Omron SMARTSTEP SERVO MOTORS Quick guide

181SmartStep servo motors
R7M-A@, R7M-AP@
SmartStep servo motors
The smart alternative to stepper motors
• SmartStep motors can be controlled by SmartStep
drive and XtraDrive
• Cylindrical and flat servo motor types are available
• Easy to setup, easy to operate. SmartStep is as
easy to use as a stepper motor
• Front-panel switches in the SmartStep drive make
settings easy and eliminate the need for time-con-
suming parameter settings
• Extended features and embedded in drive control
can be provided using intelligent XtraDrive
• Models with brake available
• Easy to connect to the drive using prebuilt cables
Ratings
• 230 VAC from 30 W to 750 W
(0.095 Nm to 2.39 Nm)
System configuration
CHARGE
POWER
CN3
CN1
CN2
Intelligent
Servo Drive
XtraDrive
Servo Drive controlled
by pulses
SmartStep
Servo Drive
Power and encoder cables
R7M-AP (flat type)
Servo Motor
3,000 rpm
(100-750 W)
R7M-A (cylindrical type)
Servo Motor
3,000 rpm
(30-750 W)
Drive options
(Refer to servo drive chapter)
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182 AC servo systems
Note: 1. For servo motor and cable part numbers, refer to ordering information at the end of this chapter.
2. Refer to the servo drive chapter for drive options selection and detailed specifications.
General specifications
Performance specifications
Flat servo motors
Servo motor / servo drive combination
SmarStep servo motor SmartStep servo drive XtraDrive servo drive
Voltage Rated torque Capacity Model 230 V (1-phase) 230 V (1-phase)
R7M-A (3000 min-1) 230 V 0.095 Nm 30 W R7M-A03030-@R7D-APA3H XD-P3-MN01
0.159 Nm 50 W R7M-A05030-@R7D-APA5H XD-P5-MN01
0.318 Nm 100 W R7M-A10030-@R7D-AP01H XD-01-MN01
0.637 Nm 200 W R7M-A20030-@R7D-AP02H XD-02-MN01
1.27 Nm 400 W R7M-A40030-@R7D-AP04H XD-04-MN01
2.39 Nm 750 W R7M-A75030-@R7D-AP08H XD-08-MN
R7M-AP(3000 min-1) 230 V 0.318 Nm 100 W R7M-AP10030-@R7D-AP01H XD-01-MN01
0.637 Nm 200 W R7M-AP20030-@R7D-AP02H XD-02-MN01
1.27 Nm 400 W R7M-AP40030-@R7D-AP04H XD-04-MN01
2.39 Nm 750 W R7M-AP75030-@R7D-AP08H XD-08-MN
Servo motor specifications
Item Specification
Ambient operating temperature 0 to 40 °C
Ambient operating humidity 20% to 80% (with no condensation)
Ambient storage temperature -20 to 60 °C
Ambient storage humidity 20% to 80% (with no condensation)
Storage/operating atmosphere No corrosive gases.
Vibration resistance 10 to 2,500 Hz in X, Y, and Z directions with 0.2 mm double amplitude or acceleration of 24.5 m/s2max.,
whichever is smaller
Impact resistance Acceleration 98 m/s2max., in a vertical direction, two times
Insulation resistance Between power line terminals and FG: 10 MΩmin. (at 500 VDC)
Dielectric strength Between power line terminals and FG: 1,500 VAC for 1 min at 50/60 Hz
Run position Any direction
Insulation grade Type B
Structure Totally-enclosed self-cooling
Protective structure IP55 for both the cylindrical and flat servo motors
Vibration grade V-15
Mounting method Flange-mounting
International standards Approval obtained for UL, cUL, and EN (EMC directive and low-voltage directive)
Item R7M-AP10030-@R7M-AP20030-@R7M-AP40030-@R7M-AP75030-@
Rated output 100 W 200 W 400 W 750 W
Rated torque 0.318 N⋅m 0.637 N⋅m1.27N⋅m 2.39 N⋅m
Rated rotation speed 3,000 r/min 3,000 r/min 3,000 r/min 3,000 r/min
Momentary maximum rotation speed 4,500 r/min 4,500 r/min 4,500 r/min 4,500 r/min
Momentary maximum torque 0.96 N⋅m 1.91 N⋅m3.82N⋅m7.1N⋅m
Rated current 0.89 A (rms) 2.0 A (rms) 2.6 A (rms) 4.1 A (rms)
Momentary maximum current 2.8 A (rms) 6.0 A (rms) 8.0 A (rms) 13.9 A (rms)
Rotor inertia 6.5 ×10-6 kg⋅m22.09 ×10-5 kg⋅m23.47 ×10-5 kg⋅m22.11 ×10-4 kg⋅m2
Power rate 15.7 kW/s 19.4 kW/s 46.8 kW/s 26.9 kW/s
Allowable radial load 78 N 245 N 245 N 392 N
Allowable thrust load 49 N 68 N 68 N 147 N
Weight Without brake 0.7 kg 1.4 kg 2.1 kg 4.2 kg
With brake 0.9 kg 1.9 kg 2.6 kg 5.7 kg
Encoder resolution 2,000 pulses/revolution for phase-A and phase-B, 1 pulse/revolution for phase-Z
Radiation shield dimensions t6 ×250 mm square t12 ×300 mm square
Brake
specifications Brake inertia 3.1 ×10-6 kg⋅m21.52 ×10-5 kg⋅m21.52 ×10-5 kg⋅m28.75 ×10-5 kg⋅m2
Excitation voltage 24 VDC ±10%
Power consumption (at 20 °C) 7.5 W 7.6 W 8.2 W 7.5 W
Current consumption (at 20 °C) 0.31 A 0.32 A 0.34 A 0.31 A
Static friction torque 0.4 N⋅m min. 0.9 N⋅m min. 1.9 N⋅m min. 3.5 N⋅m min.
Attraction time 60 ms max. 40 ms max. 60 ms max. 20 ms max.
Release time 20 ms max. 20 ms max. 20 ms max. 40 ms max.
Backlash 1°1°1°1°
Rating Continuous Continuous Continuous Continuous
Insulation grade Type F Type F Type F Type F
Applicable servo driver (R7D-) AP01H AP02H AP04H AP08H
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SmartStep servo motors 183
Cylindrical servo motors
Torque and rotation speed characteristics
Flat servo motors
The following graphs show the characteristics with a 3 m standard cable and R7D-AP@H servo driver (200 VAC input)
Item R7M-A03030-@R7M-A05030-@R7M-A10030-@R7M-A20030-@R7M-A40030-@R7M-A75030-@
Rated output 30 W 50 W 100 W 200 W 400 W 750 W
Rated torque 0.095 N⋅m0.159N⋅m0.318N⋅m 0.637 N⋅m 1.27 N⋅m 2.39 N⋅m
Rated rotation speed 3,000 r/min 3,000 r/min 3,000 r/min 3,000 r/min 3,000 r/min 3,000 r/min
Momentary maximum rotation speed 4,500 r/min 4,500 r/min 4,500 r/min 4,500 r/min 4,500 r/min 4,500 r/min
Momentary maximum torque 0.29 N⋅m0.48N⋅m0.96N⋅m 1.91 N⋅m 3.82 N⋅m7.1N⋅m
Rated current 0.42 A (rms) 0.6 A (rms) 0.87 A (rms) 2.0 A (rms) 2.6 A (rms) 4.4 A (rms)
Momentary maximum current 1.3 A (rms) 1.9 A (rms) 2.8 A (rms) 6.0 A (rms) 8.0 A (rms) 13.9 A (rms)
Rotor inertia 1.7 ×10-6 kg⋅m22.2 ×10-6 kg⋅m23.6 ×10-6 kg⋅m21.19 ×10-5 kg⋅m21.87 ×10-5 kg⋅m26.67 ×10-5 kg⋅m2
Power rate 5.31 kW/s 11.5 kW/s 28.1 kW/s 34.1 kW/s 86.3 kW/s 85.6 kW/s
Allowable radial load 68 N 68 N 78 N 245 N 245 N 392 N
Allowable thrust load 54 N 54 N 54 N 74 N 74 N 147 N
Weight Without brake 0.3 kg 0.4 kg 0.5 kg 1.1 kg 1.7 kg 3.4 kg
With brake 0.6 kg 0.7 kg 0.8 kg 1.6 kg 2.2 kg 4.3 kg
Encoder resolution 2,000 pulses/revolution for phase-A and phase-B, 1 pulse/revolution for phase-Z
Radiation shield dimensions t6 ×250 mm square
Brake
specifications Brake inertia 0.85 ×10-6 kg⋅m20.85 ×10-6 kg⋅m20.85 ×10-6 kg⋅m26.4 ×10-6 kg⋅m26.4 ×10-6 kg⋅m21.7 ×10-5 kg⋅m2
Excitation voltage 24 VDC ±10% V
Power consumption (at 20 °C)6W6W6W7W7W7.7W
Current consumption (at 20 °C) 0.25 A 0.25 A 0.25 A 0.29 A 0.29 A 0.32 A
Static friction torque 0.2 N⋅m min. 0.2 N⋅m min. 0.34 N⋅m min. 1.47 N⋅m min. 1.47 N⋅m min. 2.45 N⋅m min.
Attraction time 30 ms max. 30 ms max. 30 ms max. 60 ms max. 60 ms max. 60 ms max.
Release time 60 ms max. 60 ms max. 60 ms max. 20 ms max. 20 ms max. 20 ms max.
Backlash 1°1°1°1°1°1°
Rating Continuous Continuous Continuous Continuous Continuous Continuous
Insulation grade Type F Type F Type F Type F Type F Type F
Applicable servo driver (R7D-) APA3H APA5H AP01H AP02H AP04H AP08H
0.2
1000 2000 3000
0.96
(3725)
0.3180.318
0.8
0.222
4000 5000
0
0.4
0.6
0.8
1.0 0.96
(N·m)
(r/min)
0.5
1.0
1.5
1000 2000 3000
1.91
(3600)
0.6370.637
1.4
0.452
4000 5000
0
2.0 1.91
(N·m)
(r/min)
1.0
2.0
3.0
1000 2000 3000
1.271.27
1.77
1.22
0.89
4000 5000
0
4.0 3.82
(N·m)
(r/min)
2.0
4.0
6.0
1000 2000 3000
(2500) 7.1
(3200)
2.392.39
1.54
1.64
2.45
4000 5000
0
8.0
7.1
(N·m)
(r/min)
3.82
(3250)
(2350)
R7M-AP20030 (200 W)
R7M-AP75030 (750 W)
Repeated usage
Continuous usage
Repeated usage
Continuous usage
Repeated usage
Continuous usage
Repeated usage
Single-phase
200 VAC input 3-phase
200 VAC input
R7M-AP10030 (100 W)
R7M-AP40030 (400 W)
Continuous usage
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184 AC servo systems
Torque and rotation speed characteristics
Cylindrical servo motors
The following graphs show the characteristics with a 3 m standard cable and an R7D-AP@H servo driver (200 VAC input.)
0.1
1000 2000 3000
0.1590.159
0.107
4000 5000
0
0.2
0.3
0.4
0.5 0.48 0.48
(N·m)
(r/min)
0.1
0.2
0.3
1000 2000 3000
0.0950.095
0.069
4000 5000
0
0.29 0.29
(N·m)
(r/min)
0.2
1000 2000 3000
0.96
(3600)
0.3180.318
0.91
0.222
4000 5000
0
0.4
0.6
0.8
1.0 0.96
(N·m)
(r/min)
0.5
1.0
1.5
1000 2000 3000
1.91
(3650)
0.6370.637
1.33
0.452
4000 5000
0
2.0 1.91
(N·m)
(r/min)
1.0
2.0
3.0
1000 2000 3000
3.82
(2900)
(2000)
1.271.27 1.45
1.24
0.89
4000 5000
0
4.0 3.82
(N·m)
(r/min)
2.0
4.0
6.0
1000 2000 3000
7.1
(2225)
2.392.39
1.24
4000 5000
0
8.0
7.1
(N·m)
(r/min)
R7M-A03030 (30 W) R7M-A05030 (50 W)
R7M-A10030 (100 W) R7M-A20030 (200 W)
R7M-A40030 (400 W) R7M-A75030 (750 W)
Repeated usage
Continuous usage
Repeated usage
Continuous usage
Repeated usage
Continuous usage
Repeated usage
Continuous usage
Repeated usage
Continuous usage
Repeated usage
Continuous usage
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SmartStep servo motors 185
Cylindrical servo motors (3,000 r/min)
200 VAC: 30W/50W/100W/200W/400W/750W
Without brake: R7M-A03030-S1-D/A05030-S1-D/A10030-S1-D/A20030-S1-D/A40030-S1-D/A75030-S1-D
With brake: R7M-A03030-BS1-D/A05030-BS1-D/A10030-BS1-D/A20030-BS1-D/A40030-BS1-D/A75030-BS1-D
Flat servo motors (3,000 r/min)
200 VAC: 100W/200W/400W/750W
Without brake: R7M-AP10030-S1-D/AP20030-S1-D/AP40030-S1-D/AP75030-S1-D
With brake: R7M-AP10030-BS1-D/AP20030-BS1-D/AP40030-BS1-D/AP75030-BS1-D
Dimensions
Model Dimensions (mm)
LL LR Flange surface Axis end
Without brake With brake CD1 D2 F G Z S QK b h t1
R7M-A03030@69.5 101 25 40 46 30h7 2.5 5 Two, 4.3 dia. 6h6 14 2 2 1.2
R7M-A05030@77 108.5
R7M-A10030@94.5 135 8h6 331.8
R7M-A20030@96.5 136 30 60 70 50h7 3 6 Four, 5.5 dia. 14h6 20 5 5 3
R7M-A40030@124.5 164
R7M-A75030@145 189.5 40 80 90 70h7 3 8 Four, 7 dia. 16h6 30
Model Dimensions (mm)
LL LR Flange surface Axis End
Without brake With brake CD1 D2 F G Z S QK bht1
R7M-AP10030@62 91 25 60 70 50h7 3 6 5.5 8h6 14 3 3 1.8
R7M-AP20030@67 98.5 30 80 90 70h7 3 8 7 14h6 16 5 5 3
R7M-AP40030@87 118.5
R7M-AP75030@86.5 120 40 120 145 110h7 3.5 10 10 16h6 22
D2 dia.S dia.
300
300
QK*
LL LR
GF
C
D1 dia.
C
D2 dia.S dia.
QK*
LL LR
GF
300
300
b
t1
h
Axis end
dimensions
Hole with
“Z” mark
R7M-A@@@30-S1-D (Without brake) R7M-A@@@30-BS1-D (With brake)
b
t1
h
C
C
D1 dia.
D2 dia.S dia.
LL LR
GF
QK*
300
300
LL LR
GF
D2 dia.S dia.
QK*
300
300
R7M-AP@@@30-S1-D (Without brake) R7M-AP@@@30-BS1-D (With brake) Axis end
dimensions
Four, Z-dia.
mounting
holes
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186 AC servo systems
Note: The symbols ABC... show the recommended sequence to select the servo motor and cables.
Servo motor
Cylindrical servo motors (3,000-r/min)
Flat servo motors (3,000-r/min)
Servo drive
Note: Choosing SmartStep drive or XtraDrive affects to the encoder cable needed.
B Refer to SmartStep servo drive or XtraDrive chapter for detailed drive specifications and selection of drive accessories.
Ordering information
Symbol Specifications Servo motor model Compatible servo drives B
Design Rated torque Capacity SmartStep XtraDrive
ACylindrical
servo motors
(3,000-r/min)
Straight shaft with
key
Without brake 0.095 Nm 30 W R7M-A03030-S1-D R7D-APA3H XD-P3-MN01
0.159 Nm 50 W R7M-A05030-S1-D R7D-APA5H XD-P5-MN01
0.318 Nm 100 W R7M-A10030-S1-D R7D-AP01H XD-01-MN01
0.637 Nm 200 W R7M-A20030-S1-D R7D-AP02H XD-02-MN01
1.27 Nm 400 W R7M-A40030-S1-D R7D-AP04H XD-04-MN01
2.39 Nm 750 W R7M-A75030-S1-D R7D-AP08H XD-08-MN
With brake 0.095 Nm 30 W R7M-A03030-BS1-D R7D-APA3H XD-P3-MN01
0.159 Nm 50 W R7M-A05030-BS1-D R7D-APA5H XD-P5-MN01
0.318 Nm 100 W R7M-A10030-BS1-D R7D-AP01H XD-01-MN01
0.637 Nm 200 W R7M-A20030-BS1-D R7D-AP02H XD-02-MN01
1.27 Nm 400 W R7M-A40030-BS1-D R7D-AP04H XD-04-MN01
2.39 Nm 750 W R7M-A75030-BS1-D R7D-AP08H XD-08-MN
Symbol Specifications Servo motor model Compatible servo drives B
Design Rated torque Capacity SmartStep XtraDrive
AFlat servo motors
(3,000-r/min)
Straight shaft with
key
Without brake 0.318 Nm 100 W R7M-AP10030-S1-D R7D-AP01H XD-01-MN01
0.637 Nm 200 W R7M-AP20030-S1-D R7D-AP02H XD-02-MN01
1.27 Nm 400 W R7M-AP40030-S1-D R7D-AP04H XD-04-MN01
2.39 Nm 750 W R7M-AP75030-S1-D R7D-AP08H XD-08-MN
With brake 0.318 Nm 100 W R7M-AP10030-BS1-D R7D-AP01H XD-01-MN01
0.637 Nm 200 W R7M-AP20030-BS1-D R7D-AP02H XD-02-MN01
1.27 Nm 400 W R7M-AP40030-BS1-D R7D-AP04H XD-04-MN01
2.39 Nm 750 W R7M-AP75030-BS1-D R7D-AP08H XD-08-MN
B
CHARGE
POWER
CN3
CN1
CN2
B
C
AA
Intelligent
Servo Drive
XtraDrive
Servo Drive controlled
by pulses
SmartStep
Servo Drive
Power and encoder cables
R7M-AP (flat type)
Servo Motor
3,000 rpm
(100-750 W)
R7M-A (cylindrical type)
Servo Motor
3,000 rpm
(30-750 W)
Drive options
(Refer to servo drive chapter)
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SmartStep servo motors 187
Servo motor cables for SmartStep drive
Standard cable (power + encoder)
Flexible cables (power + encoder)
Servo motor cables for XtraDrive Drive
Flexible cables (power + encoder)
Connectors
Symbol Drive Specifications Power cable model Encoder cable model Appearance
CSmartStep For servo motors
without brake
R7M-A(P)@@@30-S1-D
3 m R7A-CEA003S-DE
5 m R7A-CEA005S-DE
10 m R7A-CEA010S-DE
15 m R7A-CEA015S-DE
20 m R7A-CEA020S-DE
For servo motors
with brake
R7M-A(P)@@@30-BS1-D
3 m R7A-CEA003B-DE
5 m R7A-CEA005B-DE
10 m R7A-CEA010B-DE
15 m R7A-CEA015B-DE
20 m R7A-CEA020B-DE
Symbol Drive Specifications Power cable model Encoder cable model Appearance
CSmartStep For servo motors
without brake
R7M-A(P)@@@30-S1-D
3 m R88A-CAWA003S-DE R7A-CRA003-FDE
5 m R88A-CAWA005S-DE R7A-CRA005-FDE
10 m R88A-CAWA010S-DE R7A-CRA010-FDE
15 m R88A-CAWA015S-DE R7A-CRA015-FDE
20 m R88A-CAWA020S-DE R7A-CRA020-FDE
For servo motors
with brake
R7M-A(P)@@@30-BS1-D
3 m R88A-CAWA003B-DE R7A-CRA003-FDE
5 m R88A-CAWA005B-DE R7A-CRA005-FDE
10 m R88A-CAWA010B-DE R7A-CRA010-FDE
15 m R88A-CAWA015B-DE R7A-CRA015-FDE
20 m R88A-CAWA020B-DE R7A-CRA020-FDE
Symbol Drive Specifications Power cable model Encoder cable model Appearance
CXtraDrive For servo motors
without brake
R7M-A(P)@@@30-S1-D
3 m R88A-CAWA003S-DE XD-CRA003-DE
5 m R88A-CAWA005S-DE XD-CRA005-DE
10 m R88A-CAWA010S-DE XD-CRA010-DE
15 m R88A-CAWA015S-DE XD-CRA015-DE
20 m R88A-CAWA020S-DE XD-CRA020-DE
For servo motors
with brake
R7M-A(P)@@@30-BS1-D
3 m R88A-CAWA003B-DE XD-CRA003-DE
5 m R88A-CAWA005B-DE XD-CRA005-DE
10 m R88A-CAWA010B-DE XD-CRA010-DE
15 m R88A-CAWA015B-DE XD-CRA015-DE
20 m R88A-CAWA020B-DE XD-CRA020-DE
Specifications Model
SmartStep connectors kit Models included in kit R7A-CNA00K-DE
SmartStep encoder connector (for CN2) R7A-CNA01R
Hypertac power connector female SPOC-06K-FSDN169
Hypertac encoder connector female SPOC-17H-FRON169
Hypertac power connector male (used in the motor) SRUC-06J-MSCN236
Hypertac encoder connector male (used in the motor) SRUC-17G-MRWN087
R7A-CEA0___-DE
Only for Brake
models
R88A-CAWA0___-DE
R7A-CRA0___-FDE
Only for brake
models
R88A-CAWA0___-DE
XD-CRA0___-DE
Only for brake
models
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188 AC servo systems
E
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. I45E-EN-01
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