103G-Series servo drive
AC Servo systems
R88D-GN@, R88D-GT@
G-Series servo drive
A compact servo drive family for motion
control. Compact size and integrated
MECHATROLINK-II motion bus.
• ML2 and Analog/ Pulse servo drive models
• 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 D R I VE R
X1
6
7
8
9
0
1
2
3
4
5
G
IM
SP
COM
X10
3
2
1
0
ADR
AC SERVO D R I VE R
X1
6
7
8
9
0
1
2
3
4
5
Flat servo motors (100-400 W)
Encoder cablePower cable
Motion control unit
Terminal block for
Servo drive I/O general
purpose signals
Position
control unit
General purpose cable
G-Series
Analogue/ Pulse
Servo drive
Encoder cable
Power cable
Personal computer:
Sofware CX-One
Personal computer
software: CX-One
G-Series ML2
Servo drive
CJ1W-NC MECHATROLINK-II
Trajexia stand-alone
Trajexia in PLC
Terminator
MECHATROLINK-II
Cylindric servo motors
(50 W - 1.5 kW)
MECHATROLINK-II control
G
IM
SP
COM
X10
3
2
1
0
ADR
AC SERVO D R I VE R
X1
6
7
8
9
0
1
2
3
4
5
G
IM
SP
COM
X10
3
2
1
0
ADR
AC SERVO D R I VE R
X1
6
7
8
9
0
1
2
3
4
5
G
IM
SP
COM
X10
3
2
1
0
ADR
AC SERVO D R I VE R
X1
6
7
8
9
0
1
2
3
4
5
Open Analogue/Pulse control
G-Series
servo motors
Motion controllers
G-Series ML2
Servo drive
G-Series ML2
Servo drive
G-Series ML2
Servo drive
G-Series ML2
Servo drive
104 AC servo systems
Servo drive
General specifications
Servo motor supported
Servo motor G-Series servo drive
Family Voltage Speed Rated torque Capacity Model MECHATROLINK-II Analog/ Pulse
Cylindric 50 - 750 W 230 V 3000 min-1 0.16 Nm 50 W R88M-G05030@-@S2 R88D-GN01H-ML2 R88D-GT01H
0.32 Nm 100 W R88M-G10030@-@S2 R88D-GN01H-ML2 R88D-GT01H
0.64 Nm 200 W R88M-G20030@-@S2 R88D-GN02H-ML2 R88D-GT02H
1.3 Nm 400 W R88M-G40030@-@S2 R88D-GN04H-ML2 R88D-GT04H
2.4 Nm 750 W R88M-G75030@-@S2 R88D-GN08H-ML2 R88D-GT08H
900 - 1500 W 3.18 Nm 1000 W R88M-G1K030T-@S2 R88D-GN15H-ML2 R88D-GT15H
4.77 Nm 1500 W R88M-G1K530T-@S2 R88D-GN15H-ML2 R88D-GT15H
2000 min-1 4.8 Nm 1000 W R88M-G1K020T-@S2 R88D-GN10H-ML2 R88D-GT10H
7.15 Nm 1500 W R88M-G1K520T-@S2 R88D-GN15H-ML2 R88D-GT15H
1000 min-1 8.62 Nm 900 W R88M-G90010T-@S2 R88D-GN15H-ML2 R88D-GT15H
Flat 100-400 W 3000 min-1 0.32 Nm 100 W R88M-GP10030@-@S2 R88D-GN01H-ML2 R88D-GT01H
0.64 Nm 200 W R88M-GP20030@-@S2 R88D-GN02H-ML2 R88D-GT02H
1.3 Nm 400 W R88M-GP40030@-@S2 R88D-GN04H-ML2 R88D-GT04H
Type designation
Servo drive specifications
Servo drive type R88D-G@01H@02H@04H@08H@10H@15H@
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
100 W
200 W
400 W
750 W
01
02
04
08
1.5 kW
15
1.0 kW
10
G-Series servo drive
Capacity
Model
Blank: Analogue/ pulse type
ML2: MECHATROLINK-II communications
Source voltage
H: 230 V
R88D-GN04H-ML2
Drive type
T: Analogue/ pulse type
N: Network type
G-Series servo drive 105
AC Servo systems
MECHATROLINK-II servo drive specifications
Analog/pulse servo drive specifications
Position/Speed/torque control mode
Performance
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
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 32 bytes
Functions Parameter setting, status display, alarm display (monitor, clear, history), default values function
Tuning Horizontal and vertical axis mode. One parameter rigidity setting. Load inertia detection.
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
using 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
Control mode Position, speed and torque control mode
Performance
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 dependence 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)
Position control
Input signal
Command pulse Input pulse type Signal + pulse, 90º phase displacement 2-phase pulse (phase A/B) or reverse and forward pulses (CW/CCW)
Input pulse frequency 500 kpps max. line-driver input, 200 kpps max. open-collector input
Electronic gearing 0,01<Numerator/Denominator<100
Speed/torque control
Input signal
Speed control Speed reference voltage 10 VDC at 3000 r/min: set at delivery (the scale can be set by parameters)
Torque limit 3 VDC at rated torque (torque can be limited separately in positive/negative direction)
Preset speed control Preset speed is selectable from 8 internal settings by digital inputs.
Torque control Torque reference voltage 3 VDC at rated torque: set at delivery (the scale and polarity can be set by parameters).
Speed limit Speed limit can be set by parameter.
I/O signal
Sequence input signal Forward/reverse run prohibit, deviation counter reset, alarm reset, control mode switch, pulse prohibited, speed
selection, gain switch, zero speed designation, origin proximity
Sequence output signal Brake release, servo ready and alarm output. It is possible also to output two types of configurable signals: cur-
rent limit, rotation speed detection, warning signal, speed coincidence, positioning completed
106 AC 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
RS-485
communications
data
Interface Communication data interface between servo drives.and 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
Tuning Horizontal and vertical axis mode. One parameter rigidity setting. Load inertia detection.
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
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
using an oscilloscope or other device.
Panel operator Display functions A 6-digit 7-segment LED display shows the servo drive status, alarm codes, parameters, etc.
Switches Unit No. switch for serial communications. Value from 0 to F. To identify which servo drive the computer is
accesing in RS232 communications when multiple servo drives.
Control I/O connector (CN1)
Encoder connector (CN2)
G
IM
SP
COM
X10
3
2
1
0ADR
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 1 & 2 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)
Servo motor connection terminals
(U, V, W)
Protective ground terminals
Unit No. switch
Check pin (G: GND)
Display area
Settings area
Encoder connector (CN2)
Control I/O connector (CN1)
Protective ground terminals
MECHATROLINK-II servo drive Analogue/ pulse servo drive
Analog monitor 1 check pin (IM)
Analog monitor 2 check pin (SP)
Main-circuit power terminals
(L1, L2, L3)
Control-circuit power terminals
(L1C, L2C)
External regeneration resistor
connection terminals (B1, B2, B3)
Servo motor connection terminals
(U, V, W)
RS-232
Comms connector/
Parameter Unit connector
(CN3B)
RS-485
comms connector
(CN3A)
G-Series servo drive 107
AC Servo systems
I/O specifications
Main circuit connector (CNA) specifications
Servomotor connector (CNB) specifications
I/O signals (CN1) - Input signals (for MECHATROLINK-II servo drives)
I/O signals (CN1) - output signals (for MECHATROLINK-II servo drives)
I/O signals (CN1) - Input signals (for analog/pulse servo drives)
Symbol Name Function
L1 Main circuits power supply input AC power input terminals for the main circuit
Note: for single-phase connect the power supply input to L1 and L3
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 regenera-
tion 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 100 or 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 sig-
nal)
30 OUTM2COM
31 OUTM3
32 OUTM3COM
36 OUTM1
35 OUTM1COM
Pin No. Control mode Signal name Function
1 Position +24 VCW Reference pulse input for line driver and open collector according to parameter setting.
Input mode:
Sign + pulse string
Reverse/forward pulse (CCW/CW pulse)
Two-phase pulse (90° phase differential)
3+CW
4-CW
2 +24 VCW
5+CCW
6 -CCW
44 +CWLD Reference pulse input for line driver only.
Input mode:
Reverse/forward pulse (CW/CCW pulse)
45 -CWLD
46 +CCWLD
47 -CCWLD
14 Speed REF Speed reference input: ±10 V/rated motor speed (input gain can be modified using a parameter).
Torque TREF1 Torque reference input: ±10 V/rated motor torque (input gain can be modified using a parameter).
VLIM Speed limit input: ±10 V/rated motor speed (input gain can be modified using a parameter).
15 - AGND1 Analog signal ground
16 Torque TREF2 Torque reference input: ±10 V/rated motor torque (input gain can be modified using a parameter).
Position/Speed PCL Forward torque limit input: ±10 V/rated motor torque (input gain can be modified using a parameter).
18 NCL Reverse torque limit input: ±10 V/rated motor torque (input gain can be modified using a parameter).
17 - AGND Analog signal ground
108 AC servo systems
I/O signals (CN1) - Output signals (for analog/pulse servo drives)
7
Common +24 VIN Control power supply input for sequence signals: users must provide the +24 V power supply (12 to 24 V).
29 RUN Servo ON: this turn ON the servo.
26
Position DFSEL Vibration filter switching Enables vibration filter according parameter setting.
Speed PNSEL Speed command rotation direction switch
Speed/Torque VZERO Zero speed designation Speed command is regarder as 0. This function is enable/disabled by parameter.
27 Common GSEL Gain switching Enables gain value according parameter setting.
TLSEL Torque limit switch.
28 Position GESEL Electronic gear switching Switches the numerator fro electronic gear ratio.
Speed VSEL3 Internal speed selection 3 Input to select the desired speed setting during internally speed operation.
The speed selecton is combining this input with VSEL1 and VSEL2 inputs.
30 Position ECRST Error counter reset input. Resets the position error counter.
Speed VSEL2 Internal speed selection 2 Input to select the desired speed setting during internally speed operation.
The speed selecton is combining this input with VSEL1 and VSEL3 inputs.
31 Common RESET Alarm reset input. Release the alarm status. The error counter is reset when the alarm is reset.
32
Position/
Speed/Torque
TVSEL Control mode switching
33
Position IPG Pulse prohibition input. Digital input to inhibit the position reference pulse.
Speed VSEL1 Internal speed selection 1 Input to select the desired speed setting during internally speed operation.
The speed selecton is combining this input with VSEL2 and VSEL3 inputs.
8Common NOT Reverse run prohibited Overtravel prohibited: stops servomotor when movable part travels beyond the
allowable range of motion.
9 POT Forward run prohibited
20 Common SEN Sensor ON input. Initial data request signal when using an absolute encoder.
13 SENGND Sensor ON signal ground.
42
Common
BAT (+) Backup battery connection terminals when the absolute encoder power is interrupted. Do not connect when an
absolute encoder battery cable for backup is used.
43 BATGND (-)
50 FG Frame ground
Pin No. Control mode Signal name Function
21 Common +A Encoder phase A+ Encoder signals are output according Encoder Dividing Numerator parameter.
This is the line-driver output (equivalent to R422).
22 -A Encoder phase A-
49 +B Encoder phase B+
48 -B Encoder phase B-
23 +Z Encoder phase Z+
24 -Z Encoder phase Z-
19 ZEncoder phase-Z output Phase Z is output for encoder signals. Open-collector output.
25 ZCOM Encoder phase-Z common
11 BKIR Brake release signal output Timing signal for operating the electromagnetic brake on a motor.
10 BKIRCOM
35 READY Servo ready: ON if there is not servo alarm when the control/main circuit power supply is turned ON.
34 READYCOM
37 /ALM Servo alarm: turns OFF when an error is detected.
36 ALMCOM
39 Speed/torque TGON Motor rotation speed detection. This output turns ON when the motor rotation speed reaches the speed set in a parameter.
38 TGONCOM
39 Position INP Positioning complete output: turns ON when position error is equal to setting parameter.
38 INPCOM
- - INP2 Position complete output 2 The function of output signals allocated to pins 11,10, 34 to 39 can be changed with these op-
tions by parameters settings.
P-CMD Position command status
ZSP Zero speed
WARN1 Warning 1
WARN2 Warning 2
ALM-ATB Alarm output
VCMP Speed conformity output
V-CMD speed command status
V-LIMIT Speed limit detection
T-LIMIT Torque limit detection
12 Common OUTM1 General-purpose Output 1 Use the parameter settings to assign the desired function
40 OUTM2 General-purpose Output2
41 COM General-purpose common Output ground common
Pin No. Control mode Signal name Function
Position
speed
Position
torque
To r que
speed
Enables control mode switching
G-Series servo drive 109
AC Servo systems
Servo drives
R88D-GN01/02H-ML2, R88D-GT01/02H (200 V, 100 to 200 W)
R88D-GN04H-ML2, R88D-GT04H (200 V, 400 W)
R88D-GN08H-ML2, R88D-GT08H (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
132 (for ML2 models)
130 (for analogue/ pulse models)
70
4
150
40
280.5
6
40
Two, M4
1400.5
150
43
0.5
6
55
Two, M4
140
0.5
150
70
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
132 (for ML2 models)
130 (for analogue/ pulse models)
500.5
7.5
65
Two, M4
1400.5
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
70
4
150
65
172 (for ML2 models)
170 (for analogue/ pulse models)
110 AC servo systems
R88D-GN10/15H-ML2, R88D-GT10/15H (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
700.5
7.5
85
Two, M 4
1400.5
150
70
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
172 (for ML2 models)
170 (for analogue/ pulse models)
H
W
D
ØM
M1
M2
drive
mounts
output
flexes
G-Series servo drive 111
AC Servo systems
Single-phase, 230 VAC
*1 For use only with an absolute encoder. If a backup battery is connected to CN1 I/O connector, an encoder cable with a battery is not required.
*2 For servo drives from 750 W, B2 and B3 are short-circuited. If the internal regenerative resistor is insufficient, remove the wire between B2 and
B3 and connect an external resistor between B1 and B2.
Installation
Emergency Stop
/ALM
Alarm Output
ALMCOM
15
16
8
NCL
7PCL
6IN1
5EXT1
4
EXT2
3
EXT3
2STOP
1
24VIN
Forword Torque
Limit Input
General-purpose
Input 1
External
Latch 1
External
Latch 2
External
Latch 3
12 to 24 VDC
19POT
Forward run
Prohibit Input
20NOT
21DEC
Origin Proximity
Input
Shell FG
BAT
BATCOM
Backup Battery
*1
34
33
22IN0
General-purpose
Input0
23IN2
General-purpose
Input 2
4.7k
1k
4.7k
1k
4.7k
1k
4.7k
1k
4.7k
1k
4.7k
1k
4.7k
1k
4.7k
1k
4.7k
1k
4.7k
1k
4.7k
1k
4.7k
1k
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
ML2 model
Encoder
Servo motor
CN1
CN2
B3
B2
U
V
W
B1
L1
L3
L1C
L2C
Noise filter
CNB
CNA
CNB
*2
Single-Phase
200 to 230 VAC
Contactor
L1
L2
L3
N
Thermal switch
112 AC servo systems
Single-phase, 230 VAC
*1 For use only with an absolute encoder. If a backup battery is connected to CN1 I/O connector, an encoder cable with a battery is not required.
*2 For servo drives from 750 W, B2 and B3 are short-circuited. If the internal regenerative resistor is insufficient, remove the wire between B2 and
B3 and connect an external resistor between B1 and B2.
*3 Only available in Position control mode.
*4 The input function depends on control mode used (Position, speed or torque control).
G-Series
servo drive
Analogue/ Pulse model
Encoder
Servo motor
B3B2 U
V
W
B1
L1
L3
L1C
L2C
Noise filter
Single-Phase
200 to 230 VAC
Contactor
L1
L2
L3
N
Thermal switch
CN1
*2
3 k
110
43 k
3k
220
5
2
6
Servo ON
44
45
+CW
-CW
+CCW
-CCW
+CWLD
-CWLD
Reverse pulse
Forward pulse
BKIR
Brake release signal output
Alarm output
BKIRCOM
11
10
READY
READYCOM
ALMCOM
35
34
/ALM37
36
INPCOM
INP39
38
32TVSEL
31RESET
30ECRST
28GESEL
27
GSEL
26
DFSEL
29RUN
7
+24 VIN
Control mode
switching
Alarm reset
Deviation counter reset
Electronic gear
switching
Gain switching
Vibration filter
switching
12 to 24 VDC
External power supply 12 to 24 VDC
Maximum
service voltage: 30 VDC
Maximum
output current: 50 mADC
Reverse pulse
46
47
110
43 k
33IPG
Pulse prohibition
500 kpps max.
2 Mpps max.
8NOT
Reverse run
prohibited
9POT
Forward run
prohibited
18
10 k
3.83 k
PCL/TREF2
NCL
AGND
Reverse torque limit
3.83 k
16
17
10 k
12
Frame ground
FG
50
4.7 k
4.7 k
4.7 k
4.7 k
43 k
3 k
+CCWLD
-CCWLD
Forward pulse
+A21
-A22
+B49
-B48
+Z23
-Z24
Line-driver output corresponding
with the EIA RS-422A communications
method (load resistance 120 min.)
220
3
1
4
43 k
3k
4.7 k
4.7 k
4.7 k
4.7 k
4.7 k
4.7 k
+24 VCW 2.2 k
+24 VCCW 2.2 k
20
100
4.7 k
1 µF
SEN
SENGND
13
Sensor ON
BAT
BATGND Backup battery
*1
(3.6 V)
42
43
Position reference
*3
REF/TREF1/VLIM
AGND
3.83 k
14
15
20 k
Forward torque limit/Torque command
*4
(±12 V/rated speed or torque)
Reverse torque limit
*4
(±12 V/rated speed or torque)
Speed/Torque command or Speed limit
*4
(±10 V/rated speed or torque)
CNB
CNA CN2
Servo ready output
Positioning completed output
40
41
ZCOM
ZPhase-Z output
(open-collector output)
19
25
OUTM1
OUTM2
COM
General purpose Output 1
General purpose Output 2
Encoder phase-A output
Encoder phase-B output
Encoder phase-Z output
G-Series servo drive 113
AC Servo systems
Ordering information
G-Series MECHATROLINK-II model reference configuration
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
MECHATROLINK-II cables (for CN6)
Filters
External regenerative resistor
Computer software
3000 rpm (100-400 W)
A
A G-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 SERVO DRIVER
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
GH
CN3
MECHATROLINK-II cables
I
MECHATROLINK-II
Motion controllers
J
Filter
L
External
regenerative
resistor
Position control unit:
CJ1W-NC MECHATROLINK-
Motion controller unit:
Trajexia stand-alone
Trajexia in PLC
I/O signals cable
M
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
FGeneral purpose cable 1 m R88A-CPGB001S-E
2 m R88A-CPGB002S-E
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 TJ2-MC64 (64 axes)
TJ1-MC16 (16 axes)
TJ1-MC04 (4 axes)
Trajexia-PLC motion controller CJ1W-MCH72 (30 axes)
CJ1W-MC472 (4 axes)
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)
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 , 80 W
R88A-RR080100S 100 , 80 W
R88A-RR22047S 47 , 220 W
R88A-RR50020S 20 , 500 W
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
114 AC servo systems
Ordering information
G-Series Analog/pulse model reference configuration
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)
Specifications Servo drive model A Compatible rotary servo motors
Cylindric type Flat type
B1 phase 200 VAC 100 W R88D-GT01H R88M-G05030@R88M-GP10030@
R88M-G10030@
200 W R88D-GT02H R88M-G20030@R88M-GP20030@
400 W R88D-GT04H R88M-G40030@R88M-GP40030@
750 W R88D-GT08H R88M-G75030@-
1.0 kW R88D-GT10H R88M-G1K020T@-
1.5 kW R88D-GT15H R88M-G90010T@ -
R88M-G1K030T@-
R88M-G1K520T@-
R88M-G1K530T@-
Symbol Description Connect to Model
EControl cable
(1 axis)
Motion control units
CS1W-MC221
CS1W-MC421
1 m R88A-CPG001M1
2 m R88A-CPG002M1
3 m R88A-CPG003M1
5 m R88A-CPG005M1
Control cable
(2 axis)
Motion control units
CS1W-MC221
CS1W-MC421
1 m R88A-CPG001M2
2 m R88A-CPG002M2
3 m R88A-CPG003M2
5 m R88A-CPG005M2
FControl cable
(line-driver output for 1 axis)
Position control units (high-speed type)
CJ1W-NC234
CJ1W-NC434
1 m XW2Z-100J-G9
5 m XW2Z-500J-G9
10 m XW2Z-10MJ-G9
Control cable
(open-collector output for 1 axis)
Position control units (high-speed type)
CJ1W-NC214
CJ1W-NC414
1 m XW2Z-100J-G13
3 m XW2Z-300J-G13
Control cable
(line-driver output for 2 axis)
Position control units (high-speed type)
CJ1W-NC234
CJ1W-NC434
1 m XW2Z-100J-G1
5 m XW2Z-500J-G1
10 m XW2Z-10MJ-G1
Control cable
(open-collector output for 2 axis)
Position control units (high-speed type)
CJ1W-NC214
CJ1W-NC414
1 m XW2Z-100J-G5
3 m XW2Z-300J-G5
3000 rpm (100-400 W)
A
A
G-Series Flat type
servo motor
CN1
N
E
Motion control unit
Terminal block for Servo drive
I/O general purpose signals
Position control unit
IK
L
M
J
General purpose cable
Position control unit
-High-speed type-
Terminal block
for external signals
G
H
F
P
Q
B
ORS232 computer cable
G-Series Analogue/ Pulse
Servo drive
3000 rpm (1000-1500 W)
2000 rpm (1000-1500 W)
1000 rpm (900 W)
Encoder cable
Power cable
C
D
G-Series Cylindrical type servo motor
3000 rpm (50-750W)
Personal computer:
Sofware CX-One
CN3
Filter
External
regenerative
resistor
G-Series servo drive 115
AC Servo systems
Computer cable (for CN3)
Filters
External regenerative resistor
Connectors
Computer software
GTerminal block cable for external signals
(for input common, forward/reverse run prohibited inputs,
emergency stop input, origin proximity input and interrupt in-
put)
Position control units (high-speed type)
CJ1W-NC234
CJ1W-NC434
CJ1W-NC214
CJ1W-NC414
0.5 m XW2Z-C50X
1 m XW2Z-100X
2 m XW2Z-200X
3 m XW2Z-300X
5 m XW2Z-500X
10 m XW2Z-010X
HTerminal block for external signals (M3 screw, pin terminals) - XW2B-20G4
Terminal block for ext. signals (M3.5 screw, fork/round terminals) - XW2B-20G5
Terminal block for ext. signals (M3 screw, fork/round terminals) - XW2D-20G6
ICable from servo relay unit to servo drive CS1W-NC1@3, CJ1W-NC1@3, C200HW-NC113,
CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3,
C200HW-NC213/413, CQM1H-PLB21 or CQM1-CPU43
1 m XW2Z-100J-B25
2 m XW2Z-200J-B25
CJ1M-CPU21/22/23 1 m XW2Z-100J-B31
2 m XW2Z-200J-B31
JServo relay unit Position control units
CS1W-NC1@3, CJ1W-NC1@3 or C200HW-NC113
- XW2B-20J6-1B (1 axis)
P o s it i o n c o n t ro l u n it s
CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3 or
C200HW-NC213/413
- XW2B-40J6-2B (2 axes)
CQM1H-PLB21 or CQM1-CPU43 - XW2B-20J6-3B (1 axis)
CJ1M-CPU21/22/23 - XW2B-20J6-8A (1 axis)
XW2B-40J6-9A (2 axes)
KPosition control unit
connecting cable
CQM1H-PLB21 or CQM1-CPU43 0.5 m XW2Z-050J-A3
1 m XW2Z-100J-A3
CS1W-NC113 or C200HW-NC113 0.5 m XW2Z-050J-A6
1 m XW2Z-100J-A6
CS1W-NC213/413 or C200HW-NC213/413 0.5 m XW2Z-050J-A7
1 m XW2Z-100J-A7
CS1W-NC133 0.5 m XW2Z-050J-A10
1 m XW2Z-100J-A10
CS1W-NC233/433 0.5 m XW2Z-050J-A11
1 m XW2Z-100J-A11
CJ1W-NC113 0.5 m XW2Z-050J-A14
1 m XW2Z-100J-A14
CJ1W-NC213/413 0.5 m XW2Z-050J-A15
1 m XW2Z-100J-A15
CJ1W-NC133 0.5 m XW2Z-050J-A18
1 m XW2Z-100J-A18
CJ1W-NC233/433 0.5 m XW2Z-050J-A19
1 m XW2Z-100J-A19
CJ1M-CPU21/22/23 0.5 m XW2Z-050J-A33
1 m XW2Z-100J-A33
LGeneral purpose cable For general purpose controllers 1 m R88A-CPG001S
2 m R88A-CPG002S
MTerminal block cable For general purpose controllers 1 m XW2Z-100J-B24
2 m XW2Z-200J-B24
NTerminal block (M3 screw and for pin terminals) - XW2B-50G4
Terminal block (M3.5 screw and for fork/round terminals) - XW2B-50G5
Terminal block (M3 screw and for fork/round terminals) - XW2D-50G6
Symbol Description Connect to Model
Symbol Name Model
OComputer cable RS232 2 m R88A-CCG002P2
Symbol Applicable
servodrive
Filter model Rated
current
Leak-
age
current
Rated
voltage
PR88D-GT01H
R88D-GT02H
R88A-FIK102-RE 2.4 A 3.5 mA 250 VAC
single-
phase
R88D-GT04H R88A-FIK104-RE 4.1 A 3.5 mA
R88D-GT08H R88A-FIK107-RE 6.6 A 3.5 mA
R88D-GT10H
R88D-GT15H
R88A-FIK114-RE 14.2 A 3.5 mA
Symbol Regenerative resistor unit model Specifications
QR88A-RR08050S 50 , 80 W
R88A-RR080100S 100 , 80 W
R88A-RR22047S 47 , 220 W
R88A-RR50020S 20 , 500 W
Specifications Model
I/O connector kit, 50 pins (for CN1) R88A-CNU11C
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
116 AC servo systems
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-02
Mouser Electronics
Authorized Distributor
Click to View Pricing, Inventory, Delivery & Lifecycle Information:
Omron:
R88M-G20030H-BOS2 R88M-G10030S-O R88M-G10030T-B R88M-G10030H-BO R88M-G3K010T-S2 R88M-
G40030H-BS2 R88M-G2K010T-B R88M-GP10030S-BO R88M-GP20030S-B R88M-G90010T-BOS2 R88M-
G1K520T-S2 R88M-G2K020T-BOS2 R88M-G20030L-BOS2 R88M-G20030T R88M-G20030T-S2 R88M-G10030H-O
R88M-GP40030H-O R88M-G75030H-S2 R88M-G10030L-BS2 R88M-GP20030H-S2 R88M-G10030L-S2 R88M-
G40030T R88M-G05030T R88M-GP10030T-BS2 R88M-G1K020T-BOS2 R88M-GP40030T-B R88M-G90010T-OS2
R88M-G40030L-OS2 R88M-GP10030L R88M-G10030S-OS2 R88M-G3K030T-B R88M-G20030H-S2 R88M-
G2K030T-O R88M-GP20030T-BOS2 R88M-G40030T-BOS2 R88M-G1K030T-O R88M-G40030H R88M-G20030H-B
R88M-G20030L-OS2 R88M-G20030S-O R88M-G05030T-OS2 R88M-G40030T-OS2 R88M-G3K010T R88M-
GP40030L R88M-G3K020T-O R88M-G20030H-BS2 R88M-GP40030S-O R88M-GP10030L-BOS2 R88M-G75030T-
BO R88M-G05030H-B R88M-G10030T-BS2 R88M-G3K020T-BO R88M-GP20030T-OS2 R88M-G1K020T-OS2
R88M-G20030S-B R88M-G75030H-BOS2 R88M-G3K020T-BOS2 R88M-G90010T-S2 R88M-GP20030T-BS2 R88M-
G40030S-BS2 R88M-G75030T-O R88M-G2K020T-S2 R88M-GP20030S-BO R88M-G20030L-S2 R88M-GP20030S-
BS2 R88M-GP10030S-O R88M-G75030H-B R88M-GP20030T-S2 R88M-GP10030T-O R88M-G2K020T-BS2
R88M-G75030T-BOS2 R88M-G10030H-OS2 R88M-G1K530T-BOS2 R88M-G20030T-BOS2 R88M-GP10030T-S2
R88M-G75030H R88M-GP10030L-B R88M-GP40030S-BOS2 R88M-G20030H-O R88M-G1K530T R88M-G1K020T-
BS2 R88M-G2K010T-O R88M-GP40030L-B R88M-GP40030T-O R88M-G3K020T-OS2 R88M-G05030H-BS2
R88M-GP40030H-OS2 R88M-G40030T-BS2 R88M-G05030T-BS2 R88M-GP20030H R88M-G40030S-O R88M-
G2K030T-OS2 R88M-G2K020T R88M-G40030S-BO R88M-G20030T-B R88M-GP10030H-O R88M-G2K010T-BO
R88M-G3K010T-BS2 R88M-G10030T-BO R88M-G90010T
