SmartStep Servos Servos SmartStep K091 Cost-Effective Servo Capability with Stepper Simplicity Easily migrate from steppers to the higher precision of servos in minutes with Omron's SmartStep servo drivers and ultracompact 3-phase servo motors. They accept pulse-train input that can be configured quickly via simple DIP switches and have an on-line auto-tuning function. SmartStep offers all the simplicity and cost-effectiveness of a stepper with the added advantages of the servo drive capability. Motor Features • Sizes 30 W to 750 W, rated speed 3,000 rpm • Accepts incremental encoder input at 2,000 p/r • Cylindrical and flat type servo motors available • Peak torque up to three times continuous torque during 3 seconds • Easy to install with pre-built cables • Motors with brake are available Driver Features • Output range from 30 W to 750 W • 300% peak current over nominal • Control via pulse train (speed and position) • Four position resolution settings: • 500 pulses/rotation (0.72° /step) • 1,000 pulses/rotation (0.36° /step) • 5,000 pulses/rotation (0.072° /step) • 10,000 pulses/rotation (0.036° /step) • SmartStep does not require the use of PC configuration software, making setup as easy as using a stepper motor for basic capabilities • To optimize performance, use PC software for on-line autotuning of values and monitoring Ordering Information SMARTSTEP Servo Drive SMARTSTEP Servo Motor Computer Monitor Software for Windows Analog Monitor Cable Position Control Module, Customizable Counter Module, or DeviceNet one-axis Servo Relay Unit Connector Terminal Block Position Control Module (with pulse output) Add cable length to the part number in place of @@@: 003 for 3 m cable, 005 for 5 m, 010 for 10 m, 015 for 15 m and 020 for 20 m. I-8 For complete specifications and additional models: U.S. www.omron.com/oei Canada www.omron.ca SmartStep Servos Note: Circled numbers refer to the configuration diagram on page I-8. SmartStep Servos Wattage Servo motor model Servo drive model Cylindrical Servo Motors 100 VAC Without Brake, Shaft Without Keyway 30 W R7M-A03030-S1 R7D-APA3L 50 W R7M-A05030-S1 R7D-APA5L 100 W R7M-A10030-S1 R7D-AP01L 200 W R7M-A20030-S1 R7D-AP02L 400 W R7M-A40030-S1 R7D-AP04L Cylindrical Servo Motors 100 VAC With Brake, Shaft With Keyway 30 W R7M-A03030-BS1 R7D-APA3L 50 W R7M-A05030-BS1 R7D-APA5L 100 W R7M-A10030-BS1 R7D-AP01L 200 W R7M-A20030-BS1 R7D-AP02L 400 W R7M-A40030-BS1 R7D-AP04L Cylindrical Servo Motors 200 VAC Without Brake, Shaft With Keyway 30 W R7M-A03030-S1 R7D-APA3H 50 W R7M-A05030-S1 R7D-APA5H 100 W R7M-A10030-S1 R7D-AP01H 200 W R7M-A20030-S1 R7D-AP02H 400 W R7M-A40030-S1 R7D-AP04H 750 W R7M-A75030-S1 R7D-AP08H Cylindrical Servo Motors 200 VAC With Brake, Shaft With Keyway 30 W R7M-A03030-BS1 R7D-APA3H 50 W R7M-A05030-BS1 R7D-APA5H 100 W R7M-A10030-BS1 R7D-AP01H 200 W R7M-A20030-BS1 R7D-AP02H 400 W R7M-A40030-BS1 R7D-AP04H 750 W R7M-A75030-BS1 R7D-AP08H Flat Servo Motors 100 VAC Without Brake, Shaft With Keyway 100 W R7M-AP10030-S1 R7D-AP01L 200 W R7M-AP20030-S1 R7D-AP02L 400 W R7M-AP40030-S1 R7D-AP04L Flat Servo Motors 100 VAC With Brake, Shaft With Keyway 100 W R7M-AP10030-BS1 R7D-AP01L 200 W R7M-AP20030-BS1 R7D-AP02L 400 W R7M-AP40030-BS1 R7D-AP04L Flat Servo Motors 200 VAC Without Brake, Shaft With Keyway 100 W R7M-AP10030-S1 R7D-AP01H 200 W R7M-AP20030-S1 R7D-AP02H 400 W R7M-AP40030-S1 R7D-AP04H 750 W R7M-AP75030-S1 R7D-AP08H Flat Servo Motors 200 VAC With Brake, Shaft With Keyway 100 W R7M-AP10030-BS1 R7D-AP01H 200 W R7M-AP20030-BS1 R7D-AP02H 400 W R7M-AP40030-BS1 R7D-AP04H 750 W R7M-AP75030-BS1 R7D-AP08H For complete specifications and additional models: U.S. www.omron.com/oei APower cable/Encoder cable model (Add cable length for @@@) R7A-CEA@@@S R7A-CEA@@@S R7A-CEA@@@S R7A-CEA@@@S R7A-CEA@@@S R7A-CEA@@@B R7A-CEA@@@B R7A-CEA@@@B R7A-CEA@@@B R7A-CEA@@@B R7A-CEA@@@S R7A-CEA@@@S R7A-CEA@@@S R7A-CEA@@@S R7A-CEA@@@S R7A-CEA@@@S R7A-CEA@@@B R7A-CEA@@@B R7A-CEA@@@B R7A-CEA@@@B R7A-CEA@@@B R7A-CEA@@@B R7A-CEA@@@S R7A-CEA@@@S R7A-CEA@@@S R7A-CEA@@@B R7A-CEA@@@B R7A-CEA@@@B R7A-CEA@@@S R7A-CEA@@@S R7A-CEA@@@S R7A-CEA@@@S R7A-CEA@@@B R7A-CEA@@@B R7A-CEA@@@B R7A-CEA@@@B Canada www.omron.ca I-9 SmartStep Servos Cables and Accessories Description B Servo relay units connect cables from PLC position controller and servo drive Devices connected CS1W-NC113/133, CJ1W-NC113/133; 1 axis; does not support communications functions CS1W-NC213/233/413/433, CJ1W-NC213/233/413/433; 2 axes; does not support communications functions CQM1H-PLB21 and CQM1-CPU43-V1; 1 axis; does not support communications functions CS1W-NC213/233/413/433, CJ1W-NC213/233/ 413/433; 2 axes; supports communications functions CJ1M-CPU22/23; 1 axis; does not support communications functions CJ1M-CPU22/23; 2 axes; does not support communications functions C Universal terminal Doesn’t support communications functions. block cable to servo drive (For the XW2B-@@J6-@B) Specification — Model XW2B-20J6-1B — XW2B-40J6-2B — XW2B-20J6-3B — XW2B-40J6-4A — — 1 m length 2 m length D Position controller CQM1H-PLB21 and CQM1-CPU43-V1 to XW2B-20J6-3B servo relay unit 1 m length PLC module cable CJ1W-NC113 to XW2B-20J6-1B servo relay unit 1 m length CJ1W-NC213 or CJ1W-NC413 to XW2B-20J6-2B servo relay unit 1 m length CJ1W-NC133 to XW2B-20J6-1B servo relay unit 1 m length CJ1W-NC233 or CJ1W-NC433 to XW2B-40J6-2B servo relay unit 1 m length CJ1M-CPU22 or CJ1M-CPU23 to XW2B-20J6-8A (1 axis) or XW2B-40J6-9A (2 1 m length axes) servo relay unit CS1W-NC113 to XW2B-20J6-1B servo relay unit 1 m length CS1W-NC213 or CS1W-NC413 to XW2B-40J6-2B servo relay unit 1 m length CS1W-NC133 to XW2B-20J6-B1 servo relay unit 1 m length CS1W-NC233 or CS1W-NC433 to XW2B-40J6-2B servo relay unit 1 m length E Control cable For general-purpose Controllers (mating connector for CJ1 on one end, open 1 m length ended on the other end) 2 m length F Universal terminal For position control modules with pulse output and general-purpose controllers — block Connector cable between terminal block and servo driver 1 m length 2 m length G Analog monitor cable Servo drive to PC 1 m length (port CN4) H Computer monitor Servo drive to PC 2 m length cable (port CN3) Filters For servo drive R7D-APA3H, APA5H, AP01H, AP02H; R7D-APA3L, APA5L, 4 A, 250 VAC AP01L, AP02L single phase For servo drive R7D-AP04H, AP04L 7 A, 250 VAC single phase For servo drive R7D-AP08H 15 A, 250 VAC single phase Control I/O connector — — (CN1) SmartStep encoder — — connector (CN2) External regeneration — 200 W, 47 Ω resistor Parameter copy unit with — — cable Configuration and For servo drives and inverters Version 1.11 or monitoring software higher Complete OMRON Includes CX-Drive — software suite I-10 For complete specifications and additional models: U.S. www.omron.com/oei XW2B-20J6-8A XW2B-40J6-9A XW2Z-100J-B5 XW2Z-200J-B5 XW2Z-100J-A3 XW2Z-100J-A16 XW2Z-100J-A17 XW2Z-100J-A20 XW2Z-100J-A21 XW2Z-100J-A26 XW2Z-100J-A8 XW2Z-100J-A9 XW2Z-100J-A12 XW2Z-100J-A13 R88A-CPU001S R88A-CPU002S XW2B-40F5-P R88A-CTU001N R88A-CTU002N R88A-CMW001S R7A-CCA002P2 R88A-FIW104-E R88A-FIW107-E R88A-FIW115-E R88A-CNU01C R7A-CNA01R R88A-RR22047S R7A-PR02A CX-DRIVE CX-ONE Canada www.omron.ca SmartStep Servos Specifications Servo Drives General Specifications Item Specification Operating ambient 0° to 55° C (32° F to 131° F), 90% RH max. (with no condensation) Storage ambient -20° to 85° C (-4° F to 185° F), 90% RH max. (with no condensation) Storage/operating atmosphere No corrosive gases. Vibration resistance 10 to 55 Hz in X, Y, and Z directions with 0.1-mm double amplitude or acceleration of 4.9 m/s2 max., whichever is smaller Impact resistance Acceleration 19.6 m/s2 max., in X, Y, and Z directions, three times Insulation resistance Between power line terminals and case: 0.5 MΩ min. (at 500 VDC) Dielectric strength Between power line terminals and case: 1,500 VAC for 1 min. at 50/60 Hz between each control signal and case: 500 VAC for 1 min. Protective structure Built into panel (IP10). International standards Approval obtained for UL, cUL, and EN (EMC directive and low-voltage directive) Servo Drives Performance Specifications 100 VAC Input Models Item Specification Model R7D-APA3L R7D-APA5L R7D-AP01L R7D-AP02L R7D-AP04L Rated output 30 W 50 W 100 W 200 W 400 W Continuous output current (rms) 0.42 0.6 0.89 2.0 2.6 Momentary maximum output current (rms) 1.3 1.9 2.8 6.0 8.0 Control power supply Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz Main-circuit power supply Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz (Voltage doubler method) Control method All-digital servo Speed feedback 2,000 pulses/revolution Incremental Encoder Inverter method PWM method based on IGBT PWM frequency 11.7 kHz Weight [kg (lb)] 0.8 (1.76) Compatible motor voltage 200 V Compatible motor capacity 30 W Command pulse response 250 kHz Applicable servo motor (R7M-) A03030_ A05030_ A10030_ A20030_ A40030_ — — AP10030_ AP20030_ AP40030_ 0.8 (1.76) 0.8 (1.76) 0.8 (1.76) 1.1 (2.43) 50 W 100 W 200 W 400 W 200 VAC Input Models Item Specification Model R7D-APA3H R7D-APA5H R7D-AP01H R7D-AP02H R7D-AP04H R7D-AP08H Rated output 30 W 50 W 100 W 200 W 400 W 750 W Continuous output current (rms) 0.42 0.6 0.89 2.0 2.6 4.4 Momentary maximum output current (rms) 1.3 1.9 2.8 6.0 8.0 13.9 Control power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz Main-circuit power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz (Three-phase 200/230 VAC can be used with the 750 W model) Control method All-digital servo Speed feedback 2,000 pulses/revolution incremental encoder Inverter method PWM method based on IGBT PWM frequency 11.7 kHz Weight [kg (lb)] 0.8 (1.76) Servo motor voltage 200 V Servo motor capacity 30 W Command pulse response 250 kHz Applicable servo motor (R7M-) A03030 A05030 A10030 A20030 A40030 A75030 — — AP10030 AP20030 AP40030 AP75030 0.8 (1.76) 0.8 (1.76) 0.8 (1.76) 1.1 (2.43) 1.7 (3.75) 50 W 100 W 200 W 400 W 750 W For complete specifications and additional models: U.S. www.omron.com/oei Canada www.omron.ca I-11 SmartStep Servos Servo Motor General Specifications Item Operating ambient Storage ambient Storage/operating atmosphere Vibration resistance Impact resistance Insulation resistance Dielectric strength Run position Insulation grade Structure Protective structure Vibration grade Mounting method International standards Specification 0° C to 40° C (32° F to 104° F), 20% to 80% RH (with no condensation) -20° C to 60° C (-4° F to 140° F), 20% to 80% RH (with no condensation) No corrosive gases 10 to 2,500 Hz in X, Y, and Z directions with 0.2 mm double amplitude or acceleration of 24.5 m/s2 max., whichever is smaller Acceleration 98 m/s2max., in a vertical direction, two times Between power line terminals and FG: 10 MΩ min. (at 500 VDC) Between power line terminals and FG: 1,500 V AC for 1 min at 50/60 Hz Any direction Type B Totally-enclosed self-cooling IP55 for both the cylindrical and flat servo motors V-15 Flange-mounting Approval obtained for UL, cUL, and EN (EMC directive and low-voltage directive) Servo Motor Performance Specifications Flat Servo Motors without Brakes Item Rated output Rated torque Rated rotation speed Momentary maximum rotation speed Momentary maximum torque Rated current Momentary maximum current Rotor inertia Power rate Allowable radial load Allowable thrust load Weight (without brake -S1) Applicable servo driver Encoder resolution Radiation shield dimensions R7M-AP10030-S1 R7M-AP20030-S1 R7M-AP40030-S1 R7M-AP75030-S1 100 W 200 W 400 W 750 W 0.318 N•m 0.637 N•m 1.27 N•m 2.39 N•m 3,000 r/min. 3,000 r/min. 3,000 r/min. 3,000 r/min. 4,500 r/min. 4,500 r/min. 4,500 r/min. 4,500 r/min. 0.96 N•m 1.91 N•m 3.82 N•m 7.1 N•m 0.89 A (rms) 2.0 A (rms) 2.6 A (rms) 4.1 A (rms) 2.8 A (rms) 6.0 A (rms) 8.0 A (rms) 13.9 A (rms) 6.5 ×10-6 kg•m2 2.09 ×10-5 kg•m2 3.47 ×10-5 kg•m2 2.11 ×10-4 kg•m2 15.7 kW/s 19.4 kW/s 46.8 kW/s 26.9 kW/s 78 N 245 N 245 N 392 N 49 N 68 N 68 N 147 N 0.7 kg 1.4 kg 2.1 kg 4.2 kg R7D-AP01H/L R7D-AP02H/L R7D-AP04H/L R7D-AP08H 2,000 pulses/revolution for phase-A and phase-B, 1 pulse/revolution for phase-Z t6 ×250 mm square t12 ×300 mm square Flat Servo Motors with Brakes Item Rated output Rated torque Rated rotation speed Momentary maximum rotation speed Momentary maximum torque Rated current Momentary maximum current Rotor inertia Power rate Allowable radial load Allowable thrust load Weight (with brake -BS1) Applicable servo driver Encoder resolution Radiation shield dimensions Brake Brake inertia specifications Excitation voltage Power consumption (at 20° C) Current consumption (at 20° C) Static friction torque Attraction time Release time Backlash Rating Insulation grade I-12 R7M-AP10030-BS1 R7M-AP20030-BS1 R7M-AP40030-BS1 R7M-AP75030-BS1 100 W 200 W 400 W 750 W 0.318 N•m 0.637 N•m 1.27 N•m 2.39 N•m 3,000 r/min. 3,000 r/min. 3,000 r/min. 3,000 r/min. 4,500 r/min. 4,500 r/min. 4,500 r/min. 4,500 r/min. 0.96 N•m 1.91 N•m 3.82 N•m 7.1 N•m 0.89 A (rms) 2.0 A (rms) 2.6 A (rms) 4.1 A (rms) 2.8 A (rms) 6.0 A (rms) 8.0 A (rms) 13.9 A (rms) 6.5 ×10-6 kg•m2 2.09 ×10-5 kg•m2 3.47 ×10-5 kg•m2 2.11 ×10-4 kg•m2 15.7 kW/s 19.4 kW/s 46.8 kW/s 26.9 kW/s 78 N 245 N 245 N 392 N 49 N 68 N 68 N 147 N 0.9 kg 1.9 kg 2.6 kg 5.7 kg R7D-AP01H/L R7D-AP02H/L R7D-AP04H/L R7D-AP08H 2,000 pulses/revolution for phase-A and phase-B, 1 pulse/revolution for phase-Z t6 ×250 mm square t12 ×300 mm square 3.1 ×10-6 kg•m2 1.52 ×10-5 kg•m2 1.52 ×10-5 kg•m2 8.75 ×10-5 kg•m2 24 V DC ±10% 6W 5W 7.6 W 7.5 W 0.25 A 0.21 A 0.32 A 0.31 A 0.4 N•m min. 0.9 N•m min. 1.9 N•m min. 3.5 N•m min. 40 ms max. 40 ms max. 40 ms max. 40 ms max. 20 ms max. 20 ms max. 20 ms max. 20 ms max. 1° 1° 1° 1° Continuous Continuous Continuous Continuous Type F Type F Type F Type F For complete specifications and additional models: U.S. www.omron.com/oei Canada www.omron.ca SmartStep Servos Cylindrical Servo Motors without Brakes Item R7M-A03030-S1 R7M-A05030-S1 R7M-A10030-S1 R7M-A20030-S1 R7M-A40030-S1 R7M-A75030-S1 Rated output 30 W 50 W 100 W 200 W 400 W 750 W Rated torque 0.095 N•m 0.159 N•m 0.318 N•m 0.637 N•m 1.27 N•m 2.39 N•m Rated rotation speed 3,000 r/min. 3,000 r/min. 3,000 r/min. 3,000 r/min. 3,000 r/min. 3,000 r/min. Momentary maximum rotation speed 4,500 r/min. 4,500 r/min. 4,500 r/min. 4,500 r/min. 4,500 r/min. 4,500 r/min. Momentary maximum torque 0.29 N•m 0.48 N•m 0.96 N•m 1.91 N•m 3.82 N•m 7.1 N•m Rated current (rms) 0.42 A 0.6 A 0.87 A 2.0 A 2.6 A 4.4 A Momentary maximum current (rms) 1.3 A 1.9 A 2.8 A 6.0 A 8.0 A 13.9 A Rotor inertia 1.7 ×10-6 kg•m2 2.2 ×10-6 kg•m2 3.6 ×10-6 kg•m2 1.19 ×10-5 kg•m2 1.87 ×10-5 kg•m2 6.67 ×10-5 kg•m2 Power rate 5.31 kW/s 11.5 kW/s 28.1 kW/s 34.1 kW/s 86.3 kW/s 85.6 kW/s Allowable radial load 68 N 68 N 78 N 245 N 245 N 392 N Allowable thrust load 54 N 54 N 54 N 74 N 74 N 147 N Weight without brake 0.3 kg 0.4 kg 0.5 kg 1.1 kg 1.7 kg 3.4 kg Applicable servo driver R7D-APA3H R7D-APA5H R7D-AP01H R7D-AP02H R7D-AP04H R7D-AP08H Encoder resolution 2,000 pulses/revolution for phase-A and phase-B, 1 pulse/revolution for phase-Z Radiation shield dimensions t6× 250 mm square Cylindrical Servo Motors with Brakes Item R7M-A0303-BS1 R7M-A05030BS1 R7M-A10030BS1 R7M-A20030BS1 R7M-A40030BS1 R7M-A75030BS1 Rated output 30 W 50 W 100 W Rated torque 0.095 N•m 0.159 N•m 0.318 N•m 200 W 400 W 750 W 0.637 N•m 1.27 N•m Rated rotation speed 3,000 r/min. 3,000 r/min. 2.39 N•m 3,000 r/min. 3,000 r/min. 3,000 r/min. Momentary maximum rotation speed 4,500 r/min. 4,500 r/min. 3,000 r/min. 4,500 r/min. 4,500 r/min. 4,500 r/min. 4,500 r/min. Momentary maximum torque 0.29 N•m 0.48 N•m 0.96 N•m 1.91 N•m 3.82 N•m 7.1 N•m Rated current (rms) 0.42 A 0.6 A 0.87 A 2.0 A 2.6 A 4.4 A Momentary maximum current (rms) 1.3 A 1.9 A 2.8 A 6.0 A 8.0 A 13.9 A Rotor inertia 1.7 ×10-6 kg•m2 2.2 ×10-6 kg•m2 3.6 ×10 -6 kg•m2 1.19 ×10-5 kg•m2 1.87 ×10-5 kg•m2 6.67 ×10-5 kg•m2 Power rate 5.31 kW/s 11.5 kW/s 28.1 kW/s 34.1 kW/s 86.3 kW/s 85.6 kW/s Allowable radial load 68 N 68 N 78 N 245 N 245 N 392 N Allowable thrust load 54 N 54 N 54 N 74 N 74 N 147 N Weight with brake 0.6 kg 0.7 kg 0.8 kg 1.6 kg 2.2 kg 4.3 kg Applicable servo driver R7D-APA3H R7D-APA5H R7D-AP01H R7D-AP02H R7D-AP04H R7D-AP08H Encoder resolution 2,000 pulses/revolution for phase-A and phase-B, 1 pulse/revolution for phase-Z Radiation shield dimensions t6× 250 mm square Brake Brake inertia specifica- Excitation tions voltage 0.85 ×10-6 kg•m2 0.85 ×10-6 kg•m2 0.85 ×10-6 kg•m2 6.4 ×10-6 kg•m2 6.4 ×10-6 kg•m2 1.7 ×10-5 kg•m2 24 V DC ±10% V Power consumption (at 20° C) 6W 6W 6W 7W 7W 7.7 W Current consumption (at 20° C) 0.25 A 0.25 A 0.25 A 0.29 A 0.29 A 0.32 A Static friction torque 0.2 N•m min. 0.2 N•m min. 0.34 N•m min. 1.47 N•m min. 1.47 N•m min. 2.45 N•m min. Attraction time 30 ms max. 30 ms max. 30 ms max. 60 ms max. 60 ms max. 60 ms max. Release time 60 ms max. 60 ms max. 60 ms max. 20 ms max. 20 ms max. 20 ms max. Backlash 1° 1° 1° 1° 1° 1° Rating Continuous Continuous Continuous Continuous Continuous Continuous Insulation grade Type F Type F Type F Type F Type F Type F For complete specifications and additional models: U.S. www.omron.com/oei Canada www.omron.ca I-13 SmartStep Servos Dimensions Servo Drives Dimensions (mm) Input voltage Rating 1-phase, 100 VAC and 200 VAC 1-phase, 200 VAC Drive model H W D 30 W R7D-APA3H/L 160 55 130 50 W R7D-APA5H/L 160 55 130 100 W R7D-AP01H/L 160 55 130 200 W R7D-AP02H/L 160 55 130 400 W R7D-AP04H/L 160 75 130 750 W R7D-AP08H 160 90 180 Cylindrical Servo Motors (3,000 r/min) Dimensions (mm) 200 VAC: 30 W/50 W/100 W/200 W/400 W/750 W Without brake: R7M-A03030-S1-D/A05030-S1-D/A10030-S1-D/A20030-S1-D/A40030-S1-D/A75030-S1-D With brake: R7M-A03030-BS1-D/A05030-BS1-D/A10030-BS1-D/A20030-BS1-D/A40030-BS1-D/A75030-BS1-D R7M-A@@@30(-S1) (Without Brake) Model Overall length LL R7M-A@@@30(-S1) (With Brake) Flange surface LR C D1 *Axis End Dimensions Axis end D2 F G Z S QK b h t1 R7M-A03030-S1 69.5 25 40 46 30h7 2.5 5 Two, 4.3 dia. 6h6 14 2 2 1.2 R7M-A03030-BS1 101 25 40 46 30h7 2.5 5 Two, 4.3 dia. 6h6 14 2 2 1.2 R7M-A05030-S1 77 25 40 46 30h7 2.5 5 Two, 4.3 dia. 6h6 14 2 2 1.2 R7M-A05030-BS1 108.5 25 40 46 30h7 2.5 5 Two, 4.3 dia. 6h6 14 2 2 1.2 R7M-A10030-S1 94.5 25 40 46 30h7 2.5 5 Two, 4.3 dia. 8h6 14 3 3 1.8 R7M-A10030-BS1 135 25 40 46 30h7 2.5 5 Two, 4.3 dia. 8h6 14 3 3 1.8 R7M-A20030-S1 96.5 30 60 70 50h7 3 6 Four, 5.5 dia. 14h6 20 5 5 3 R7M-A20030-BS1 136 30 60 70 50h7 3 6 Four, 5.5 dia. 14h6 20 5 5 3 R7M-A40030-S1 124.5 30 60 70 50h7 3 6 Four, 5.5 dia. 14h6 20 5 5 3 R7M-A40030-BS1 164 30 60 70 50h7 3 6 Four, 5.5 dia. 14h6 20 5 5 3 R7M-A75030-S1 145 40 80 90 70h7 3 8 Four, 7 dia. 16h6 30 5 5 3 R7M-A75030-BS1 189.5 40 80 90 70h7 3 8 Four, 7 dia. 16h6 30 5 5 3 I-14 For complete specifications and additional models: U.S. www.omron.com/oei Canada www.omron.ca SmartStep Servos Flat Servo Motors (3,000 r/min) Dimensions (mm) 200 VAC: 100 W/200 W/400 W/750 W Without brake: R7M-AP10030-S1-D/AP20030-S1-D/AP40030-S1-D/AP75030-S1-D With brake: R7M-AP10030-BS1-D/AP20030-BS1-D/AP40030-BS1-D/AP75030-BS1-D R7M-AP@@@30(-S1) (Without Brake) Model R7M-AP@@@30(-S1) (With Brake) Overall length LL R7M-AP10030-S1 62 R7M-AP10030-BS1 91 R7M-AP20030-S1 67 R7M-AP20030-BS1 98.5 R7M-AP40030-S1 87 R7M-AP40030-BS1 Flange surface LR 25 *Axis End Dimensions C D1 Axis end D2 F G 5.5 dia. S 14 b 3 h 50h7 2.5 25 60 70 50h7 2.5 6 5.5 dia. 8h6 14 3 3 1.8 30 80 90 70h7 3 8 7 dia. 14h6 16 5 5 3 30 80 90 70h7 3 8 7 dia. 14h6 16 5 5 3 30 80 90 70h7 3 8 7 dia. 14h6 16 5 5 3 118.5 30 80 90 70h7 3 8 7 dia. 14h6 16 5 5 3 R7M-AP75030-S1 86.5 40 120 145 110h7 3.5 10 10 dia. 16h6 22 5 5 3 R7M-AP75030-BS1 120 40 120 145 110h7 3.5 10 10 dia. 16h6 22 5 5 3 Canada www.omron.ca 3 t1 70 U.S. www.omron.com/oei 8h6 QK 60 For complete specifications and additional models: 6 Z 1.8 I-15