Omron OMNUC G Series User manual

Cat. No. I566-E1-07
USER’S MANUAL
OMNUC GSERIES
R88M-G
(AC Servomotors)
R88D-GN-ML2
(AC Servo Drives)
AC SERVOMOTORS/SERVO DRIVES
WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS

Copyrights
Microsoft product screen shots reprinted with permission from Microsoft Corporation.
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in
any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior
written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because
OMRON is constantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this manual. Neverthe-
less, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages
resulting from the use of the information contained in this publication.
NOTE
• MECHATROLINK is a registered trademark of the MECHATROLINK Members Association.
Other company names and product names in this document are the trademarks or registered trademarks of their
respective companies.
Trademarks

1
Introduction
Introduction
Thank you for choosing the OMNUC G Series. This User’s Manual describes installation/wiring
methods and parameter setting procedures required for the operation of the OMNUC G Series as
well as troubleshooting and inspection methods.
Intended Readers
This manual is intended for the following personnel.
Those with knowledge of electrical systems (a qualified electrical engineer or the equivalent) as
follows:
Personnel in charge of introducing FA equipment
Personnel in charge of designing FA systems
Personnel in charge of managing FA systems and facilities
NOTICE
This manual contains information necessary to ensure safe and proper use of the OMNUC G Series
and its peripheral devices. Please read this manual thoroughly and understand its contents before
using the products.
Please keep this manual handy for future reference.
Make sure this User’s Manual is delivered to the actual end user of the products.

2
Terms and Conditions Agreement
Terms and Conditions Agreement
Warranty, Limitations of Liability
Warranties
Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and workman-
ship for a period of twelve months from the date of sale by Omron (or such other period expressed
in writing by Omron). Omron disclaims all other warranties, express or implied.
Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.
Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-com-
plying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be re-
sponsible for warranty, repair, indemnity or any other claims or expenses regarding the Products
unless Omron’s analysis confirms that the Products were properly handled, stored, installed and
maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return
of any Products by Buyer must be approved in writing by Omron before shipment. Omron Compa-
nies shall not be liable for the suitability or unsuitability or the results from the use of Products in
combination with any electrical or electronic components, circuits, system assemblies or any other
materials or substances or environments. Any advice, recommendations or information given orally
or in writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR
CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS
IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN
CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product
on which liability is asserted.

3
Terms and Conditions Agreement
Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At
Buyer’s request, Omron will provide applicable third party certification documents identifying ratings
and limitations of use which apply to the Product. This information by itself is not sufficient for a com-
plete determination of the suitability of the Product in combination with the end product, machine,
system, or other application or use. Buyer shall be solely responsible for determining appropriate-
ness of the particular Product with respect to Buyer’s application, product or system. Buyer shall
take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED
TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable Product,
or any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide
for the user in determining suitability and does not constitute a warranty. It may represent the result
of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual
performance is subject to the Omron’s Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and
other reasons. It is our practice to change part numbers when published ratings or features are
changed, or when significant construction changes are made. However, some specifications of the
Product may be changed without any notice. When in doubt, special part numbers may be assigned
to fix or establish key specifications for your application. Please consult with your Omron’s repre-
sentative at any time to confirm actual specifications of purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate;
however, no responsibility is assumed for clerical, typographical or proofreading errors or omis-
sions.

4
Precautions for Safe Use
Precautions for Safe Use
To ensure safe and proper use of the OMNUC G Series and its peripheral devices, read the “Precautions for
Safe Use” and the rest of the manual thoroughly to acquire sufficient knowledge of the devices, safety
information, and precautions before using the products.
Make sure this User’s Manual is delivered to the actual end users of the products.
Please keep this manual close at hand for future reference.
Explanation of Signal Words
The precautions indicated here provide important information for safety. Be sure to heed the information
provided with the precautions.
The following signal words are used to indicate and classify precautions in this manual.
Failure to heed the precautions classified as “Caution” may also lead to serious results. Always
heed these precautions.
Safety Precautions
This manual may include illustrations of the product with protective covers or shields removed in order to show
the components of the product in detail. Make sure that these protective covers and shields are put in place as
specified before using the product.
Consult your OMRON representative when using the product after a long period of storage.
Always connect the frame ground terminals of the Servo Drive and the Servomotor to 100 
or less.
Incorrect grounding may result in electric shock.
Do not touch the inside of the Servo Drive.
Doing so may result in electric shock.
When turning OFF the main circuit power supply, turn OFF the RUN command (RUN) at the
same time. Residual voltage may cause the Servomotor to continue rotating and result in
injury or equipment damage even if the main circuit power supply is turned OFF externally,
e.g., with an emergency stop.
Do not remove the front cover, terminal covers, cables, or optional items while the power is
being supplied.
Doing so may result in electric shock.
WARNING
Caution
Indicatesapotentially hazardous situation which, if not
avoided, will result in minor or moderate injury,
or may result in serious injury or death.
Additionally there may be significant property damage.
Indicatesapotentially hazardous situation which, if not
avoided, may result in minor or moderate injury or in
property damage.
WARNING

5
Precautions for Safe Use
Installation, operation, maintenance, or inspection must be performed by authorized
personnel.
Not doing so may result in electric shock or injury.
Wiring or inspection must not be performed for at least 15 minutes after turning OFF the
power supply.
Doing so may result in electric shock.
Do not damage or pull on the cables, place heavy objects on them, or subject them to
excessive stress.
Doing so may result in electric shock, stopping product operation, or burning.
Do not touch the rotating parts of the Servomotor during operation.
Doing so may result in injury.
Do not modify the product.
Doing so may result in injury or damage to the product.
Provide a stopping mechanism on the machine to ensure safety.
*The holding brake is not designed as a stopping mechanism for safety purposes.
Not doing so may result in injury.
Provide an external emergency stopping mechanism that can stop operation and shut off the
power supply immediately.
Not doing so may result in injury.
Do not come close to the machine immediately after resetting momentary power interruption
to avoid an unexpected restart.
Doing so may result in injury.
Take appropriate measures to secure safety against an unexpected restart.
Confirm safety after an earthquake has occurred.
Failure to do so may result in electric shock, injury, or fire.
Do not use external force to drive the Servomotor.
Doing so may result in fire.

6
Precautions for Safe Use
Storage and Transportation Precautions
Do not place any flammable materials near the Servomotor, Servo Drive, or Regeneration
Resistor.
Doing so may result in fire.
Mount the Servomotor, Servo Drive, and Regeneration Resistor on metal or other non-
flammable materials.
Failure to do so may result in fire.
Do not frequently and repeatedly turn the main power supply ON and OFF.
Doing so may result in product failure.
Use the Servomotors and Servo Drives in a specified combination.
Using them incorrectly may result in fire or damage to the products.
Do not store or install the product in the following places. Doing so may result in fire, electric
shock, or damage to the product.
Locations subject to direct sunlight.
Locations subject to temperatures outside the specified range.
Locations subject to humidity outside the specified range.
Locations subject to condensation as the result of severe changes in temperature.
Locations subject to corrosive or flammable gases.
Locations subject to dust (especially iron dust) or salts.
Locations subject to exposure to water, oil, or chemicals.
Locations subject to shock or vibration.
Do not touch the Servo Drive radiator, Servo Drive regeneration resistor, or Servomotor
while the power is being supplied or soon after the power is turned OFF.
Doing so may result in burn injuries.
Do not hold the product by the cables or motor shaft while transporting it.
Doing so may result in injury or malfunction.
Do not place any load exceeding the figure indicated on the product.
Doing so may result in injury or malfunction.
Use the motor eye-bolts only for transporting the Servomotor.
Using them for transporting the machinery may result in injury or malfunction.
WARNING
Caution
Caution

7
Precautions for Safe Use
Installation and Wiring Precautions
Do not step on or place a heavy object on the product.
Doing so may result in injury.
Do not cover the inlet or outlet ports and prevent any foreign objects from entering the
product.
Covering them or not preventing entry of foreign objects may result in fire.
Be sure to install the product in the correct direction.
Not doing so may result in malfunction.
Provide the specified clearances between the Servo Drive and the control panel or with other
devices.
Not doing so may result in fire or malfunction.
Do not subject Servomotor shaft or Servo Drive to strong impacts.
Doing so may result in malfunction.
Be sure to wire correctly and securely.
Not doing so may result in motor runaway, injury, or malfunction.
Be sure that all the mounting screws, terminal screws, and cable connector screws are
tightened properly.
Incorrect tightening torque may result in malfunction.
Use crimp terminals for wiring.
Do not connect bare stranded wires directly to the protective ground terminal.
Doing so may result in burning.
Always use the power supply voltage specified in the User’s Manual.
An incorrect voltage may result in malfunction or burning.
Take appropriate measures to ensure that the specified power with the rated voltage and
frequency is supplied. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in equipment damage.
Install external breakers and take other safety measures against short-circuiting in external
wiring.
Insufficient safety measures against short-circuiting may result in burning.
Take appropriate and sufficient shielding measures when installing systems in the following
locations. Failure to do so may result in damage to the product.
Locations subject to static electricity or other forms of noise.
Locations subject to strong electromagnetic fields and magnetic fields.
Locations subject to possible exposure to radioactivity.
Locations close to power supplies.
Connect an emergency stop cutoff relay in series with the brake control relay.
Failure to do so may result in injury or product failure.
Do not reverse the polarity of the battery when connecting it.
Reversing the polarity may damage the battery or cause it to explode.
Caution

8
Precautions for Safe Use
Operation and Adjustment Precautions
Maintenance and Inspection Precautions
Confirm that no adverse effects will occur in the system before performing the test operation.
Not doing so may result in equipment damage.
Check the newly set parameters for proper operation before actually running them.
Not doing so may result in equipment damage.
Do not make any extreme adjustments or setting changes.
Doing so may result in unstable operation and injury.
Separate the Servomotor from the machine, check for proper operation, and then connect to
the machine.
Not doing so may cause injury.
When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then
resume operation.
Not doing so may result in injury.
Do not use the built-in brake of the Servomotor for ordinary braking.
Doing so may result in malfunction.
Do not operate the Servomotor connected to a load that exceeds the applicable load
moment of inertia.
Doing so may result in malfunction.
Resume operation only after transferring to the new Unit the contents of the data required
for operation.
Not doing so may result in equipment damage.
Do not attempt to disassemble or repair any of the products.
Any attempt to do so may result in electric shock or injury.
Caution
Caution

9
Precautions for Safe Use
Security Measures
Anti-virus protection
Install the latest commercial-quality antivirus software on the computer connected to the
control system and maintain to keep the software up-to-date.
Security measures to prevent unauthorized access
Take the following measures to prevent unauthorized access to our products.
• Install physical controls so that only authorized personnel can access control systems and
equipment.
• Reduce connections to control systems and equipment via networks to prevent access
from untrusted devices.
• Install firewalls to shut down unused communications ports and limit communications hosts
and isolate control systems and equipment from the IT network.
• Use a virtual private network (VPN) for remote access to control systems and equipment.
• Adopt multifactor authentication to devices with remote access to control systems and
equipment.
• Set strong passwords and change them frequently.
• Scan virus to ensure safety of USB drives or other external storages before connecting
them to control systems and equipment.
Data input and output protection
Validate backups and ranges to cope with unintentional modification of input/output data to
control systems and equipment.
• Checking the scope of data
• Checking validity of backups and preparing data for restore in case of falsification and
abnormalities
• Safety design, such as emergency shutdown and fail-soft operation in case of data
tampering and abnormalities
Data recovery
Backup data and keep the data up-to-date periodically to prepare for data loss.
When using an intranet environment through a global address, connecting to an
unauthorized terminal such as a SCADA, HMI or to an unauthorized server may result in
network security issues such as spoofing and tampering. You must take sufficient measures
such as restricting access to the terminal, using a terminal equipped with a secure function,
and locking the installation area by yourself.
When constructing an intranet, communication failure may occur due to cable disconnection
or the influence of unauthorized network equipment. Take adequate measures, such as
restricting physical access to network devices, by means such as locking the installation
area.
When using a device equipped with the SD Memory Card function, there is a security risk
that a third party may acquire, alter, or replace the files and data in the removable media by
removing the removable media or unmounting the removable media.
Please take sufficient measures, such as restricting physical access to the Controller or
taking appropriate management measures for removable media, by means of locking the
installation area, entrance management, etc., by yourself.
WARNING

10
Precautions for Safe Use
Warning Label Position
Warning labels are located on the product as shown in the following illustration.
Be sure to follow the instructions given there.
Warning Label Contents
Disposing of the Product
• Dispose of the batteries according to local ordinances and regulations. Wrap the batteries in tape
or other insulative material before disposing of them.
• Dispose of the product as industrial waste.
(R88D-GN01H-ML2)
Location of warning label

11
Items to Check When Unpacking
Items to Check When Unpacking
Check the following items after removing the product from the package.
• Has the correct product been delivered?
• Has the product been damaged in shipping?
Accessories Provided with Product
Safety Precautions document 1
• No connectors or mounting screws are provided. They have to be prepared by the user.
• Should you find any problems (missing parts, damage to the Servo Drive, etc.), please contact
your local sales representative or OMRON sales office.
Specifications
Connector for main
circuit power supply
terminals and control
circuit power supply
terminals
Connector for External
Regeneration Resistor
connection terminals
and Motor connection
terminals
Mounting
Brackets
Single-phase
100 VAC
50 W Included 
100 W
200 W
400 W
Single-phase/
3-phase
200 VAC
100 W
200 W
400 W
750 W
1 kW
1.5 kW
3-phase 200
VAC
2 kW Included
3 kW
5 kW
7.5 kW

12
Items to Check When Unpacking
Understanding Servo Drive Model Numbers
The model number provides information such as the Servo Drive type, the applicable Servomotor
capacity, and the power supply voltage.
R88D-GN01H-ML2
Power Supply Voltage
L : 100 VAC
H : 200 VAC
A5
: 50 W
01 : 100 W
02 : 200 W
04 : 400 W
08 : 750 W
10 : 1 kW
15 : 1.5 kW
20 : 2 kW
30 : 3kW
50 : 5 kW
75 : 7.5 kW
Network Type
ML2 : MECHATROLINK-II Communications
OMNUC G-Series
Servo Drive
Drive Type
N: Network type
Applicable Servomotor Capacity

13
Items to Check When Unpacking
Understanding Servomotor Model Numbers
R88M-GP10030H-BOS2
G-Series
Servomotor
Servomotor Capacity
Rated Rotation Speed
Motor Type
Blank: Cylinder type
P: Flat type
050:
100:
200:
400:
750:
900:
1K0:
1K5:
2K0:
3K0:
4K0:
4K5:
5K0:
6K0:
7K5:
10:
15:
20:
30:
50 W
100 W
200 W
400 W
750 W
900 W
1 kW
1.5 kW
2 kW
3kW
4 kW
4.5 kW
5 kW
6 kW
7.5 kW
1,000 r/min
1,500 r/min
2,000 r/min
3,000 r/min
Applied Voltage
H:
L:
T:
S:
200 VAC with incremental encoder specifications
100 VAC with incremental encoder specifications
200 VAC with absolute encoder specifications
100 VAC with absolute encoder specifications
Option
Blank: Straight shaft
B:
O:
S2:
With brake
With oil seal
With key and tap

14
Items to Check When Unpacking
Understanding Decelerator Model Numbers (Backlash = 3' Max.)
R88G-HPG14A05100PBJ
Decelerator for
G-Series Servomotors
Applicable Servomotor Capacity
050
100
200
400
750
900
1K0
1K5
2K0
3K0
4K0
4K5
5K0
6K0
7K5
: 50 W
:100 W
:200 W
:400 W
:750 W
:900 W
:1 kW
:1.5 kW
:2 kW
:3 kW
:4 kW
:4.5 kW
:5 kW
:6 kW
:7 kW
Backlash = 3’ Max.
Gear Ratio
05
09
11
12
20
21
25
33
45
:1/5
:1/9 (only frame number 11A)
:1/11 (except frame number 65A)
:1/12 (only frame number 65A)
:1/20 (only frame number 65A)
:1/21 (except frame number 65A)
:1/25 (only frame number 65A)
:1/33
:1/45
Flange Size Number
11B
14A
20A
32A
50A
65A
:@40
:@60
:@90
:@120
:@170
:@230
Motor Type
Blank
P
S
T
:3,000-r/min cylindrical Servomotors
:flat Servomotors
:2,000-r/min Servomotors
:1,000-r/min Servomotors
Backlash
B :3’ max.
Option
Blank
J
:Straight shaft
:With key and tap

15
Items to Check When Unpacking
Understanding Decelerator Model Numbers (Backlash = 15' Max.)
R88G-VRXF09B100PCJ
Applicable Servomotor Capacity
100
200
400
750
:50 W, 100 W
:200 W
:400 W
:750 W
Option
J :With key
Backlash
C :15’ max.
Motor Type
Blank
P
:3,000-r/min cylindrical Servomotors
:flat Servomotors
Decelerator for
G-Series Servomotors
Backlash = 15’ Max.
Gear Ratio
05
09
15
25
:1/5
:1/9
:1/15
:1/25
Flange Size Number
B
C
D
:@52
:@78
:@98

16
Items to Check When Unpacking
R88G-VRSF09B100PCJ
Applicable Servomotor Capacity
050
100
200
400
750
: 50 W
:100 W
:200 W
:400 W
:750 W
Option
J :With key
Backlash
C :15’ max.
Motor Type
Blank
P
:3,000-r/min cylindrical Servomotors
:flat Servomotors
Decelerator for
G-Series Servomotors
Backlash = 15’ Max.
Gear Ratio
05
09
15
25
:1/5
:1/9
:1/15
:1/25
Flange Size Number
B
C
D
:@52
:@78
:@98

17
About This Manual
About This Manual
This manual consists of the following chapters. Refer to this table and chose the required chapters
of the manual.
Overview
Chapter 1 Features and System
Configuration
Describes the features and names of parts of the product as well
as the EC Directives and the UL standards.
Chapter 2 Standard Models and
Dimensions
Provides the model numbers, external and mounting hole dimen-
sions for Servo Drives, Servomotors, Decelerators, and peripheral
devices.
Chapter 3 Specifications
Provides the general specifications, characteristics, connector
specifications, and I/O circuit specifications for Servo Drives, and
the general specifications and characteristics for Servomotors, as
well as specifications for accessories such as encoders.
Chapter 4 System Design
Describes the installation conditions for Servo Drives, Servomo-
tors, and Decelerators, EMC conforming wiring methods, calcula-
tions of regenerative energy, and performance information on the
External Regeneration Resistor.
Chapter 5 Operating Functions Describes the control functions, parameter settings, and operation.
Chapter 6 Operation Describes operating procedures and operating methods for each
mode.
Chapter 7 Adjustment Functions Describes gain adjustment functions, setting methods, and precau-
tions.
Chapter 8Troubleshooting
Describes items to check for troubleshooting, error diagnoses us-
ing alarm LED displays and the countermeasures, error diagnoses
based on the operation status and the countermeasures, and peri-
odic maintenance.
Chapter 9 Appendix Provides the parameter tables.

18
Table of Contents
Introduction ...................................................................................... 1
Terms and Conditions Agreement ...................................................2
Precautions for Safe Use................................................................. 4
Items to Check When Unpacking .................................................... 11
About This Manual...........................................................................17
Chapter 1 Features and System Configuration
1-1 Overview........................................................................................... 1-1
1-2 System Configuration ....................................................................... 1-2
1-3 Names of Parts and Functions ......................................................... 1-3
1-4 System Block Diagrams ................................................................... 1-5
1-5 Applicable Standards........................................................................ 1-10
Chapter 2 Standard Models and Dimensions
2-1 Standard Models .............................................................................. 2-1
2-2 External and Mounting Hole Dimensions ......................................... 2-25
Chapter 3 Specifications
3-1 Servo Drive Specifications................................................................ 3-1
3-2 Servomotor Specifications................................................................ 3-17
3-3 Decelerator Specifications................................................................ 3-32
3-4 Cable and Connector Specifications ................................................ 3-45
3-5 Parameter Unit Specifications .......................................................... 3-83
3-6 External Regeneration Resistor Specifications ................................ 3-84
3-7 Reactor Specifications...................................................................... 3-86
3-8MECHATROLINK-II Repeater Specifications................................... 3-87
Chapter 4 System Design
4-1 Installation Conditions ...................................................................... 4-1
4-2 Wiring ............................................................................................... 4-13
4-3 Wiring Conforming to EMC Directives.............................................. 4-28
4-4 Regenerative Energy Absorption...................................................... 4-48
Chapter 5 Operating Functions
5-1 Position Control ................................................................................ 5-1
5-2 Speed Control................................................................................... 5-4
5-3 Torque Control.................................................................................. 5-7
5-4 Forward and Reverse Drive Prohibit ................................................ 5-10
5-5 Brake Interlock.................................................................................. 5-11
5-6 Torque Limit...................................................................................... 5-16
5-7 Soft Start........................................................................................... 5-18
5-8Acceleration/Deceleration Time Settings.......................................... 5-19
5-9 Moving Average Time....................................................................... 5-20