Omron SMARTSTEP 2 R7D-BP01H Quick guide

1SmartStep 2 servo drive
AC Servo systems
R7D
SmartStep 2 servo drive
Another step forward in drive simplicity
• Easy set up and on-line auto tuning
• The footprint is only 48% that of the SmartStep
series
• Two torque limits
• Electronic gear, four internal speed settings and
wide range of pulse settings
• Adaptive filters for suppresion of vibration and
resonance
• Configuration and commissioning with CX Drive-
software
Ratings
• 230 VAC single-phase 50 W to 400 W (0.16 to
1.3 Nm)
System configuration
Position control
unit
Power cable
Brake cable
SmartStep 2
Servo Drive
SmartStep 2
Servo Motor
(Refer to chapter SmartStep servo motors)
Connector terminal block
General purpose controller
(with pulse output)
Position control
unit
Personal computer
Encoder cable
Servo drive type designation
SmartStep 2
Servo Drive
Drive Type Source voltage
Capacity
P: Pulse input control
R7D-BP01H
H: Single-phase
200 VAC for 100/400 W
HH: Single-phase
200 VAC for 200 W
100 W
200 W
400 W
01
02
04
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2AC servo systems
General specifications
Performance specifications
I/O specifications
Main circuit connector (CNA) specifications
Servomotor connector (CNB) specifications
Servo motor supported
Servo motor
Family Voltage Speed Rated torque Capacity Model
Cylindric 50 - 400 W 230 V 3000 min-1 0.16 Nm 50 W R88M-G05030H-@S2
0.32 Nm 100 W R88M-G10030H-@S2
0.64 Nm 200 W R88M-G20030H-@S2
1.3 Nm 400 W R88M-G40030H-@S2
Flat 100-400 W 0.32 Nm 100 W R88M-GP10030H-@S2
0.64 Nm 200 W R88M-GP20030H-@S2
1.3 Nm 400 W R88M-GP40030H-@S2
Servo drive specifications
Item Specification
Ambient operating temperature 0 to 55°C
Ambient operating humidity 90% max. (with no condensation)
Ambient storage temperature -20 to 65°C
Ambient storage humidity 90% max. (with no condensation)
Storage/operating atmosphere No corrosive gases.
Vibration resistance 10 to 60 Hz; acceleration : 5.9 m/s² (0.6G) max.
Impact resistance Acceleration 19.6 m/s2max., 3 times each in X, Y, and Z directions,
Insulation resistance Between power supply/power line terminals and frame ground: 0.5 MΩmin. (at 500 VDC)
Dielectric strength Between power supply/power terminals and frame ground: 1,500 VAC for 1 min at 50/60 Hz
Between each control signal and frame ground: 500 VAC for 1 min
Protective structure Built into panel (IP10).
International standards Approval obtained for UL: UL 508C; cUL: cUL C22.2 No 14
Approval EC : EMC EN55011 class A Group 1, EN 61000-6-2, low voltage EN50178
Item 200 VAC input type
100 W 200 W 400 W
R7D-BP01H R7D-BP02HH R7D-BP04H
Continuous output current (rms) 1.0 A 1.6 A 2.5 A
Momentary maximum output current (rms) 3.3 A 4.9 A 7.8 A
Main-circuit power supply Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
Control method All-digital servo
Speed feedback 10,000 pulses/revolution incremental encoder
Inverter method PWM method based on IGBT
PWM frequency 12 kHZ 6 kHZ
Weight 0.35 kg 0.42 kg 0.42 kg
Compatible motor voltage 200 V
Command pulse response Line drive: 500 kpps
Compatible motor capacity 50 W
100 W
200 W 400 W
Applicable servo motor
(R88M-)
G05030H
G10030H
GP10030H
G020030H
GP20030H
G40030H
GP40030H
Pin Symbol Name Function
10 L1 Main circuits power supply For single-phase 100/200 V, connect to L1 (pin 10) and L3 (pin 6).
8L2
6L3
5 P External regeneration resistance If regenerative energy is high, connect an External Regeneration Resistor.
3B1
1 FG This is the ground terminal. Ground to 100 Ωor less.
Pin Symbol Name Function
1,4,6 U, V, W Servo motor connection terminals These are the output terminals to the Servomotor.
3 GND Frame ground
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SmartStep 2 servo drive 3
AC Servo systems
Control I/O (CN1) specifications
Encoder connector (CN2) specifications
Power supply and alarm indicator (PWR and ALM)
Pin Symbol Name Function
1 +24 Vin DC power supply input for control Power supply input terminal (12 to 24 VDC) for sequence input (pin 1).
2 RUN RUN Command Input ON: Servo ON (Starts power to Servomotor.)
3 RESET Alarm Reset Input ON: Servo alarm status is reset. 1
Must be ON for 120 ms min.
1. Some alarms cannot be cleared using this input. For details, refer to 8-2 Alarm Table.
4 ECRST/ VSEL2 Deviation Counter Reset Input or
Internally Set Speed Selection 2 Input
5 GSEL/ VZERO/ TLSEL Gain Switch Input, Zero Speed
Designation Input, or Torque Limit
Switch Input
6 GESEL/ VSEL1 Electronic Gear Switch Input or
Internally Set Speed Selection 1 Input
Electronic Gear Switch Input or internally Set Speed Selection 1 Input *2
7 NOT Reverse Drive prohibit Input Reverse rotation overtravel input.
OFF: Prohibited, ON: Permitted
8 POT Forward Drive prohibit Input Forward rotation overtravel input.
OFF: Prohibited, ON: Permitted
22 +CW/ PULS/ FA Reverse Pulses Input, Feed Pulses In-
put, or 90º Phase difference Pulses
(Phase A)
Input terminals for position command pulses.
Line-driver input: Maximum response frequency: 500 kpps
Open-collector input: Maximum response frequency: 200 kpps
23 -CW/ PULS/ FA
24 +CCW/ SIGN/ FB Forward Pulses Input, Direction signal,
or 90º Phase Difference Pulses
(Phase B)
25 −CCW/SIGN/ FB
9 /ALM Alarm Output When the Servo Drive generates an alarm, the output turns OFF. 2
2. This is OFF for approximately 2 seconds after turning ON the power.
10 INP/TGON Positioning Completed Output or Ser-
vomotor Rotation Amount Detection
Output
11 BKIR Brake Interlock Output Outputs the holding brake timing signals. Release the holding brake when this
signal is ON.
12 WARN Warning Output The signal selected in the Warning Output Selection (Pn09) is output.
13 OGND Output Ground Common Ground common for sequence outputs (pins 9, 10, 11, and 12).
14 GND Ground
Common
Common for Encoder output and phase-Z output (pin 21).
15 +A Encoder
Phase-A Output
These signals output encoder pulses according to the
Encoder Dividing Ratio Setting (Pn44).
This is the line-driver output (equivalent to RS-422).
16 −A
17 −B Encoder
Phase-B Output
18 +B
19 +Z Encoder
Phase-Z Output
20 −Z
21 Z Phase-Z Output Outputs the phase Z for the Encoder (1 pulse/rotation).
This is the open-collector output.
Pin Symbol Name Function
1 E5V Encoder power supply +5 V Power supply output for the encoder 5 V, 70 mA
2 E0V Encoder power supply GND
3 NC Do not connect anything to these pins.
4NC
5 S+ Encoder + phase S I/O RS-485 line-driver I/O
6S−Encoder − phase S I/O
Shell FG Shield ground Cable shield ground
Indicator Color Status
PWR Lit green Main power is ON.
Lit orange Flashes at a 1-second intervals when
there is a warning (i.e., overload, ex-
cessive regenerative energy, or fan
speed error).
Lit red An alarm has occurred.
ALM Lights when an alarm has occurred
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4AC servo systems
Servo drives
R7D-BP01H (200 V, 100 W)
R88D-BP02HH/04H (200 V, 400 W)
Filters
R7A-FIB104-RE
Dimensions
Filter model Rated current Leakage current Rated voltage
R7A-FIB104-RE 4A 3.5 mA 250 VAC single-phase
Tw o , M 4
C
N
1
C
N
2
C
N
B
C
N
A
C
N
3
ALM
PWR
5.1
5.2 105
35
5.2 dia.
20
130
120 140
15
5
5
140
130±0.5 55
15 20
70
Mounting Hole
Dimensions
C
N
1
C
N
2
C
N
B
C
N
A
C
N
3
ALMPWR
5.1
5.2 105
40
5.2 dia.
20
130
120 140
15
5
5
140
130±0.5
Two, M4
55
15 25
70
Mounting Hole
Dimensions
7.5 7.520
7.5
1
±5619
179±1
Mounting
3 x Ø5.0
drive mounts
2 x M4
40±144±1
output flexes
2 x 170 mm
1 x 130 mm + M4
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SmartStep 2 servo drive 5
AC Servo systems
Single-phase, 230 VAC
*1. An External Regeneration Resistor can be connected.
Connect this resistor if the regenerative energy exceeds regeneration absorption capacity in the Servo Drive.
Note:1. The dynamic brake operates when the main circuit power supply or the control circuit power supply is turned OFF.
Note:2. When turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN) signal at the same time.
Installation
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
.
BKIR
Brake Interlock
Maximum operating
voltage: 30 VDC
Maximum Output
Current: 50 mA DC
RUN Command
Input
25
+CW
−CW
+CCW
−CCW
22
23
24
Reverse
pulse
Forward
pulse
21
9
2
RUN
1
24VIN
12 to 24 VDC
Frame ground
FGShell, 26
Z-phase Output
(open collector output)
10
11
/ALM
14
Z
GND
Alarm Output
13
INP
OGND
Positioning
Completed
Output
RESET 3
Alarm Reset
Input
ECRST4
Deviation Counter
Reset Input
Gain Switch
InputGSEL 5
GESEL 6
Electronic Gear
Switch Input
Reverse Drive
Prohibit Input
Forward Drive
Prohibit Input
NOT 7
POT 8
−Z
+Z
−B
+B
−A
+A
20
19
17
18
16
15
12 WARN
Warning Output
Encoder A-phase
Output
Encoder B-phase
Output
Encoder Z-phase
Output
220 Ω
220 Ω
Line driver output
Conformsto
EIA RS-422A
(Load resistance:
220 Ωmin.)
4.7 kΩ
SMARTSTEP2
Servo drive
Optical encoder
Servo motor
CN1
CN2
U
V
W
B1
L1
L3
Regeneration
resistor *1
CNA
CNB
P
Noise filter
Contactor
L1
L2
L3
N
Thermal switch
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6AC servo systems
Note: The symbols ABCDE... show the recommended sequence to select the components in a SmartStep 2 servo system
Servo motors
Note: ABCD Refer to the SmartStep 2 servo motor chapter for detailed motor specifications and selection
Servo drives
Power Supply cables (for CNA)
Control cables (for CN1)
Ordering information
Symbol Specifications SmartStep 2 drive
model
Compatible servo motors A
Cylindrical type Flat type
E200 VAC 100 W R7D-BP01H R88M-G05030H-@-
R88M-G10030H-@R88M-GP10030H-@
200 W R7D-BP02HH R88M-G20030H-@R88M-GP20030H-@
400 W R7D-BP04H R88M-G40030H-@R88M-GP40030H-@
Symbol Specifications Model Appearance
EPower Supply Input Cable for Single-Phase Power (connectors at-
tached)
R7A-CLB002S2
Symbol Name Compatible units Model Available lengths
FServo relay unit Use with position control units
(doesn’t support communications functions.)
Units: CS1W-NC113/133, CJ1W-NC113/133 and C200HW-NC113/
NC112
XW2B-20J6-1B
(1 axis)
---
Use with position control units
(doesn’t support communications functions.)
Units: CS1W-NC213/233/413/433, CJ1W-NC213/233/413/433 and
C200HW-NC213/413
XW2B-40J6-2B
(2 axes)
Use with position control units
(doesn’t support communications functions.)
Units: CQM1H-PLB21
XW2B-20J6-3B
(1 axis)
Use with position control units (supports communications functions.)
Units: CS1W-NC213/233/413/433, CJ1W-NC213/233/413/433
XW2B-40J6-4A
(2 axes)
Use with CJ1M-CPU21/22/23
(doesn’t support communications functions.)
XW2B-20J6-8A (1 axis)
XW2B-40J6-9A (2 axes)
GCable to servo drive Position Control Unit/ CQM1H XW2Z-@@@J-B29 1 m or 2 m
(the cable length goes in
the empty boxes.)
CJ1M XW2Z-@@@J-B32
B
C
D
Position control
unit
K
K
L
SmartStep 2
Servo Drive
SmartStep 2
Servo Motor
(Refer to chapter SmartStep servo motors)
Connector terminal block
General purpose controller
(with pulse output)
Position control
unit
Personal computer
A
E
F
GH
I
JJ
Encoder cable
Power cable
Brake cable
Compact Controller
Filter
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SmartStep 2 servo drive 7
AC Servo systems
Cable for CN3
Filters
Connectors
External regeneration resistor
External regeneration resistor cable
Parameter unit & computer software
HCable to position
control unit
CQM1H-PLB21 XW2Z-@@@J-A3 0.5 m or 1 m
(the cable length goes in
the empty boxes.)
C200H-NC112 XW2Z-@@@J-A4
C200H-NC211 and C500-NC113/211 XW2Z-@@@J-A5
CS1W-NC113 and C200HW-NC113 XW2Z-@@@J-A6
CS1W-NC213/413 and C200HW-NC213/413 XW2Z-@@@J-A7
CS1W-NC133 XW2Z-@@@J-A10
CS1W-NC233/433 XW2Z-@@@J-A11
CJ1W-NC113 XW2Z-@@@J-A14
CJ1W-NC213/413 XW2Z-@@@J-A15
CJ1W-NC133 XW2Z-@@@J-A18
CJ1W-NC233/433 XW2Z-@@@J-A19
CJ1M-CPU21/22/23 XW2Z-@@@J-A33
IControl cable For general-purpose controllers R7A-CPB-@@@S 1 m or 2 m
(the cable length goes in
the empty boxes.)
---
JConnector terminal block cable For general-purpose controllers XW2Z-@@@J-B28
Connector-Terminal Block
Conversion Units
For general-purpose controllers XW2B-34G4 Terminal block with M3
screws
XW2B-34G5 Terminal block with M3.5
screws
XW2D-34G6 Terminal block with M3
screws
Symbol Name Compatible units Model Available lengths
Symbol Name Connected to Lengh Model
KPersonal Computer Monitor Cable Windows 2 m R88A-CCG002P2
Symbol Applicable servo drive Filter model Rated current Rated voltage
LR7D-BP01H/ 02HH/ 04H R7A-FIB104-RE 4 A 1 pH, 230 V
Specifications Model
Main Circuit Connector (CNA) R7A-CNB01P
Servomotor Connector (CNB) R7A-CNB01A
Control I/O Connector (CN1) R88A-CNW01C
Encoder Input Connector (CN2) R88A-CNW01R
Servomotor Connector for Encoder Cable R88A-CNG02R
Servomotor Connector for Servomotor Power Cable R88A-CNG01A
Brake Cable Connector R88A-CNG01B
Specification Model
80 W, 50 ΩR88A-RR08050S
80 W, 100 ΩR88A-RR080100S
220 W, 47 ΩR88A-RR22047S
Specifications Model
External Regenerative Resistor Connection Cable, 2 meters R7A-CLB002RG
Specifications Model
Parameter copy unit (with cable) R88A-PR02G
Configuration and monitoring software tool for servo drives and inverters. (CX-drive version 1.8 or higher) CX-drive
In the interest of product improvement, specifications are subject to change without notice.
ALL DIMENSIONS SHOWN ARE IN MILLIMETERS.
To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527.
Cat. No. I106E-EN-01
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