Omron G User manual

Save space, save wiring, save time
G-SERIES SERVO SYSTEM
Enhanced performance»
MECHATROLINK-II» Compact size»

Speed
Speed
Torque
Torque
Command speed
Command speed
Fast and simple auto-tuning
The graphs show a move profile with a G-series servo in an
application with an inertia ratio of 16:1. Tuning is possible via the
easy to use CX-Drive, and takes just 1 minute to complete.
The result is superb control, ensuring the servo and hence machine
operates at its optimal point, with next to zero knowledge required
from the user.
Once running, the on-board real time auto-tuning function takes care
of the servo operation relative to the load inertia, again ensuring the
quality of the finished produced part.
In addition, numerous suppression and notch filters are available to
suppress machine vibration independent of machine direction.
From multiple cables...
MECHATROLINK-II
Easy connection: single cable only!
With their built-in MECHATROLINK-II motion bus, just
a single cable is needed to connect servos together.
So you not only save on wiring and installation time,
you also significantly reduce the chance of
connection errors. Reliability is increased since the
single-cable connection is much more rugged than a
multiple-wiring solution.
to only one cable
Compact in size
big in features
Save space, save wiring, save time
Before auto-tuning
After auto-tuning
Always with your application in mind, G-Series
servo drives give you additional functionalities
to develop your machines faster, more flexibly
and more efficiently.
Improved speed response, a wider range of
servomotors and intuitive and fast auto-tuning
belong to the new features, making it suitable
for many applications, and always with the
expected Omron quality and support.
Key features and benefits:
•Pocket-size servo with smallest
footprint  x cm
•Auto-tuning for easy and quick start-up
•Built-in MECHATROLINK-II motion bus reduces
cabling and allows remote servo configuration
and diagnosis
•High starting torque: % for  secs.
•Positioning, speed or torque control
•Separate power and control power supply
•Fast and accurate positioning
•Servomotor range from  W to . kW
•Incremental and absolute encoder available
•Cylindrical and flat servo motors
up to , rpm
•Compatible with SmartStep  servomotors
•Vibration suppression

NCF – key features and
benefits
• axes, point-to-point positioning
over ML II
•System scalability with models for , 
and  axes
•Easy, quick and reliable setup
•Optimized for positioning applications
•Simplified wiring to drives
•Integration with Omron Smart Platform
Complete and compact positioning system
In a minimum of space you can have a complete and
powerful PTP system when combining the CJ1W-NCF71
unit and the G-Series servo. This configuration offers
16-axis positioning with linear and circular
interpolation, as well as interrupt feeding. The NCF and
the G-Series offer the ideal solution for applications
where space is tight.
Full transparency from a remote host
When the G-Series is controlled by NCF positioning unit,
the servo drive is fully transparent to a remote PC. This
is achieved over MECHATROLINK-II from the G-Series to
the PLC and over any serial or Ethernet link between the
PLC and PC. Hence complying fully with Omron Smart
Platform.
Up to 16 axes
G-Series + NCF: Optimum
positioning for up to 16 axes
CJW-NC
CJW-NCF
CJW-NC
 axes
 axes
 axes
PLCopen
A global standard for industrial control programming,
PLCopen provides a standardized programming
interface to harmonize the way people design and
operate industrial control.

6AC servo systems
R88D-GN@/R88M-G@
G-Series servo system
Compact in size big in features. Save space, save
wiring, save time
• Built-in MECHATROLINK-II motion bus
• Position, speed and torque control
• High-response frequency of 1 kHZ
• Real time auto-tuning
• Vibration suppression
• Separate power and control power supply
• Available motors with absolute and incremental with 17-bit
encoder for greater accuracy
• Cylindrical and flat servo motors up to 3000 rpm
• Servomotors supported by SmartStep2, G-Series and G5-
Series servo drives
• Peak torque 300% of continuous torque during 3 seconds or
more depending on model
• IP65 and shaft oil seal available
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

G-Series servo system 7
Servo drive
G-Series servo drive
Servo drive 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)
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
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

8AC servo systems
Servo drive part names
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

G-Series servo system 9
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

10 AC servo systems
R88D-GN10H-ML2 / GN15H-ML2 (200 V, 1 kW to 1,5 kW )
Servo motor
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
Servo motors type designation
50 W
100 W
200 W
400 W
050
100
200
400
900 W
900
750 W
750
G-SeriesServomotor
Capacity
Shaft end specifications
Voltage and encoder specifications
H: 230 V with incremental encoder
T: 230 V with absolute encoder
R88M-GP10030H-BOS2
Motor Type
Blank: Cylinder type
P: Flat type
1K0 1 kW
1K5 1.5 kW
Rated Speed (r/min)
1000
2000
3000
10
20
30
Straigth shaft, no key
Blank
S2Straigth, key, tapped
Oil seal specifications
No oil seal
Blank
OOil seal
Brake specifications
No brake
Blank
BBrake

G-Series servo system 11
Cylindrical servo motors 3000/2000/1000 r/min
Ratings and specifications
Torque-speed charecteristics
Servo motor specifications
Applied voltage 230 V
Servo motor model R88M-@G05030@G10030@G20030@G40030@G75030@G1K030TG1K530TG1K020T G1K520T G90010T
Rated output W 50 100 200 400 750 1000 1500 1000 1500 900
Rated torque N·m 0.16 0.32 0.64 1.3 2.4 3.18 4.77 4.8 7.15 8.62
Instantaneous peak torque N·m 0.45 0.90 1.78 3.67 7.05 9.1 12.8 13.5 19.6 18.4
Rated current A (rms) 1.1 1.6 2.6 4 7.2 9.4 5.6 9.4 7.6
Instantaneous max. current A (rms) 3.4 4.9 7.9 12.1 21.4 28.5 17.1 28.5 17.1
Rated speed min-1 3000 2000 1000
Max. speed min-1 5000 4500 5000 3000 2000
Torque constant N·m/A (rms) 0.14 0.19 0.41 0.51 0.64 0.44 0.51 0.88 0.76 1.13
Rotor moment of inertia (JM) kg·m2x10-4 0.025 0.051 0.14 0.26 0.87 1.69 2.59 6.17 11.2
Allowable load moment of inertia
(JL)
Multiple of (JM) 30 20 15 10
Rated power rate kW/s 10.4 20.1 30.3 62.5 66 60 88 37.3 45.8 66.3
Applicable Encoder Incremental encoder (10000 pulses) -
Incremental /Absolute encoder(17 bits)
Allowable radial load N 68 245 392 490 686
Allowable thrust load N 58 98 147 196
Approx. mass Kg (without brake) 0.3 0.5 0.8 1.2 2.3 4.5 5.1 6.8 8.5
Kg (with brake) 0.5 0.7 1.3 1.7 3.1 5.1 6.5 8.7 10.1 10
Brake specifications
Rated voltage 24 VDC +/-5% 24 VDC +/-10%
Holding brake moment of inertia
J
kg·m2x10-4 0.002 0.018 0.075 0.25 0.33 1.35
Power consumption (at 20°C) W 7 9 10 18 19 14 19
Current consumption (at 20°C) A 0.3 0.36 0.42 0.74 0.81 0.59 0.79
Static friction torque N.m (minimum) 0.29 1.27 2.45 4.9 7.8 4.9 13.7
Rise time for holding torque ms (max.) 35 50 70 50 80 100
Release time ms (max) 20 15 20 15 70 50
Basic specifications
Rating Continuous
Insulation grade Type B Type F
Ambient operating/ storage temperature 0 to +40°C/ -20 to 65°C 0 to +40°C/ -20 to 80°C
Ambient operating/ storage humidity 85% RH max. (non-condensing)
Vibration class V-15
Insulation resistance 20 MΩmin. at 500 VDC between the power terminals and FG terminal
Enclosure Totally-enclosed, self-cooling, IP65 (excluding shaft opening and lead wire ends)
Vibration resistance Vibration acceleration 49 m/s² Vibration acceleration 24.5 m/s²
Mounting Flange-mounted
0.25
0 1000 2000 3000 4000
5000
0.5 0.45
0.16 0.16
0.1
0.45
Repetitive usage
Continuous usage
(N·m)
(r/min)
R88M-G05030H/T (50 W)
0.5
0 1000 2000 3000 4000
5000
1.0 0.93
0.320.32
0.93
0.28
Repetitive usage
Continuous usage
(N·m)
(r/min)
R88M-G10030H/T (100 W)
1.0
0 1000 2000 3000 4000 5000
2.0 1.78
0.64 0.64
0.38
1.5
1.78(4500)
Repetitive usage
Continuous usage
(N·m)
(r/min)
R88M-G20030H/T (200 W) R88M-G40030H/T (400 W)
R88M-G75030H/T (750 W) R88M-G1K030T (1 kW) R88M-G1K530T (1.5 kW)
2.0
0 1000 2000 3000 4000
5000
4.0
3.6
1.31.31.7
0.78
3.6 (3800)
Repetitive usage
Continuous usage
(N·m)
(r/min)
4.0
0 1000 2000 3000 4000
5000
8.0 7.05
2.4 2.4 4.0
1.0
7.05 (3600)
Repetitive usage
Continuous usage
(N·m)
(r/min)
5
0 1000 2000 3000 4000
5000
10 9.1
3.183.184.8
9.1 (3600)
Repetitive usage
Continuous usage
(N·m)
(r/min)
7.5
0 1000 2000 3000 4000 5000
15
12.9
4.77 4.77
3.6
12.9 (3500)
Repetitive usage
Continuous usage
(N·m)
(r/min)
R88M-G1K020T (1 kW)
R88M-G1K520T (1.5 kW)
0 1000 2000
5
10
15
3000
13.5
4.84.85.5
3.2
13.5 (2200)
Repetitive usage
Continuous usage
(N·m)
(r/min)
10
0
20
1000 2000
3000
19.6
14.3
4.7
7.15 7.15
19.6 (2200)
Repetitive usage
Continuous usage
(N·m)
(r/min)
10
0
20 18.4
10.0
4.31
8.62 8.62
1000 2000
18.4 (1600)
Repetitive usage
Continuous usage
(N·m)
(r/min)
R88M-G90010T (900 W)

12 AC servo systems
Flat servo motors 3000 r/min
Ratings and specifications
Torque-speed charecteristics
Applied voltage 230 V
Servo motor model R88M-@GP10030@GP20030@GP40030@
Rated output W 100 200 400
Rated torque N·m 0.32 0.64 1.3
Instantaneous peak torque N·m 0.86 1.8 3.65
Rated current A (rms) 1 1.6 2.5
Instantaneous max. current A (rms) 3.1 4.9 7.5
Rated speed min-1 3000
Max. speed min-1 5000
Torque constant N·m/A (rms) 0.34 0.42 0.54
Rotor moment of inertia (JM) kg·m2x10-4 0.1 0.35 0.64
Allowable load moment of inertia (JL) Multiple of (JM) 20
Rated power rate kW/s 10.2 11.5 25.5
Applicable encoder Incremental (10000 pulses)
Incremental /Absolute encoder(17 bits)
Allowable radial load N 68 245
Allowable thrust load N 58 98
Approx. mass Kg (without brake) 0.7 1.3 1.8
Kg (with brake) 0.9 2 2.5
Brake specifications
Rated voltage 24VDC +/-10%
Holding brake moment of inertia J kg·m2x10-4 0.03 0.09
Power consumption (at 20°C) W 7 10
Current consumption (at 20°C) A 0.29 0.41
Static friction torque N.m (minimum) 0.29 1.27
Rise time for holding torque ms (max.) 50 60
Release time ms (max) 15
Basic specifications
Rating Continuous
Insulation grade Type B
Ambient operating/ storage temperature 0 to +40 °C/ -20 to 80°C
Ambient operating/ storage humidity 85% RH max. (non-condensing)
Vibration class V-15
Insulation resistance 20 MΩmin. at 500 VDC between the power terminals and FG terminal
Enclosure Totally-enclosed, self-cooling, IP65 (excluding shaft opening and lead wire ends)
Vibration resistance Vibration acceleration 49 m/s2
Mounting Flange-mounted
0.5
0 1000 2000 3000 4000 5000
1.0 0.86
0.320.32
0.19
0.86
Repetitive usage
Continuous usage
(N·m)
(r/min)
R88M-GP10030H/T (100 W) R88M-GP20030H/T (200 W) R88M-GP40030H/T (400 W)
1.0
0 1000 2000 3000 4000 5000
2.0 1.8
0.64
0.38
0.64
1.8(4500)
Repetitive usage
Continuous usage
(N·m)
(r/min)
2.0
0 1000 2000 3000 4000 5000
4.0 3.65
1.31.32.0
0.78
3.65 (3600)
Repetitive usage
Continuous usage
(N·m)
(r/min)

G-Series servo system 13
Servo motors
Cylindrical type 3000 r/min (230 V, 50-100 W)
Cylindrical type 3000 r/min (230 V, 200-750 W)
Dimensions
Dimensions (mm) Without brake With brake LN Flange surface Shaft end Aprox. Mass (Kg)
Model LL LL D S B Without brake With brake
R88M-G05030@-@S2 72 102 26.5 30h7 8h6 3h9 0.3 0.5
R88M-G10030@-@S2 92 122 46.5 0.5 0.7
Dimensions (mm) Without
brake
With
brake
LR KL1 Flange surface Shaft end Aprox. Mass (Kg)
Model LL LL D1 D2 C G Z S QK B H T1 Tap x depth Without brake With brake
R88M-G20030@-@S2 79.5 116 30 43 70 50h7 60 6.5 4.5 11h6 18 4h9 4 2.5 M4x8L 0.8 1.3
R88M-G40030@-@S2 99 135.5 14h6 22.5 5h9 5 3 M5x10L 1.2 1.7
R88M-G75030@-@S2 112.2 149.2 35 53 90 70h7 80 8 6 19h6 22 6h9 63.5 2.3 3.1
32
40 ×40
46 dia.
Two, 4.3dia.
LL
LN
200
25
3
6
230
S
D
Encoder
connector
Brake connector
Servomotor connector
B
12.5
M3x 6L (Tap x Depth)
1.8
3
14
(Dimensionsof shaft end
with key and tap)
KL1
C ×C
D1 dia.
Four, Z dia.
220
200
3G
LL LR
S
Brake connector
Servomotor connector
Encoder
connector
D2
QK
Tap x Depth
B
T1
H
(Dimensionsof shaft end
with key and tap)

14 AC servo systems
Cylindrical type 3000, 2000 and 1000 r/min (230 V, 900 kW - 1.5 kW)
Flat type 3000 r/min (230 V, 100 W - 400 W)
Dimensions (mm) Without brake With brake LR KL1 Flange surface Shaft end Aprox. Mass (Kg)
Model LL LL D1 D2 D3 C G F Z S QK B H T1 Tap x
depth
Without
brake
With brake
R88M-G1K030T-@S2 175 200 55 98 100 80h7 120 90 7 3 6.6 19h6 42 6h9 6 3.5 M5x12L 4.5 5.1
R88M-G1K530T-@S2 180 205 103 115 95h7 135 100 10 9 5.1 6.5
R88M-G1K020T-@S2 150 175 118 145 110h7 165 130 12 6 22h6 41 8h9 74 6.8 8.7
R88M-G1K520T-@S2 175 200 8.5 10.1
R88M-G90010T-@S2 175 200 70 10
Dimensions (mm) Without
brake
With
brake
LR KL1 Flange surface Shaft end Aprox. Mass (Kg)
Model LL LL D1 D2 C F G Z S QK B H T1 Tap x depth Without brake With brake
R88M-GP10030H-@S2 60.5 84.5 25 43 70 50h7 60 3 7 4.5 8h6 12.5 3h9 3 1.8 M3x6L 0.7 0.9
R88M-GP10030T-@S2 87.5 111.5
R88M-GP20030H-@S2 67.5 100 30 53 90 70h7 80 5 8 5.5 11h6 18 4h9 4 2.5 M4x8L 1.3 2
R88M-GP20030T-@S2 94.5 127
R88M-GP40030H-@S2 82.5 115 14h6 22.5 5h9 5 3.0 M5x10L 1.8 2.5
R88M-GP40030T-@S2 109.5 142
Encoder
connector
Servomotor/brake
connector LL LR
GF
KL1
84
C ×C
Four, Z dia.
D1 dia.
D2
S
D3dia.
QK B
T1
H
Tap x Depth
(Dimensionsof shaft end
with key and tap)
LL LR
F
G
200
220
KL1
C ×C
Brake connector
Motor connector
(7) (7)
Encoder
connector
Four, Z dia.
D2
S
D1 dia.
B
QK
Tap x Depth
T1
H
(Dimensionsof shaft end
with key and tap)

G-Series servo system 15
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

16 AC servo systems
Ordering information
Note: The symbols ABCDE... show the recommended sequence to select the components in a G-Series servo system
Servo drives
Control cables (for CN1)
Computer cable (for CN3)
MECHATROLINK-II Motion controllers
Computer software
MECHATROLINK-II cables (for CN6)
Footprint filters
External regenerative resistor
Symbol Specifications Servo drive model A Compatible rotary servo motors
Cylindric type Flat type
B1 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@-
3000 rpm (100-400 W)
A
AG-Series Flat
type Servo Motor
CN6
CN1
L
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
0
ADR
AC SERVO DRIVER
X1
6
7
8
9
0
1
2
3
4
5
Power cable
B
Encoder cablesCBrake cablesE
D
G-Series Cylindrical type Servo Motor
3000 rpm (50-750W)
F
G
Personal computer:
Sofware CX-One
Terminal block
for Servo drive I/O
signals
Servo drive I/O signals
H
I
CN3
J
MECHATROLINK-II
Motion controllers
Filter
Position control unit
CJ1W-NC_71
CS1W-NC_71
Motion controller unit
TJ1-MC04/16
CJ1W-MCH72
MECHATROLINK-II cables
K
M External
regenerative
resistor
Symbol Name Connect to Model
FI/O connector kit Servo drive I/O
signals
- R88A-CNU01C
GTerminal block cable 1 m XW2Z-100J-B33
2 m XW2Z-200J-B33
HTerminal block - XW2B-20G4
XW2B-20G5
XW2D-20G6
Symbol Name Model
IComputer cable RS232 2 m R88A-CCG002P2
Symbol Name Model
JTrajexia 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
KMECHATROLINK-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
LR88D-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
MR88A-RR08050S 50 Ω, 80 W
R88A-RR080100S 100 Ω, 80 W
R88A-RR22047S 47 Ω, 220 W
R88A-RR50020S 20 Ω, 500 W

G-Series servo system 17
Cylindrical servo motors 3000/2000/1000 r/min (50 - 1.5 kW)
Flat type servo motors 3000 r/min (100 - 400 W)
Encoder Cables
Symbol Specifications Servo motor model Compatible servo
drives B
Voltage Encoder and design Speed Design Rated torque Capacity
A230 V Incremental encoder
(10000 pulses)
Straight shaft with key &
tap
3000 min-1 Without brake 0.16 Nm 50 W R88M-G05030H-S2 R88D-GN01H-ML2
0.32 Nm 100 W R88M-G10030H-S2 R88D-GN01H-ML2
0.64 Nm 200 W R88M-G20030H-S2 R88D-GN02H-ML2
1.3 Nm 400 W R88M-G40030H-S2 R88D-GN04H-ML2
2.4 Nm 750 W R88M-G75030H-S2 R88D-GN08H-ML2
With brake 0.16 Nm 50 W R88M-G05030H-BS2 R88D-GN01H-ML2
0.32 Nm 100 W R88M-G10030H-BS2 R88D-GN01H-ML2
0.64 Nm 200 W R88M-G20030H-BS2 R88D-GN02H-ML2
1.3 Nm 400 W R88M-G40030H-BS2 R88D-GN04H-ML2
2.4 Nm 750 W R88M-G75030H-BS2 R88D-GN08H-ML2
Absolute/ incremental en-
coder (17 bits)
Straight shaft with key &
tap
Without brake 0.16 Nm 50 W R88M-G05030T-S2 R88D-GN01H-ML2
0.32 Nm 100 W R88M-G10030T-S2 R88D-GN01H-ML2
0.64 Nm 200 W R88M-G20030T-S2 R88D-GN02H-ML2
1.3 Nm 400 W R88M-G40030T-S2 R88D-GN04H-ML2
2.4 Nm 750 W R88M-G75030T-S2 R88D-GN08H-ML2
3.18 Nm 1 kW R88M-G1K030T-S2 R88D-GN15H-ML2
4.77 Nm 1.5 kW R88M-G1K530T-S2 R88D-GN15H-ML2
With brake 0.16 Nm 50 W R88M-G05030T-BS2 R88D-GN01H-ML2
0.32 Nm 100 W R88M-G10030T-BS2 R88D-GN01H-ML2
0.64 Nm 200 W R88M-G20030T-BS2 R88D-GN02H-ML2
1.3 Nm 400 W R88M-G40030T-BS2 R88D-GN04H-ML2
2.4 Nm 750 W R88M-G75030T-BS2 R88D-GN08H-ML2
3.18 Nm 1 kW R88M-G1K030T-BS2 R88D-GN15H-ML2
4.77 Nm 1.5 kW R88M-G1K530T-BS2 R88D-GN15H-ML2
2000 min-1 Without brake 4.8 Nm 1 kW R88M-G1K020T-S2 R88D-GN10H-ML2
7.15 Nm 1.5 kW R88M-G1K520T-S2 R88D-GN15H-ML2
With brake 4.8 N m 1 kW R88M-G1K020T-BS2 R88D-GN10H-ML2
7.15 Nm 1.5 kW R88M-G1K520T-BS2 R88D-GN15H-ML2
1000 min-1 Without brake 8.62 Nm 900 W R88M-G90010T-S2 R88D-GN15H-ML2
With brake R88M-G90010T-BS2 R88D-GN15H-ML2
Symbol Specifications Servo motor model Compatible servo
drives B
Voltage Encoder and design Rated torque Capacity
A230 V Incremental encoder
(10000 pulses)
Straight shaft with key & tap
Without brake 0.32 Nm 100 W R88M-GP10030H-S2 R88D-GN01H-ML2
0.64 Nm 200 W R88M-GP20030H-S2 R88D-GN02H-ML2
1.3 Nm 400 W R88M-GP40030H-S2 R88D-GN04H-ML2
With brake 0.32 Nm 100 W R88M-GP10030H-BS2 R88D-GN01H-ML2
0.64 Nm 200 W R88M-GP20030H-BS2 R88D-GN02H-ML2
1.3 Nm 400 W R88M-GP40030H-BS2 R88D-GN04H-ML2
Absolute/ incremental encoder
(17 bits)
Straight shaft with key & tap
Without brake 0.32 Nm 100 W R88M-GP10030T-S2 R88D-GN01H-ML2
0.64 Nm 200 W R88M-GP20030T-S2 R88D-GN02H-ML2
1.3 Nm 400 W R88M-GP40030T-S2 R88D-GN04H-ML2
With brake 0.32 Nm 100 W R88M-GP10030T-BS2 R88D-GN01H-ML2
0.64 Nm 200 W R88M-GP20030T-BS2 R88D-GN02H-ML2
1.3 Nm 400 W R88M-GP40030T-BS2 R88D-GN04H-ML2
Symbol Specifications Model Appearance
CEncoder cable for absolute encoder (50-750 W)
R88M-G(050/100/200/400/750)30T-@
R88M-GP(100/200/400)30T-@
1.5 m R88A-CRGA001-5CR-E
3 m R88A-CRGA003CR-E
5 m R88A-CRGA005CR-E
10 m R88A-CRGA010CR-E
15 m R88A-CRGA015CR-E
20 m R88A-CRGA020CR-E
Encoder cable for Incremental encoder (50-750 W)
R88M-G(050/100/200/400/750)30H-@
R88M-GP(100/200/400)30H-@
1.5 m R88A-CRGB001-5CR-E
3 m R88A-CRGB003CR-E
5 m R88A-CRGB005CR-E
10 m R88A-CRGB010CR-E
15 m R88A-CRGB015CR-E
20 m R88A-CRGB020CR-E
Encoder cable for Absolute encoder (900-1500 W)
R88M-G(1K0/1K5)30T-@
R88M-G(1K0/1K5)20T-@
R88M-G90010T-@
1.5 m R88A-CRGC001-5NR-E
3 m R88A-CRGC003NR-E
5 m R88A-CRGC005NR-E
10 m R88A-CRGC010NR-E
15 m R88A-CRGC015NR-E
20 m R88A-CRGC020NR-E
(50-750 W)
(900-1500 W)
EN_G-Series_combi+Datasheet.fm Seite 17 Freitag, 2. Oktober 2009 12:34 12

18 AC servo systems
Absolute Encoder Battery cable
Note: The absolute encoder battery cable is only an extension and must be used with an absolute encoder cable.
Power cables
Brake cable (for 50-750W servomotors)
Connectors for power, encoder and brake cables
Symbol Specifications Model Appearance
CAbsolute Encoder battery cable Battery not included 0.3 m R88A-CRGD0R3C
One R88A-BAT01G
Battery included
0.3 m R88A-CRGD0R3C-BS
Absolute Encoder backup battery
2,000 mA.h 3.6V
- - R88A-BAT01G
Symbol Specifications Model Appearance
DFor servomotors from 50 to 750W
R88M-G(050/100/200/400/750)30@
R88M-GP(100/200/400)30@
For servomotors with brake, a separate cable
(R88A-CAGA@BR-E) is needed
1.5 m R88A-CAGA001-5SR-E
3 m R88A-CAGA003SR-E
5 m R88A-CAGA005SR-E
10 m R88A-CAGA010SR-E
15 m R88A-CAGA015SR-E
20 m R88A-CAGA020SR-E
For servomotors from 900 to 1.5 kW without brake
R88M-G(1K0/1K5)30T-S2
R88M-G(1K0/1K5)20T-S2
R88M-G90010T-S2
1.5 m R88A-CAGB001-5SR-E
3 m R88A-CAGB003SR-E
5 m R88A-CAGB005SR-E
10 m R88A-CAGB010SR-E
15 m R88A-CAGB015SR-E
20 m R88A-CAGB020SR-E
For servomotors from 900 to 1.5 kW with brake
R88M-G(1K0/1K5)30T-BS2
R88M-G(1K0/1K5)20T-BS2
R88M-G90010T-BS2
1.5 m R88A-CAGB001-5BR-E
3 m R88A-CAGB003BR-E
5 m R88A-CAGB005BR-E
10 m R88A-CAGB010BR-E
15 m R88A-CAGB015BR-E
20 m R88A-CAGB020BR-E
Symbol Specifications Model Appearance
EBrake cable only.
For servomotors from 50 to 750W with brake
R88M-G(050/100/200/400/750)30@-BS2,
R88M-GP(100/200/400)30@-BS2
1.5 m R88A-CAGA001-5BR-E
3 m R88A-CAGA003BR-E
5 m R88A-CAGA005BR-E
10 m R88A-CAGA010BR-E
15 m R88A-CAGA015BR-E
20 m R88A-CAGA020BR-E
Battery holder
Specifications Applicable Servomotor Model
Connectors for
power cables
Motor side R88M-G(050/100/200/400/750)30@, R88M-GP(100/200/400)30@R88A-CNG01A
Motor side R88M-G(1K0/1K5)30@-S2, R88M-G(1K0/1K5)20@-S2, R88M-G90010@-S2 (without brake) MS3108E20-4S
Motor side R88M-G(1K0/1K5)30@-BS2, R88M-G(1K0/1K5)20@-BS2, R88M-G90010@-BS2 (with brake) MS3108E20-18S
Connectors for
encoder cables
Drive side (CN2) - R88A-CNW01R
Motor side R88M-G(050/100/200/400/750)30T-@, R88M-GP(100/200/400)30T-@ (Absolute encoder) R88A-CNG01R
Motor side R88M-G(050/100/200/400/750)30H-@, R88M-GP(100/200/400)30H-@(Incremental encoder) R88A-CNG02R
Motor side R88M-G(1K0/1K5)30T-@, R88M-G(1K0/1K5)20T-@, R88M-G90010T-@MS3108E20-29S
Connector for brake cable Motor side R88M-G(050/100/200/400/750)30@-BS2, R88M-GP(100/200/400)30@-BS2 R88A-CNG01B
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.
EN_G-Series_combi+Datasheet.fm Seite 18 Freitag, 2. Oktober 2009 12:34 12

KPP_G-Series_EN_INT01
Although we strive for perfection, Omron Europe BV and/or itssubsidiary and affiliated companies do notwarrant
or make any representations regarding the correctness or completeness of the information described in this document.
We reserve the right to make any changes at any time without prior notice.
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