G-SERIES SERVO SYSTEM Save space, save wiring, save time » Compact size » M EC H AT R O L I N K- I I » Enhanced performance Save space, save wiring, save time From multiple cables... to only one cable MECHATROLINK-II Compact in size big in features Key features and benefits: Always with your application in mind, G-Series servo drives give you additional functionalities to develop your machines faster, more flexibly and more efficiently. 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. • Pocket-size servo with smallest footprint 15 x 4 cm • Auto-tuning for easy and quick start-up • Built-in MECHATROLINK-II motion bus reduces cabling and allows remote servo configuration and diagnosis 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. • High starting torque: 300% for 3 secs. • Positioning, speed or torque control • Separate power and control power supply • Fast and accurate positioning • Servomotor range from 50 W to 1.5 kW • Incremental and absolute encoder available • Cylindrical and flat servo motors up to 3,000 rpm • Compatible with SmartStep 2 servomotors • Vibration suppression 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. Before auto-tuning Speed Command speed Torque After auto-tuning In addition, numerous suppression and notch filters are available to suppress machine vibration independent of machine direction. Torque Command speed Speed G-Series + NCF: Optimum positioning for up to 16 axes 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. NCF – key features and benefits PLCopen A global standard for industrial control programming, PLCopen provides a standardized programming interface to harmonize the way people design and operate industrial control. • 16 axes, point-to-point positioning over ML II • System scalability with models for 2, 4 and 16 axes • Easy, quick and reliable setup • Optimized for positioning applications • Simplified wiring to drives • Integration with Omron Smart Platform CJ1W-NC271 CJ1W-NC471 CJ1W-NCF71 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. 2 axes 4 axes 16 axes Up to 16 axes 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 G5Series 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-Series MECHATROLINK-II Servo Drive Configuration Position control unit CJ1W-NC_71 CS1W-NC_71 Motion Controller TJ1-MC04/16 CJ1W-MCH72 X10 G ADR 9 01 7 8 01 7 8 7 8 7 8 4 5 6 7 8 4 5 6 IM G 9 01 2 3 IM ADR 2 3 X1 COM SP 2 3 01 2 3 5 6 6 X10 X1 AC SERVO DRIVER 9 01 2 3 G-Series Servo Motor Cylindric servo motors (50-1500 W) MECHATROLINK-II ADR 2 3 Power cable 01 9 01 2 3 2 3 2 3 2 3 G ADR X10 COM SP 4 01 X1 G-Series Servo Drive AC SERVO DRIVER AC SERVO DRIVER AC SERVO DRIVER 9 01 5 6 ADR X10 IM G-Series Servo Drive 4 01 COM SP G-Series Servo Drive 5 6 G-Series Servo Drive AC SERVO DRIVER X10 X1 4 G-Series Servo Drive Personal computer software: CX-One X1 COM COM SP SP IM IM G G Terminator Encoder cable G-Series Servo Motor Flat servo motors (100-400 W) AC servo systems Servo drive type designation Servo drive R88D-GN04H-ML2 G-Series servo drive Model ML2: MECHATROLINK-II communications N: Network type Capacity 01 02 04 08 10 15 Source voltage 100 W 200 W 400 W 750 W 1.0 kW 1.5 kW H: 230 V Servo drive specifications G-Series servo drive Configuration Approx. weight Kg Speed control range Speed Load variance variance Voltage variance Temperature variance Frequency characteristics Torque control accuracy (reproducibility) Soft start time setting MECHATROLINK Communication Performance Basic specifications 15H-ML2 90010T@/1K030T@/ 1K5@0T@ R88M-GP@ 10030@ 20030@ 40030@ 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% For single-phase/ three-phase, 200 to 240 VAC +10 to -15% (50/60 Hz) (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) 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 Command Input I/O signal Position/Speed/torque control mode R88D-GN@ R88M-G@ 01H-ML2 05030@/10030@ 02H-ML2 20030@ 04H-ML2 40030@ 08H-ML2 75030@ 10H-ML2 G1K020T@ Conditions Servo drive type Applicable servomotor Sequence input signal Sequence output signal G-Series servo system Base mounted 0.8 1.1 1.5 1.7 1:5000 During 0 to 100% load ±0.01 max. (at rated speed) 0% at ±10% of rated voltage (at rated speed) 0 to 50ºC ±0.1% max. (at rated speed) 1 kHz ±3% (at 20% to 100% of rated torque) 0 to 10 s (acceleration time and deceleration time can be set) MECHATROLINK-II commands (for sequence, motion, data setting/reference, monitor, adjustament and other commands) Emergency stop, 3 external latch signals, forward/reverse torque limit, forward/reverse run prohibit, origin proximity, 3 general-purpose inputs 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 7 Servo drive type Applicable servomotor 01H-ML2 05030@/10030@ 02H-ML2 20030@ 04H-ML2 40030@ 08H-ML2 75030@ RS-232 communications R88M-GP@ Interface Transmission rate Functions 10H-ML2 G1K020T@ 15H-ML2 90010T@/1K030T@/ 1K5@0T@ - 10030@ 20030@ 40030@ Personal computer From 2400 to 57600 bps 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 protocol MECHATROLINK-II communications Transmission rate 10 Mbps Data length 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 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 Communications Integrated functions R88D-GN@ R88M-G@ Servo drive part names Display area Rotary switches for ML-II node address AC SERVO DRIVE ADR 9 0 1 2 3 2 3 7 8 0 1 4 5 6 X10 COM Analog monitor check pins (SP, IM, G) X1 ML-II comms status LED indicator RS-232 comms connector (CN3) SP IM G ML-II comms connector (CN6A, CN6B) Main-circuit power terminals (L1, L2, L3) Control-circuit power terminals (L1C, L2C) External regenerative resistor connection terminals (B1, B2, B3) Control I/O connector (CN1) Servomotor connection terminals (U, V, W) Protective ground terminals 8 Encoder connector (CN2) AC servo systems Dimensions Servo drives R88D-GN01H-ML2 / GN02H-ML2 (200 V, 100 to 200 W) 70 40 132 4 Two, M4 AC SERVO DRIVER ADR 0 1 9 0 1 7 8 2 3 2 3 4 5 6 X10 X1 COM SP IM 150 150 140±0.5 G 6 28±0.5 40 R88D-GN04H-ML2 (200 V, 400 W) 70 55 132 4 Two, M4 AC SERVO DRIVER ADR 9 0 1 2 3 2 3 7 8 0 1 4 5 6 X10 X1 COM SP IM 150 150 140±0.5 G 6 43±0.5 55 R88D-GN08H-ML2 (200 V, 750 W) 70 65 172 Two, M4 4 AC SERVO DRIVER ADR 9 0 1 2 3 2 3 7 8 0 1 4 5 6 X10 X1 COM SP IM 140±0.5 150 150 G 7.5 50±0.5 65 G-Series servo system 9 R88D-GN10H-ML2 / GN15H-ML2 (200 V, 1 kW to 1,5 kW ) 70 85 172 4 Two, M4 AC SERVO DRIVER ADR 9 01 2 3 2 3 7 8 0 1 4 5 6 X10 X1 COM SP IM 140±0.5 150 150 G 7.5 70±0.5 85 Servo motors type designation Servo motor R88M-GP10030H-BOS2 G-Series Servomotor Motor Type Blank: Cylinder type P: Flat type Capacity 050 100 200 400 750 900 1K0 1K5 50 W 100 W 200 W 400 W 750 W 900 W 1 kW 1.5 kW Shaft end specifications Blank Straigth shaft, no key Straigth, key, tapped S2 Oil seal specifications Blank No oil seal Oil seal O Brake specifications Blank No brake Brake B Voltage and encoder specifications H: 230 V with incremental encoder T: 230 V with absolute encoder Rated Speed (r/min) 10 20 30 10 1000 2000 3000 AC servo systems Servo motor specifications Cylindrical servo motors 3000/2000/1000 r/min Ratings and specifications Applied voltage Servo motor model R88M-@ Rated output W Rated torque N·m Instantaneous peak torque N·m Rated current A (rms) Instantaneous max. current A (rms) Rated speed min-1 230 V G05030@ G10030@ G20030@ G40030@ G75030@ G1K030T G1K530T G1K020T G1K520T G90010T 50 100 200 400 750 1000 1500 1000 1500 900 0.16 0.32 0.64 1.3 2.4 3.18 4.77 4.8 7.15 8.62 0.45 0.90 1.78 3.67 7.05 9.1 12.8 13.5 19.6 18.4 1.1 1.6 2.6 4 7.2 9.4 5.6 9.4 7.6 3.4 4.9 7.9 12.1 21.4 28.5 17.1 28.5 17.1 3000 2000 1000 min-1 Torque constant Rotor moment of inertia (JM) Allowable load moment of inertia (JL) Rated power rate Applicable Encoder N·m/A (rms) kg·m2x10-4 Multiple of (JM) 0.14 0.025 kW/s 10.4 Allowable radial load Allowable thrust load Approx. mass N N Kg (without brake) Kg (with brake) Basic specifications Brake specifications Max. speed 5000 Rated voltage Holding brake moment of inertia kg·m2x10-4 J Power consumption (at 20°C) W Current consumption (at 20°C) A Static friction torque N.m (minimum) Rise time for holding torque ms (max.) Release time ms (max) Rating Insulation grade Ambient operating/ storage temperature Ambient operating/ storage humidity Vibration class Insulation resistance Enclosure Vibration resistance Mounting 0.19 0.051 4500 0.41 0.14 0.51 0.26 30 5000 0.64 0.87 20 0.44 1.69 3000 0.51 2.59 0.88 6.17 2000 0.76 1.13 11.2 15 10 20.1 30.3 62.5 66 60 88 37.3 45.8 66.3 Incremental encoder (10000 pulses) Incremental /Absolute encoder(17 bits) 68 245 392 490 686 58 98 147 196 0.3 0.5 0.8 1.2 2.3 4.5 5.1 6.8 8.5 0.5 0.7 1.3 1.7 3.1 5.1 6.5 8.7 10.1 10 24 VDC +/-5% 24 VDC +/-10% 0.002 0.018 0.075 0.25 0.33 1.35 7 9 10 18 19 14 0.3 0.36 0.42 0.74 0.81 0.59 0.29 1.27 2.45 4.9 7.8 4.9 35 50 70 50 80 20 15 20 15 70 Continuous Type B Type F 0 to +40°C/ -20 to 65°C 0 to +40°C/ -20 to 80°C 85% RH max. (non-condensing) V-15 20 MΩ min. at 500 VDC between the power terminals and FG terminal Totally-enclosed, self-cooling, IP65 (excluding shaft opening and lead wire ends) Vibration acceleration 49 m/s² Vibration acceleration 24.5 m/s² Flange-mounted 19 0.79 13.7 100 50 Torque-speed charecteristics R88M-G10030H/T (100 W) R88M-G05030H/T (50 W) (N·m) 0.5 (N·m) 0.45 0.45 1.0 0.93 0.25 0.16 0.5 0.32 0.16 0.1 Continuous usage 0 0.93 1000 2000 3000 4000 5000 (r/min) R88M-G75030H/T (750 W) 8.0 7.05 0.28 1000 2000 3000 4000 5000 (r/min) 7.05 (3600) 4.0 Repetitive usage 5 3.18 3.18 Continuous usage 1.0 Continuous usage R88M-G1K520T (1.5 kW) 0 0.64 Continuous usage 0 0.38 1000 2000 3000 4000 5000 (r/min) 15 12.9 4.8 0 1.7 0.78 1000 2000 3000 4000 5000 (r/min) 13.5 (2200) 15 13.5 10 Repetitive usage 7.5 4.77 4.77 0 3.6 (3800) Repetitive usage 2.0 1.3 1.3 Continuous usage R88M-G1K020T (1 kW) 12.9 (3500) Continuous usage 1000 2000 3000 4000 5000 (r/min) 4.0 3.6 (N·m) (N·m) 9.1 (3600) 10 9.1 1000 2000 3000 4000 5000 (r/min) 0.64 1.5 R88M-G1K530T (1.5 kW) R88M-G1K030T (1 kW) Repetitive usage 4.0 2.4 2.4 0 1.0 0.32 Continuous usage 0 1.78 (4500) Repetitive usage (N·m) (N·m) (N·m) 2.0 1.78 Repetitive usage Repetitive usage R88M-G40030H/T (400 W) R88M-G20030H/T (200 W) (N·m) 3.6 1000 2000 3000 4000 5000 (r/min) 5 4.8 0 Repetitive usage 4.8 Continuous usage 1000 2000 5.5 3.2 3000 (r/min) R88M-G90010T (900 W) (N·m) 19.6 (2200) 20 19.6 Repetitive usage 10 7.15 7.15 Continuous usage 0 1000 2000 (N·m) 20 18.4 18.4 (1600) Repetitive usage 14.3 10 8.62 4.7 3000 (r/min) G-Series servo system 0 8.62 10.0 Continuous usage 4.31 1000 2000 (r/min) 11 Flat servo motors 3000 r/min Ratings and specifications Applied voltage 230 V Servo motor model R88M-@ GP10030@ GP20030@ GP40030@ 400 Rated output W 100 200 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 Max. speed min-1 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) Rated power rate kW/s 3000 5000 20 10.2 11.5 Applicable encoder 25.5 Incremental (10000 pulses) Incremental /Absolute encoder(17 bits) N 68 Allowable thrust load N 58 Approx. mass Kg (without brake) 0.7 1.3 1.8 Kg (with brake) 0.9 2 2.5 Holding brake moment of inertia J kg·m2x10-4 0.03 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.) Release time ms (max) Brake specifications Allowable radial load 98 Rated voltage 24VDC +/-10% 0.09 50 60 15 Rating Basic specifications 245 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 MΩ min. 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 Torque-speed charecteristics R88M-GP10030H/T (100 W) R88M-GP20030H/T (200 W) R88M-GP40030H/T (400 W) (N·m) 0.86 Repetitive usage 0.5 0.32 12 1.8 (4500) 2.0 1.8 Repetitive usage 1.0 0.64 0.64 0.32 Continuous usage 0 (N·m) (N·m) 1.0 0.86 0.19 1000 2000 3000 4000 5000 (r/min) Continuous usage 0 4.0 3.65 3.65 (3600) Repetitive usage 2.0 1.3 1.3 Continuous usage 0.38 1000 2000 3000 4000 5000 (r/min) 0 2.0 0.78 1000 2000 3000 4000 5000 (r/min) AC servo systems Dimensions Servo motors Cylindrical type 3000 r/min (230 V, 50-100 W) Dimensions (mm) Without brake With brake Model LL LL R88M-G05030@-@S2 72 102 26.5 R88M-G10030@-@S2 92 122 46.5 Encoder connector LL LN Flange surface Shaft end Aprox. Mass (Kg) D S B Without brake 30h7 8h6 3h9 0.3 With brake 0.5 0.5 0.7 Brake connector Servomotor connector 25 3 (Dimensions of shaft end with key and tap) 230 6 B 40 × 40 32 3 Two, 4.3 dia. 1.8 200 14 12.5 46 dia. M3 x 6L (Tap x Depth) D S LN Cylindrical type 3000 r/min (230 V, 200-750 W) Dimensions (mm) Without brake Model With brake LL LL R88M-G20030@-@S2 79.5 116 R88M-G40030@-@S2 99 135.5 R88M-G75030@-@S2 112.2 149.2 LR KL1 30 43 35 53 Flange surface Shaft end Aprox. Mass (Kg) D1 D2 C G Z S QK B H T1 70 50h7 60 6.5 4.5 11h6 18 4h9 4 2.5 M4x8L 0.8 14h6 22.5 5h9 5 3 M5x10L 1.2 1.7 19h6 22 6h9 6 3.5 2.3 3.1 90 70h7 80 8 6 Tap x depth Without brake With brake 1.3 Brake connector Servomotor connector Encoder connector LL G LR 3 200 QK C×C B T1 Four, Z dia. D1 dia. D2 S KL1 H 220 (Dimensions of shaft end with key and tap) G-Series servo system Tap x Depth 13 Cylindrical type 3000, 2000 and 1000 r/min (230 V, 900 kW - 1.5 kW) Dimensions (mm) Without brake With brake LR KL1 Flange surface Model LL LL D1 R88M-G1K030T-@S2 175 200 R88M-G1K530T-@S2 180 205 103 115 R88M-G1K020T-@S2 150 175 118 145 110h7 165 130 12 R88M-G1K520T-@S2 175 200 R88M-G90010T-@S2 175 200 55 98 D2 100 Shaft end D3 C G F Z 80h7 120 90 7 3 6.6 19h6 95h7 135 100 10 S Aprox. Mass (Kg) QK B H T1 Tap x depth Without brake 42 6h9 6 3.5 M5x12L 4.5 5.1 5.1 6.5 9 22h6 6 8h9 41 7 4 With brake 6.8 8.7 8.5 10.1 70 10 (Dimensions of shaft end with key and tap) Servomotor/brake connector LL C×C LR Encoder F QK Four, Z dia. B H S 84 KL1 G T1 connector D2 D3 D1 dia. dia . Tap x Depth Flat type 3000 r/min (230 V, 100 W - 400 W) Dimensions (mm) Without brake Model With brake LL LL R88M-GP10030H-@S2 60.5 84.5 R88M-GP10030T-@S2 87.5 111.5 R88M-GP20030H-@S2 67.5 100 R88M-GP20030T-@S2 94.5 127 R88M-GP40030H-@S2 82.5 115 R88M-GP40030T-@S2 109.5 142 LR KL1 Flange surface C F G Z S QK B H T1 25 43 70 50h7 60 3 7 4.5 8h6 12.5 3h9 3 1.8 M3x6L 0.7 0.9 30 53 90 70h7 80 5 8 5.5 11h6 18 4h9 4 2.5 M4x8L 1.3 2 5h9 5 3.0 M5x10L 1.8 2.5 D1 D2 Shaft end 14h6 22.5 Encoder connector Aprox. Mass (Kg) Tap x depth Without brake With brake Motor connector LL LR Brake connector C×C G F (7) QK B Four, Z dia. D2 S KL1 H T1 (7) 200 220 (Dimensions of shaft end with key and tap) 14 D1 dia . Tap x Depth AC servo systems Installation Single-phase, 230 VAC L1 L2 L3 N Thermal switch Contactor L1 Noise filter CNB L3 CNA G-Series Servo drive L1C Single-Phase 200 to 230 VAC Servo motor U V W L2C Optical encoder B1 Regeneration resistor *3 *2 B3 CN2 CNB B2 CN1 12 to 24 VDC +24VIN 1 4.7kΩ 15 /ALM Alarm Output 1kΩ Emergency Stop STOP 2 4.7kΩ External Latch 3 1kΩ 36 OUTM1 General-purpose Output 1 EXT3 3 4.7kΩ External Latch 2 16 ALMCOM 1kΩ EXT2 4 35 OUTM1COM 29 OUTM2 General-purpose Output 2 4.7kΩ External Latch 1 1kΩ EXT1 5 4.7kΩ 30 OUTM2COM 31 OUTM3 General-purpose Output 3 General-purpose Input 1 1kΩ IN1 6 32 OUTM3COM 4.7kΩ Forword Torque Limit Input 1kΩ PCL 7 4.7kΩ Reverse Torque Limit Input 1kΩ NCL 8 4.7kΩ Forward run Prohibit Input 1kΩ POT 19 4.7kΩ Reverse run Prohibit Input 1kΩ NOT 20 4.7kΩ Origin Proximity Input 1kΩ DEC 21 4.7kΩ General-purpose Input0 1kΩ 4.7kΩ General-purpose Input 2 34 BAT IN0 22 33 Backup Battery *1 BATCOM 1kΩ IN2 23 Shell FG *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. G-Series servo system 15 Ordering information A G-Series Cylindrical type Servo Motor B G-Series MECHATROLINK-II Personal computer: Sofware CX-One Servo Drive J AC SERVO DRIVER 9 01 2 3 2 3 7 8 ADR 5 6 X10 4 01 I X1 COM CN3 SP 3000 rpm (50-750W) IM 3000 rpm (1000-1500 W) 2000 rpm (1000-1500 W) 1000 rpm (900 W) A G-Series Flat G CN6 L Filter K M External MECHATROLINK-II cables regenerative resistor D Power cable F type Servo Motor Position control unit CJ1W-NC_71 CS1W-NC_71 Servo drive I/O signals Motion controller unit CN1 TJ1-MC04/16 CJ1W-MCH72 G H 3000 rpm (100-400 W) MECHATROLINK-II Motion controllers C Encoder cables E Brake cables Terminal block for Servo drive I/O signals Note: The symbols ABCDE... show the recommended sequence to select the components in a G-Series servo system Servo drives Symbol Specifications B 1 phase 200 VAC Servo drive model 100 W R88D-GN01H-ML2 200 W 400 W 750 W 1.0 kW 1.5 kW R88D-GN02H-ML2 R88D-GN04H-ML2 R88D-GN08H-ML2 R88D-GN10H-ML2 R88D-GN15H-ML2 Control cables (for CN1) Symbol F G H A Compatible rotary servo motors Cylindric type R88M-G05030@ R88M-G10030@ R88M-G20030@ R88M-G40030@ R88M-G75030@ R88M-G1K020T@ R88M-G90010T@ R88M-G1K030T@ R88M-G1K520T@ R88M-G1K530T@ Flat type R88M-GP10030@ R88M-GP20030@ R88M-GP40030@ - MECHATROLINK-II cables (for CN6) Name I/O connector kit Connect to Servo drive I/O signals Terminal block cable 1m 2m Terminal block - Model R88A-CNU01C Symbol K XW2Z-100J-B33 XW2Z-200J-B33 XW2B-20G4 XW2B-20G5 XW2D-20G6 Specifications MECHATROLINK-II Terminator resistor MECHATROLINK-II cables Computer cable (for CN3) Symbol I Name Computer cable RS232 2m Model R88A-CCG002P2 Symbol J Name Model Trajexia 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) Computer software Specifications Configuration and monitoring software tool for servo drives and inverters. (CX-drive version 1.70 or higher) Complete OMRON software package including CX-drive. (CX-One version 3.10 or higher) 16 Model CX-drive Model JEPMC-W6022-E 0.5 m 1m 3m 5m 10 m 20 m 30 m JEPMC-W6003-A5-E JEPMC-W6003-01-E JEPMC-W6003-03-E JEPMC-W6003-05-E JEPMC-W6003-10-E JEPMC-W6003-20-E JEPMC-W6003-30-E Footprint filters Symbol MECHATROLINK-II Motion controllers Length - L Applicable servodrive Filter model Rated LeakRated current age voltage current R88D-GN01H@ R88D-GN02H@ R88D-GN04H@ R88D-GN08H@ R88D-GN10H@ R88D-GN15H@ R88A-FIK102-RE 2.4 A R88A-FIK104-RE 4.1 A R88A-FIK107-RE 6.6 A R88A-FIK114-RE 14.2 A 3.5 mA 250 VAC single3.5 mA phase 3.5 mA 3.5 mA External regenerative resistor Symbol M Regenerative resistor unit model R88A-RR08050S R88A-RR080100S R88A-RR22047S R88A-RR50020S Specifications 50 Ω, 80 W 100 Ω, 80 W 47 Ω, 220 W 20 Ω, 500 W CX-One AC servo systems Cylindrical servo motors 3000/2000/1000 r/min (50 - 1.5 kW) Symbol Specifications Voltage Encoder and design 230 V Incremental encoder (10000 pulses) A Speed Design 3000 min-1 Without brake Straight shaft with key & tap With brake (50-750 W) Without brake Absolute/ incremental encoder (17 bits) Straight shaft with key & tap With brake (900-1500 W) 2000 min-1 Without brake With brake 1000 min-1 Without brake With brake Rated torque 0.16 Nm 0.32 Nm 0.64 Nm 1.3 Nm 2.4 Nm 0.16 Nm 0.32 Nm 0.64 Nm 1.3 Nm 2.4 Nm 0.16 Nm 0.32 Nm 0.64 Nm 1.3 Nm 2.4 Nm 3.18 Nm 4.77 Nm 0.16 Nm 0.32 Nm 0.64 Nm 1.3 Nm 2.4 Nm 3.18 Nm 4.77 Nm 4.8 Nm 7.15 Nm 4.8 N m 7.15 Nm 8.62 Nm Capacity 50 W 100 W 200 W 400 W 750 W 50 W 100 W 200 W 400 W 750 W 50 W 100 W 200 W 400 W 750 W 1 kW 1.5 kW 50 W 100 W 200 W 400 W 750 W 1 kW 1.5 kW 1 kW 1.5 kW 1 kW 1.5 kW 900 W Rated torque 0.32 Nm 0.64 Nm 1.3 Nm 0.32 Nm 0.64 Nm 1.3 Nm 0.32 Nm 0.64 Nm 1.3 Nm 0.32 Nm 0.64 Nm 1.3 Nm Capacity 100 W 200 W 400 W 100 W 200 W 400 W 100 W 200 W 400 W 100 W 200 W 400 W Servo motor model Compatible servo drives B R88M-G05030H-S2 R88M-G10030H-S2 R88M-G20030H-S2 R88M-G40030H-S2 R88M-G75030H-S2 R88M-G05030H-BS2 R88M-G10030H-BS2 R88M-G20030H-BS2 R88M-G40030H-BS2 R88M-G75030H-BS2 R88M-G05030T-S2 R88M-G10030T-S2 R88M-G20030T-S2 R88M-G40030T-S2 R88M-G75030T-S2 R88M-G1K030T-S2 R88M-G1K530T-S2 R88M-G05030T-BS2 R88M-G10030T-BS2 R88M-G20030T-BS2 R88M-G40030T-BS2 R88M-G75030T-BS2 R88M-G1K030T-BS2 R88M-G1K530T-BS2 R88M-G1K020T-S2 R88M-G1K520T-S2 R88M-G1K020T-BS2 R88M-G1K520T-BS2 R88M-G90010T-S2 R88M-G90010T-BS2 R88D-GN01H-ML2 R88D-GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 R88D-GN08H-ML2 R88D-GN01H-ML2 R88D-GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 R88D-GN08H-ML2 R88D-GN01H-ML2 R88D-GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 R88D-GN08H-ML2 R88D-GN15H-ML2 R88D-GN15H-ML2 R88D-GN01H-ML2 R88D-GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 R88D-GN08H-ML2 R88D-GN15H-ML2 R88D-GN15H-ML2 R88D-GN10H-ML2 R88D-GN15H-ML2 R88D-GN10H-ML2 R88D-GN15H-ML2 R88D-GN15H-ML2 R88D-GN15H-ML2 Servo motor model Compatible servo drives B R88M-GP10030H-S2 R88M-GP20030H-S2 R88M-GP40030H-S2 R88M-GP10030H-BS2 R88M-GP20030H-BS2 R88M-GP40030H-BS2 R88M-GP10030T-S2 R88M-GP20030T-S2 R88M-GP40030T-S2 R88M-GP10030T-BS2 R88M-GP20030T-BS2 R88M-GP40030T-BS2 R88D-GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 R88D-GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 R88D-GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 R88D-GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 Flat type servo motors 3000 r/min (100 - 400 W) Symbol Specifications Voltage Encoder and design 230 V Incremental encoder (10000 pulses) A Straight shaft with key & tap Absolute/ incremental encoder (17 bits) Straight shaft with key & tap Without brake With brake Without brake With brake Encoder Cables Symbol C Specifications Encoder cable for absolute encoder (50-750 W) R88M-G(050/100/200/400/750)30T-@ R88M-GP(100/200/400)30T-@ Encoder cable for Incremental encoder (50-750 W) R88M-G(050/100/200/400/750)30H-@ R88M-GP(100/200/400)30H-@ Encoder cable for Absolute encoder (900-1500 W) R88M-G(1K0/1K5)30T-@ R88M-G(1K0/1K5)20T-@ R88M-G90010T-@ G-Series servo system 1.5 m 3m 5m 10 m 15 m 20 m 1.5 m 3m 5m 10 m 15 m 20 m 1.5 m 3m 5m 10 m 15 m 20 m Model R88A-CRGA001-5CR-E R88A-CRGA003CR-E R88A-CRGA005CR-E R88A-CRGA010CR-E R88A-CRGA015CR-E R88A-CRGA020CR-E R88A-CRGB001-5CR-E R88A-CRGB003CR-E R88A-CRGB005CR-E R88A-CRGB010CR-E R88A-CRGB015CR-E R88A-CRGB020CR-E R88A-CRGC001-5NR-E R88A-CRGC003NR-E R88A-CRGC005NR-E R88A-CRGC010NR-E R88A-CRGC015NR-E R88A-CRGC020NR-E Appearance 17 Absolute Encoder Battery cable Symbol Specifications C Absolute Encoder battery cable Model Appearance Battery not included 0.3 m R88A-CRGD0R3C One R88A-BAT01G 0.3 m R88A-CRGD0R3C-BS Battery included Absolute Encoder backup battery 2,000 mA.h 3.6V - Battery holder R88A-BAT01G Note: The absolute encoder battery cable is only an extension and must be used with an absolute encoder cable. Power cables Symbol Specifications D For servomotors from 50 to 750W R88M-G(050/100/200/400/750)30@ R88M-GP(100/200/400)30@ 1.5 m R88A-CAGA001-5SR-E Model For servomotors with brake, a separate cable (R88A-CAGA@BR-E) is needed 3m R88A-CAGA003SR-E 5m R88A-CAGA005SR-E 10 m R88A-CAGA010SR-E 15 m R88A-CAGA015SR-E 20 m For servomotors from 900 to 1.5 kW without brake 1.5 m R88M-G(1K0/1K5)30T-S2 3m R88M-G(1K0/1K5)20T-S2 5m R88M-G90010T-S2 10 m 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 Appearance R88A-CAGA020SR-E R88A-CAGB001-5SR-E R88A-CAGB003SR-E R88A-CAGB005SR-E R88A-CAGB010SR-E 15 m R88A-CAGB015SR-E 20 m R88A-CAGB020SR-E 1.5 m R88A-CAGB001-5BR-E 3m R88A-CAGB003BR-E 5m R88A-CAGB005BR-E 10 m R88A-CAGB010BR-E 15 m R88A-CAGB015BR-E 20 m R88A-CAGB020BR-E Brake cable (for 50-750W servomotors) Symbol Specifications E Brake cable only. For servomotors from 50 to 750W with brake Model R88M-G(050/100/200/400/750)30@-BS2, R88M-GP(100/200/400)30@-BS2 Appearance 1.5 m R88A-CAGA001-5BR-E 3m R88A-CAGA003BR-E 5m R88A-CAGA005BR-E 10 m R88A-CAGA010BR-E 15 m R88A-CAGA015BR-E 20 m R88A-CAGA020BR-E Connectors for power, encoder and brake cables Specifications Connectors for power cables Connectors for encoder cables Applicable Servomotor Model 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) Motor side MS3108E20-18S 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 R88M-G(050/100/200/400/750)30@-BS2, R88M-GP(100/200/400)30@-BS2 R88A-CNG01B Connector for brake cable Motor side ALL DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527. In the interest of product improvement, specifications are subject to change without notice. 18 AC servo systems OMRON EUROPE B.V. Wegalaan 67-69, NL-2132 JD, Hoofddorp, The Netherlands. 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