Omron R88D-GN Series User manual

1G-Series servo drive
R88D-GN@
G-Series servo drive
A compact servo drive family for motion
control. Compact size and integrated
MECHATROLINK-II motion bus.
• 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
G
IM
SP
COM
X10
3
2
1
0
ADR
AC SERVO DRIVER
X1
6
7
8
9
0
1
2
3
4
5
G
IM
SP
COM
X10
3
2
1
0
ADR
AC SERVO DRIVER
X1
6
7
8
9
0
1
2
3
4
5
G-Series Servo Motor
Flat servo motors (100-400 W)
Encoder cablePower cable
Personal computer
software: CX-One
G-Series
Servo Drive
Position control unit
CJ1W-NC_71
CS1W-NC_71
Motion Controller
TJ1-MC04/16
CJ1W-MCH72
Terminator
MECHATROLINK-II
G-Series
Servo Drive
G-Series
Servo Drive
G-Series
Servo Drive G-Series
Servo Drive
G-Series Servo Motor
Cylindric servo motors
(50-1500 W)
G-Series MECHATROLINK-II Servo Drive Configuration
G
IM
SP
COM
X10
3
2
1
0
ADR
AC SERVO DRIVER
X1
6
7
8
9
0
1
2
3
4
5
G
IM
SP
COM
X10
3
2
1
0
ADR
AC SERVO DRIVER
X1
6
7
8
9
0
1
2
3
4
5
G
IM
SP
COM
X10
3
2
1
0
ADR
AC SERVO DRIVER
X1
6
7
8
9
0
1
2
3
4
5

2AC servo systems
Servo drive
G-Series servo drive
Servo motor supported
Servo motor G-Series servo drive
Family Voltage Speed Rated torque Capacity Model
Cylindric 50 - 750 W 230 V 3000 min-1 0.16 Nm 50 W R88M-G05030@-@S2 R88D-GN01H-ML2
0.32 Nm 100 W R88M-G10030@-@S2 R88D-GN01H-ML2
0.64 Nm 200 W R88M-G20030@-@S2 R88D-GN02H-ML2
1.3 Nm 400 W R88M-G40030@-@S2 R88D-GN04H-ML2
2.4 Nm 750 W R88M-G75030@-@S2 R88D-GN08H-ML2
900 - 1500 W 3.18 Nm 1000 W R88M-G1K030T-@S2 R88D-GN15H-ML2
4.77 Nm 1500 W R88M-G1K530T-@S2 R88D-GN15H-ML2
2000 min-1 4.8 Nm 1000 W R88M-G1K020T-@S2 R88D-GN10H-ML2
7.15 Nm 1500 W R88M-G1K520T-@S2 R88D-GN15H-ML2
1000 min-1 8.62 Nm 900 W R88M-G90010T-@S2 R88D-GN15H-ML2
Flat 100-400 W 3000 min-1 0.32 Nm 100 W R88M-GP10030@-@S2 R88D-GN01H-ML2
0.64 Nm 200 W R88M-GP20030@-@S2 R88D-GN02H-ML2
1.3 Nm 400 W R88M-GP40030@-@S2 R88D-GN04H-ML2
Type designation
Servo drive specifications
Servo drive type R88D-GN@01H-ML2 02H-ML2 04H-ML2 08H-ML2 10H-ML2 15H-ML2
Applicable
servomotor
R88M-G@05030@/10030@20030@40030@75030@G1K020T@90010T@/ 1K030T@/
1K5@0T@
R88M-GP@10030@20030@40030@- - -
Basic specifications
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%
(50/60 Hz)
For single-phase/ three-phase, 200 to 240 VAC +10 to -15%
(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)
Conditions
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
Configuration Base mounted
Approx. weight Kg 0.8 1.1 1.5 1.7
Position/Speed/torque control mode
Performance
Speed control range 1:5000
Speed
variance
Load variance During 0 to 100% load ±0.01 max. (at rated speed)
Voltage variance 0% at ±10% of rated voltage (at rated speed)
Temperature variance 0 to 50ºC ±0.1% max. (at rated speed)
Frequency characteristics 1 kHz
Torque control accuracy (reproducibility) ±3% (at 20% to 100% of rated torque)
Soft start time setting 0 to 10 s (acceleration time and deceleration time can be set)
Command Input
MECHATROLINK
Communication
MECHATROLINK-II commands
(for sequence, motion, data setting/reference, monitor, adjustament and other commands)
100 W
200 W
400 W
750 W
01
02
04
08
1.5 kW
15
1.0 kW
10
G-Seriesservo drive
Capacity
Model
ML2: MECHATROLINK-II communications
Source voltage
H: 230 V
R88D-GN04H-ML2
N: Network type

G-Series servo drive 3
Servo drive part names
I/O signal
Sequence input signal Emergency stop, 3 external latch signals, forward/reverse torque limit, forward/reverse run prohibit, origin prox-
imity, 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
Integrated functions
Communications
RS-232
communications
Interface Personal computer
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
Communications protocol MECHATROLINK-II
Transmission rate 10 Mbps
Data length 17 bytes and 32 bytes
Functions Parameter setting, status display, alarm display (monitor, clear, history), default values function
Automatic load inertia detection Horizontal and vertical axis mode. One parameter rigidity setting.
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 u-
sing 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
Servo drive type R88D-GN@01H-ML2 02H-ML2 04H-ML2 08H-ML2 10H-ML2 15H-ML2
Applicable
servomotor
R88M-G@05030@/10030@20030@40030@75030@G1K020T@90010T@/ 1K030T@/
1K5@0T@
R88M-GP@10030@20030@40030@- - -
Control I/O connector (CN1)
Encoder connector (CN2)
G
IM
SP
COM
X10
3
2
1
0
ADR
AC SERVO DRIVE
X1
6
7
8
9
0
1
2
3
4
5
Display area
Rotary switches
for ML-II node address
ML-II comms
status LED indicator
RS-232 comms connector (CN3)
ML-II comms connector
(CN6A, CN6B)
Analog monitor check pins
(SP, IM, G)
Main-circuit power terminals
(L1, L2, L3)
Control-circuit power terminals
(L1C, L2C)
External regenerative resistor
connection terminals (B1, B2, B3)
Servomotor connection terminals
(U, V, W)
Protective ground terminals

4AC servo systems
I/O specifications
Main circuit connector (CNA) specifications
Servomotor connector (CNB) specifications
I/O signals (CN1) - Input signals
I/O signals (CN1) - output signals
Encoder connector (CN2)
Serial connector (CN3)
Symbol Name Function
L1 Main circuits power supply input AC power input terminals for the main circuit
L2
L3
L1C Control circuit power supply input AC power input terminals for the control circuit
L2C
Symbol Name Function
B1 External regeneration resistor connection terminals Up to 400 W: 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.
B2
B3
U Servo motor connection terminals Terminals for outputs to the servomotor.
V
W
Frame ground Ground terminal. Ground to 100Ωor less.
Pin No. Signal name Function
1+24VIN Control power supply input for sequence signals: users must provide the +24 V power supply.
Allowable voltage range: 12 to 24 VDC
2 STOP Emergency Stop Input Input for emergency stop. Emergency stop function factory default: enable.
3EXT3
EXT2
EXT1
External Latch Signals This external signal input latches the current value feedback pulse counter.
Minimal signal width must be 1 ms.
4
5
22 IN1 External general-purpose Input 0 This input is used as external general-purpose input.
6 IN0 External general-purpose Input 1
23 IN2 External general-purpose Input 2
7PCL
NCL
Forward Torque Limit Input This signal input selects the torque limit.
8 Reverse Torque Limit Input
19
POT
NOT
Forward Run Prohibit Input Forward/ reverse drive rotation overtravel input. Stops servomotor when movable
part travels beyond the allowable range of motion.
20 Reverse Run Prohibit Input
21 DEC Origin Proximity Input Connect the origin proximity input signal in the origin search operation.
34 BAT Battery backup input for absolute
encoder
Connecting pin for the absolute backup battery. Do not connect when a battery is
connected to the servomotor encoder cable.33 BATCOM
Pin No. Signal name Function
15 /ALM The output turns OFF when an alarm is generated in the Servo drive.
16 ALMCOM
29 OUTM2 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)
30 OUTM2COM
31 OUTM3
32 OUTM3COM
36 OUTM1
35 OUTM1COM
Pin No. Signal Name Function
1 E5V Encoder power supply + 5 V
2 E0V Encoder power supply ground
3 BAT+ Battery + (used only with absolute encoder)
4 BAT– Battery – (used only with absolute encoder)
5 PS+ Encoder serial signal input (+phase)
6 PS– Encoder serial signal input (-phase)
Shell FG Shield ground
Pin No. Signal Name Function
3 TXD RS232 send data
4 GND Ground
5 RXD RS232 receive data

G-Series servo drive 5
Servo drives
R88D-GN01H-ML2 / GN02H-ML2 (200 V, 100 to 200 W)
R88D-GN04H-ML2 (200 V, 400 W)
R88D-GN08H-ML2 (200 V, 750 W)
Dimensions
G
IM
SP
COM
X10
3
2
1
0
ADR
AC SERVO DRIVER
X1
6
7
8
9
0
1
2
3
4
5
13270
4
150
40
28±0.5
6
40
Tw o, M 4
140±0.5
150
43±0.5 6
55
Tw o, M 4
140±0.5
150
13270
4
150
55
0
G
IM
SP
COM
X10
3
2
1
ADR
AC SERVO DRIVER
X1
6
7
8
9
0
1
2
3
4
5
50±0.5 7.5
65
Two, M4
140±0.5
150
0
G
IM
SP
COM
X10
3
2
1
ADR
AC SERVO DRIVER
X1
6
7
8
9
0
1
2
3
4
5
17270
4
150
65

6AC servo systems
R88D-GN10H-ML2 / GN15H-ML2 (200 V, 1 kW to 1,5 kW )
Filters
Filter model Rated current Leakage current External dimensions Mount dimensions FIlter Fixing Rated voltage
H W D M1 M2
R88A-FIK102-RE 2.4 A 3.5 mA 190 42 44 180 20 M4 250 VAC single-phase
R88A-FIK104-RE 4.1 A 3.5 mA 190 57 30 180 30 M4
R88A-FIK107-RE 6.6 A 3.5 mA 190 64 35 180 40 M4
R88A-FIK114-RE 14.2 A 3.5 mA 190 86 35 180 60 M4
70±0.5 7.5
85
Tw o, M 4
140±0.5
150
17270
4
150
85
0
G
IM
SP
COM
X10
3
2
1
ADR
AC SERVO DRIVER
X1
6
7
8
9
0
1
2
3
4
5
H
W
D
drive
mounts
ØM
M1
M2
output
flexes

G-Series servo drive 7
Single-phase, 230 VAC
*1 Connect when using an absolute encoder. If a backup battery is connected, an encoder cable with a battery is not required.
*2 Connect B2-B3 for the models with a built-in regeneration resistor (models from 750 W).
*3 If the amount of regeneration is large, connect an external regeneration resistor to B1-B2. For the models from 750 W, disconnect B2-B3.
Installation
Emergency Stop
/ALM
Alarm Output
ALMCOM
15
16
8
NCL
7 PCL
6 IN1
5 EXT1
4
EXT2
3
EXT3
2 STOP
1
+24VIN
Forword Torque
Limit Input
General-purpose
Input 1
External
Latch 1
External
Latch 2
External
Latch 3
12 to 24 VDC
19 POT
Forward run
Prohibit Input
20 NOT
21 DEC
Origin Proximity
Input
Shell FG
BAT
BATCOM
Backup Battery *1
34
33
22 IN0
General-purpose
Input0
23 IN2
General-purpose
Input 2
4.7kΩ
1kΩ
4.7kΩ
1kΩ
4.7kΩ
1kΩ
4.7kΩ
1kΩ
4.7kΩ
1kΩ
4.7kΩ
1kΩ
4.7kΩ
1kΩ
4.7kΩ
1kΩ
4.7kΩ
1kΩ
4.7kΩ
1kΩ
4.7kΩ
1kΩ
4.7kΩ
1kΩ
OUTM1
General-purpose Output 1
OUTM1COM
36
35
OUTM2
General-purpose Output 2
OUTM2COM
29
30
OUTM3
General-purpose Output 3
OUTM3COM
31
32
Reverse Torque
Limit Input
Reverse run
Prohibit Input
G-Series
Servo drive
Optical encoder
Servo motor
CN1
CN2
B3
B2
U
V
W
B1
L1
L3
L1C
L2C
Regeneration
resistor *3
Noise filter
CNB
CNA
CNB
*2
Single-Phase
200 to 230 VAC
Contactor
L1
L2
L3
N
Thermal switch

8AC servo systems
Ordering information
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
Control cables (for CN1)
Computer cable (for CN3)
MECHATROLINK-II Motion controllers
Computer software
MECHATROLINK-II cables (for CN6)
Filters
External regenerative resistor
3000 rpm (100-400 W)
A
AG-Series Flat
type Servo Motor
CN6
CN1
K
G-Series MECHATROLINK-II
Servo Drive
3000 rpm (1000-1500 W)
2000 rpm (1000-1500 W)
1000 rpm (900 W)
G
IM
SP
COM X10
3
2
1
0ADR
AC SERVODRIVER
X1
6
7
8
9
0
1
2
3
4
5
Encoder cable
Power cable
B
C
D
G-Series Cylindrical type Servo Motor
3000 rpm (50-750W)
E
F
Personal computer:
Sofware CX-One
Terminal block
for Servo drive I/O
signals
Servo drive I/O signals
G
H
CN3
MECHATROLINK-II cables
IMECHATROLINK-II
Motion controllers
J
Filter
L External
regenerative
resistor
Position control unit
CJ1W-NC_71
CS1W-NC_71
Motion controller unit
TJ1-MC04/16
CJ1W-MCH72
Specifica-
tions
Servo drive model A Compatible rotary servo motors
Cylindric type Flat type
B
1 phase 200 VAC
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 Name Connect to Model
EI/O connector kit Servo drive I/O
signals
- R88A-CNU01C
FTerminal block cable 1 m XW2Z-100J-B33
2 m XW2Z-200J-B33
GTerminal block - XW2B-20G4
XW2B-20G5
XW2D-20G6
Symbol Name Model
HComputer cable RS232 2 m R88A-CCG002P2
Symbol Name Model
ITrajexia stand-alone motion controller TJ1-MC04 (4 axes)
TJ1-MC16 (16 axes)
Trajexia-PLC motion controller CJ1W-MCH72
Position Controller Unit for CJ1 PLC CJ1W-NCF71 (16 axes)
CJ1W-NC471 (4 axes)
CJ1W-NC271 (2 axes)
Position Controller Unit for CS1 PLC CS1W-NCF71 (16 axes)
CS1W-NC471 (4 axes)
CS1W-NC271 (2 axes)
Specifications Model
Configuration and monitoring software tool for servo drives and
inverters. (CX-drive version 1.70 or higher)
CX-drive
Complete OMRON software package including CX-drive.
(CX-One version 3.10 or higher)
CX-One
Symbol Specifications Length Model
JMECHATROLINK-II
Terminator resistor
- JEPMC-W6022-E
MECHATROLINK-II cables 0.5 m JEPMC-W6003-A5-E
1 m JEPMC-W6003-01-E
3 m JEPMC-W6003-03-E
5 m JEPMC-W6003-05-E
10 m JEPMC-W6003-10-E
20 m JEPMC-W6003-20-E
30 m JEPMC-W6003-30-E
Symbol Applicable
servodrive
Filter model Rated
current
Leak-
age
current
Rated
voltage
KR88D-GN01H@
R88D-GN02H@
R88A-FIK102-RE 2.4 A 3.5 mA 250 VAC
single-
phase
R88D-GN04H@R88A-FIK104-RE 4.1 A 3.5 mA
R88D-GN08H@R88A-FIK107-RE 6.6 A 3.5 mA
R88D-GN10H@
R88D-GN15H@
R88A-FIK114-RE 14.2 A 3.5 mA
Symbol Regenerative resistor unit model Specifications
LR88A-RR08050S 50 Ω, 80 W
R88A-RR080100S 100 Ω, 80 W
R88A-RR22047S 47 Ω, 220 W
R88A-RR50020S 20 Ω, 500 W
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. I108E-EN-01A