIR

Connects to GND when reverse rotation is executed by + input. Do not connect

8, 9, 10, 11, 12, 13 14 15 16 17 18 19 20

NC

Not used

S+ S A+ A B+ B FG

Encoder + S-phase input Encoder S-phase input Encoder + A-phase input Encoder A-phase input Encoder + B-phase input Encoder B-phase input Shielded ground

Line driver input (conforming to EIA ( g RS 422A) (I t RS-422A) (Input impedance: 220 ) Line driver input (conforming to EIA ( g RS 422A) (I t RS-422A) (Input impedance: 220 ) Line driver input ( (conforming to EIA g RS-422A) (Input RS 422A) (I t impedance: 220 ) Cable shielded ground

23

Terminal and Connector Functions (30 to 750 W)

Control Input CN1 (Analog Input/Pulse Train Input)
Pin no. Signal Name Function, Interface Specified driver type: A: R88D-UA P: R88D-UP
A 1 2 3 4 5 6 1 2 3 TREF AGND REF AGND +PULS/CW/A PULS/CW/A +SIGN/CCW/B Torque command input Torque command input ground Speed command input Speed command input ground Feed pulse, reverse pulse, or 90_ phase ulse, 90 hase difference pulse (A-phase) Forward/reverse signal, forward rotation pulse, or ulse, 90_ phase difference pulse (B-phase) + deviation counter reset deviation counter reset Forward rotation current limit input / Speed selection command 1 input Forward rotation current limit input / Speed selection command 2 input +24-V power supply input for control DC Run command input Forward/reverse rotation current limit (PCL/NCL) when setup parameter Cn-02 bit no. 2 = 0. (ON: Current limit) Internal setting speed (Cn-1F, 20, 21) selector switch when setup parameter Cn-02 bit no. 2 = 1. A/P Line driver input 6 mA to 3 V. Setup parameter Cn-02 bits 3, 4, and 5 allow feed pulse/forward, 3 4 pulse/forward reverse signal, forward pulse/reverse pulse, 90_ phase ulse B- hase) difference pulse (A-, B-phase) signal (X1, X2, X4) to be switched. Maximum response frequency: 200 kpps P 1 to 10 V / rated torque Changeable by means of user parameter Cn-13 torque g y q d l command scale. 2 to 10 V / rated torque Changeable by means of user parameter Cn-03 speed g y d l command scale. Do not co ec o o connect

SIGN/CCW/B

5 6 11

+ECRST ECRST PCL/SPD1

Line driver input 6 mA to 3 V. Resets the deviation counter when command input is prohibited.

12

NCL/SPD2

13 14

+24VIN RUN

Power supply for pin nos. 11, 12, 14, 15, 16, 17, 18; +24-V input ON: Servo ON, when setup parameter Cn-01 bit no. 0 = 0. When setup parameter Cn-01 bit no. 0 = 1, this signal is not used. (Automatically set to Servo ON.)

A/P A/P

15

MING/PLOCK TVSEL/RDIR

Gain deceleration input Position lock command input Torque / Speed control switch input

ON: Decrease speed loop gain, when setup parameter Cn-01 bit nos. b, A = 0, 0. When setup parameter Cn-01 bit nos. b, A = 0, 1, then, when this bit is ON, position lock goes in effect if the motor rotation speed is no more than the position lock rotation speed (Cn-0F). When setup parameter Cn-01 bit nos. b, A = 1, 1, then, when this bit is ON, the mode changes from the torque command (TREF) mode to the speed command (REF) mode. When in torque command mode, speed command (REF) inputs become forward/reverse rotation speed limits. When setup parameter Cn-02 bit no. 2 = 1, this is the rotation direction command for internal speed settings 1 to 3. When setup parameter Cn-02 bit no. 2 = 0 and setup parameter Cn-01 bit no. F = 0 then, when this bit is ON, speed loop gain decreases. When setup parameter Cn-02 bit no. 2 = 0 and setup parameter Cn-01 bit no. F = 1 then, when this bit is ON, input command pulse is prohibited. When setup parameter Cn-02 bit no. 2 = 1, this is the rotation direction command for internal speed settings 1 to 3. Forward rotation overtravel input (OFF when prohibited). When setup parameter Cn-01 bit no. 2 = 1, this signal is not used. Reverse rotation overtravel input (OFF when prohibited). When setup parameter Cn-01 bit no. 3 = 1, this signal is not used.

Rotation direction command inputs MING/IPG/RDIR Gain deceleration input Pulse prohibit

Rotation direction command input 16 17 POT NOT Forward drive prohibit input Reverse drive prohibit input

A/P A/P

24

Terminal and Connector Functions (30 to 750 W)

Pin no. Signal Name Function, Interface Specified driver type: A: R88D-UA P: R88D-UP
A/P

18 28 29

RESET

Alarm reset input

ON: Servo alarm status is reset. Do not co ec o o connect

Note: Those input specifications which are not recorded in the above table are 5 mA for 24 V power supply input.

CN1: Control Output (Analog Input/Pulse Train Input)

Pin no. Signal Name Function, Interface Specified driver type: A: R88D-UA P: R88D-UP
A/P A P

7 8

BKIR VCMP INP

Brake interlock output Speed conformity output Positioning completed output Servomotor rotation detection output Current limit detection output

Outputs external brake interlock signal. (see note) Output when the Servomotor rotation speed conforms to the speed command. (see note) Turned ON when the pulse count remaining in the deviation counter is equal to or less than the positioning completed range set in user parameter Cn-1b. (see note) When setup parameter Cn-01 bit no. 4 = 0, this turns ON if the Servomotor rotation speed exceeds the value set for the Servomotor rotation detection speed (Cn-0b). (see note) When bit 4 of setup parameter Cn-01 is set to 1, the CLIMT signal will turned ON in any of the following 3 cases: The output torque reaches the value set for the torque limit (Cn-08, -09) The forward/reverse rotation current limit (PCL/NCL) is ON and the output torque reaches the external current limit set in Cn-18 or Cn-19. When the forward/reverse rotation power supply limit is OFF, and the output torque reaches the torque limit set in Cn-08, -09. (see note)

TGON/CLIMT

A/P

10 19 20 21 22 23 24 25 26 27 30 31 32 33 34 35 36

OGND EGND +A A B +B +Z Z ALO1 ALO2 ALO3 ALOCOM ALM ALMCOM FG

Output ground common Encoder signal output GND Encoder + A-phase input Encoder A-phase input Encoder B-phase input Encoder + B-phase input Encoder + Z-phase input Encoder + Z-phase input Alarm code output 1 Alarm code output 2 Alarm code output 3 Alarm code output GND Alarm output Alarm output GND Frame ground

Output ground common for BKIR, VCMP, INP, TGON/CLIMT This is the ground for encoder signal outputs. Outputs encoder pulses divided according to user parameter Cn-0A. Line driver output ( (conforming to RS-422A). g )

A/P A/P A/P

Outputs encoder pulses divided according to user parameter Cn-0A. Line driver output ( (conforming to RS-422A). g )

A/P

Encoder Z-phase output (1 pulse/revolution). Line driver output (conforming to RS-422A). ( g )

A/P

Do not co ec o o connect When an alarm is generated for the Servo Driver, the contents of e a aa s ge e a ed o e Se o e , e co e s o th alarm are output i code. O t t in d Open collector output: ll t t t the l 30 VDC 20 mA max VDC, max.

A/P /

When an alarm is generated for the Servo Driver, the output is e a aa s ge e a ed o e Se o e , e ou u s OFF. O OFF Open collector output. (see note) ll t t t ( t ) Ground terminal for shield wire of cable and FG line.

A/P / A/P

Note: These functions are open collector output 30 V/50 mA maximum.

25

Special Cables
R88A-CRUjjjC Encoder Cables
For connection between a U-series AC Servomotor Encoder Connector and a Servo Driver.

R88A-CPUjjjMj Connecting Cables for a CV500-MC221/421 C200H-MC221 Motion Control Unit

For connection between the Motion Control Unit and U-series AC Servomotor.

R88D-U-series AC Servo Driver Model R88A-CRUjjjC

R88M-U-series AC Servomotor Specifications For a Servomotor with 30- to 750-W incremental encoder attached.

Note: The three blank squares in the model number are for the cable length. The length will be 3, 5, 10, 15 or 20 m. For example, for a 3 m cable it would be: R88A-CRU003C.

CV500-MC221/421 C200H-MC221 Motion Control Unit Model R88A-CPUjjjM1 R88A-CPUjjjM2 For 1 axis For 2 axes

R88D-U-series AC Servo Driver

R88A-CAUjjjj Power Cables

For connection between a U-series Servomotor Power Connector and a Servo Driver.

Specifications For a 30- to 750-W Servo Driver For a 30- to 750-W Servo Driver

Note: The three blank squares in the model number are for the cable length. The length will be 1 or 2 m. For example, for a 1 m cable it would be: R88A-CPU001M1.
R88D-U-series AC Servo Driver Model R88A-CAUjjjS R88A-CAUjjjB R88M-U-series AC Servomotor Specifications For a Servomotor without brakes with 30 to 750 W capabilities. For a Servomotor with brakes with 30 to 750 W capabilities.

R88A-CPUjjjS General-purpose Control Cable

For connection between a SYSMAC Position Control Unit or a general controller and a U-series AC Servo Driver.

Note: The three blank squares in the model number are for the cable length. The length will be 3, 5, 10, 15 or 20 m. For example, for a 3 m cable it would be: R88A-CAU003S.

R88A-CNUjjj Connector for the Control Cable

Since the Connector for the Control Cable is not attached, be sure to purchase a connector kit, use a special control cable, or use a general-purpose control cable.

Position Control Unit or General Controller Model R88A-CPUjjjS

R88D-U-series AC Servo Driver Specifications For a 30 to 750 W Servo Driver

Sumitomo 3M

Note: The three blank squares in the model number are for the cable length. The length will be 1 or 2 m. For example, for a 1 m cable it would be: R88A-CPU001S.

Model R88A-CNU01C

Specifications For a 30- to 750-W Servo Driver (Half-pitch 36P)

26

Model Number Legend

AC Servomotors R88M-U10030Hj-jjj
Motor shaft status
Blank: Thrust axis (standard) With Key S1:

With or without brakes

Blank: Without brakes With brakes B:

Design changes
A: Design changes log (latest version)

Servomotor power supply specifications, Encoder specifications

H: 200 VAC, with Incremental Encoder L: 100 VAC, with Incremental Encoder

Rated rotation speed

30: 3000 r/min

Servomotor capacitance
(Example) 050: 50 W; 100: 100 W

U-series model Servomotor code

AC Servo Drivers R88D-UA02Hj

Design changes
A: Design changes log (latest version)

Servo Driver power supply specifications

H: 200-VAC power supply inputs L: 100-VAC power supply inputs

Maximum output current

(Example) 02: 2 A; 24: 24 A

Input command signal specifications

A: Analog inputs P: Pulse train inputs

U-series model Servo Driver code

27

Standard Models
AC Servomotor (Incremental Encoder Attached)
Specifications S ag Straight axis i with no key Se o Servo motor t without brakes For 200 VAC o 00 C 30 W 50 W 100 W 200 W 400 W 750 W For 100 VAC o 00 C 30 W 50 W 100 W 200 W 300 W Se o Servo motor t with brakes For 200 VAC o 00 C 30 W 50 W 100 W 200 W 400 W 750 W For 100 VAC o 00 C 30 W 50 W 100 W 200 W 300 W S ag Straight axis i with key Se o Servo motor t without brakes For 200 VAC o 00 C 30 W 50 W 100 W 200 W 400 W 750 W For 100 VAC o 00 C 30 W 50 W 100 W 200 W 300 W Se o Servo motor t with brakes For 200 VAC o 00 C 30 W 50 W 100 W 200 W 400 W 750 W For 100 VAC o 00 C 30 W 50 W 100 W 200 W 300 W Model R88M-U03030HA R88M-U05030HA R88M-U10030HA R88M-U20030HA R88M-U40030HA R88M-U75030HA R88M-U03030LA R88M-U05030LA R88M-U10030LA R88M-U20030LA R88M-U30030LA R88M-U03030HA-B R88M-U05030HA-B R88M-U10030HA-B R88M-U20030HA-B R88M-U40030HA-B R88M-U75030HA-B R88M-U03030LA-B R88M-U05030LA-B R88M-U10030LA-B R88M-U20030LA-B R88M-U30030LA-B R88M-U03030HA-S1 R88M-U05030HA-S1 R88M-U10030HA-S1 R88M-U20030HA-S1 R88M-U40030HA-S1 R88M-U75030HA-S1 R88M-U03030LA-S1 R88M-U05030LA-S1 R88M-U10030LA-S1 R88M-U20030LA-S1 R88M-U30030LA-S1 R88M-U03030HA-BS1 R88M-U05030HA-BS1 R88M-U10030HA-BS1 R88M-U20030HA-BS1 R88M-U40030HA-BS1 R88M-U75030HA-BS1 R88M-U03030LA-BS1 R88M-U05030LA-BS1 R88M-U10030LA-BS1 R88M-U20030LA-BS1 R88M-U30030LA-BS1 For 100 VAC o 00 C Pulse Train u se a Input M d l I t Models (Incremental Encoder) For 200 VAC o 00 C For 100 VAC o 00 C Analog Input a og u Models M d l (Incremental Encoder)

AC Servo Driver
Specifications For 200 VAC o 00 C 30 W 50 W 100 W 200 W 400 W 750 W 30 W 50 W 100 W 200 W 300 W 30 W 50 W 100 W 200 W 400 W 750 W 30 W 50 W 100 W 200 W 300 W Model R88D-UA02HA R88D-UA03HA R88D-UA04HA R88D-UA08HA R88D-UA12HA R88D-UA20HA R88D-UA03LA R88D-UA04LA R88D-UA10LA R88D-UA12LA R88D-UA15LA R88D-UP02HA R88D-UP03HA R88D-UP04HA R88D-UP08HA R88D-UP12HA R88D-UP20HA R88D-UP03LA R88D-UP04LA R88D-UP10LA R88D-UP12LA R88D-UP15LA

28

Standard Models
Parameter Units
Specifications Handy type Mounted type Model R88A-PR02U R88A-PR03U For 30 to 750 W

General-purpose Control Cables

Specifications For a general-purpose controller (Connector on one side) 1m 2m Model R88A-CPU001S R88A-CPU002S

Regeneration Unit
Specifications Regeneration processing current 8 ADC Model R88A-RG08U

Connector for the Control Cable

Specifications For 30 to 750 W (Sumitomo 3M: Half pitch 36P) Model R88A-CNU01C

Encoder Cables
Specifications For 30 to o o 750 W For Se o o o s o Servomotors with an Incremental ith I t l Encoder (Connectors on each side) 3m 5m 10 m 15 m 20 m Model R88A-CRU003C R88A-CRU005C R88A-CRU010C R88A-CRU015C R88A-CRU020C

Connectors and Terminal Blocks (30- to 750-W Servo Drivers)

Specifications Terminal Block Connector Conversion Cables for ConnectorTerminal Conversion Unit 1m 2m Model XW2B-40F5-P R88A-CTU001N R88A-CTU002N

Power Cables
Specifications For 30 to o o 750 W For Se o o o s o Servomotors without brakes ith t b k 3m 5m 10 m 15 m 20 m For Se o o o s o Servomotors ith brakes with b k 3m 5m 10 m 15 m 20 m Model R88A-CAU003S R88A-CAU005S R88A-CAU010S R88A-CAU015S R88A-CAU020S R88A-CAU003B R88A-CAU005B R88A-CAU010B R88A-CAU015B R88A-CAU020B

Front Panel Mounting Brackets (30- to 750-W Servo Drivers)

Specifications 200 VAC: 30 to 400 W 100 VAC: 30 to 200 W 200 VAC: 750 W 100 VAC: 300 W For Servo Drivers For Servo Drivers Model R88A-TK01U R88A-TK02U

Note: For information on any products which are not listed here, contact your local sales office.

Special Control Cables

Specifications For 30 to 750 W For the CV500-MC221/ CV500-MC421/ C200H-MC221 C200H MC221 Motion Control Unit (Connectors U it (C t on each side) For 1 axis For 2 axes 1m 2m 1m 2m Model R88A-CPU001M1 R88A-CPU002M1 R88A-CPU001M2 R88A-CPU002M2

29

NOTICE
Before using the product under the following conditions, consult your OMRON representatives, make sure that the ratings and performance characteristics of the product are good enough for the systems, machines, or equipment, and be sure to provide the systems, machines, or equipment with double safety mechanisms.
1. Applications under conditions or environments not specified in the manual. 2. Applications for nuclear reactor control, train facilities, aviation facilities, motorized vehicles, furnaces, medical equipment, amusement equipment, and safety equipment. 3. Applications strongly related to human life or property, particularly those requiring safety.

30

OMRON Corporation
Systems Components Division
66 Matsumoto Mishima-city, Shizuoka 411-8511 Japan Tel: (81)559-77-9633/Fax: (81)559-77-9097

Regional Headquarters
OMRON EUROPE B.V. Wegalaan 67-69, NL-2132 JD Hoofddorp The Netherlands Tel: (31)2356-81-300/Fax: (31)2356-81-388 OMRON ELECTRONICS, INC. 1 East Commerce Drive, Schaumburg, IL 60173 U.S.A. Tel: (1)847-843-7900/Fax: (1)847-843-8568 OMRON ASIAPACIFIC PTE. LTD. 83 Clemenceau Avenue, #11-01, UE Square, Singapore 239920 Tel: (65)835-3011/Fax: (65)835-2711

Authorized Distributor:

Cat. No. I800-E1-2

Note: Specifications subject to change without notice.

Printed in Japan 0698-1.5M