R88a Pr03u PDF

USER’S MANUAL
OMNUC U SERIES
MODELS R88M-U_
(AC Servo Motors)
MODELS R88D-UT_
(AC Servo Drivers)
AC SERVO MOTORS/DRIVERS (1 to 5 kW)

Thank you for choosing this OMNUC U-series product. Proper use and handling
of the product will ensure proper product performance, will length product life, and
may prevent possible accidents.
Please read this manual thoroughly and handle and operate the product with care.
NOTICE
1. This manual describes the functions of the product and relations with other prod-
ucts. You should assume that anything not described in this manual is not possible.
2. Although care has been given in documenting the product, please contact your
OMRON representative if you have any suggestions on improving this manual.
3. The product contains dangerous high voltages inside. Turn off the power and wait
for at least five minutes to allow power to discharge before handling or working with
the product. Never attempt to disassemble the product.
4. We recommend that you add the following precautions to any instruction manuals
you prepare for the system into which the product is being installed.
Precautions on the dangers of high-voltage equipment.
Precautions on touching the terminals of the product even after power has been
turned off. (These terminals are live even with the power turned off.)
5. Specifications and functions may be changed without notice in order to improve
product performance.
6. Positive and negative rotation of AC Servo Motors described in this manual are
defined as looking at the end of the output shaft of the motor as follows: counter-
clockwise rotation is positive and clockwise rotation is negative.
7. Do not perform withstand-voltage or other megameter tests on the product. Doing
so may damage internal components.
8. Servo Motors and Servo Drivers have a finite service life. Be sure to keep replace-
ment products on hand and to consider the operating environment and other condi-
tions affecting the service life.
9. The OMNUC UT_ can control both incremental and absolute encoders. Differ-
ences in functions or specifications according to the encoder type are indicated in
this manual. Be sure to check the model that is being used, and follow the relevant
specifications.
Servo Motor with incremental encoder: R88M-U___30H-_/V-_S1
Servo Motor with absolute encoder: R88M-U___30T-_/V-_S1
Items to Check After Unpacking

Check the following items after removing the product from the package:
Has the correct product been delivered (i.e., the correct model number and speci-
fications)?
Has the product been damaged in shipping?
Are any screws or bolts loose?
Notice:
OMRON products are manufactured for use according to proper procedures by a qualified
operator and only for the purposes described in this manual.
The following conventions are used to indicate and classify precautions in this manual.
Always heed the information provided with them. Failure to heed precautions can result in
injury to people or damage to property.
! DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death
or serious injury.
! WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death
or serious injury.
! Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor
or moderate injury, or property damage.
OMRON Product References

All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when
it refers to an OMRON product, regardless of whether or not it appears in the proper name
of the product.
The abbreviation “Ch,” which appears in some displays and on some OMRON products,
often means “word” and is abbreviated “Wd” in documentation in this sense.
The abbreviation “PC” means Programmable Controller and is not used as an abbreviation
for anything else.
Visual Aids
The following headings appear in the left column of the manual to help you locate different
types of information.
Note Indicates information of particular interest for efficient and convenient operation of the product.
 OMRON, 1996
All rights reserved. No part of this publication may be reproduced, stored in a retrieval sys-
tem, 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. Nevertheless, 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.
General Warnings
Observe the following warnings when using the OMNUC Servomotor and Servo Driver in-
cluding Parameter Unit, Regenerative Unit, and peripheral devices.
This manual may include illustrations of the product with protective covers removed in order
to describe the components of the product in detail. Make sure that these protective covers
are on the product before use.
Consult your OMRON representative when using the product after a long period of storage.
! WARNING Always connect the frame ground terminals of the Servo Driver and the Servomotor
to a class-3 ground (to 100 Ω or less). Not connecting to a class-3 ground may result
in electric shock.
! WARNING Do not touch the inside of the Servo Driver. Doing so may result in electric shock.
! WARNING Do not remove the front cover, terminal covers, cables, Parameter Units, or optional
items while the power is being supplied. Doing so may result in electric shock.
! WARNING Installation, operation, maintenance, or inspection must be performed by authorized

personnel. Not doing so may result in electric shock or injury.
! WARNING Wiring or inspection must be performed at least 5 minutes after turning off the power
supply. Doing so may result in electric shock.
! WARNING Do not damage, press, or put excessive stress or heavy objects on the cables. Doing
so may result in electric shock.
! WARNING Do not touch the rotating parts of the Servomotor under operation. Doing so may
result in injury.
! WARNING Do not modify the product. Doing so may result in injury or damage to the product.
! Caution Use the Servomotors and Servo Drivers in a specified combination. Doing so may
result in fire or damage to the products.
! Caution Do not store or install in the following places. Doing so may result in fire or damage to
the Product.
Locations subject to direct sunlight.

Locations subject to temperatures or humidity outside the range specified in the
specifications.
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 shock or vibration.
Locations subject to exposure to water, oil, or chemicals.
! Caution Do not touch the Servo Driver radiator or Servomotor while the power is being sup-
plied or soon after the power is turned off. Doing so may result in a skin burn due to
the hot surface.
Storage and Transportation Precautions

! Caution Do not hold by the cables or motor shaft while transporting the product. Doing so
may result in injury or malfunction.
! Caution Do not place any load exceeding the figure indicated on the product. Doing so may
result in injury or malfunction.
! Caution Use the motor eye-bolts only for transporting the Motor. Using them for transporting
the machinery may result in injury or malfunction.
Installation and Wiring Precautions

! Caution Do not step on or place a heavy object on the product. Doing so may result in injury.
! Caution Do not cover the inlet or outlet ports and prevent any foreign objects from entering
the product. Doing so may result in fire.
! Caution Be sure to install the product in the correct direction. Not doing so may result in mal-
function.
! Caution Provide the specified clearances between the Servo Driver and the control panel or
with other devices. Not doing so may result in fire or malfunction.
! Caution Do not apply any strong impact. Doing so may result in malfunction.
! Caution Be sure to wire correctly and securely. Not doing so may result in motor runaway,
injury, or malfunction.
! Caution Be sure that all the mounting screws, terminal screws, and cable connector screws
are tightened to the torque specified in the relevant manuals. Incorrect tightening
torque may result in malfunction.
! Caution Use crimp terminals for wiring. Do not connect bare stranded wires directly to termi-
nals. Connection of bare stranded wires may result in burning.
! Caution Always use the power supply voltage specified in the User’s Manual. An incorrect
voltage may result in malfunction or burning.
! Caution 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 malfunction.
! Caution Install external breakers and take other safety measures against short-circuiting in
external wiring. Insufficient safety measures against short-circuiting may result in
burning.
! Caution Provide an appropriate stopping device on the machine side to secure safety. (A
holding brake is not a stopping device for securing safety.) Not doing so may result in
injury.
! Caution Provide an external emergency stopping device that allows an instantaneous stop of
operation and power interruption. Not doing so may result in injury.
! Caution Take appropriate and sufficient countermeasures when installing systems in the fol-
lowing locations:
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.
Operation and Adjustment Precautions

! Caution Check the newly set parameters for proper execution before actually running them.
Not doing so may result in equipment damage.
! Caution Do not make any extreme adjustments or setting changes. Doing so may result in
unstable operation and injury.
! Caution Separate the Servomotor from the machine, check for proper operation, and then
connect to the machine. Not doing so may cause injury.
! Caution When an alarm occurs, remove the cause, reset the alarm after confirming safety,
and then resume operation. Not doing so may result in injury.
! Caution Do not come close to the machine immediately after resetting momentary power in-
terruption to avoid an unexpected restart. (Take appropriate measures to secure
safety against an unexpected restart.) Doing so may result in injury.
! Caution Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may
result in malfunction.
Maintenance and Inspection Precautions
! WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may
result in malfunction, fire, or electric shock.
! Caution Resume operation only after transferring to the new Unit the contents of the data re-
quired for operation. Not doing so may result in an unexpected operation.
Warning Labels
Warning labels are pasted on the product as shown in the following illustration. Be sure to
follow the instructions given there.
Warning labels
Warning Labels for Non-conforming Models
Warning label 2
Warning label 1
Warning Labels for Models Conforming to EC Directives
Warning label 2
Warning label 1
OMNUC U Series
Parameter Units
Operation Method
Chapter 3: 3-1, 3-2, 3-3
OMNUC U-series AC Servo Driver
Cable Specifications
I/O Operations Chapter 5: 5-3-2, 5-3-3
Chapter 5: 5-1-3
Motor Specifications
Chapter 5: 5-2
OMNUC U-series AC Servomotor OMNUC U-series AC Servomotor

(with incremental encoder) (with absolute encoder)
VISUAL INDEX
For users who wish to operate as quickly as possible.

The following portions of this manual provide the minimum information required for operation.
Be sure you fully understand at least the information in these portions before attempting opera-
tion.
Chapter 2 System Design and Installation, and sections 3-1, 3-2, 3-3, and 3-4 of Chapter 3
Operation.
Instructions for jog operation using a Parameter Unit are provided in 3-4.
SYSMAC C/CV
Programmable Controller Position Control Unit
C500-NC222-E
Motion Control Units
CV500-MC221/421
C200H-MC221
Analog input
Pulse train input

Controller Connecting Cable
Position Control Units Chapter 5: 5-3-1
3G2A5-NC111-EV1
C500-NC211
Position Control Units

SYSMAC C/CV C200H-NC112
Programmable Controller C200H-NC211
C200HW-NC113
C200HW-NC213
C200HW-NC413
SYSMAC C200HX/HG/HE
Programmable Controller Setting Functions
Using Parameter Unit: Chapter 3, section 3-1-3

Setting, checking setup parameters: Chapter 3, section 3-3-1
Important setup parameters: Chapter 3, section 3-3-1
Setting, checking user parameters Chapter 3, section 3-3-2
Important user parameters Chapter 3, section 3-3-3
OMNUC U is a series of fully
digital AC servo drivers built Adjustments and Troubleshooting
on advanced OMRON soft-
ware servo technology. It pro- Making adjustments: Chapter 3, section 3-5
vides high performance, a Using displays: Chapter 4, section 4-2
sensitive man-machine inter- Using monitor outputs: Chapter 4, section 4-3
face, and economy. Protections and diagnostic functions:Chapter 4, section 4-4
Table of Contents
Chapter 1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1-3 Servo Driver Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1-4 Applicable Standards and Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
Chapter 2. System Design and Installation . . . . . . . . . . . . . . . . . . . . . . 2-1

2-1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2-1-1 External Dimensions (Unit: mm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2-1-2 Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2-2 Wiring and Connections (Models Not Conforming to Standards) . . . . . . . . . . . . . . . . . . . . . . 2-17
2-2-1 Connecting OMRON Servo Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17
2-2-2 Wiring Servo Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
2-2-3 Wiring for Noise Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
2-2-4 Peripheral Device Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-29
2-3 Wiring and Connections (Models Conforming to EC Directives) . . . . . . . . . . . . . . . . . . . . . . 2-30
2-3-3 Wiring Conditions Satisfying EMC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-35
Chapter 3. Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

3-1 Beginning Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3-1-1 Operational Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3-1-2 Turning On Power and Checking Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3-1-3 Using Parameter Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3-2 System Check Mode (Cn-00) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3-3 Function Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3-3-1 Setting and Checking Setup Parameters (Cn-01, 02) . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3-3-2 Setting and Checking User Parameters (Cn-03 to 2d) . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
3-3-3 Important User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3-3-4 Setting Internal Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3-3-5 Switching Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
3-3-6 Software Start Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
3-3-7 Electronic Gear Function (Position Control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29
3-3-8 Encoder Dividing Function [Incremental] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30
3-3-9 Encoder Dividing Function (Absolute) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-31
3-3-10 Bias Function (Position Control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33
3-3-11 Torque Limit Function (Position Control, Speed Control, Torque Control) . . . . . . . . 3-34
3-3-12 Speed Limit Function (Torque Control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
3-3-13 Torque Feed-forward Function (Speed Control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37
3-3-14 Brake Interlock (for Motors With Brakes) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38
3-4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-41
3-5 Making Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43
3-5-1 Auto-tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43
3-5-2 Manually Adjusting Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-45
3-5-3 Adjusting Command Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-52
3-6 Regenerative Energy Absorption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-54
3-6-1 Calculating Regenerative Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-54
3-6-2 Servo Driver Absorbable Regenerative Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-56
3-6-3 Absorption of Regenerative Energy with External Regenerative Resistors
Connected to Models Complying with EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . 3-57
Table of Contents
Chapter 4. Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4-1 Absolute Encoder Setup and Battery Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4-1-1 Absolute Encoder Setup [Absolute] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4-1-2 Replacing Batteries [Absolute] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4-2 Using Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4-2-1 Display Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4-2-2 Status Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4-2-3 Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4-2-4 Checking Servomotor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4-3 Using Monitor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4-4 Protective and Diagnostic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
4-4-1 Alarm Displays and Alarm Code Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
4-4-2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4-5 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
Chapter 5. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5-1 Servo Driver Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5-1-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5-1-2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5-1-3 I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5-1-4 Explanation of User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27
5-2 Servomotor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35
5-2-3 Torque and Rotation Speed Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-39
5-2-4 Allowable Loads on Servomotor Shafts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40
5-2-5 Encoder Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-41
5-3 Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42
5-3-1 Controller Connecting Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42
5-3-2 Encoder Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-49
5-3-3 Power Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-50
5-4 Parameter Unit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-55
Chapter 6. Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

6-1 Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6-2 Encoder Divider Rate for Servo Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
6-3 OMNUC U-series Standard Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
6-4 Combinations of Servo Drivers and Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
Table of Contents
Chapter 1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1-3 Servo Driver Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1-4 Applicable Standards and Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
Chapter 2. System Design and Installation . . . . . . . . . . . . . . . . . . . . . . 2-1

2-1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2-1-1 External Dimensions (Unit: mm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2-1-2 Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2-2 Wiring and Connections (Models Not Conforming to Standards) . . . . . . . . . . . . . . . . . . . . . . 2-17
2-2-3 Wiring for Noise Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
2-3 Wiring and Connections (Models Conforming to EC Directives) . . . . . . . . . . . . . . . . . . . . . . 2-30
2-3-3 Wiring Conditions Satisfying EMC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-35
Chapter 3. Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

3-1 Beginning Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3-1-1 Operational Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3-1-2 Turning On Power and Checking Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3-1-3 Using Parameter Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3-2 System Check Mode (Cn-00) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3-3 Function Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3-3-1 Setting and Checking Setup Parameters (Cn-01, 02) . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3-3-2 Setting and Checking User Parameters (Cn-03 to 2d) . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
3-3-3 Important User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3-3-4 Setting Internal Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3-3-5 Switching Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
3-3-6 Software Start Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
3-3-7 Electronic Gear Function (Position Control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29
3-3-8 Encoder Dividing Function [Incremental] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30
3-3-9 Encoder Dividing Function (Absolute) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-31
3-3-10 Bias Function (Position Control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33
3-3-11 Torque Limit Function (Position Control, Speed Control, Torque Control) . . . . . . . . 3-34
3-3-12 Speed Limit Function (Torque Control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
3-3-13 Torque Feed-forward Function (Speed Control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37
3-3-14 Brake Interlock (for Motors With Brakes) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38
3-4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-41
3-5 Making Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43
3-5-1 Auto-tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43
3-5-2 Manually Adjusting Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-45
3-5-3 Adjusting Command Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-52
3-6 Regenerative Energy Absorption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-54
3-6-1 Calculating Regenerative Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-54
3-6-2 Servo Driver Absorbable Regenerative Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-56
3-6-3 Absorption of Regenerative Energy with External Regenerative Resistors
Connected to Models Complying with EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . 3-57
Table of Contents
Chapter 4. Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4-1 Absolute Encoder Setup and Battery Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4-1-1 Absolute Encoder Setup [Absolute] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4-1-2 Replacing Batteries [Absolute] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4-2 Using Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4-2-1 Display Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4-2-2 Status Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4-2-3 Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4-2-4 Checking Servomotor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4-3 Using Monitor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4-4 Protective and Diagnostic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
4-4-1 Alarm Displays and Alarm Code Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
4-4-2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4-5 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
Chapter 5. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5-1 Servo Driver Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5-1-3 I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5-1-4 Explanation of User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27
5-2 Servomotor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35
5-2-3 Torque and Rotation Speed Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-39
5-2-4 Allowable Loads on Servomotor Shafts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40
5-2-5 Encoder Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-41
5-3 Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42
5-3-1 Controller Connecting Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42
5-3-2 Encoder Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-49
5-3-3 Power Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-50
5-4 Parameter Unit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-55
Chapter 6. Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

6-1 Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6-2 Encoder Divider Rate for Servo Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
6-3 OMNUC U-series Standard Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
6-4 Combinations of Servo Drivers and Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
1Chapter 1
Introduction
1-1 Features
1-2 System Configuration
1-3 Servo Driver Nomenclature
1-4 Applicable Standards and Models
Introduction Chapter 1
1-1 Features
With their superior performance and fast response times, and an output capacity of up to 5 kW, these AC
Servomotors and Servo Drivers have improved features of previous models.
Models Bearing the CE Marking and Complying with EC Directives

Servo Driver and Servomotor models satisfying the LVD (Low-voltage Directive) and EMC (electromag-
netic compatibility) requirements of EC Directives are available. These models are the same as the
U-series models in performance and function and help a customer’s products equipped with these mod-
els satisfy EC Directives with ease.
Motor Output
A line of models with the following outputs is available.
Servo Drivers Requiring External Regenerative Resistors

Servomotor models connecting to external regenerative resistors and complying with EC Directives are
available.
These Servomotor models are available for vertical shaft applications and other applications that gen-
erate high regenerative energy. For application details, refer to 3-6 Regenerative Energy Absorption.
Model Number Legend
Servo Drivers
R88D-UT-
1 2 3
Legend Item Symbol Description

number (example)
1 Maximum output current 24 Approx. 24 A
40 Approx. 40 A
2 Applicable standard H Models not conforming to standards
V Models conforming to EC Directives
3 Regenerative resistor No indication ---
specifications
RG Models requiring external regenerative
resistors (see note 1)
Note Although the R88D-UT110V has no indication for the regenerative resistor specifications, the
model requires an external regenerative resistor.
1-2
Servomotors
R88M-U30-
1 2 3 4
3 and 4: Option Specifications
Legend Item Symbol Description

number (example)
1 Motor capacity
y 1K0 1.0 kW
1K5 1.5 kW
2 Applicable H Models not conforming to standards
sstandard/encoder
a da d/e code type
y e Incremental encoder
T Models not conforming to standards
Absolute encoder
V Models conforming to EC Directives
Incremental encoder
X Models conforming to EC Directives
Absolute encoder
3 Brake specifications No indication Without brake
B With brake
4 Shaft shape No indication Straight shaft without key
S1 Straight shaft with key (see note 1)
Note 10. Models conforming to EC Directives are available only for straight shafts with keys.
Note 11. For details about model numbers, refer to 6-3 OMNUC U-series Models. For details about
combinations of Servo Drivers and Servomotors, refer to 6-4 Combinations of Servo Drivers
and Servomotors.
Control Functions
Any one of the following 12 control modes can be selected in the parameter settings, thereby allowing
various applications with a single Servo Driver.
Control mode
Speed control (Analog command)
Position control (Pulse train command) [Factory setting]
Torque control (Analog command) [factory setting]
Internal speed control settings
Internal speed control settings ←→ Speed control (Analog command)
Internal speed control settings ←→ Position control (Pulse train command)
Internal speed control settings ←→ Torque control (Analog command)
Position control (Pulse train command) ←→ Speed control (Analog command)
Position control (Pulse train command) ←→ Torque control (Analog command)
Speed control (Analog command) ←→ Torque control (Analog command)
Speed control (Analog command) ←→ Position-lock stop
Position control (Pulse train command) ←→ Pulse prohibit
1-3
Auto-tuning
The gain can be adjusted automatically when the responsiveness has been selected to match the rigid-
ity of the mechanical system. The auto-tuning feature automatically finds the optimum adjustment to
match the load, with no need for difficult operations.
Monitor
Displays the driver’s operating status on the Parameter Unit.
The following items can be monitored: speed feedback, speed commands, torque commands,
number of pulses from the U-phase edge, electrical angle, the internal status (bit display), com-
mand pulse speed, position deviation, and input pulse counter.
Jog Operation
Forward/Reverse motor operation can be controlled from the Parameter Unit. Rotational speed can
be set in the parameters.
Automatic Adjustment of Control Offset (Speed Control and Torque

Control)
The offsets of the speed command input and torque command input can be adjusted automatically.
Electronic Gear Function (Position Control)

This function turns the motor by the number of pulses obtained by applying the gear ratio to the num-
ber of command pulses. It can be effectively used in the following situations.
When fine tuning positions and speeds while synchronizing two lines.
When using a controller with a short command pulse frequency.
When setting the mechanical movement per pulse to amounts such as 0.01 mm.
The electronic gear ratio is set by parameters (numerator: G1; denominator: G2). The setting range
for G1 and G2 is 1 to 65,535, with 0.01 (G1/G2) 100.
Encoder Resolution Function

This function allows the encoder signal output from the driver to be set anywhere within the ranges
shown below for incremental and absolute.
[Incremental]: 16 to 4,096 pulses/revolution
[Absolute]: 16 to 8,192 pulses/revolution
Software Start Function (Speed Control, Internal Speed Control

Settings)
This function causes the motor to be started/stopped in the preset acceleration/deceleration times,
allowing a simple position control system to be constructed without a Positioner or Host Controller.
The acceleration and deceleration times are set separately, and the setting range is 0 to 10 s for
each.
1-4
Pulse Smoothing Function (Position Control)

Applying acceleration and deceleration to command pulses enables tracking of high-frequency
commands. The setting is the same for acceleration and deceleration times, and the range is 0 to
64 ms.
Reverse Mode
Forward/Reverse commands can be switched in the parameters, without changing the wiring to the
motor or encoder.
Brake Interlock Output

Outputs a timing signal interlocked with the motor’s ON/OFF status and rotational speed. The hold-
ing brake of a motor with a brake can be operated reliably.
Output Signal Selection Function

Any three output signals can be selected for output from among the following seven: Positioning
completed, motor rotation detection, servo preparation completed, electrical current limit detection,
brake interlock, overload warning, and overload alarm.
Overtravel Sequence
An overtravel sequence compatible with the system can be selected. There are three deceleration
methods available: dynamic brake deceleration, free-run deceleration, and emergency-stop torque
deceleration (parameter setting).
Feed-forward Function, Bias Function (Position Control)

These functions reduce the position control time.
Feed-forward Function
Reduces the position control time by reducing the number of pulses accumulated in the deviation
counter.
Bias Function
Reduces the position control time by adding the bias revolutions to the speed control when the
deviation counter value exceeds the position completion range.
Personal Computer Monitor

The special Servodriver Communications Software allows parameter setting, speed and current
monitoring, I/O monitoring, auto-tuning, and jog operations to be performed from a personal com-
puter. It is also possible to perform multiple-axis communications that set the parameters and moni-
tor operation of several drivers.
1-5
1-2 System Configuration
Controller (Voltage Output Models)
SYSMAC C/CV Motion Control Unit Position Control

Programmable CV500-MC221/421 Unit
Controller C200H-MC221 C500-NC222-E Parameter Units
Controller (Pulse Train Output Models)

OMNUC U-series AC Servo Driver
SYSMAC C/CV Position Control Units

Programmable C500-NC111-EV1
Controller C500-NC211
C200H-NC112
C200H-NC211
C200H-NC113
C200H-NC213
C200H-NC413 [Incremental] [Absolute]
OMNUC U-series AC Servomotor
Note Motors with absolute encoders can be used in combination with CV500-MC221/421 or C200H-
MC221 Motion Control Units.
1-6
1-3 Servo Driver Nomenclature
Front View
CN3: Parameter
Unit connector
Power supply
indicator CN4: Connector for
monitor output
Alarm indicator
SW1: Unit No. setting switch
(when personal computer
monitor is used)
CN1: Control I/O CN2: Encoder connector
connector
Charge indicator
Terminal block
1-7
1-4 Applicable Standards and Models
Applicable Standards
EC Product Applicable standard Remarks
Directives
Low voltage AC Servo Driver EN61010-1 Safety requirements for electrical
equipment for measurement, control, and
laboratory use.
AC Servo Motor IEC34-1, -5, -8, -9 Rotating electrical machines.
EMC AC Servo Driver EN55011 class A Limits and methods of measurement of
and AC Servomotor group 1 radio disturbance characteristics of
industrial, scientific, and medical (ISM)
radio-frequency equipment.
EN50082-2 Electromagnetic compatibility generic
immunity standard, Part 2 Industrial
environment.
Note Installation under the conditions specified in 2-3-3Wiring Conditions Satisfying EMC Directives is
required to conform to EMC Directives.
Applicable Models
Supply
pp y voltage
g Output
p AC Servo Driver AC Servomotor
Incremental Absolute Encoder
Encoder
200 VAC 1 kW R88D-UT24V R88M-U1K030V-S1 R88M-U1K030X-S1
R88D-UT24V-RG
1.5 kW R88D-UT40V R88M-U1K530V-S1 R88M-U1K530X-S1
R88D-UT40V-RG
2 kW R88D-UT60V R88M-U2K030V-S1 R88M-U2K030X-S1
R88D-UT60V-RG
R88D-UT80V-RG
1-8
2
Chapter 2
System Design and Installation

2-1 Installation
2-2 Wiring and Connections
(Models Not Conforming to Standards)
2-3 Wiring and Connections
(Models Conforming to EC Directives)
System Design and Installation Chapter 2
Installation and Wiring Precautions

! Caution Do not step on or place a heavy object on the product. Doing so may result in injury.
! Caution Do not cover the inlet or outlet ports and prevent any foreign objects from entering
the product. Doing so may result in fire.
! Caution Be sure to install the product in the correct direction. Not doing so may result in mal-
function.
! Caution Provide the specified clearances between the Servo Driver and the control panel or
with other devices. Not doing so may result in fire or malfunction.
! Caution Do not apply any strong impact. Doing so may result in malfunction.
! Caution Be sure to wire correctly and securely. Not doing so may result in motor runaway,
injury, or malfunction.
! Caution Be sure that all the mounting screws, terminal screws, and cable connector screws
are tightened to the torque specified in the relevant manuals. Incorrect tightening
torque may result in malfunction.
! Caution Use crimp terminals for wiring. Do not connect bare stranded wires directly to termi-
nals. Connection of bare stranded wires may result in burning.
! Caution Always use the power supply voltage specified in the User’s Manual. An incorrect
voltage may result in malfunction or burning.
! Caution 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 malfunction.
! Caution Install external breakers and take other safety measures against short-circuiting in
external wiring. Insufficient safety measures against short-circuiting may result in
burning.
! Caution Provide an appropriate stopping device on the machine side to secure safety. (A
holding brake is not a stopping device for securing safety.) Not doing so may result in
injury.
! Caution Provide an external emergency stopping device that allows an instantaneous stop of
operation and power interruption. Not doing so may result in injury.
2-2
! Caution Take appropriate and sufficient countermeasures when installing systems in the fol-
lowing locations:
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.
2-1 Installation
2-1-1 External Dimensions (Unit: mm)

AC Servo Drivers
1.0-kW/1.5-kW Models:
R88D-UT24H/-UT40H, R88D-UT24V/-UT40V, R88D-UT24V-RG/-UT40V-RG
110
92 Two, 5.5 dia.
189.5
235
250
60.5
5.5 35 125 65
2-3
R88D-UT60H/-UT80H, R88D-UT60V/-UT80V, R88D-UT60V-RG/-UT80V-RG
135
117 Two, 5.5 dia.
189.5
235
250
60.5
5.5 35 125 65
R88D-UT110H/-UT120H
210
150 Two, 6 dia.

194
235
250
22
6 35 121 69
2-4
R88D-UT110V
Two, 7 dia.
2-5
Parameter Units
R88A-PR02U
18.5
63
Two, 4.5-mm
dia. holes 50 7
125 135
(8)
1000
R88A-PR03U
6.9
15
54
57.5
2-6
AC Servomotors (Incremental)
1.0-kW/1.5-kW/2.0-kW Standard Models:
R88M-U1K030H/-U1K530H/-U2K030H
R88M-U1K030V-S1/-U1K530V-S1/-U2K030V-S1
L
LL 45
46 100
24h6 dia.
95h7 dia.
130 dia.
100
115 dia.
40
87
96
10 3 Four, 7 dia.
Note The model number with the suffix “S1” indicates a straight-shaft motor with key. For dimensions of
the key sections, refer to Shaft Dimensions of Motors with Keys on page 2-11.
1.0-kW/1.5-kW/2.0-kW Models with Brake:

R88M-U1K030H-B/-U1K530H-B/-U2K030H-B
R88M-U1K030V-BS1/-U1K530V-BS1/-U2K030V-BS1
L
LL 45
46 100
24h6 dia.
95h7 dia.
130 dia.
100
115 dia.
40
87
100
Four, 7 dia.
10 3
Standard Models Models with Brake
Model L LL Model L LL
R88M-U1K030 194 149 R88M-U1K030-B 238 193
R88M-U1K530 220 175 R88M-U1K530-B 264 219
R88M-U2K030 243 198 R88M-U2K030-B 287 242
2-7
R88M-U3K030H/-U4K030H/-U5K030H
R88M-U3K030V-S1/-U4K030V-S1/-U5K030V-S1
L
LL 63
46 130
28h6 dia.
110h7 dia.
165 dia.
130
145 dia.
55
87
114
12 6 Four, 9 dia.
R88M-U3K030H-B/-U4K030H-B/-U5K030H-B
R88M-U3K030V-BS1/-U4K030V-BS1/-U5K030V-BS1
L
LL 63
46 130
28h6 dia.
165 dia.
110h7 dia.
130
145 dia.
55
87
119
12 6 Four, 9 dia.
R88M-U3K030 262 199 R88M-U3K030-B 300 237
R88M-U4K030 299 236 R88M-U4K030-B 337 274
R88M-U5K030 339 276 R88M-U5K030-B 377 314
2-8
AC Servomotors (Absolute)
R88M-U1K030T/-U1K530T/-U2K030T
R88M-U1K030X-S1/-U1K530X-S1/-U2K030X-S1
L
LL 45
60 100
24h6 dia.
95h7 dia.
130 dia.
100
115 dia.
40
87
96
10 3 Four, 7 dia.

R88M-U1K030T-B/-U1K530T-B/-U2K030T-B
R88M-U1K030X-BS1/-U1K530X-BS1/-U2K030X-BS1
L
LL 45
60 100
24h6 dia.
95h7 dia.
130 dia.
100
115 dia.
40
87
100
Four, 7 dia.
10 3
R88M-U1K030 208 163 R88M-U1K030-B 252 207
R88M-U1K530 234 189 R88M-U1K530-B 278 233
R88M-U2K030 257 212 R88M-U2K030-B 301 256
2-9
R88M-U3K030T/-U4K030T/-U5K030T
R88M-U3K030X-S1/-U4K030X-S1/-U5K030X-S1
L
LL 63
60 130
28h6 dia.
110h7 dia.
165 dia.
130
145 dia.
55
87
114
12 6 Four, 9 dia.
Note The model number with the suffix “S1” indicates a straight-shaft motors with key. For dimensions
of the key sections, refer to Shaft Dimensions of Motors with Keys on page 2-11.

R88M-U3K030T-B/-U4K030T-B/-U5K030T-B
R88M-U3K030X-BS1/-U4K030X-BS1/-U5K030X-BS1
L
LL 63
60 130
28h6 dia.
110h7 dia.
165 dia.
130
145 dia.
55
87
119
Four, 9 dia.
12 6
Note The model number with the suffix “S1” indicates a straight-shaft motors with key. For dimensions
of the key sections, refer to Shaft Dimensions of Motors with Keys on page 2-11.
R88M-U3K030 276 213 R88M-U3K030-B 314 251
R88M-U4K030 313 250 R88M-U4K030-B 351 288
R88M-U5K030 353 290 R88M-U5K030-B 391 328
2-10
Shaft Dimensions of Motors With Keys

Standard U-series AC Servomotors do not have keys on the shafts. The dimensions of motors with keys
are shown below. Motors with keys are indicated by adding “-S1” to the end of the model number. Key
slots are based on JIS B1301-1976.
1.0-kW/1.5-kW/2.0-kW Models
Without Brake: R88M-U1K030-S1
R88M-U1K530-S1
R88M-U2K030-S1
With Brake: R88M-U1K030-BS1
R88M-U1K530-BS1
R88M-U2K030-BS1
32
4
8
24h6 dia
7 M8 effective depth 16
3.0-kW/4.0-kW/5.0-kW Models
Without Brake: R88M-U3K030-S1
R88M-U4K030-S1
R88M-U5K030-S1
With Brake: R88M-U3K030-BS1
R88M-U4K030-BS1
R88M-U5K030-BS1
50 4
8
28h6 dia
7 M8 effective depth 16
2-11
2-1-2 Installation Conditions
AC Servo Drivers
Space Around Drivers
• Install Servo Drivers according to the dimensions shown in the following illustration to ensure proper
heat dispersion and convection inside the panel. Also install a fan for circulation if Servo Drivers are
installed side by side to prevent uneven temperatures from developing inside the panel.
• Mount the Servo Drivers vertically (so that the model number and writing can be read).
ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ
ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ Fan Fan 50 mm min.
Servo Driver
Servo Driver
Servo Driver
Side of Unit
ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ W W
50 mm min.
30 mm min. W = 10 mm min.
Operating Environment
Be sure that the environment in which Servo Drivers are operated meets the following conditions.
• Ambient operating temperature: 0°C to +55°C
• Ambient operating humidity: 20% to 85% (RH, with no condensation)
• Atmosphere: No corrosive gases.
Ambient Temperature
• Servo Drivers should be operated in environments in which there is minimal temperature rise to
maintain a high level of reliability.
• Temperature rise in any Unit installed in a closed space, such as a control box, will cause the ambient
temperature to rise inside the entire closed space. Use a fan or a air conditioner to prevent the ambi-
ent temperature of the Servo Driver from exceeding 55°C.
• Unit surface temperatures may rise to as much as 30°C above the ambient temperature. Use heat-
resistant materials for wiring, and keep separate any devices or wiring that are sensitive to heat.
• The service life of a Servo Driver is largely determined by the temperature around the internal elec-
trolytic capacitors. The service life of an electrolytic capacitor is affected by a drop in electrolytic vol-
ume and an increase in internal resistance, which can result in overvoltage alarms, malfunctioning
due to noise, and damage to individual elements. If a Servo Driver is always operated at the maxi-
mum ambient temperature of 40°C and at 80% of the rated torque, then a service life of approxi-
mately 50,000 hours can be expected. A drop of 10°C in the ambient temperature will double the
expected service life.
2-12
Keeping Foreign Objects Out of Units
• Place a cover over the Units or take other preventative measures to prevent foreign objects, such as
drill filings, from getting into the Units during installation. Be sure to remove the cover after installa-
tion is complete. If the cover is left on during operation, heat buildup may damage the Units.
• Take measures during installation and operation to prevent foreign objects such as metal particles,
oil, machining oil, dust, or water from getting inside of Servo Drivers.
AC Servomotors
Operating Environment
Be sure that the environment in which the Servomotor is operated meets the following conditions.
• Ambient operating temperature: 0°C to +40°C
• Ambient operating humidity: 20% to 80% (RH, with no condensation)
• Atmosphere: No corrosive gases.
Impact and Load

• The Servomotor is resistant to impacts of up to
98 m/s2 (10 G). Do not subject it to heavy impacts or
loads during transport, installation, or positioning. In
addition, do not hold onto the encoder, cable, or con-
nector areas when transporting it.
• Always use a pulley remover to remove pulleys,
couplings, or other objects from the shaft.
• Secure cables so that there is no impact or load placed on the cable connector areas.
Connecting to Mechanical Systems

• The axial loads for Servomotors are specified in sec- Ball screw center line
Motor shaft center line
tion 5-2-4. If an axial load greater than that specified
is applied to a Servomotor, it will reduce the service
life of the motor bearings and may damage the motor
shaft. When connecting to a load, use couplings that
Shaft core
can sufficiently absorb mechanical eccentricity and displacement
variation.
Recommended Coupling
Name Maker
Oldham coupling Myghty Co., Ltd
• For spur gears, an extremely large radial load may

be applied depending on the gear precision. Use Adjust backlash
spur gears with a high degree of accuracy (for exam- by adjusting the
distance between
ple, JIS class 2: normal line pitch error of 6 µm max. Backlash shafts.
for a pitch circle diameter of 50 mm). If the gear preci-
sion is not adequate, allow backlash to ensure that
no radial load is placed on the motor shaft.
2-13
• Bevel gears will cause a load to be applied in the
thrust direction depending on the structural preci-
sion, the gear precision, and temperature changes. Bevel gear
Provide appropriate backlash or take other mea-
sures to ensure that no thrust load is applied which
exceeds specifications.
• Do not put rubber packing on the flange surface. If Make moveable.
the flange is mounted with rubber packing, the motor
flange may separate due to the tightening strength.
• When connecting to a V-belt or timing belt, consult the maker for belt selection and tension. A radial
load twice the belt tension will be placed on the motor shaft. Do not allow a radial load exceeding
specifications to be placed on the motor shaft due to belt tension. If an excessive radial load is
applied, the motor shaft may be damaged. Set up the structure so that the radial load can be
adjusted. A large radial load may also be applied as a result of belt vibration. Attach a brace and
adjust Servo Driver gain so that belt vibration is minimized.
Pulley Pulley for tension adjustment

(Make adjustable.)
Belt Tension Motor shaft Pulley
Water and Drip Resistance

• The Servomotor is not of waterproof construction.
The Servomotor is provided with either of the following protection.
Models not complying with EC Directives: IP65 (excluding the shaft penetration areas)
Models complying with EC Directives: IP55 (including the shaft penetration areas)
The standard cable conforms to IP30. If the Power Cable or Encoder Cable is used in places wet
with sprayed water, connect waterproof connectors to the Cable.
If the equipment incorporating the Servomotor must comply with EC Directives, connect the follow-
ing connectors to the Power Cable and Encoder Cable.
2-14
Recommended Connectors for Power Cables
Motor model Connector model Cable clamp model Maker
Without R88M-U1K030- Angled type For sheath external diam- DDK Ltd.
brake R88M-U1K530- CE05-8A18-10SD-B-BAS eter of 6.5 to 8.7 dia.:
R88M-U2K030- Straight type CE3057-10A-3 (D265)
CE05-6A18-10SD-B-BSS For sheath external diam-
eter of 8.5 to 11 dia.:
CE3057-10A-2 (D265)
For sheath external diam-
eter of 10.5 to 14.1 dia.:
CE3057-10A-1 (D265)
R88M-U3K030- Angled type For sheath external diam- Japan Aviation
R88M-U4K030- JL04V-8A22-22SE-EB eter of 6.5 to 9.5 dia.: Electronics Indus-
R88M-U5K030- Straight type JL04-2022CK(09) try, Ltd. (JAE)
JL04V-6A22-22SE-EB For sheath external diam-
JL04-2022CK(12)
JL04-2022CK(14)
With R88M-U1K030-B Angled type For sheath external diam- Japan Aviation
brake R88M-U1K530-B JL04V-8A20-15SE-EB eter of 6.5 to 9.5 dia.: Electronics Indus-
R88M-U2K030-B Straight type JL04-2022CK(09) try, Ltd. (JAE)
JL04-2022CK(12)
JL04-2022C K(14)
R88M-U3K030-B Angled type For sheath external diam- Japan Aviation
R88M-U4K030-B JL04V-8A24-10SE-EB eter of 9 to 12 dia.: Electronics Indus-
R88M-U5K030-B Straight type JL04-2428CK(11) try, Ltd. (JAE)
eter of 12 to 15 dia.:
JL04-2428CK(14)
JL04-2428CK(17)
JL04-2428CK(20)
2-15
Recommended Connector for Encoder Cables
Motor model Connector model Cable clamp model Maker
All models Angled type For sheath external diame- Japan Aviation Electronics
JA08A-20-29S-J1-EB ter of 6.5 to 9.5 dia.: Industry, Ltd. (JAE)
Straight type JL04-2022CKE(09)
JA06A-20-29S-J1-EB For sheath external diame-
ter of 9.5 to 13 dia.:
JL04-2022CKE(12)
For sheath external diame-
ter of 12.9 to 16 dia.:
JL04-2022CKE(14)
• If the Servomotor is used in an environment in which condensation occurs, water may enter inside of
the encoder from the end surfaces of cables due to motor temperature changes. Either take mea-
sures to ensure that water cannot penetrate in this way, or use water-proof connectors. Even when
machinery is not in use, water penetration can be avoided by taking measures, such as keeping the
motor in servo-lock status, to minimize temperature changes.
• If machining oil with surfactants (e.g., coolant fluids) or their spray penetrate inside of the motor,
insulation defects or short-circuiting may occur. Take measures to prevent machining oil penetration.
Oil Seals
If the motor shaft is exposed to oil or grease, attach an oil seal to the motor shaft.
Oil seal model: SC30458 (NOK)
Other Precautions
• Do not apply commercial power directly to the Servomotor. The Servomotors run on synchronous
AC and use permanent magnets. Applying three-phase power will burn out the motor coils.
• Take measures to prevent the shaft from rusting. The shafts are coated with anti-rust oil when
shipped, but anti-rust oil or grease should also be applied when connecting the shaft to a load.
• Absolutely do not remove the encoder cover or take the motor apart. The magnet and the encoder
are aligned in the Servomotor. If they become misaligned, the motor will not operate.
2-16
2-2 Wiring and Connections (Models Not Conforming to

Standards)
2-2-1 Connecting OMRON Servo Controllers
Use general-purpose control cable (purchased separately) to connect U-series AC Servomotors and
Servo Drivers to OMRON Servo Controllers.
Connecting SYSMAC C-Series Position Control Units

Programmable Controller
Position Control Unit
C500-NC222-E (Analog output)
3G2A5-NC111-EV1 (Pulse train output)
C500-NC211 (Pulse train output)
C200H-NC112 (Pulse train output)
C200H-NC211 (Pulse train output)
C200HW-NC113 (Pulse train output)
SYSMAC C/CV C200HW-NC413 (Pulse train output)
General-purpose Control Cable

R88A-CPUBS
AC Servo Driver
R88D-UTH
Encoder Cable Power Cable

R88A-CRUBN (1 kW to 2 kW)
R88A-CAUBS (for motor without brake)
R88A-CAUBB (for motor with brake)
(3 kW to 5 kW)
R88A-CAUCS (for motor without brake)
R88A-CAUCB (for motor with brake)
AC Servo Motor
R88M-U30H- (with incremental encoder)
2-17
Connecting to SYSMAC C/CV-series Motion Control Units

Motion Control Unit

CV500-MC221 (Analog output)
CV500-MC421-EV1 (Analog output)
C200H-MC221 (Analog output)
SYSMAC C/CV

R88A-CPUBM1 (for single axis)
R88A-CPUBM2 (for double axis)
AC Servo Driver
R88D-UTH
Back-up Battery
To be connected when
using a motor with an
absolute encoder

(for both incremental and absolute encoders) R88A-CAUBS (for motor without brake)
(3 kW to 5 kW)
AC Servo Motor
R88M-U30T- (with absolute encoder)
R88M-U30H- (with incremental encoder)
Note Refer to Chapter 5 Specifications for connector and cable specifications.
2-18
2-2-2 Wiring Servo Drivers

Provide proper wire diameters, ground systems, and noise resistance when wiring terminal blocks.
Wiring Terminal Blocks

• R88D-UT24H/UT40H/UT60H/UT80H
Control Circuit Power Supply Power Cable

Single-phase 200/230 VAC
50/60 Hz (1 kW to 2 kW)
Red White Black Green R88A-CAUBS (for motor without brake)
(3 kW to 5 kW)
Brown
24 VDC ±10%
Signal line for brake Yellow No polarity
R S T P B
Class-3 ground min. Main Circuit Power Supply

Three-phase 200/230 VAC
50/60 Hz
2-19
• R88D-UT110H/UT120H
Main Circuit Power Control Circuit Power Supply

Supply Single-phase 200/230 VAC
Three-phase 50/60 Hz
200/230 VAC
50/60 Hz Red White Black Green
Power Cable
Class-3 ground min.
Brown
24 VDC ±10%
Yellow No polarity
Signal line for brake
Terminal Name Function

label
Frame ground This is the ground terminal. Ground to a class-3 ground (to 100 Ω or less) or
better.
R Main circuit Three-phase 200/230 VAC (170( to 253 V),
), 50/60 Hz
S power supply l
input
T
r Control circuit Single-phase 200/230 VAC (170 to 253 V), 50/60 Hz
power supply
t input
P Main circuit DC Do not connect anything
y g to these terminals.
B output ((positive)
ii )
N Main circuit DC
output (negative)
U Motor connection Red These are the output terminals to the Servomotor. Be careful to wire
V terminals
i l White them
h correctly.
l
W Black
Frame ground Green
2-20
Terminal Block Current and Wire Sizes

The following table shows the rated effective currents flowing to the Servo Driver and the sizes of the
electrical wires.
Driver R88D-UT24H R88D-UT40H R88D-UT60H R88D-UT80H R88D-UT110 R88D-UT120
(Watts) (1.0 kW) (1.5 kW) (2.0 kW) (3.0 kW) H (4.0 kW) H (5.0 kW)
Main circuit Effective current 6.6 A 9.2 A 13.0 A 18.4 A 24.0 A 28.0 A
power supply
input (R, S, T) Wire size 3.5 mm2 or AWG 12 min. 5.5 mm2 or AWG 10 min.
Control circuit Effective current 0.25 A 0.25 A 0.25 A 0.25 A 0.25 A 0.25 A
power supply
input (r, t) Wire size 1.25 mm2 or AWG 16 min.
Motor connection Effective current 6.1 A 9.9 A 12.0 A 19.4 A 25.3 A 26.2 A
t i l (U,
terminal (U V,
V Wire size 3.5 mm2 or AWG 12 5.5 mm2 or AWG 10 min.
W)
Use OMRON standard cables.
Motor connec- AWG 14 to AWG 12 AWG 10 to AWG 8
tor’s applicable
cable size
Frame ground Wire size Use 2.0-mm2 external ground wires. Use the same wire as used for the motor output.
Terminal block screw size M4
Wire Sizes and Allowable Current

The following table shows allowable currents when there are three electrical wires. Use values equal to
or lower than the specified values.
600-V Heat-resistant Vinyl Wiring (HIV) (Reference Values)

AWG size Nominal cross- Configuration Conductive Allowable current (A) for
sectional area (wires/mm
( 2) resistance ambient temperature
(
(mm 2) (Ω/k )
(Ω/km) 30°C 40°C 50°C
16 1.25 7/0.45 17.5 16 14 11
14 2.0 7/0.6 9.53 23 20 16
12 3.5 7/0.8 5.41 33 29 24
10 5.5 7/1.0 3.47 43 38 31
8 8.0 7/1.2 2.41 55 49 40
6 14.0 7/1.6 1.35 79 70 57
2-21
2-2-3 Wiring for Noise Resistance
Wiring Method
Noise resistance will vary greatly depending on the wiring method used. Resistance to noise can be
increased by paying attention to the items described below.
AC Noise
reactor filter Contactor R88D-U R88M-U
Surge Metal duct
AC power supply NFB absorber NF X1 TB TB
1 4 R U
2 5 S V M
3 6 T W
E
Fuse r
t CN2
RE
3.5mm2 2 mm2 min.
Thick power
line (3.5 mm2)
Class-3 ground
(to 100Ω or Ground Controller power supply
less) plate
Ground control panel Machine
ground
• Ground the motor’s frame to the machine ground when the motor is on a movable shaft.
• Use a grounding plate for the frame ground for each Unit, as shown in the illustration, and ground to a
single point.
• Use ground lines with a minimum thickness of 3.5 mm2, and arrange the wiring so that the ground lines
are as short as possible.
• If no-fuse breakers are installed at the top and the power supply line is wired from the lower duct, use
metal tubes for wiring and make sure that there is adequate distance between the input lines and the
internal wiring. If input and output lines are wired together, noise resistance will decrease.
• No-fuse breakers, surge absorbers, and noise filters (NF) should be positioned near the input terminal
block (ground plate), and I/O lines should be isolated and wired using the shortest means possible.
• Wire the noise filter as shown at the left in the following illustration. The noise filter should be installed
at the entrance to the control panel whenever possible.
Good: Separate input and output NO: Noise not filtered effectively
NF NF
AC input 1 4 AC output 1 4
2 5 AC input 2 5
3 6 3 6
E E
Ground Ground
AC output
2-22
• Use twisted-pair cables for the power supply cables whenever possible, or bind the cables.
R
r
Driver or S Driver
T
t
Binding
• Separate power supply cables and signal cables when wiring.
Selecting Components
No-fuse Breakers (MCCB)

When selecting no-fuse breakers, take into consideration the maximum output current and the inrush
current. The momentary maximum output for a servo system is approximately three times that of the
rated output, and a maximum output of three seconds can be executed. Therefore, select no-fuse
breakers with an operating time of at least five seconds at 300% of the rated maximum output. General-
purpose and low-speed no-fuse breakers are generally suitable. Refer to the table in 2-2-2 Terminal
Block Wiring for the power supply input currents for each motor, and then add the current consumption
for the number of shafts, other controllers, etc., to make the selection.
The Servo Driver inrush current flows at a maximum of 50 A for 20 ms when 200 V is input. With low-
speed no-fuse breakers, a inrush current 7 to 8 times the rated current flows for 0.1 second. When mak-
ing the selection, take into consideration the entire inrush current for the system.
Surge Absorbers
Use surge absorbers to absorb surges from power supply input lines due to lightning, abnormal volt-
ages, etc. When selecting surge absorbers, take into account the varistor voltage, the amount of surge
immunity, and the amount of energy resistance. The surge absorbers shown in the following table are
recommended.
Maker Model Varistor Max. limit Surge Energy Type
voltage voltage immunity resistance
Matsushita Electric ERZC20EK471(W) 470 V 775 V 5,000 A 150 J Block
P
Parts ERZC25EK471(W) 470 V 775 V 10,000 A 225 J
ERZC32EK471(W) 470 V 775 V 20,000 A 405 J
Ishizuka Electronics Co. Z25M471S 470 V 810 V 10,000A 235 J Block
Z33M471S 470 V 810 V 20,000 A 385 J
Note 1. The (W) for the Matsushita models indicates that they are UL and CSA certified.
Note 2. Refer to manufacturers documentation for operating details.
Note 3. The surge immunity is for a standard impulse current of 8/20 µs. If pulses are wide, either decrease the
current or change to a larger-capacity surge absorber.
Note 4. The energy resistance is the value for 2 ms. It may not be possible to retard high-energy pulses at less
than 700 V. In that case, absorb surges with an insulated transformer or reactor.
2-23
Noise Filters for Power Supply Input
Use a noise filter to attenuate extraneous noise and to diminish noise radiation from the Servo Driver.
Select a noise filter with a load current of at least twice the rated current. The following table shows noise
filters that reduce by 40 dB noise between 200 kHz and 30 MHz.
Type Model Rated current Maker
Single-phase
g GT-2050 5A Tokin
ZAC2206-11 6A TDK
LF-315K 15 A Tokin
LF-325K 25 A
LF-335K 35 A
LF-380K 80 A
Three-phase ZCW2210-01 10 A TDK
ZCW2220-01 20 A
ZCW2230-01 30 A
ZCW2240-01 40 A
ZACT2280-ME 80 A
To attenuate noise at frequencies of 200 kHz or less, use an insulated transformer and a noise filter. For
high frequencies of 30 MHz or more, use a ferrite core and a high-frequency noise filter with a through-
type capacitor.
Noise Filters for Motor Output

Use noise filters without built-in capacitors on the Servomotor output lines. Output lines cannot use the
same noise filters as the power supply. The following table shows the noise filters that are recom-
mended for motor output.
Maker Model Rated Remarks
current
Tokin LF-310KA 10 A Three-phase block noise filter
LF-320KA 20 A
LF-350KA 50 A
Note 1. The Servomotor output lines cannot use the same noise filters used for power supplies.
Note 2. Typical noise filters are used with power supply frequencies of 50/60 Hz. If these noise filters
are connected to outputs of 3.3 kHz (the Servo Driver’s PWM frequency), a very large (about
100 times larger) leakage current will flow through the noise filter’s condenser and the Servo
Driver could be damaged.
2-24
Surge Killers
Install surge killers for loads that have induction coils, such as relays, solenoids, brakes, clutches, etc.
The following table shows types of surge killers and recommended products.
Type Features Recommended products

Diode Diodes are relatively small devices such as relays used Use a fast-recovery diode with a
for loads when reset time is not an issue. The reset time short reverse recovery time.
is increased because the surge voltage is the lowest Fuji Electric Co., ERB44-06 or equiv-
when power is cut off. Used for 24/48-VDC systems. alent
Thyristor Thyristor and varistor are used for loads when induction Select varistor voltage as follows:
or coils are large, as in electromagnetic brakes, solenoids, 24-VDC system varistor: 39 V
Varistor etc., and when reset time is an issue. The surge voltage 100-VDC system varistor: 200 V
when power is cut off is approximately 1.5 times that of 100-VAC system varistor: 270 V
the varistor. 200-VAC system varistor: 470 V
Capacitor Use capacitors and resistors for vibration absorption of Okaya Electric Ind.
+ resistor surge when power is cut off. The reset time can be CR-50500 0.5 µF-50 Ω
shortened by proper selection of the capacitor or resis- CRE-50500 0.5 µF-50 Ω
tor. S2-A-0 0.2 µF-500 Ω
Note Thyristors and varistors are made by the following companies. Refer to manufacturers documentation for
operating details. Thyristors: Ishizuka Electronics Co.
Varistors: Ishizuka Electronics Co., Matsushita Electric Parts
Contactors
When selecting contactors, take into consideration the circuit’s inrush current and the momentary maxi-
mum current. The Servo Driver inrush current is 50 A, and the momentary maximum current is approxi-
mately twice the rated current. The following table shows the recommended contactors.
Maker Model Rated current Coil voltage

LC1D25106 26 A
LC1D40116 35 A 200 VAC
LC1D50116 50 A
OMRON LC1D80116 80 A
LP1D25106 26 A
LP1D40116 35 A 24 VDC
LP1D50116 50 A
LP1D80116 80 A
Leakage Breakers
Select leakage breakers designed for inverters.
Since switching takes place inside the Servo Drivers, high-frequency current leaks from the armature of
the motor.
With inverter leakage breakers, high-frequency current is not detected, preventing the breaker from
operating due to leakage current.
When selecting leakage breakers, remember to also add the leakage current from devices other than
the Servomotor, such as machines using a switching power supply, noise filters, inverters, and so on.
When selecting leakage breakers, refer to the manufacturer’s catalog.
2-25
The following table shows leakage current of each Servomotor.
Driver Leakage current (direct Leakage current
measurement) (resistor/capacitor
(including high-frequency measurement)
current) (commercial power supply
frequency range)
R88D-UT24H 50 mA 6 mA
R88D-UT40H
R88D-UT80H
R88D-UT120H
Note 1. The above leakage current is for cases where motor power line length is less than 10 m. (It
varies depending on the power line length and insulation.)
Note 2. The above leakage current is for normal temperature and humidity. (It varies depending on
the temperature and humidity.)
AC Reactor
The AC Reactor is used for suppressing harmonic currents. The AC Reactor suppresses sudden and
quick changes in electric currents.
In September 1994, the Ministry of International Trade and Industry established guidelines for the sup-
pression of harmonic waves emitted from home and general electric appliances. In compliance with the
guidelines, appropriate measures are required to suppress the influence of harmonic waves on power
supply lines.
Select a proper AC Reactor model according to the Servo Driver.
Specifications of Applicable Models

Servo Driver AC Reactor
model
d l Model Rated Inductance Loss Weight
current
R88D-UT24H 3G3IV-PUZBAB10A1.1MH 10 A 1.1 mH 25 W 3 kg
R88D-UT40H
R88D-UT120H
2-26
Dimensions
3G3IV- Drawing Dimension (mm)
PUZBAB number of
external A B B1 C D E F H J K L M
dimensions
10A1.1MH 1 130 88 --- 130 50 65 130 22 M6 11.5 7 M4
15A0.71MH 130 88 --- 130 50 65 130 22 M6 11.5 7 M4
20A0.53MH 2 130 88 114 105 50 65 130 22 M6 11.5 7 M4
30A0.35MH 130 88 119 105 50 70 130 22 M6 9 7 M4
External Dimensions Drawing 1 External Dimensions Drawing 2

M: Terminal
M: Terminal Nameplate
Nameplate
4-J: Mounting bolt

4-J: Mounting bolt
Enlarged drawing of mounting hole
Enlarged drawing of mounting hole
Improving Encoder Cable Noise Resistance

Signals from the encoder are either A, B, or S phase (Z phase). The frequency for A- or B-phase signals
is either 307.2 kHz (if an incremental encoder is used) or 614.4 kHz (if an absolute encoder is used),
while the transmission speed for S-phase signals is 1.23 Mbps. Follow the wiring methods outlined
below to improve encoder noise resistance.
• Be sure to use dedicated encoder cables.
• If lines are interrupted in the middle, be sure to connect them with connectors, making sure that the
cable insulation is not peeled off for more than 50 mm. In addition, be sure to use shielded wire.
• Do not coil cables. If cables are long and are coiled, mutual induction and inductance will increase and
will cause malfunctions. Be sure to use cables fully extended.
• When installing noise filters for encoder cables, use clamp cables. The following table shows the rec-
ommended clamp filter models.
Maker Name Model
Tokin EMI core ESD-QR-25-1
TDK Clamp filter ZCAT2032-0930
ZCAT3035-1330
ZCAT2035-0930A
• Do not wire the encoder cable in the same duct as power cables and control cables for brakes, sole-
noids, clutches, and valves.
2-27
Improving Control I/O Signal Noise Resistance

Position can be affected if control I/O signals are influenced by noise. Follow the methods outlined
below for the power supply and wiring.
• Use completely separate power supplies for the control power supply (especially 24 VDC) and the
external operation power supply. In particular, be careful not to connect two power supply ground
wires. Install a noise filter on the primary side of the control power supply.
• As much as possible, keep the power supply for pulse command and deviation counter reset input
lines separate from the control power supply. Be particularly careful not to connect the two power sup-
ply ground lines.
• It is recommended that a line driver be used for pulse command and deviation counter reset outputs.
• Be sure to use twisted-pair shielded wire for pulse command and deviation counter reset signal lines,
and connect both ends of the wires to frame grounds.
• For speed and torque command input lines, be sure to use twisted-pair shielded cable, and connect
both ends of the shield wire to ground.
• If the control power supply wiring is long, noise resistance can be improved by adding 1-µF laminated
ceramic capacitors between the control power supply and ground at the Servo Driver input section
and the controller output section.
• For encoder output (A, B, and Z phase) lines, be sure to use twisted-pair shielded cable, and connect
• For open collector specifications, keep the length of wires to within one meter.
2-28
2-2-4 Peripheral Device Connection Examples

R S T
Three-phase, 200/230 VAC, 50/60 Hz
NFB
AC reactor
Noise filter
1 2 3
E NF
Main-circuit
4 5 6 power supply Main-circuit connector
ON
OFF
Class-3 ground 1MC
1MC X
Surge killer
OMNUC U-series
AC Servo Driver
Power Cable
R88A-CAUBS/-CAUCS
1MC r (-CAUBB/-CAUCB)
t
OMNUC U-series
AC Servomotor
XB
R
S B
24VDC
T
U
Class-3 ground
V
CN1 M
X 31 ALM W
24 VDC
32 ALMCOM
X CN2 R88A-CRUBC
Encoder Cable
User’s control device
E
CN1
CN1
BKIR 27 XB
24 VDC
OGND 28
(Note: Set by user parameter Cn-2d.)
2-29
2-3 Wiring and Connections (Models Conforming to EC

Directives)
2-3-1 Connecting OMRON Servo Controllers
Use general-purpose control cable (purchased separately) to connect U-series AC Servomotors and
Servo Drivers to OMRON Servo Controllers.
Connecting SYSMAC C-Series Position Control Units

C500-NC211 (Pulse train output)
SYSMAC C/CV

R88A-CPUBS
AC Servo Driver
R88D-UTV-

The cable is of IP30 R88A-CAUBS (for motor without brake)
construction. If more R88A-CAUBB (for motor with brake)
protection is required (3 kW to 5 kW)
or to conform to the EC R88A-CAUCS (for motor without brake)
Directives, use the rec- R88A-CAUCB (for motor with brake)
ommended connec- The cable is of IP30 construction. If more protection
tors. Refer to 2-1-2 is required or to conform to the EC Directives, use
Installation Conditions. the recommended connectors. Refer to 2-1-2
Installation Conditions.
AC Servo Motor
R88M-U30V-S1 (with incremental encoder)
2-30
Connecting to SYSMAC C/CV-series Motion Control Units

Motion Control Unit

CV500-MC221 (Analog output)
CV500-MC421-EV1 (Analog output)
C200H-MC221 (Analog output)
SYSMAC C/CV

R88A-CPUBM1 (for single axis)
R88A-CPUBM2 (for double axis)
AC Servo Driver
R88D-UTV-
Back-up Battery
To be connected when
using a motor with an
absolute encoder
Power Cable
(1 kW to 2 kW)
R88A-CAUBS (for motor without brake)
Encoder Cable R88A-CAUBB (for motor with brake)
(for both incremental and absolute encoders) R88A-CAUCS (for motor without brake)
The cable is of IP30 construction. If more R88A-CAUCB (for motor with brake)
protection is required or to conform to the EC The cable is of IP30 construction. If more protec-
Directives, use the recommended connection is required or to conform to the EC Direc-
tors. Refer to 2-1-2 Installation Conditions. tives, use the recommended connectors. Refer to
2-1-2 Installation Conditions.
AC Servo Motor
R88M-U30X-S1 (with absolute encoder)
R88M-U30V-S1 (with incremental encoder)
Note Refer to Chapter 5 Specifications for connector and cable specifications.
2-31
2-3-2 Wiring Servo Drivers

Provide proper wire diameters, ground systems, and noise resistance when wiring terminal blocks.
Wiring Terminal Blocks

• R88D-UT24V-/UT40V-/UT60V-/UT80V-
Power Cable
Control Circuit Power Supply (1 kW to 2 kW)
Single-phase 200/230 VAC R88A-CAUBS (for motor without brake)
50/60 Hz R88A-CAUBB (for motor with brake)
Red White Black Green (3 kW to 5 kW)
The cable is of IP30 construction. If more protection
is required or to conform to the EC Directives, use
the recommended connectors. Refer to 2-1-2 Instal-
Brown
lation Conditions.
24 VDC ±10%
Yellow
No polarity
Main Circuit Power Supply

Class-3 ground min. Three-phase 200/230 VAC
50/60 Hz
2-32
• R88D-UT110V
Control Circuit Power Supply

Single-phase 200/230 VAC
50/60 Hz
Main Circuit Power Supply

Three-phase 200/230 VAC
50/60 Hz
Class-3 ground min.
Red White Black

Power Cable
R88A-CAUCS (for motor
without brake)
R88A-CAUCB (for motor
with brake)
Green
The cable is of IP30 construc-
tion. If more protection is
required or to conform to the EC
Directives, use the recom-
mended connectors. Refer to
2-1-2 Installation Conditions.
Brown
24 VDC ±10%
Yellow No polarity
2-33
Terminal Name Function

label
Frame ground This is the ground terminal. Ground to a class-3 ground (to 100 Ω or less) or
better.
L1 Main circuit Three-phase 200/230 VAC (170( to 253 V),
), 50/60 Hz
L2 power supply l
input
L3
L1C Control circuit Single-phase 200/230 VAC (170 to 253 V), 50/60 Hz
power supply
L3C input
+ (+1) Main circuit DC Be sure to connect a regenerative resistor (corresponding to the amount of
output (positive) regenerative energy) between the + and B terminals for the R88D-UTV-RG
B and between the +1 and B terminals for the R88D-UT110V. Refer to 3-6-3
Absorption of Regenerative Energy with External Regenerative Resistors
– Main circuit DC Connected to Models Complying with EC Directives for details.
output (negative) Do not connect anything to these terminals of any other models.
U Motor connection Red These are the output terminals to the Servomotor. Be careful to wire
V terminals
i l White them
h correctly.
l
W Black
Frame ground Green
Terminal Block Current and Wire Sizes

The following table shows the rated effective currents flowing to the Servo Driver and the sizes of the
electrical wires.
Driver R88D-UT24V- R88D-UT40V- R88D-UT60V- R88D-UT80V- R88D-UT110V R88D-UT110V

(Watts) (1.0 kW) (1.5 kW) (2.0 kW) (3.0 kW) (4.0 kW) (5.0 kW)
Main circuit Effective 6.6 A 9.2 A 13.0 A 18.4 A 24.0 A 28.0 A
power sup- current
ly input
ply in ut
(L1, L2, Wire size 3.5 mm2 or AWG 12 min. 5.5 mm2 or AWG 10 min.
L3)
Control cir- Effective 0.25 A 0.25 A 0.25 A 0.25 A 0.25 A 0.25 A
cuit power current
su
supplyly
input (L1C, Wire size 1.25 mm2 or AWG 16 min.
L3C)
Motor con- Effective 6.1 A 9.9 A 12.0 A 19.4 A 25.3 A 26.2 A
nection ter- current
i l (U
minal (U,
Wire size 3.5 mm2 or AWG 12 5.5 mm2 or AWG 10 min.
V,
V W)
Use OMRON standard cables.
Motor con- AWG 14 to AWG 12 AWG 10 to AWG 8
nector’s
applicable
cable size
Frame Wire size Use 2.0-mm2 external ground wires. Use the same wire as used for the motor output.
ground
Terminal block screw M4
size
2-34
Wire Sizes and Allowable Current

The following table shows allowable currents when there are three electrical wires. Use values equal to
or lower than the specified values.
600-V Heat-resistant Vinyl Wiring (HIV) (Reference Values)

AWG size Nominal cross- Configuration Conductive Allowable current (A) for
sectional area (wires/mm
( 2) resistance ambient temperature
(
(mm 2) (Ω/k )
(Ω/km) 30°C 40°C 50°C
16 1.25 7/0.45 17.5 16 14 11
14 2.0 7/0.6 9.53 23 20 16
12 3.5 7/0.8 5.41 33 29 24
10 5.5 7/1.0 3.47 43 38 31
8 8.0 7/1.2 2.41 55 49 40
6 14.0 7/1.6 1.35 79 70 57
2-3-3 Wiring Conditions Satisfying EMC Directives

Models complying with EC Directives must abide by the following wiring conditions to satisfy EMC
Directive EN55011 (EMI) Class A, group I and EN50082-2 requirements (EMS).
If the models cannot abide by the conditions because the models are built into equipment, the equip-
ment must be completely examined to make sure that the equipment satisfies EC Directives.
The Servo Driver must be mounted to a metal panel (i.e., a control panel).
The power supply line must be connected to a noise filter and a surge absorber to protect the
power supply lines from lightning or any other surge.
The I/O signal and encoder signal lines must be constructed of cables with braided shield wire
made of tin-coated annealed copper.
Any cable from the control panel must be protected with a metal conduit or braided conduit.
All cables with braided shield wire must be attached with ferrite cores and the shield wire must be
grounded directly to the ground plate from the clamps.
The power supply must be equipped with a transformer if the Servo Driver is a 4- or 5-kW model.
2-35
Wiring Method
Control panel
Device with built-in motor
Metal plate
Power supply
Metal or 2 m max. 0.5 m max. for brake use Metal or
braided braided
conduit Ferrite conduit
Surge absorber Contactor
AC power supply core
Trans-
former
(see Noise
note 3) filter
Ferrite Ferrite
Ground at a
Controller core core
resistance of power supply
less than 100 Ω.
1 m max. 0.5 m max.
Clamp
Controller
Ferrite core
1 m max. Clamp
Ground plate
Ferrite core
Controller
Note 1. The cables must be coiled around each ferrite core by 1.5 turns.
Note 2. At the clamp positions, the shield wire of the cables must be stripped and grounded directly to
the ground plate.
Note 3. The power supply must be equipped with a transformer if the Servo Driver is a 4- or 5-kW
model.
• Ground the motor’s frame to the machine ground when the motor is on a movable shaft.
• Use a grounding plate for grounding the protective earth (PE) terminal of each Unit as shown in the
illustration, and ground to a single point.
• Use ground lines with a minimum thickness of 3.5 mm2, and arrange the wiring so that the ground lines
are as short as possible.
• If no-fuse breakers are installed at the top and the power supply line is wired from the lower duct, use
metal tubes for wiring and make sure that there is adequate distance between the input lines and the
internal wiring. If input and output lines are wired together, noise resistance will decrease.
• No-fuse breakers, surge absorbers, and noise filters (NF) should be positioned near the input terminal
block (ground plate), and I/O lines should be isolated and wired using the shortest means possible.
2-36
• Wire the noise filter as shown at the left in the following illustration. The noise filter should be installed
at the entrance to the control panel whenever possible.
Good: Separate input and output NO: Noise not filtered effectively
NF NF
AC input 1 4 AC output 1 4
2 5 AC input 2 5
3 6 3 6
E E
Ground Ground
AC output
• Use twisted-pair cables for the power supply cables whenever possible, or bind the cables.
L1
L1C
Driver or L2 Driver
L3
L3C
Binding
• Separate power supply cables and signal cables when wiring.
Construction of Control Panel

The control panel will leak electromagnetic energy or permit the interior of the control panel to be
affected by external electromagnetic fields if there is a space around any cable inlet or outlet, mounting
hole, or door of the control panel. To prevent electromagnetic energy leakage from the control panel or
external electromagnetic influence on the interior of the control panel, follow the instructions below
before designing or selecting the control panel.
Casing Construction
• The control panel must be made of metal plates, each of which must be connected by welding so that
the plates will be all in contact together electrically.
• If the control panel is an assembly type consisting of metal plates connected to one another with
screws, be sure to remove the surface paint coating of each joint portion so that the plates will be all in
contact together electrically.
• Be sure to tighten the screws properly so that the metal plates will not be warped.
• Make sure that control panel has no part that is electrically isolated.
• All units mounted inside the control panel must be grounded to the control panel.
2-37
Door Construction
• The door must be made of metal.
• The space between the door and casing must be of watertight construction as shown below.
• Apply conductive packing to the space between the casing and door as shown below.
Be sure to remove the surface paint coating of the portion of the casing and that of the door coming into
contact with the conductive packing so that the door, conductive packing, and casing will be all in con-
tact electrically.
• Be sure to tighten the screws properly so that the metal plates of the control panel will not be warped.
Casing
Door Casing side
Door side
Oil-proof packing Conductive packing
A-B Cross-section
Control panel
Oil-proof packing
Conductive packing
Door (inner side)
Selecting Components
This section describes standards to be considered when selecting components to be connected to
reduce noise. Select components after reviewing characteristics such as capacities, performance, and
application ranges. Recommended components are listed below for reference. For further details, con-
sult the respective manufacturer.
2-38
No-fuse Breakers (MCCB)
When selecting no-fuse breakers, take into consideration the maximum input current and the inrush
current. The momentary maximum output for a servo system is approximately three times that of the
rated output, and a maximum output of three seconds can be executed. Therefore, select no-fuse
breakers with an operating time of at least five seconds at 300% of the rated maximum output. General-
purpose and low-speed no-fuse breakers are generally suitable. Refer to the table in 2-2-2 Terminal
Block Wiring for the power supply input currents for each motor, and then add the current consumption
for the number of shafts, other controllers, etc., to make the selection.
The Servo Driver inrush current flows at a maximum of 50 A for 20 ms when 200 V is input. With low-
speed no-fuse breakers, a inrush current 7 to 8 times the rated current flows for 0.1 second. When mak-
ing the selection, take into consideration the entire inrush current for the system.
Surge Absorbers
Use surge absorbers to absorb surges from power supply input lines due to lightning, abnormal volt-
ages, etc. When selecting surge absorbers, take into account the varistor voltage, the amount of surge
immunity, and the amount of energy resistance. For the 200-VAC series, use one with varistor voltage of
470 V. The surge absorbers shown in the following table are recommended.
Maker Model Max. limit Surge immunity Type Remarks
voltage
Okaya Electric R.A.V-781BYZ-2 783 V 1,000 A Block Between power
Ind.
d lines
R.A.V-781BXZ-4 783 V 1,000 A Between the
power line and
grounding
Note 1. Refer to manufacturers documentation for operating details.
Note 2. The surge immunity is for a standard impulse current of 8/20 µs. If pulses are wide, either decrease the
current or change to a larger-capacity surge absorber.
Noise Filters
Apply one of the following Schaffner Noise Filters to the power supply for the Servo Driver.
Application Model Rated current Rated voltage Test voltage Leakage
(at 40 C) current (at
400 V, 50 Hz
max.)
(See note)
1.0/1.5 kW FN351-16/29 16 A 440 V 2,250 VDC for 17.5 mA
2 seconds
2.0 kW FN351-25/29 25 A b t
between th
the 160 mA
terminal and
case
3.0 kW FN351-36/33 36 A 160 mA
1,100 VDC for
2 seconds
4.0/5.0 kW FN351-50-33 50 A between the 175 mA
terminals
Note The leakage current values shown in the table indicate those for star-connection (Y-connection)
three-phase power supply. For the delta-connection (∆-connection) power supply, the values
may become larger than those shown in the table.
2-39
Dimensions
Use the following noise filter on the power supply for the brake. This filter is manufactured by Okaya
Electric Ind.
Model SUP-P5H-EPR-4
Rated current 5A
Test voltage Between terminals and case: 2,000 V rms, 50/60 Hz, 60 s
Between terminals: 1,250 V rms, 50/60 Hz, 60 s
Insulation resistance Between terminals and case: 6,000 MΩ min. (at 500 VDC)
Leakage current 0.6 mA (at 250 V rms 60 Hz)
Attenuation Normal mode: 0.5 to 30 MHz
characteristics Common mode: 0.2 to 30 MHz
Dimensions
Two, 4.8 dia.
2-40
Surge Killers
Install surge killers for loads that have induction coils, such as relays, solenoids, brakes, clutches, etc.
The following table shows types of surge killers and recommended products.
Type Features Recommended products

Diode Diodes are relatively small devices such as relays used Use a fast-recovery diode with a
for loads when reset time is not an issue. The reset time short reverse recovery time.
is increased because the surge voltage is the lowest Fuji Electric Co., ERB44-06 or equiv-
when power is cut off. Used for 24/48-VDC systems. alent
Thyristor Thyristor and varistor are used for loads when induction Select varistor voltage as follows:
or coils are large, as in electromagnetic brakes, solenoids, 24-VDC system varistor: 39 V
Varistor etc., and when reset time is an issue. The surge voltage 100-VDC system varistor: 200 V
when power is cut off is approximately 1.5 times that of 100-VAC system varistor: 270 V
the varistor. 200-VAC system varistor: 470 V
Capacitor Use capacitors and resistors for vibration absorption of Okaya Electric Ind.
+ resistor surge when power is cut off. The reset time can be CR-50500 0.5 µF-50 Ω
shortened by proper selection of the capacitor or resis- CRE-50500 0.5 µF-50 Ω
tor. S2-A-0 0.2 µF-500 Ω
Note Thyristors and varistors are made by the following companies. Refer to manufacturers documentation for
operating details. Thyristors: Ishizuka Electronics Co.
Varistors: Ishizuka Electronics Co., Matsushita Electric Parts
Contactors
When selecting contactors, take into consideration the circuit’s inrush current and the momentary maxi-
mum current. The Servo Driver inrush current is 50 A, and the momentary maximum current is approxi-
mately twice the rated current. The following table shows the recommended contactors.
Maker Model Rated current Coil voltage

LC1D25106 26 A
LC1D40116 35 A 200 VAC
LC1D50116 50 A
OMRON LC1D80116 80 A
LP1D25106 26 A
LP1D40116 35 A 24 VDC
LP1D50116 50 A
LP1D80116 80 A
Leakage Breakers
Select leakage breakers designed for inverters.
Since switching takes place inside the Servo Drivers, high-frequency current leaks from the armature of
the motor.
With inverter leakage breakers, high-frequency current is not detected, preventing the breaker from
operating due to leakage current.
When selecting leakage breakers, remember to also add the leakage current from devices other than
the Servomotor, such as machines using a switching power supply, noise filters, inverters, and so on.
When selecting leakage breakers, refer to the manufacturer’s catalog.
2-41
The following table shows leakage current of each Servomotor.
Driver Leakage current (direct Leakage current
measurement) (resistor/capacitor
(including high-frequency measurement)
current) (commercial power supply
frequency range)
R88D-UT24V- 50 mA 6 mA
R88D-UT40V-
R88D-UT60V- 70 mA 7 mA
R88D-UT80V-
R88D-UT110V 100 mA 12 mA
Note 1. The above leakage current is for cases where motor power line length is less than 10 m. (It
varies depending on the power line length and insulation.)
Note 2. The above leakage current is for normal temperature and humidity. (It varies depending on
the temperature and humidity.)
Improving Encoder Cable Noise Resistance

Signals from the encoder are either A, B, or S phase (Z phase). The frequency for A- or B-phase signals
is either 307.2 kHz (if an incremental encoder is used) or 614.4 kHz (if an absolute encoder is used),
while the transmission speed for S-phase signals is 1.23 Mbps. Follow the wiring methods outlined
below to improve encoder noise resistance.
• Be sure to use dedicated encoder cables.
• If lines are interrupted in the middle, be sure to connect them with connectors, making sure that the
cable insulation is not peeled off for more than 50 mm. In addition, be sure to use shielded wire.
• Do not coil cables. If cables are long and are coiled, mutual induction and inductance will increase and
will cause malfunctions. Be sure to use cables fully extended.
• When installing noise filters for encoder cables, use clamp cables. The following table shows the rec-
ommended clamp filter models.
Maker Name Model
Tokin EMI core ESD-QR-25-1
TDK Clamp filter ZCAT2032-0930
ZCAT3035-1330
ZCAT2035-0930A
• Do not wire the encoder cable in the same duct as power cables and control cables for brakes, sole-
noids, clutches, and valves.
Improving Control I/O Signal Noise Resistance

Position can be affected if control I/O signals are influenced by noise. Follow the methods outlined
below for the power supply and wiring.
• Use completely separate power supplies for the control power supply (especially 24 VDC) and the
external operation power supply. In particular, be careful not to connect two power supply ground
wires. Install a noise filter on the primary side of the control power supply.
• As much as possible, keep the power supply for pulse command and deviation counter reset input
lines separate from the control power supply. Be particularly careful not to connect the two power sup-
ply ground lines.
2-42
• It is recommended that a line driver be used for pulse command and deviation counter reset outputs.
• Be sure to use twisted-pair shielded wire for pulse command and deviation counter reset signal lines,
and connect both ends of the wires to frame grounds.
• For speed and torque command input lines, be sure to use twisted-pair shielded cable, and connect
• If the control power supply wiring is long, noise resistance can be improved by adding 1-µF laminated
ceramic capacitors between the control power supply and ground at the Servo Driver input section
and the controller output section.
• For encoder output (A, B, and Z phase) lines, be sure to use twisted-pair shielded cable, and connect
• For open collector specifications, keep the length of wires to within one meter.
2-43
2-3-4 Peripheral Device Connection Examples

L1 L2 L3
Three-phase, 200/230 VAC, 50/60 Hz
NFB
Noise filter
1 2 3
E NF
Main-circuit
4 5 6 power supply Main-circuit connector
ON
OFF
Class-3 ground 1MC
1MC X
Thermal Surge killer

switch
contact*
R88A-RR22047S Regenerative Resistor

OMNUC U-series
AC Servo Driver *Regenerative Resistor can be connected externally
only for models with a suffix of “-RG” and R88D-UT110V.
1MC L1C +1 R88A-CAUBS/-CAUCS
Thermal
switch
(-CAUBB/-CAUCB)
L3C B Power Cable
contact OMNUC U-series
AC Servomotor
XB
L1
L2 B
24VDC
L3
U
Class-3 ground
V
CN1 M
X 31 ALM W
24 VDC
32 ALMCOM
X CN2 R88A-CRUBC
Encoder Cable
User’s control device
E
CN1
CN1
BKIR 27 XB
24 VDC
OGND 28
(Note: Set by user parameter Cn-2d.)
2-44
3
Chapter 3
Operation
3-1 Beginning Operation
3-2 System Check Mode (Cn-00)
3-3 Function Settings
3-4 Trial Operation
3-5 Making Adjustments
3-6 Regenerative Energy Absorption
Operation Chapter 3

3-2
Operation Chapter 3
3-1 Beginning Operation
3-1-1 Operational Procedure
Before beginning operation, be sure to make the initial settings for the Servo Driver.
Make function settings as required according to the use of the Servomotor.
Startup Procedure
1. Mounting and installation
Install the Servomotor and Servo Driver according to the installation conditions: Chapter 2, section
2-1.
2. Wiring and connections
Connect to power supply and peripheral devices. Specified installation and wiring requirements
must be satisfied, particularly for models conforming to the EC Directives: Chapter 2, sections 2-2
and 2-3.
3. Turning on power supply
Before turning on the power supply, check the necessary items. In order to make the initial settings,
turn on an application power supply: Chapter 3, section 3-1-2 and Chapter 4, section 4-1.
4. Checking display status
Check by means of the displays to see whether there are any internal errors in the Servo Driver:
Chapter 3, section 3-1-2
5. Initial settings
Make the settings for the operation setup parameters (initial settings): Chapter 3, section 3-3-1.
6. Function settings
By means of the user parameters, set the functions according to the operating conditions: Chapter
3, section 3-3-2.
7. Trial operation
Check to see whether protective functions such as emergency stop and operational limits are work-
ing reliably. Check operation at both low speed and high speed: Chapter 3, section 3-4.
8. Adjustments
Execute auto-tuning. Manually adjust the gain as required: Chapter 3, section 3-5.
9. Operation
Operation can now begin. If any trouble should occur, refer to Chapter 4 Application: Chapter 4.
3-3
Operation Chapter 3
3-1-2 Turning On Power and Checking Displays
Items to Check Before Turning On Power
Checking Power Supply Voltage

• Check to be sure that the power supply voltage is within the ranges shown below.
Main-circuit power supply: Three-phase 200/230 VAC (170 to 253 V) 50/60 Hz
Control-circuit power supply: Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz
Checking Terminal Block Wiring

• The main-circuit power supply inputs (R/S/T or L1/L2/L3) and the control-circuit power supply inputs
(r/t or L1C/L3C) must be properly connected to the terminal block.
• The Servomotor’s red (U), white (V), and black (W) power lines and the green ground wire ( ) must
be properly connected to the terminal block.
Checking the Servomotor

• There should be no load on the Servomotor. (Do not connect to the mechanical system.)
• The power line connectors at the Servomotor must be securely connected.
Checking the Encoder Connectors

• The encoder connectors (CN2) at the Servo Driver must be securely connected.
• The encoder connectors at the Servomotor must be securely connected.
Checking the Control Connectors

• The control connectors must be securely connected.
• The operation command (RUN) must be OFF.
Checking Parameter Unit Connections

• The Parameter Unit (R88A-PR02U or R88A-PR03U) must be securely connected to the CN3 con-
nector.
Turning On Power
• First carry out the preliminary checks, and then turn on the control-circuit power supply. It makes no
difference whether or not the main-circuit power supply is also turned on.
3-4
Operation Chapter 3
Checking Displays
• When the power is turned on, one of the codes shown below will be displayed.
Normal (Base Block) Error (Alarm Display)
b b 0 2
Note 1. “Baseblock” means that the Servomotor is not receiving power.
Note 2. The alarm code (the number shown in the alarm display) changes depending on the contents
of the error.
• If the display is normal (i.e., no errors), use it as a monitor mode speed display. Manually turn the
Servomotor shaft clockwise and counterclockwise, and check to be sure that it agrees with the posi-
tive and negative on the speed display. If it does not agree, then the encoder signal line may be wired
incorrectly.
Reverse rotation 0038 Forward rotation

Display example
Forward rotation 0025 Reverse rotation
Note To monitor the speed feedback value, press the MODE/SET Key and go into monitor mode
u n 0 0 . Then press the DATA Key.
• If there is an error, refer to Chapter 4 Application and take the necessary countermeasures.
3-5
Operation Chapter 3
3-1-3 Using Parameter Units
The key operations for the Handy-type R88A-PR02U and the Mounted-type
R88A-PR03U vary depending on the functions used. The same settings and operations
are possible with either Parameter Unit.
Parameter Unit Keys and Functions

Handy-type Mounted-type PR02U PR03U Function
R88A-PR02U R88A-PR03U
RESET
+ Alarm reset
Mode switching
Data memory
SERVO DATA
Servo ON/OFF during jog
operations
DATA DATA
Switching between parameter
display and data display; data
memory
Increments parameter num-
bers and data values.
Decrements parameter num-
bers and data values.
Left shift for operation digits
Right shift for operation digits
Modes
Mode Function
Status display mode Bit display: Control-circuit power supply ON display, main-circuit power supply
ON display, baseblock, in position, speed conformity, rotation detec-
tion, command pulses being input, speed command being input,
torque command being input, deviation counter reset signal being
input
Symbol display: Baseblock, operating, forward rotation prohibited, reverse rotation
prohibited, alarm display
Settings mode System check: Jog operations, command offset automatic adjustment, alarm his-
tory data clear, command offset manual adjustment, motor parame-
ters check, auto-tuning
Setting and checking setup parameters
Setting and checking user parameters
Monitor mode Speed feedback, speed commands, torque commands, number of pulses from
U-phase, electrical angle, internal status bit display, command pulse speed display,
position displacement, input pulse counter
Alarm history display Displays contents of alarms that have been previously generated (up to a maximum
mode of 10).
3-6
Operation Chapter 3
Changing Modes
To change modes, press the MODE/SET Key.
Status display Alarm history

Power ON Settings mode Monitor mode
mode display mode
(Display example) . bb cn00 un00 0 a.0 2
3-7
Operation Chapter 3
Mode Changes and Display Contents

Power ON Bit Displays
Control-circuit power ON
Main-circuit power ON
Base block (motor not receiving power)
Status display In position / Speed conformity
mode Torque commands being input /
(Display example) . bb Deviation counter reset signal being input
Command pulses being input /
Speed commands being input
Motor rotation detected
Symbol Displays
b b Base block
r U n In operation (running)
p % t Forward rotation prohibited
n % t Reverse rotation prohibited
DATA a. Alarm display
Settings mode c n 0 0 System check mode

Jog operation
Command offset automatic adjustment
Clear alarm history data
Command offset manual adjustment
Motor parameters check
Auto-tuning
DATA Sequence input signal switch

Setup Abnormal stop selection
c n 0 1 parameter Deviation counter for servo OFF
no. 1 P control switch selection
P control switch conditions
Encoder selection
Reverse mode
DATA Origin error mask
Setup Speed limit by analog input
c n 0 2 parameter Command pulse mode
Monitor switch 1
no. 2
Monitor switch 2
TREF switch
Torque feed-forward function selection
Deviation counter clear
Torque command filter constant
Command pulse logic reversal
Parameter Unit monitor level switch
User parameters c n 0 3 Speed command scale
c n 2 d Unit number setting
Monitor u n 0 0 Speed feedback

mode
u n 0 9 Internal pulse counter
Alarm 0 a. Error one time before

history
display
mode 9 a. Error ten time before
3-8
Operation Chapter 3
3-2 System Check Mode (Cn-00)
The various kinds of system checks can be carried out by setting data for parameter
Cn-00.
In system check mode, the following six kinds of checks can be carried out according to the data set for
Cn-00. This chapter explains these checks only in a general way. For details, see the references noted
in the table below.
Set value Contents of check Explanation References
00 Jog operation The motor can be operated by the Parameter Unit. Section 3-4
The rotation speed is set by user parameter Cn-10
(jog speed).
01 Command offset auto- Automatically adjusts speed command and torque Section 3-5-3
matic adjustment command input offset. Treat speed command and
torque command inputs as 0 V.
02 Alarm history data clear Clears history data for alarms that were previously Section 4-4-1
generated.
03 Command offset Speed command input offset is adjusted manually. Section 3-5-3
manual adjustment
04 Motor parameter check Checks whether the Servo Driver and Servomotor Section 4-2-4
are correctly aligned.
05 Auto-tuning Operates the motor and automatically adjusts the Section 3-5-1
position loop gain, speed loop gain, and speed
loop integration constant. The rotation speed is 1/2
of that set by the user parameter Cn-10 (jog
speed).
3-9
Operation Chapter 3
3-3 Function Settings

3-3-1 Setting and Checking Setup Parameters (Cn-01, 02)
Setup parameters are parameters that are essential for starting up the system. They
include I/O signal function changes, selection of processing for momentary stops and
errors, control mode changes, and so on. Set them to match the user system.
Once the parameters have been set, they become effective when the power supply is
turned on again after having been turned off. (Check to see that the LED display has
gone off.)
Displaying Setup Parameters

To display the contents of setup parameters, execute the following key operations.
• To go into settings mode (cn00), press the MODE/SET Key.
• To display the setup parameter number (cn01 or cn02), press the Up and Down keys.
• To display the contents of the setup parameter, press the DATA key.
Setting Setup Parameters
The contents of the setup parameters are displayed as follows:
E C A 8 6 4 2 0
Bit no.
0
F d b 9 7 5 3 1
Bit no. to be set.
In the leftmost four digits, 16 bits of information are displayed. In the rightmost digit, the bit number that
can be set is displayed. It can be checked whether the bit information is “0” (not lit) or “1” (lit), according
to the 7-segment LED vertical bar. To change the set value, first set the bit number in the rightmost digit,
and then set the appropriate bit to “0” or “1.”
Making Settings with Handy-type (R88A-PR02U)
1. Use the Right and Left Keys to display in the rightmost digit the bit number that is to be set.
2. Using the Up (or Down) Key, reverse the lit/not lit status of the appropriate bit number. For “lit,” set
the bit number to “1.” For “not lit,” set it to “0.”
3. Repeat steps 1 and 2 above as required.
4. Save the data in memory by pressing the MODE/SET Key (or the DATA Key).
5. With this, the parameter setting operation is complete. Pressing the DATA Key at this point will bring
back the parameter number display.
6. To go from the settings mode to the monitor mode, press the MODE/SET Key.
Making Settings with Mounted-type (R88A-PR03U)
1. Use the Up and Down Keys to display in the rightmost digit the bit number that is to be set.
2. Using the MODE/SET Key, reverse the lit/not lit status of the appropriate bit number. For “lit,” set the
bit number to “1.” For “not lit,” set it to “0.”
3. Repeat steps 1 and 2 above as required.
4. Save the data in memory by pressing the DATA Key.
5. With this, the parameter setting operation is complete. Pressing the DATA Key at this point will bring
back the parameter number display.
6. To go from the settings mode to the monitor mode, press the MODE/SET Key.
3-10
Operation Chapter 3
Setup Parameter Contents

Setup Parameter No. 1 (Cn-01)
Item Bit no. Factory Setting Explanation
setting
Sequence
q input signal
g 0 0 0 Servo turned ON or OFF by Run command (externally input).
switching
i hi 1 Servo always ON.
1 0 0 Enables sensor-on input (externally input).
[Absolute]
[Ab l ] 1 Automatically regards as high level internally, regardless of
sensor-on input signal.
2 1 0 Enables forward drive prohibit input (POT).
1 Permits always-forward drive.
3 1 0 Enables reverse drive prohibit input (NOT).
1 Permits always-reverse drive.
4 0 ––– Not used.
5 0 ––– Not used.
Abnormal stop selec- 6 1 0 Motor stopped by dynamic brake.
tion
i 1 Motor stopped with free run.
7 ((Note 3)) 0 Dynamic brake OFF after motor stopped.
(Note 1)
(N 1 Dynamic brake ON after motor stopped.
8 0 0 Method for stopping when over-travel occurs depends on bit
no. 6 setting.
1 When over-travel occurs, motor is stopped at the torque set
by user parameter Cn-06 (emergency stop torque).
9 0 0 When over-travel occurs, motor comes to deceleration stop
and servo turns OFF.
1 When over-travel occurs, motor comes to deceleration stop
and position is locked.
Deviation counter for A 0 0 Deviation counter cleared when servo is OFF and alarm is
servo
se oOOFF generated.
1 Deviation counter not cleared when servo is OFF and alarm
is generated.
P control switch selec- b 1 0 Switch function enabled; follows bit nos. C, d.
i
tion 1 No switch function.
P control switch condi- d, C 0, 0 0, 0 The torque command value (Cn-0C) is taken as the condi-
ttions
o s ((Note
ote 4)) tion.
0, 1 The speed command value (Cn-0d) is taken as the condition
1, 0 The acceleration command value (Cn-0E) is taken as the
condition.
1, 1 The deviation pulse (Cn-0F) is taken as the condition.
Encoder selection E 0 0 Incremental encoder
[Ab l ]
[Absolute] 1 Absolute encoder
F 0 ––– Not used.
Note 1. If set bit 6 to “1” and bit 8 to “0,” the dynamic brake relay will turn OFF after the Servomotor
stops, regardless of the setting of bit no. 7.
Note 2. In the torque control mode, the method of stopping for errors depends on the setting of bit no.
6. The setting of bit no. 8 has no effect.
Note 3. The factory settings (i.e., the default settings) for Cn-01 bit no. 7 are as follows:
1: 1.0 kW and 1.5 kW motors
0: Motors of 2.0 kW and over.
The Cn-01 bit no. 7 setting is valid only for 1.0 kW and 1.5 kW motors.
3-11
Operation Chapter 3
Note 4. With P control switch conditions, a change from PI control to P control is selected. This func-
tion is not valid for torque control.
Note 5. Do not change the settings of bit nos. 4, 5, and F of setup parameter no. 1 (Cn-01).
Note 6. These parameters become effective only after power is reset. Confirm that the indicators go
out before turning power back on. (Check to see that the LED display has gone off.)
Setup Parameter No. 2 (Cn-02)

setting
Reverse rotation mode 0 0 0 CCW direction is taken upon “+” command. (See note 5.)
1 CW direction is taken upon “+” command.
Origin
g error mask 1 0 0 Origin errors are detected.
[Absolute]
[Ab l ] 1 Origin errors are not detected.
Speed limit by
y analog
g 2 0 0 Disabled.
i
input (for
(f torque control)
l) 1 Enabled.
Command pulse mode 5,, 4,, 3 0,, 0,, 1 0, 0, 0 Feed pulses / Forward/reverse signal
0, 0, 1 Forward pulses / Reverse pulses
0, 1, 0 90° phase difference (A/B phase) signal (x1)
Monitor switch 1 6 0 0 AM terminal is taken as current monitor output terminal.
1 AM terminal is taken as speed command / command pulse
speed monitor output terminal. (See note 3.)
Monitor switch 2 7 0 0 NM terminal is taken as speed monitor output terminal.
1 NM terminal is taken as deviation counter monitor output
terminal. (See note 4.)
TREF switch (for
( speed 8 0 0 Current limit is disabled by TREF.
control)
l) 1 Current limit is enabled by TREF.
Torque feed-forward 9 0 0 No torque feed-forward function.
function selection (for
speed control) 1 Torque feed-forward function enabled.
Deviation counter clear A 1 0 Deviation countered cleared by status (high level).
(f position
(for i i control)
l) 1 Deviation countered cleared by differentiation (rising edge).
b 0 ––– Not used.
Torque
q command filter C 0 0 Primary filter
d
degree 1 Secondary filter
Command pulse logic d 0 0 Positive logic
reversal (for position
control) 1 Negative logic
Parameter Unit monitor E 0 0 Deviation monitor taken as x1 command units.
level switch (for position
control) 1 Deviation monitor taken as x100 command units.
F 0 ––– Not used.
Note 1. Do not change the settings of bit nos. b and F of setup parameter no. 2 (Cn-02).
Note 2. Parameters other than bit nos. 6 and 7 of setup parameter no. 2 (Cn-02) become effective
only after power is reset. Confirm that the indicators go out before turning power back on.
(Check to see that the LED display has gone off.)
3-12
Operation Chapter 3
Note 3. The function will vary depending on the control mode that is selected.
Position control: Command pulse speed monitor (1 V 1,000 r/min)
Speed control: Speed command monitor (1 V 1,000 r/min)
Torque control: (Disabled: 0 V)
Note 4. The function will vary depending on the control mode that is selected.
Position control: Deviation counter monitor (when 0.05 V command unit: Cn-02
bit no. E = 0)
Speed control: (Disabled: 0 V)
Torque control: (Disabled: 0 V)
Note 5. CCW direction refers to counterclockwise rotation and CW direction refers to clockwise rota-
tion when viewed from the motor output side.
Important Setup Parameters (Cn-01 and Cn-02)

This section explains the particularly important setup parameters. If these parameters aren’t set prop-
erly, the motor might not operate or might operate unpredictably. Set these parameters appropriately for
the system being used.
Command Pulse Types (for Position Control, Cn-02 Bit Nos. 5, 4, and 3)
Set the command pulse mode for position control according to the pulse command configuration.
Command pulse mode Selected command pulse mode
(Cn-02 bit nos. 5, 4, 3)
0, 0, 0 Feed pulses (PULS) / Forward/reverse signal (SIGN)
0, 0, 1 Forward pulses (CCW) / Reverse pulses (CW) (Factory setting)
Note When a 90° phase difference signal is input, any of three types of multipliers can be selected: x1, x2, or x4.
If x4 is selected, the input pulses will be multiplied by four, so the number of motor revolutions (speed, angle)
will be four times that of x1.
Error Stop Processes

Bits 6, 7, 8, and 9 of Cn-01 specify how the motor will be stopped when the servo goes OFF (the run
command is OFF), an alarm is generated, or overtravel occurs. The following diagrams show the func-
tion of these four bits:
Stop Process for Servo OFF/Alarm

Deceleration method Bit 7 Stop condition
0 Servo free (dynamic brake OFF)
Bit 6
Decelerate by dynamic brake.
0
Servo OFF 1
Servo free (dynamic brake ON)
or Alarm
1
Decelerate by free run. Servo free (dynamic brake OFF)
Note Bit no. 7 is not valid for motors of 2.0 kW or more. At the time of stopping, the dynamic brake turns
OFF.
3-13
Operation Chapter 3
Stop Process for Overtravel
Deceleration method Stop condition
Bit 6
Bit 8 0 Decelerate by dynamic brake. Servo free (dynamic brake OFF)
Overtravel 0
1
occurs. Decelerate by free run.
1
Bit 9 Servo free (dynamic brake OFF)
Decelerate by emergency stop 0
torque (Cn-06).
1 Servo lock
Encoder Selection (Cn-01 Bit No. E)

Set this parameter according to the encoder for the Servo Motor that is used. The factory setting is for an
incremental encoder (“0”). If an absolute encoder is to be used, set this parameter to “1.”
Encoder selection (Cn-01 bit no. E) Selected encoder
0 Incremental encoder (factory setting)
1 Absolute encoder
3-14
Operation Chapter 3
3-3-2 Setting and Checking User Parameters (Cn-03 to 2d)

Execute the user parameter settings in order as follows:
Go into settings mode . . . . . . . . . . . . . . . . . . . . . . . MODE/SET Key
Display the pertinent parameter number . . . . . . . Direction Keys (Handy-type)
Up and Down Keys (Mounted-type)
Display the contents (data) of the parameter . . . . DATA Key
Change the data . . . . . . . . . . . . . . . . . . . . . . . . . . . . Direction Keys (Handy-type)
Up and Down Keys (Mounted-type)
Save the data in memory . . . . . . . . . . . . . . . . . . . . . MODE/SET and DATA Keys
Checking User Parameters

The contents of a given user parameter can be checked by pressing the DATA Key while that parameter
number is being displayed. Pressing the DATA Key again will bring back the parameter number display.
(See the illustration below.)
Parameter Number Display [1] [2] Data Display
DATA
c n 0 3 0 0 3 0 0
DATA
[5] [4]
Setting User Parameters

Use the following procedures to set user parameters.
Making Settings with Handy-type (R88A-PR02U)

1. Use the Direction Keys to display the number of the parameter that is to be set.
Using the Right and Left Keys, select the digit that is to be set. The digit for which the number can be
changed will blink.
With the Up and Down Keys, increment or decrement the number for that digit.
2. Press the DATA Key. The contents (data) of the pertinent parameter will be displayed.
3. Using the Direction Keys, set the data. The method is the same as for step 1 above.
5. Pressing the DATA Key again will bring back the parameter number display.
6. Repeat steps 1 through 5 above as required.
Making Settings with Mounted-type (R88A-PR03U)

1. Use the Up and Down keys to display the number of the parameter that is to be set.
2. Press the DATA Key. The contents (data) of the pertinent parameter will be displayed.
3. Using the Up and Down Keys, set the data. If the keys are held down, the numbers will change 10 at
a time. If the keys are held down even longer, the numbers will change 100 and then 1,000 at a time.
5. Pressing the DATA Key again will bring back the parameter number display.
6. Repeat steps 1 through 5 above as required.
3-15
Operation Chapter 3
User Parameter Chart

PRM Parameter name Factory Unit Setting Explanation
No. setting range
Cn-00 System check mode --- --- --- Refer to system check mode
explanation.
Cn-01 Setup parameter no. 1 --- --- --- Refer to setup parameter no.
1 explanation.
Cn-02 Setup parameter no. 2 --- --- --- Refer to setup parameter no.
2 explanation.
Cn-03 Speed command scale 300 (r/min)/V 10 to 2,000 Rotation speed setting per 1 V
of speed command voltage.
Cn-04 Speed loop gain (See 80 Hz 1 to 2,000 Adjusts speed loop response.
note 1.)
Cn-05 Speed loop integration 2,000 0.01 ms 200 to Speed loop integration con-
constant 51,200 stant
Cn-06 Emergency stop torque 350 % 0 to 350 Deceleration torque when
abnormality occurs (compared
to rated torque).
Cn-07 Soft start acceleration 0 ms 0 to 10,000 Acceleration time setting for
time (Note 4) software start.
Cn-08 Forward torque limit 350 % 0 to 350 Output torque for rotation in
forward direction (compared
to rated torque).
Cn-09 Reverse torque limit 350 % 0 to 350 Output torque for rotation in
reverse direction (compared
to rated torque).
Cn-0A Encoder divider rate (See 1,000 Pulses/ 16 to 8,192 Setting for number of output
note 2.) revolution (Note 6) pulses from Servo Driver.
Cn-0b Rotation speed for motor 20 r/min 1 to 4,500 Setting for rotation speed for
rotation detection motor rotor detection output.
Cn-0C P control switching (torque 200 % 0 to 350 If a torque command exceeds
commands) this value, the mode switches
from PI to P control.
Cn-0d P control switching (speed 0 r/min 0 to 4,500 If a speed command exceeds
commands) this value, the mode switches
Cn-0E P control switching (accel- 0 10 0 to 3,000 If an acceleration command
eration commands) (r/min)/s exceeds this value, the mode
switches from PI to P control.
Cn-0F P control switching (devi- 10 Com- 0 to 10,000 If the deviation pulses exceed
ation pulses) mand this value, the mode switches
Cn-10 Jog speed 500 r/min 0 to 4,500 Setting for manual rotation
speed
Cn-11 Number of encoder pulses 4,096 Pulses/ [INC]: 4,096 Setting for number of pulses
(Notes 2 and 5) revolution [ABS]: 8,192 for encoder used.
Cn-12 Brake timing 1 0 10 ms 0 to 50 Delay time setting from brake
command until servo turns off.
Cn-13 Torque command scale 30 0.1 10 to 100 Sets gain for torque command
V/rated input.
torque
Cn-14 Speed limit 3,000 r/min 0 to 4,500 Sets speed limit value for
torque control mode.
3-16
Operation Chapter 3

No. setting range
Cn-15 Brake command speed 100 r/min 0 to 4,500 Sets rotation speed for output-
ting brake commands.
Cn-16 Brake timing 2 50 10 ms 10 to 100 Waiting time from servo-off to
brake command output.
Cn-17 Torque command filter 4 100 µs 0 to 250 Setting for torque command
time constant filter time constant (6.4 to
398 Hz).
Cn-18 Forward rotation external 100 % 0 to 350 Output torque for when for-
current limit ward rotation current limit is
input (compared to rated
torque).
Cn-19 Reverse rotation external 100 % 0 to 350 Output torque for when
current limit reverse rotation current limit is
input (compared to rated
torque).
Cn-1A Position loop gain 40 1/s 1 to 1,000 Adjusts the position loop
response.
Cn-1b Positioning completion 3 Com- 0 to 250 Positioning completion signal
range mands output range setting
Cn-1C Bias rotational speed 0 r/min 0 to 450 Position control bias setting
Cn-1d Feed-forward amount 0 % 0 to 100 Position control feed-forward
compensation value
Cn-1E Deviation counter over 1,024 x256 1 to 32,767 Setting for detection of devi-
level command ation counter overrun
Cn-1F No. 1 internal speed set- 100 r/min 0 to 4,500 Rotation speed, no. 1 internal
ting setting
Cn-20 No. 2 internal speed set- 200 r/min 0 to 4,500 Rotation speed, no. 2 internal
ting setting
Cn-21 No. 3 internal speed set- 300 r/min 0 to 4,500 Rotation speed, no. 3 internal
ting setting
Cn-22 Speed conformity signal 10 r/min 0 to 100 Sets the allowable fluctuation
output width width for the speed conformity
signal.
Cn-23 Soft start deceleration 0 ms 0 to 10,000 Sets the deceleration time for
time (Note 4) software starts.
Cn-24 Electronic gear ratio G1 4 --- 0 to 65,535 Setting range:
(numerator) (Note 2) 0.01 G1/G2 100
Cn-25 Electronic gear ratio G2 1 --- 0 to 65,535
(denominator) (Note 2)
Cn-26 Position command accel- 0 0.1 ms 0 to 640 Sets the pulse smoothing con-
eration/deceleration constant
stant
Cn-27 Feed-forward command 0 0.1 ms 0 to 640 Feed-forward command filter
filter setting
Cn-28 Compensation gain 0 --- 0 to 100 Positioning time adjustment
gain
Cn-29 Position lock rotation 10 r/min 0 to 4,500 Sets the position lock rotation
speed speed.
Cn-2A Motor selection (Note 2) (Table 1) --- 0 to 255 Sets the applicable motor.
Cn-2b Control mode selection 1 --- 0 to 11 Sets the control mode.
(Note 2) (Table 2)
3-17
Operation Chapter 3

No. setting range
Cn-2C Encoder power supply 52,500 0.1 mV 52,000 to Changes the encoder power
voltage (Note 7) 58,000 supply voltage.
Cn-2d Output signal selection 210 --- 110 to 666 Selects control output func-
tions. (Table 3)
Note 1. Cn-04 (speed loop gain) is factory set for three times the load inertia. Therefore, if the load
inertia is extremely small, some oscillation may occur. If it does, then lower Cn-04 to 20 or
less.
Note 2. After the settings for Cn-0A (encoder divider rate), Cn-11 (number of encoder pulses), Cn-24
(electronic gear ratio G1), Cn-25 (electronic gear ratio G2), Cn-2A (motor selection), and
Cn-2b (control mode selection) have been made, they become effective when the power is
turned on again after having been cut off. (Check to see that the LED display has gone off.)
Note 3. Set all values within the specified ranges.
Note 4. Be sure to set both Cn-07 and Cn-23 when the software start function is used.
Note 5. The setting for Cn-11 (number of encoder pulses) is determined by the encoder that is used. If
any settings other than the following are used, the motor may not operate properly.
[Incremental]: Cn-11 set value = 4,096
[Absolute]: Cn-11 set value = 8,192
Note 6. The upper limit for Cn-0A (encoder divider rate) is as follows:
[Incremental]: Cn-0A upper limit = 4,096
[Absolute]: Cn-0A upper limit = 8,192
! Caution The Cn-2C (encoder power supply voltage) setting depends on the encoder cable
length. The encoder may be damaged if the setting is wrong. Refer to the following
table when making the setting.
Encoder 3m 5m 10 m 15 m 20 m
[Incremental] 52,500 54,000 55,500
[Absolute] 52,500 55,000 57,000
Table 1: Cn-2A (Motor Selection)
! Caution Check to be sure that these settings are made correctly. If they are set incorrectly, the
motor may malfunction or suffer damage.
Driver model Applicable motor model Set value

R88D-UT24H R88M-U1K030H-/T- 163
R88D-UT40H R88M-U1K530H-/T- 164
R88D-UT60H R88M-U2K030H-/T- 165
R88D-UT80H R88M-U3K030H-/T- 166
R88D-UT110H R88M-U4K030H-/T- 167
R88D-UT120H R88M-U5K030H-/T- 168
3-18
Operation Chapter 3

R88D-UT24V- R88M-U1K030V-S1/X-S1 163
R88D-UT40V- R88M-U1K530V-S1/X-S1 164
R88D-UT60V- R88M-U2K030V-S1/X-S1 165
R88D-UT80V- R88M-U3K030V-S1/X-S1 166
R88D-UT110V R88M-U4K030V-S1/X-S1 167
R88M-U5K030V-S1/X-S1 168
Note The default setting of the R88D-UT110V is 4 kW (motor selection: “167”). When using a 5-kW
motor, change the motor selection setting to “168.”
Table 2: Cn-2b (Control Mode Selection)
! Caution Check to be sure that these settings are made correctly. If they are set incorrectly, the
motor may malfunction.
Control mode Set value

Speed control (Analog commands) 0
Position control (Pulse train commands) [Factory setting] 1
Torque control (Analog commands) 2
Internally-set speed control 3
Internally-set speed control ←→ Speed control (Analog commands) 4
Internally-set speed control ←→ Position control (Pulse train commands) 5
Internally-set speed control ←→ Torque control (Analog commands) 6
Position control (Pulse train commands) ←→ Speed control (Analog commands) 7
Position control (Pulse train commands) ←→ Torque control (Analog commands) 8
Speed control (Analog commands) ←→ Torque control (Analog commands) 9
Speed control (Analog commands) ←→ Position lock prohibit 10
Position control (Pulse train commands) ←→ Pulse prohibit 11
Table 3: Cn-2d (Output Signal Selection)

Any of the functions can be allocated to the three output terminals. The three digits of the set value
correspond respectively to the output terminals. The setting “0” can be made only for the first digit
(CN1-25, 26 pins).
Example Setting Output signal function Set value

210 In position (INP) / Speed compare (VCMP) 0
Function for CN1-25, 26 pins Motor rotation detection (TGON) 1
Servo ready (READY) 2
Function for CN1-27, 28 pins
Current limit detection (CLIMT) 3
Brake interlock (BKIR) 4
Overload warning (OLWRN) 5
Overload alarm (OLALM) 6
3-19
Operation Chapter 3
3-3-3 Important User Parameters

This section explains the checks and settings that are required before using the Servomotor and Servo
Driver. These parameters must be set correctly. If they are set incorrectly, the motor may fail to operate
or may malfunction. Make the appropriate settings for the system that is being used.
Control Mode Settings
The control mode is set by user parameter Cn-2b.
Cn-2b
set value
Speed control 0
Independent control modes Position control 1
Torque control 2
Internally-set speed
control
3
control + speed control
4
Internally-set speed control
modes
control + position 5
control
Control modes
control + torque control
6
Position control +
speed control 7
Position control +
Switching control modes torque control
8
Speed control + torque
control 9
Speed control with
position lock function 10
Control modes with added
functions Position control (Pulse
prohibit/enable)
11
Number of Encoder Pulses (Cn-11)
The number of pulses varies depending on the type of encoder that is connected. Match the settings to
the encoder type. The factory settings are for an incremental encoder. Change the settings for these
parameters if an absolute encoder is to be used. If the settings are not made correctly, the motor may
malfunction.
PRM No. Parameter name Factory setting Unit Set value Encoder type
Cn-11 Number of encoder 4,096
, Pulses/revolution 4,096 [Incremental]
pulses
l 8,192 [Absolute]
3-20
Operation Chapter 3
3-3-4 Setting Internal Speed Control
Function
• This function controls Servomotor speed using the speeds set in the parameters (No. 1, No. 2, and
No. 3 internal speed settings).
• This function can be used in the speed control modes. (It can’t be used with torque control.)
Select the internal speed using the control inputs CN1-45 and 46 (speed selection commands 1 and
2) and specify the rotational direction using the CN1-41 (rotation direction command).
• When both speed selection commands 1 and 2 are OFF, the motor will decelerate to a stop in the
software start deceleration time and then go into servo lock status. Depending on the parameter set-
tings, it is possible to use pulse train inputs (for position control), speed command inputs (for speed
control), and torque command inputs (for torque control) in this status.
User Parameter Settings

• Set user parameter Cn-02 (control mode selection) to any number from “3” to “6.” When this bit is set
to “1,” the internal speed control settings function can be used and CN1-45, 46, and 41 have the
following functions:
Control inputs CN1-45 and 46: . . . . Speed selection commands 1 and 2 (SPD1 and SPD2)
Control input CN1-41: . . . . . . . . . . . Rotation direction command (RDIR)
• The following table shows the combinations of speeds and directions that can be selected with these
three control inputs.
CN1-45 CN1-46 CN1-41 Internal speed setting, rotational direction
SPD1 SPD2 RDIR
OFF ON OFF No. 1 internal speed setting, forward
ON No. 1 internal speed setting, reverse
ON ON OFF No. 2 internal speed setting, forward
ON OFF OFF No. 3 internal speed setting, forward
Internal Speed Control Settings Only: Control Mode Selection (Cn-2b = “3”)
• Setting user parameter Cn-2b (control mode selection) to “3” specifies the “internal speed control
settings only” mode.
• When both SPD1 and SPD2 are OFF, the motor will decelerate to a stop and then go into servo lock
status with an internal speed command status of 0 r/min. (Position lock will not be in effect.)
• Speed command inputs, pulse train inputs, and torque command inputs cannot be received.
Internal Speed Control Settings + Speed Control: Control Mode Selection (Cn-2b =
“4”)
settings + speed control” mode.
• Speed control using internal speed settings and speed command inputs (REF) is possible in this
control mode.
• Speed command inputs (REF) can be received from the point at which both SPD1 and SPD2 turn
OFF.
3-21
Operation Chapter 3
Internal Speed Control Settings + Position Control: Control Mode Selection (Cn-2b
= “5”)
settings + position control” mode.
• Speed control using internal speed settings and position control using pulse train inputs are possible
in this control mode.
• When both SPD1 and SPD2 are OFF, the motor will decelerate to a stop. When the positioning com-
pletion signal is output, the position lock is in effect and the system is ready to receive the pulse com-
mand input.
• Pulse commands can be input after the positioning completion (INP) signal turns ON. Pulses input
up until that point will be ignored. Likewise, when switching from position control to internally-set
speeds, wait until the positioning completion (INP) signal turns ON before turning ON the speed
selection command. If the speed selection command is turned ON during command pulse input,
command pulse transmission and positioning will be ended before switching to internally-set
speeds.
Internal Speed Control Settings + Torque Control: Control Mode Selection (Cn-2b =
“6”)
settings + torque control” mode.
• Speed control using internal speed settings and torque control using torque command inputs
(TREF) are possible in this control mode.
• Torque command inputs (TREF) can be received from the point at which both SPD1 and SPD2 turn
OFF.
Other User Parameter Settings

No. setting range
Cn-07 Soft start acceleration time 0 ms 0 to 10,000 Sets the time for the motor to
accelerate from 0 r/min to
4,500 r/min.
Cn-23 Soft start deceleration time 0 ms 0 to 10,000 Sets the time for the motor to
decelerate from 4,500 r/min to
0 r/min.
Cn-26 Position command accelera- 0 0.1 ms 0 to 640 Sets the constant for pulse
tion/deceleration constant smoothing.
Cn-14 Speed control 3,000 r/min 0 to 4,500 Sets the speed limit for the
torque control mode.
Cn-1F No. 1 internal speed setting 100 r/min 0 to 4,500 Sets the speed for when SPD1
is OFF and SPD2 is ON.
Cn-20 No. 2 internal speed setting 200 r/min 0 to 4,500 Sets the speed for when SPD1
is ON and SPD2 is ON.
Cn-21 No. 3 internal speed setting 300 r/min 0 to 4,500 Sets the speed for when SPD1
is ON and SPD2 is OFF.
Note 1. The software start acceleration and deceleration times are effective on the internal speed set-
tings and the speed command input (REF).
3-22
Operation Chapter 3
Note 2. Acceleration and deceleration times are set at up to 4,500 r/min. The actual acceleration and
deceleration times are found by means of the following formula:
Internally set speed (r/min) Soft start acceleration

Actual acceleration (deceleration) time = ×
4,500 (r/min) (deceleration) time
Motor speed
4,500 r/min
Speed
Note 3. The position command acceleration/deceleration constant is effective on pulse commands.

Note 4. The speed limit setting is effective only in torque control mode.
Operation Examples
Internal Speed Control Settings Only (Cn-2b = “3”)
Speed selection
command 1
SPD1
Speed selection
command 2
SPD2
Rotation direction
command
RDIR
Speed 3
Speed 2
Speed 1
Motor operation
Speed 1
Note There is a maximum delay of 6 ms in reading the input signal.
3-23
Operation Chapter 3
Internal Speed Control Settings + Speed Control (Cn-2b = “4”)
Speed selection
command 1
SPD1
Speed selection
command 2
SPD2
Rotation direction
command
RDIR
Speed command
input
REF
Speed 3
Speed 2
Motor operation Speed 1 REF speed
Speed control mode

Speed control mode Speed 1
Note When the control mode is “internal speed control settings + speed control,” operation follows the
speed command input (REF) immediately after SPD1 and SPD2 are both OFF (although there is
a delay of up to 6 ms in reading the input signal). There is no need to wait until the servo-lock
operates.
Internal Speed Control Settings + Position Control (Cn-2b = “5”)
Speed selection
command 1
SPD1
Speed selection 6 ms min.
command 2
SPD2
Rotation direction
command
RDIR
6 ms min.
Pulse command
Positioning com-
pletion, INP
(Speed compare,
VCMP)
Speed 3
Speed 2
Motor operation
Speed 1
Speed 1
Note 1. There is a maximum delay of 6 ms in reading the input signal.
3-24
Operation Chapter 3
Note 2. The shaded areas in the time chart for the positioning completion signal indicate the places
where the signal is turned ON as the speed compare (VCMP) signal. (The meaning of the
signal differs according to the control mode.)
Internal Speed Control Settings + Torque Control (Cn-2b = “6”)
Speed selection
command 1
SPD1
Speed selection
command 2
SPD2
Rotation direction
command
RDIR
Torque command
input
TREF
Speed 3
Speed 2
Speed 1
Motor operation
Torque control mode

Speed 1
Note 1. When the control mode is “internal speed control settings + torque control,” operation follows
the torque command input (TREF) immediately after SPD1 and SPD2 are both OFF
(although there is a delay of up to 6 ms in reading the input signal).
Note 2. Motor operation with torque control varies according to the motor load conditions (e.g., fric-
tion, external power, inertia).
Note 3. When motor servo-lock is required, set any of the internal speed settings to “0 r/min” and
select that speed with speed selection commands 1 and 2.
3-3-5 Switching Control Mode

Function
This function controls the motor by switching between two control modes by means of external
inputs. The control mode switching is executed at control input terminal CN1-41 (control mode
switching).
User Parameter Settings
Set “7,” “8,” or “9” for user parameter Cn-2b (control mode selection). This setting causes control
input terminal CN1-41 to become a control mode switching terminal (TVSEL). The following tables
show the control modes.
Position control (Pulse train command) ←→ Speed control (Analog command) 7
Position control (Pulse train command) ←→ Torque control (Analog command) 8
Speed control (Analog command) ←→ Speed control (Analog command) 9
3-25
Operation Chapter 3
Set value Selected Control Mode

CN1-41: OFF CN1-41: ON
7 Position control Speed control
8 Position control Torque control
9 Torque control Speed control
Operation
Position and Speed Control Switching Example (Cn-2b = “7”)
Control mode 6 ms min.
switching
TVSEL
Speed command
input
REF
6 ms min.
Pulse commands
Positioning com-
pletion, INP
(Speed compare,
VCMP)
Motor operation

Note 2. When switching from speed control to position control, input the pulse command after the
control mode switching (TVSEL) has turned OFF, the positioning completion (INP) signal has
turned ON, and 6 ms has elapsed. The pulses will be ignored until the positioning completion
(INP) signal has turned ON.
Note 3. The shaded areas in the time chart for the positioning completion signal indicate the places
where the signal is turned ON as the speed compare (VCMP) signal. (The meaning of the
signal differs according to the control mode.)
3-26
Operation Chapter 3
Position and Torque Control Switching Example (Cn-2b = “8”)
Control mode
switching
TVSEL
6 ms min.
Torque command
input
TREF
6 ms min.
(Forward operation) (Reverse operation)
Pulse commands
Positioning com-
pletion signal
INP
Motor operation
Impact
Note 1. This time chart shows an example of torque thrust.

Note 3. When switching from torque control to position control, input the pulse command after the
control mode switching (TVSEL) has turned OFF, the positioning completion (INP) signal has
turned ON, and 6 ms has elapsed. The pulses will be ignored until the positioning completion
(INP) signal has turned ON.
Speed and Torque Control Switching Example (Cn-2b = “9”)
Control mode
switching
TVSEL
Speed command
input
REF
Torque command
input
TREF
Motor operation
Torque control mode
3-27
Operation Chapter 3
Note 2. Motor operation with torque control varies according to the motor load conditions (e.g., fric-
tion, external power, inertia).
3-3-6 Software Start Function

Function
• This function starts and stops the Servomotor according to the acceleration and deceleration times
that have been set.
• The acceleration curve is trapezoidal. Acceleration and deceleration can be set independently.
• Use software start processing for speed command inputs (or internal speed settings) to minimize
impact at the time of acceleration and deceleration.
• This function is effective for simple positioning and when changing speeds.
• Set the parameters as shown in the following table.
No. setting range
Cn-07 Soft start acceleration time 0 ms 0 to 10,000 Sets the time for the motor to
accelerate from 0 r/min to
4,500 r/min.
Cn-23 Soft start deceleration time 0 ms 0 to 10,000 Sets the time for the motor to
decelerate from 4,500 r/min
to 0 r/min.
Cn-29 Position lock rotation speed 10 r/min 0 to 4,500 Setting for the rotation speed
to cause position lock.
Cn-1A Position loop gain 40 1/s 1 to 500 Adjusts position loop
response.
Note 1. The software start acceleration and deceleration times are effective on the internal speed set-
tings and the speed command input (REF). This has no effect on the pulse command.
Note 2. The position lock rotation speed setting is valid only for speed control.
Note 3. The position loop gain adjusts the servo-lock force during position-lock.
Note 4. Acceleration and deceleration times are set at up to 4,500 r/min. The actual acceleration and
deceleration times are found by means of the following formula:
Internally set speed (r/min) Soft start acceleration
Actual acceleration (deceleration) time = ×
4,500 (r/min) (deceleration) time
Maximum rotation
speed (4,500 r/min)
0 t
Cn-07 Cn-23
3-28
Operation Chapter 3
Timing Chart
Speed command
input
REF
Position lock
command
signal
PLOCK
Motor Cn-29
operation Cn-29
Servo-lock condition
Note 1. Select “speed control with position lock” as the control mode (i.e., set “10” for Cn-2b) when
controlling the position lock with an external signal. (Refer to 3-3-3 Important User Parame-
ters for details.)
Note 2. The Unit will go into servo-lock if the position lock signal (PLOCK) is ON and the number of
motor rotations falls below the position lock rotations set in Cn-29. The motor will revolve
when the internal speed command exceeds the position lock rotations.
3-3-7 Electronic Gear Function (Position Control)
Function
With this function, the motor will revolve for the number of pulses derived by applying the electronic
gear ratio to command pulses. The function is effective in the following types of situations:
Fine adjustments of positions and speeds when synchronizing two lines.
When using a positioner with a low command pulse frequency.
When setting a value such as 0.01 mm for the amount of mechanical movement per pulse.
User Parameter Settings [Incremental]

• The gear ratio utilizes G1 and G2 for user parameters Cn-24 and Cn-25, and is defined by G1/G2.
G1
Target number of pulses = Number of command pulses x
G2
PRM No. Parameter name Factory setting Unit Setting range Explanation
Cn-24 Electronic gear ratio G1 4 ___ 1 to 65,535 Setting range:
(numerator) 0.01 G1/G2 100
Cn-25 Electronic gear ratio G2 1 ___ 1 to 65,535
(denominator)
Note The electronic gear setting becomes effective when the power is turned on again after having
been cut off. (Check to see that the LED display has gone off.)
3-29
Operation Chapter 3
• When G1/G2 = 1, the motor makes one revolution with a 16,384-pulse command. (The driver operates
with an internal multiplication factor of 4.
• With the factory setting, the motor makes one revolution when 4,096 pulses are input.
• A single pulse for position deviation (deviation counter) display or positioning completion range
becomes a single input pulse.
Operation Example [Incremental]

In this example, G1/G2 is set to16,384/1,000, and operation is the same as for a Servomotor of
1,000 (pulses/revolution).
Servo Driver Servomotor
Electronic
1,000 pulses gear 16,384 pulses
1 revolution (16,384 pulses)
3-3-8 Encoder Dividing Function [Incremental]
Function
• With this function, any number of pulses can be set for encoder signals output from the Servo Driver.
• The number of pulses per Servomotor revolution can be set within a range of 16 to 4,096.
• Use this function for the following applications:
When connecting to a positioner with a low response frequency.
When it is desirable to set a pulse rate that is easily understandable.
(For example, in a mechanical system in which a single Servomotor revolution corresponds to a
movement of 10 mm, if the resolution is 5 µm/pulse, set the encoder dividing rate to 2,000 (pulses/
revolution).
PRM Parameter name Factory Setting range Explanation
No. setting
Cn-0A Encoder divider rate 1,000 16 to 4,096 Setting for number of output
pulses/ pulses/revolu- pulses from Servo Driver.
revolution
tion
Cn-11 Number of encoder pulses 4,096 4,096 pulses/ (Do not change the setting.)
pulses/ revolution
revolu-
tion
Note Theses parameters become effective when the power is turned on again after having been cut off.
3-30
Operation Chapter 3
Operation
• Incremental pulses are output from the Servo Driver through a frequency divider.
Servo Driver
Encoder A
A-phase
B Frequency divider
E B-phase
S
Processing circuitry Z-phase
• The output phases of the encoder signal output from the Servo Driver are as shown below (when
divider rate Cn-0A = 4,096).
Forward Rotation Side Reverse Rotation Side
A-phase A-phase
B-phase B-phase
Z-phase Z-phase
Note When the encoder divider rate is set to other than 4,096, 2,048, 1,024,..., the phase difference for
phases A and B is not 90°, but scatters for time T. (See the diagram below.)
A-phase
B-phase
t1 t2 t1 t1 t1 t1 t2 t1 = nT, t2 = (n+1)T
In this diagram, T represents the time between phase A and phase B, and n is an integer that satisfies
the following formula (with digits below the decimal point discarded).
n = 4,096/encoder divider rate
Input to frequency divider A-phase

(encoder output)
B-phase
3-3-9 Encoder Dividing Function (Absolute)
Function
• With this function, any number of pulses can be set for encoder signals output from the Servo Driver.
• The number of pulses per Servomotor revolution can be set within a range of 16 to 8,192.
• Use this function for the following applications:
When connecting to a positioner with a low response frequency.
When it is desirable to set a pulse rate that is easily understandable.
3-31
Operation Chapter 3
(For example, in a mechanical system in which a single Servomotor revolution corresponds to a
movement of 10 mm, if the resolution is 5 µm/pulse, set the encoder dividing rate to 2,000 (pulses/
revolution).
PRM Parameter name Factory Setting range Explanation
No. setting
Cn-0A Encoder divider rate 1,000 16 to 8,192 Setting for number of output
pulses/ pulses/revolu- pulses from Servo Driver.
revolution
tion
Cn-11 Number of encoder pulses 4,096 8,192 pulses/ (Be sure to change the setting to
pulses/ revolution “8,192.”)
revolu-
tion
Note Theses parameters become effective when the power is turned on again after having been cut off.
Operation
• Incremental pulses are output from the Servo Driver through a frequency divider.
Servo Driver
Encoder A
A-phase
B Frequency divider
E B-phase
Z
Z-phase
• The output phases of the encoder signal output from the Servo Driver are as shown below (when
divider rate Cn-0A = 8,192).

The Z-phase is syn-
A-phase A-phase chronized with the
A-phase, but its pulse
B-phase B-phase width may become
shorter than that of
the A-phase.
Z-phase Z-phase
Note When the encoder divider rate is set to other than 8,192, 4,096, 2,048,..., the phase difference for
phases A and B is not 90°, but scatters for time T. (See the diagram below.)
A-phase
B-phase
t1 t2 t1 t1 t1 t1 t2 t1 = nT, t2 = (n+1)T
3-32
Operation Chapter 3
In this diagram, T represents the time between phase A and phase B, and n is an integer that satisfies
the following formula (with digits below the decimal point discarded).
n = 8,192/encoder divider rate
Input to frequency divider A-phase

(encoder output)
B-phase
3-3-10 Bias Function (Position Control)
Function
• The bias function shortens positioning time by adding bias revolutions to speed commands.
• If the residual pulses in the deviation counter exceed the positioning completion range (Cn-1b), the
bias rotational speed (Cn-1C) is added to the speed command until the pulses are within the position-
ing completion range.
PRM Parameter name Factory setting Setting range Explanation
No.
Cn-1b Positioning completion range 3 command units 1 to 250 com- Sets range for positioning
mand units completion signal output.
Cn-1C Bias rotational speed 0 r/min 0 to 450 r/min Sets position control bias.
Note 1. When not using the bias function, set the bias rotational speed to 0 r/min.
Note 2. If the bias rotational speed is set too high, it will cause motor operation to be unstable. The
optimum setting depends on the load, the gain, and the positioning completion range, so
adjust the setting while observing the motor response. (Begin with a bias setting of “0,” and
gradually increase it.)
3-33
Operation Chapter 3
Operation Example
• In this example, the bias rotational speed (Cn-1C) is added to the deviation counter output (speed
command) when the residual pulses in the deviation counter exceed the positioning completion range
(Cn-1b). This continues until the residual pulses in the deviation counter are within the positioning
completion range, and then it stops.
• For the internal processing block configuration, refer to the position loop block diagram in 3-5-2 Manu-
ally Adjusting Gain (Position Control).
Speed command
Motor speed without
(command pulse
bias function
frequency)
Motor speed with

Motor speed bias function
Time
Shortened time
Positioning com-
pletion signal
INP
3-3-11 Torque Limit Function (Position Control, Speed Control,

Torque Control)
Function
• The torque limit function limits the Servomotor’s output torque; it can be used with position control,
speed control, and torque control.
• This function can be used to protect the Servomotor and machine system by preventing excessive
force or torque on the machine system when the machine (moving part) pushes against the workpiece
with a steady force, such as in a bending machine.
• There are three methods that can be used to limit the torque:
1. Limit the steady force applied during normal operation with user parameters Cn-08 (forward torque
limit) and Cn-09 (reverse torque limit).
2. Limit operation with external signals connected to pins CN1-45 (PCL: forward current limit input)
and CN1-46 (NCL: reverse current limit input). Set user parameters Cn-18 (forward rotation external
current limit) and Cn-19 (reverse rotation external current limit).
3. Limit operation with analog voltage by using TREF (torque command input) as the analog current
limit input.
3-34
Operation Chapter 3
Parameter Settings
Method 1: Limiting the Force Applied During Operation

• User Parameter Settings
PRM Parameter Factory Unit Setting range Explanation
No. name setting
Cn-08 Forward Maximum % of rated 0 to maximum This parameter sets the output torque
torque limit torque torque torque limit for the forward direction (as a per-
centage of the rated torque).
Cn-09 Reverse Maximum % of rated 0 to maximum This parameter sets the output torque
torque limit torque torque torque limit for the reverse direction (as a per-
centage of the rated torque).
Note 1. This method is effective with speed control, internal speed control settings, and torque control.
Note 2. Set these parameters to the maximum torque (the factory setting) when the torque limit function isn’t
being used.
Method 2: Limiting Operation with External Signals

• Control Mode Selection (Cn-02 = 0 to 2, 7 to 11)
Set the control mode selection (Cn-2b) to a control mode other than internally-set speed control (3 to
6).
With this setting, control input terminal CN1-45 will be PCL (forward current limit input), CN1-46 will
be NCL (reverse current limit input), and it will be possible to use the external current limit function.
PRM Parameter name Factory Unit Setting range Explanation
No. setting
Cn-18 Forward rotation 100 % of rated 0 to maximum This parameter sets the limit
external current limit torque
o que torque
o que when PCL is ON.
Cn-19 Reverse rotation This parameter sets the limit
external current limit when NCL is ON.
Method 3: Limiting Operation with Analog Voltage

• Setup Parameter Settings (Bit 8 of Cn-02 = 1)
Set bit 8 of Cn-02 (the TREF switch) to “1.” When bit 8 is “1,” terminals CN1-9 and CN1-10 (TREF
and AGND) become analog current limit input terminals. The current limit value can be calculated
from the following equation:
Current limit value = (absolute value of voltage applied to TREF) × (torque command scale)
The polarity of the analog voltage is irrelevant and the same current limit value is used for forward
and reverse.
PRM Parameter Factory Units Setting range Explanation
No. name setting
Cn-13 Torque com- 30 0.1 V/rated 10 to 100 This parameter sets the gain for the
mand scale torque torque command input.
Note 1. This method is useful when controlling torque in multiple stages.
3-35
Operation Chapter 3
Note 2. This method is effective with speed control and torque control.
Note 3. This method can’t be used when the torque feed-forward function is being used (i.e., when bit
9 of Cn-02 is set to “1.”)
3-3-12 Speed Limit Function (Torque Control)
Function
• This function limits motor rotation speed when torque control is used. It sets a limit so that the motor
rotation speed does not exceed the maximum speed of the mechanical system.
• Outside of the speed limit range, a torque in proportion to the difference with the speed limit value is
generated to slow down the motor rotation speed. In such cases the number of motor rotations does
not necessarily match the speed limit value. (The number of motor rotations varies depending the
load.)
• There are two methods that can be used for limiting the speed:
1. Apply a constant fixed speed limit for torque control, by means of user parameter Cn-14 (speed
limit).
2. Limit the speed by means of analog voltage. Use REF (speed command input) as an analog speed
limit input.
Parameter Settings
Applying a Constant Fixed Speed Limit for Torque Control

No. name setting
Cn-14 Speed limit 3,000 r/min 0 to 4,500 This parameter sets the speed limit value for
torque control.
Limiting the Speed with Analog Voltage

• Set bit no. 2 of setup parameter Cn-02 to “1.” When bit no. 2 is “1,” terminals CN1-5 and CN1-6 (REF
and AGND) become analog speed limit input terminals. The speed limit value can be calculated from
the following equation:
Speed limit value = (absolute value of voltage applied to REF) × (speed command scale)
• If the voltage is positive, this becomes the speed limit value for both the forward and reverse direc-
tions. (If the voltage is negative, this is regarded as a limit value of 0 r/min.
PRM Parameter name Factory Units Setting range Explanation
No. setting
Cn-03 Speed command 300 (r/min) ⁄ V 10 to 2,000 This parameter sets the number of
scale rotations per speed command volt.
3-36
Operation Chapter 3
3-3-13 Torque Feed-forward Function (Speed Control)
Function
• The torque feed-forward function reduces the acceleration time by adding the value of the torque com-
mand input (TREF) to the current loop; it can be used with speed control.
• Normally a derivative value is generated in the Controller and this value is input to TREF.
• Overshooting will occur if the feed-forward amount (the voltage input to TREF) is too high, so adjust
user parameter Cn-13 (the torque command scale) as required.
• The following figure shows a block diagram when the torque feed-forward function is used.
Host Controller AC Servo Driver
Deriva-
Position command tive
Speed Current
loop loop
Speed
detection
Encoder
output
Divider
Parameter Settings
• Setup Parameter Settings (Bit 9 of Cn-02 = 1)
Set bit 9 of Cn-02 (the torque feed-forward switch) to “1.” When bit 9 is “1,” terminals CN-9 and
CN-10 (TREF and AGND) become the torque feed-forward input terminals.
No. name setting
Cn-13 Torque com- 30 0.1 V/rated 10 to 100 This parameter sets the gain for the
mand scale torque torque command input.
Operation
Speed command
Torque feed-forward
Without the torque

Motor output torque feed-forward function
Without the torque

Number of motor feed-forward function
revolutions
3-37
Operation Chapter 3
Note 1. If torque feed-forward is input when the motor’s rotational speed is fixed, the rotational speed
won’t match the speed command. Design the Controller’s circuit so that torque feed-forward
is applied only when the motor is accelerating or decelerating.
Note 2. A torque will be generated that accelerates the motor in the forward direction if torque feed-
forward is applied with a positive (+) voltage. Be sure that the polarity is correct because
errors such as reverse motor rotation or oscillation will occur if the feed-forward is applied with
a polarity opposing the acceleration direction.
3-3-14 Brake Interlock (for Motors With Brakes)

U-series AC Servo Drivers have a brake interlock signal (BKIR) to control the magnetic
brake. In addition, they have a built-in dynamic brake circuit.
Magnetic Brakes
The magnetic brakes for Servomotors with brakes are specialized holding brakes with non-magnetized
operation. Therefore set the parameters so that the brake power supply is turned off after the Servomo-
tor stops. If the brake is applied while the Servomotor is operating, the brake will suffer abnormal wear or
even damage, and will quickly become defective.
For wiring methods, refer to 2-2-4 Peripheral Device Connection Examples.
Parameters to be Set
No. setting range
Cn-12 Brake timing 1 0 10 ms 0 to 50 Delay time setting from brake
command until servo turns off.
Cn-15 Brake command speed 100 r/min 0 to 4,500 Sets rotation speed for output-
ting brake commands.
Cn-16 Brake timing 2 50 10 ms 10 to 100 Waiting time from servo-off to
brake command output.
3-38
Operation Chapter 3
Timing for Run Command (RUN) <When Servomotor is Stopped>
ON
Power supply
OFF
Run command ON
RUN OFF
0 to 35 ms Approx. 6 ms
Brake interlock ON
signal
BKIR OFF
Brake power ON
supply OFF
200 ms max. 100 ms max.
Cancelled
Brake
operation Maintained
(See note 1)
Speed command ON
(or pulse command) OFF
(See note 2.)
Cn-12
Power to Power on
motor Power off
Note 1. It takes up to 200 ms for the brake to be cleared after the brake power supply has been turned
on. Taking this delay into account, have the speed command (or pulse command) be given
after the brake has been cleared.
Note 2. It takes up to 100 ms for the brake to be held after the brake power supply has been turned off.
When using it for the vertical shaft, take this delay into account and set brake timing 1 (Cn-12)
so that the Servomotor will not receive power until after the brake is held.
Timing for Power Supply <When Servomotor is Stopped>
ON
Power supply
OFF
25 to 35 ms
Brake interlock ON
signal
BKIR OFF
(See note)
Cn-12
Power to Power on
motor
Power off
Note It takes up to 100 ms for the brake to be held after the brake power supply has been turned off.
When using it for the vertical shaft, take this delay into account and set brake timing 1 (Cn-12) so
that the Servomotor will not receive power until after the brake is held.
3-39
Operation Chapter 3
Timing for Run Command (RUN), Errors, Power Supply <When Servomotor is
Stopped>
ON
Power supply
OFF
Run command ON
RUN OFF
Alarm output ON
ALM OFF
(See note 2.)
Brake interlock ON
signal
BKIR OFF
Power to Power on
motor Power off Approx. 10 ms
(See note 1.)
Motor rotation
speed Braking by dynamic brake
Brake command speed (Cn-15) (When Cn-01 bit no. 6 = 0)
Note 1. For the approximately 10 ms it takes from when the power to the Servomotor turns off until the
dynamic brake operates, the Servomotor rotates by momentum.
Note 2. If the Servomotor rotation speed falls below the speed set for the brake command speed
(Cn-15), or if the time set for brake timing 2 (Cn-16) elapses after the Servomotor stops receiv-
ing power, the brake interlock signal (BKIR) will turn OFF.
3-40
Operation Chapter 3
3-4 Trial Operation

After the wiring is complete and the parameter settings have been made, conduct a trial
operation. Follow he procedure outlined below, to be prepared for unlikely events such
as motor runaway.
Preparation for Trial Operation

• Do not connect a load (i.e., the mechanical system) to the Servomotor.
• Cut off the run command (RUN) so that the Servomotor can be stopped at any time.
Actual Trial Operation
(1) Powering Up
• With the run command (RUN) OFF, apply an AC voltage.
• After internal initialization, the mode will be the status display mode.
• Set the speed loop gain (Cn-04) to 20 or less. (Match the gain with no load.)
(2) Turning ON the Run command Input
• Turn ON the run command input. The Servomotor will go into servo-ON status.
(3) Low Speed Operation by the Servomotor Alone
• Give a speed command, or carry out the following check with a jogging operation.
Is the direction of Servomotor rotation correct?
Are there any abnormal sounds or vibration?
Is anything abnormal occurring?
• If anything abnormal occurs, refer to Chapter 4 Application and apply the appropriate countermea-
sures.
(4) Low Speed Operation With a Load Connected
• After the low speed operation by the Servomotor alone is completed, connect a load (i.e., connect to
the mechanical system). Make the connections securely, with no loose screws.
• Operate at low speed, and check the following items.
Is the emergency stop operating correctly?
Are the limit switches operating correctly?
Is the operating direction of the machinery correct?
Are the operating sequences correct?
sures.
(5) Operation Under Actual Load Conditions
• After adjusting the gain (refer to Section 3-5), operate the Servomotor in a regular pattern and check
the following items.
Is the speed correct? (Use the speed display.)
Is the load torque roughly equivalent to the measured value? (Use the torque command display.)
Are the positioning points correct?
When an operation is repeated, is there any discrepancy in positioning?
Is either the Servomotor or the Servo Driver abnormally overheating?
sures.
3-41
Operation Chapter 3
Jog Operations
Jog operations rotate the Servomotor in a forward or reverse direction using the Parameter Unit. Jog
operations are made possible when system check mode Cn-00 is set to “00.” The items in parentheses
in the following explanation indicate operations using the Handy-type Parameter Unit.
[1] [2]
c n 0 0 DATA
0 0 0 0
[5]
Indicates settings mode. System check mode Data
[4] ON OFF [4]
0 g
1. Using the Up and Down (and Right and Left) Keys, set parameter number “00.” (System check
mode)
2. Press the DATA Key to display the Cn-00 data.
3. Using the Up and Down (and Right and Left) Keys, set data “00.” (Jog operation)
4. Using the MODE/SET Key, turn ON and OFF the jog operation from the Parameter Unit. With the jog
operation ON, operation by the Parameter Unit is enabled. For the run operation, refer to “Operation
Method” below.
5. Press the DATA Key to return to the parameter number display.
6. Press the MODE/SET Key to move from settings mode to monitor mode.
Operation Method
1. With the DATA (SERVO) Key, turn the servo ON and OFF.
2. With the servo ON, press the Up Key to rotate the Servomotor forward.
3. With the servo ON, press the Down Key to rotate the Servomotor in reverse.
Parameters to be Set (User Parameter Cn-10)

The rotational speed during jog operation can be set with user parameter Cn-10, as shown in the follow-
ing table.
PRM No. Parameter name Factory Unit Setting range Explanation
setting
Cn-10 Jog speed 500 r/min 0 to 4,500 Speed setting for jog operation
3-42
Operation Chapter 3
3-5 Making Adjustments
3-5-1 Auto-tuning
Auto-tuning rotates the Servomotor with a load connected (mechanical system), and
automatically adjusts the position loop gain, the speed loop gain, and the speed loop
integration time constant. When adjustments cannot be made by auto-tuning, refer to
3-5-2 Manually Adjusting Gain.
Executing Auto-tuning
Auto-tuning is made possible when the system check mode Cn-00 is set to “05.” The items in paren-
theses in the following explanation indicate operations using the Handy-type Parameter Unit.
[1] [2] [3]
c n 0 0 DATA
0 0 0 5
[6]
[4]
[5]
c 0 0 1 t u n
Mechanical rigidity selection display Auto-tuning display
e n d
Auto-tuning end display
mode)
3. Using the Up and Down (and Right and Left) Keys, set data “05.” (Auto-tuning)
4. Press the MODE/SET Key to display the mechanical rigidity selection. (Refer to Selecting Mechani-
cal Rigidity below.)
5. Press the MODE/SET Key to change to the auto-tuning display. (Refer to the following “Auto-tuning
Procedure.”)
3-43
Operation Chapter 3
Selecting Mechanical Rigidity
Select the set value to match the rigidity of the mechanical system.
Response Set Position loop gain Representative applications
value (1/s)
Low 001 16 Articulated robots,, harmonic drives,, chain drives,, belt drives,,
002 28 k and
rack d pinion
i i d i
drives, etc.
Medium 003 40 XY tables, Cartesian-coordinate robots, general-purpose
machinery, etc.
High
g 004 56 Ball screws ((direct coupling),
g), feeders,, etc.
005 78
006 108
007 130
Note The response will rise according to a rise in the rigidity of the mechanical system.
Auto-tuning Procedure
1. With the DATA (SERVO) Key, turn the servo ON and OFF.
2. While pressing the Up Key, operate the Servomotor three times in the forward direction and adjust
the gain. The auto-tuning will not be complete until the Servomotor has been operated at least three
times. If the auto-tuning is not complete after three times, then repeat the operation while holding
down the Up Key. The Servomotor rotation speed should be approximately 1/2 that of the jog speed
(Cn-10).
1/2 jog speed
0
Approx. 1.1 s Approx. 0.7 s
3. While pressing the Down Key, adjust the gain in the same way for the reverse direction.
4. By executing step 2 or step 3, the user parameter position loop gain (Cn-1A), speed loop gain
(Cn-04), and speed loop integration time constant (Cn-05) will be adjusted automatically. These val-
ues will not be changed, however, until the auto-tuning operation has been completed.
5. When the auto-tuning operation is complete, “. end” will be displayed at the Parameter Unit (while
the Up and Down Keys are being pressed). When the Up and Down Keys are released, “0005” will
again be displayed.
6. If the auto-tuning operation is still not complete even after being executed many times, or if you wish
to abort the operation, press the MODE/SET Key. After the MODE/SET Key is pressed, “0005” will
again be displayed.
Note 1. If the auto-tuning operation is not completed, or if there is an inadequate response for the gain
that is adjusted by auto-tuning, refer to 3-5-2 Manually Adjusting Gain and adjust the gain
manually.
Note 2. The auto-tuning will not be complete until the Servomotor has been operated at least three
times, so pay sufficient attention to the operating range of the machinery. If auto-tuning cannot
be executed within the operating range of the machinery, then adjust the gain manually.
3-44
Operation Chapter 3
3-5-2 Manually Adjusting Gain

There are eleven kinds of parameters for adjusting Servomotor response. For situations
in which the factory settings or the settings derived from auto-tuning alone do not pro-
vide adequate characteristics, the settings can be adjusted manually.
Gain Adjustment Flowchart

For Position Control (Pulse Train Input)
Adjustment procedures for position control are shown in the following flowchart.
Perform auto-tuning to match the rigid-
ity of the mechanical system.
The motor hunts when servo-locked. YES

(Accompanied by a hunting noise.)
NO
Raise the rigidity selection to the value Decrease the rigidity selection so
just before hunting occurs and perform hunting doesn’t occur and perform
auto-tuning. auto-tuning.
Do characteristics such as positioning YES End adjustment.

time meet system specifications?
NO
Increase Cn-04 (speed loop gain) to a

value where hunting doesn’t occur in
servo-lock.
Decrease Cn-05 (speed loop integra-

tion time constant) to a value where
hunting doesn’t occur in servo-lock.
Does hunting (vibration) occur YES

when the motor is operated?
NO
Run the motor and monitor its opera- Decrease Cn-04 (speed loop gain).
tion.
Increase Cn-1A (position loop gain) to Increase Cn-05 (speed loop integra-
a level where overshooting does not tion time constant).
occur.
When vibration can’t be eliminated despite several

adjustments, or when positioning is too slow:
End adjustment.
Increase Cn-17 (torque command filter
time constant).
Increase Cn-28 (compensating gain).
3-45
Operation Chapter 3
For Speed Control (Analog Input)
Adjustment procedures for speed control are shown in the following flowchart.
Perform auto-tuning to match the rigid-
ity of the mechanical system.
The motor hunts when servo-locked. YES

(Accompanied by a hunting noise.)
NO
Raise the rigidity selection to the value Decrease the rigidity selection so
just before hunting occurs and perform hunting doesn’t occur and perform
auto-tuning. auto-tuning.
Do characteristics such as positioning YES End adjustment.

time meet system specifications?
NO
Increase Cn-04 (speed loop gain) to a

value where hunting doesn’t occur in
servo-lock.
Decrease Cn-05 (speed loop integra-

tion time constant) to a value where
hunting doesn’t occur in servo-lock.
Does hunting (vibration) occur YES

when the motor is operated?
NO
Run the motor and monitor its opera- Decrease Cn-04 (speed loop gain).
tion.
When using position control: Increase Cn-05 (speed loop integra-

Reduce Cn-03 (speed command scale) tion time constant).
or the Controller’s position loop gain to
a level where overshooting doesn’t
occur.
When vibration can’t be eliminated despite several
When using speed control: adjustments, or when positioning is too slow:
Set Cn-03 (speed command scale) to
match the desired number of revolu- Increase Cn-17 (torque command filter
tions. time constant).
Increase Cn-28 (compensating gain).

End adjustment.
3-46
Operation Chapter 3
Adjustment Parameters
The user parameters for making adjustments are shown in the following table. The symbols following
each parameter name indicate which control modes that particular parameter can be used for. (P: Posi-
tion control; S: Speed control; T: Torque control)

No. setting range
Cn-04 Speed loop gain 80 Hz 1 to Adjusts the speed loop response. As this is
(P, S) 2,000 made higher, the servo rigidity is strength-
ened. The greater the inertia rate, the
higher this is set. If it is set too high, oscilla-
tion will occur. (See the illustration following
this table.)
Cn-05 Speed loop integra- 2,000 0.01 ms 200 to Speed loop integration time constant. As
tion time constant 51,200 this is made longer, the response is short-
(P, S) ened and the resiliency toward external
force is weakened. If it is set too short,
vibration will occur. (See the illustration fol-
lowing this table.)
Cn-17 Torque command 4 0.1 ms 0 to 250 Sets torque command filter time constant.
filter time constant Make this large in order to reduce oscilla-
(P, S, T) tion and vibration due to machinery reso-
nance frequency. The filter characteristics
are switched by the torque command filter
degree (bit no. C of Cn-02).
Cn-1A Position loop gain 40 l/s 1 to For speed control, this function is valid only
(P, S) 1,000 when position-lock function is used. For
position lock, use it for servo-lock adjust-
ment.
Servo system responsiveness is deter-
mined by position loop gain. When position
loop gain is high, responsiveness increases
and positioning can be speeded up. In
order to increase position loop gain, it is
necessary to increase mechanical rigidity
and thereby increase the natural frequency
(oscillation). In general, the setting range is
50 to 70 (l/s) for construction machinery, 30
to 50 (l/s) for general-purpose and assem-
bly equipment, and 10 to 30 (l/s) for indus-
trial robots. The factory setting is 40 (l/s),
so it should be reduced for systems with
low mechanical rigidity.
If position loop gain is increased for a sys-
tem with low mechanical rigidity, or with low
natural frequency, resonance will occur and
an overload alarm will be generated.
If position loop gain is low, positioning time
can be shortened by using feed-forward or
the bias function.
(For more detail, see the illustration follow-
ing this table.)
3-47
Operation Chapter 3

No. setting range
Cn-1b Positioning comple- 3 Com- 0 to 250 Sets the positioning completion range with
tion range mand input command pulses. (The settings are
(P) ordinarily based on the precision required
by the machine.) positioning completion
outputs smaller than required are slower.
Caution: If this setting is too high, when
there are few residual pulses the position-
ing completion output may turn ON while
the motor is still rotating at low speed.
Cn-1C Bias rotational 0 r/min 0 to 450 Used to shorten positioning time. The
speed higher this parameter is set, the more the
(P) positioning time is shortened. If it is set too
high, however, operation will be unstable.
Gradually increase the setting from 0 r/min
while observing the response.
Cn-1d Feed-forward 0 % 0 to 100 Effective when position loop gain is small,
(P) i.e., less then 25 (1/s), but ineffective when
it is large. Setting this parameter too high
will increase overshooting. The feed-for-
ward amount is added directly to the speed
loop, bypassing the deviation counter and
thereby speeding up the response (when
load system is not slowed by command).
Before adjusting the feed-forward amount,
check to be sure that the position loop has
been completely adjusted and that the
speed loop is operating with stability.
Start from 0% and increase the setting
gradually. If the feed-forward amount is set
too high, speed commands become like
sawtooth waves and abnormal noises
occur. Be careful when setting this parame-
ter so that the positioning completion signal
doesn’t repeat the ON/OFF cycle and
speed overshooting doesn’t occur.
Cn-1E Deviation counter 1,024 x 256 1 to The residual pulses in the deviation counter
overrun level com- 32,767 are equivalent to the command pulse fre-
(P) mand quency divided by the position loop gain.
units Divide this value by 256 to set a further
allowance.
Cn-26 Position command 0 0.1 ms 0 to 640 Sets the pulse smoothing time constant.
acceleration/decel- The motor accelerates and decelerates
eration constant according to this setting even when posi-
(P) tion command pulses are input in steps.
This is the position command software start
function. The acceleration time is the same
as the deceleration time. Set this parame-
ter to 0 ms when using a positioner with an
acceleration/deceleration function.
3-48
Operation Chapter 3

No. setting range
Cn-27 Feed-forward com- 0 0.1 ms 0 to 640 Sets the filter so that the feed-forward
mand filter amount is not added suddenly when posi-
(P) tion command pulses are input in steps.
Cn-28 Compensating gain 0 --- 0 to 100 Decreases the speed loop gain by the set
(P, S) value when a large torque is output due to
acceleration, deceleration, etc. Increasing
the set value reduces motor oscillation, and
positioning time can be shortened. If the
set value is too large, a follow-up delay will
occur for acceleration and deceleration.
Adjusting Speed Loop Gain (Cn-04)

When the speed loop gain is manipulated, the response is as shown in the diagram below.
Overshoots when speed loop gain is
high. (Oscillates when gain is too high.)
Motor speed
(speed monitor)
When speed loop gain is low.
Time
3-49
Operation Chapter 3
Adjusting the Speed Loop Integration Time Constant (Cn-05)
When the speed loop integration time constant is manipulated, the response is as shown in the diagram
below.
Overshoots when speed loop integral time constant is short.
Motor speed
(speed monitor)
When speed loop integral time
constant is long.
Time
Position Loop Gain (Cn-1A)

Position loop gain is generally expressed as follows:
Command pulse frequency (pulses/s)

Position loop gain (Kp) = (1/s)
Deviation counter residual pulses (pulses)
When the position loop gain is manipulated, the response is as shown in the diagram below.
When position loop gain is high
Motor
speed
(speed
monitor)
When position loop gain is low
Time
3-50
Operation Chapter 3
Position Loop Block Diagram (Reference)

Cn-1d Cn-24,25 Cn-27 Cn-1C
Feed- Electronic Feed-for- Bias rota-
forward gear ratio ward com- tional
mand filter speed
amount G1/G2
Cn-1b
Cn-02: Bits Positioning
5, 4, and 3 completion
Command Cn-26 Cn-24,25 range Cn-1A
Position com-
Cn-04,05 Cn-17
pulses Command mand Electronic Speed Current
Position
pulse Acceleration/ gear ratio + loop loop
deceleration loop gain +
mode time constant G1/G2 Deviation –
counter
Cn-28
– Cn-1E + Comp.
+ gain
Speed
Cn-0A ×4 detection
Encoder
Encoder divider ×4
output rate
E M
Encoder Motor
3-51
Operation Chapter 3
3-5-3 Adjusting Command Offset
Use the following procedure to adjust the analog voltage offsets for the speed command
and torque command.
Command offset can be adjusted either automatically or manually.
The torque command’s offset can’t be adjusted manually, so adjust it automatically.
Adjusting Instruction Offset Automatically

Automatic adjustment of command offset is made possible when the system check mode Cn-00 is set to
“01.” The items in parentheses in the following explanation indicate operations using the Handy-type
Parameter Unit.
[1] [2] [3]
c n 0 0 DATA
0 0 0 1
[6]
[5]
Instruction offset automatic

adjustment executed.
mode)
3. Using the Up and Down (and Right and Left) Keys, set data “01.” (Instruction offset automatic
adjustment)
4. Input the voltage required to set the speed command input (REF) and the torque command input
(TREF) to zero rotation speed and zero output torque respectively. (Normally 0 V.)
5. Press the MODE/SET Key to automatically adjust the command offset.
3-52
Operation Chapter 3
Adjusting Instruction Offset Manually

Manual adjustment of command offset is made possible when the system check mode Cn-00 is set to
“03.” The items in parentheses in the following explanation indicate operations using the Handy-type
Parameter Unit.
[1] [2] [3]
c n 0 0 DATA
0 0 0 3
[5]
[4]
Offset data
a 0 0 2
Speed command input offset adjustment display
[5]
b 0 0 5
Torque command input offset adjustment display
mode)
3. Using the Up and Down (and Right and Left) Keys, set data “03.” (Instruction offset manual adjust-
ment)
4. Press the MODE/SET Key to change to the manual adjustment display. Refer to “Instruction Offset
Manual Adjustment Method” below.
Instruction Offset Manual Adjustment Method

Input the voltage required to set the speed command input (REF) to zero rotation speed. (Normally 0 V.)
1. While the Up Key is being pressed, an offset is added in the forward direction.
2. While the Down Key is being pressed, an offset is added in the reverse direction.
3. Press the MODE/SET Key to save the offset data to memory and return to the data display.
Note When the offset data display indicates zero, it is not necessarily the optimal adjustment. For
speed control, make the offset adjustment determination based on Servomotor movement; for
position control, make the determination based on the amount of accumulated pulses in the devi-
ation counter.
3-53
Operation Chapter 3
3-6 Regenerative Energy Absorption
3-6-1 Calculating Regenerative Energy
Regenerative energy produced at times such as Servomotor deceleration is absorbed

by the Servo Driver’s internal capacitors, thereby preventing an increase in DC voltage.
If the regenerative energy from the Servomotor becomes too large, however, an over-
voltage error will occur. In such cases, it is necessary to reduce the regenerative energy
by taking an action such as changing operation patterns.
Regenerative energy is produced when the direction of Servomotor rotation or output torque is
reversed. The methods for calculating regenerative energy for the horizontal and vertical shafts are
explained below.
Horizontal Axle
+N1
Motor operation
–N2
ÉÉ
TD2
ÉÉÉÉ ÉÉ
Motor output
torque
ÉÉÉÉ
TD1 Eg2
ÉÉ
Eg1
ÉÉÉÉ t1
T
t2
Note In the output torque graph, acceleration in the positive side (rising) is shown as positive, and
acceleration in the negative side (falling) is shown as negative.
The regenerative energy for each section can be found by means of the following formulas:
Eg1 = 1/2 N1 TD1 t1 1.027 × 10–2 [J]
Eg2 = 1/2 N2 TD2 t2 1.027 × 10–2 [J]
N1, N2: Rotation speed at beginning of deceleration [r/min]
TD1, TD2: Deceleration torque [kgf cm]
t1, t2: Deceleration time [s]
Note There is some loss due to winding resistance, so the actual regenerative energy will be approxi-
mately 90% of the figure derived by the formula.
3-54
Operation Chapter 3
To find the regenerative processing capacity, it is necessary to calculate the average regenerative
power.
1. Energy (Eg) consumed by regenerative resistance:

The regenerative energy that cannot be absorbed by the Servo Driver’s internal capacitors is con-
sumed by regenerative resistance. This energy can be found by means of the following formula:
Eg = (Eg1 – Ec) + (Eg2 – Ec) [J]
Ec is the regenerative energy absorbed by the capacitors. (This value varies according
to the model.)
If either (Eg1 – Ec) or (Eg2 – Ec) is less than zero, calculate as if it were zero.
2. Average regeneration amount (Pr):
Power consumed by regenerative resistance in one cycle of operation (unit: W):
Pr = Eg/T [W]
T: Operation cycle [s]
This average regeneration amount must be no more than the average regenerative amount for the
Servo Driver.
Vertical Axle
+N1
Falling
Motor operation
Rising
–N2
Eg2
ÉÉÉ
ÉÉÉ
TD2
Eg3
ÉÉÉ ÉÉÉÉ
ÉÉÉ Tt2
ÉÉÉ
Motor output
torque
Eg1 TD1 TL
t1 t2 t3
Note In the output torque graph, acceleration in the positive direction (rising) is shown as positive, and
acceleration in the negative direction (falling) is shown as negative.
The regenerative energy for each section can be found by means of the following formulas:
Eg1 = 1/2 N1 TD1 t1 1.027 × 10–2 [J]
Eg2 = N2 TL2 t2 1.027 × 10–2 [J]
Eg3 = 1/2 N2 TD2 t3 1.027 × 10–2 [J]
N1, N2: Rotation speed at beginning of deceleration [r/min]
TL2: Torque when declining [kgf cm]
3-55
Operation Chapter 3
TD1, TD2: Deceleration torque [kgf cm]
t1, t3: Deceleration time [s]
t2: Travel time equivalent to torque when declining [s]
Note There is some loss due to winding resistance, so the actual regenerative energy will be approxi-
mately 90% of the figure derived by the formula.
To find the regenerative processing capacity, it is necessary to calculate the average regenerative
power.
1. Energy (Eg) consumed by regenerative resistance:

The regenerative energy that cannot be absorbed by the Servo Driver’s internal capacitors is con-
sumed by regenerative resistance. This energy can be found by means of the following formula:
Eg = (Eg1 – Ec) + (Eg2+ Eg3 – Ec) [J]
Ec is the regenerative energy absorbed by the capacitors. (This value varies according
to the model.)
If either (Eg1 – Ec) or (Eg2+ Eg3 – Ec) is less than zero, calculate as if it were zero.
2. Average regeneration amount (Pr):
Power consumed by regenerative resistance in one cycle of operation (unit: W):
Pr = Eg/T [W]
T: Operation cycle [s]
This average regeneration amount must be no more than the average regenerative amount for the
Servo Driver.
3-6-2 Servo Driver Absorbable Regenerative Energy
Regenerative Energy Absorbed Internally

The Servo Driver absorbs regenerative energy by means of an internal capacitor. If there is more regen-
erative energy than can be absorbed by the capacitor, an overvoltage error will be generated and opera-
tion cannot continue. The amounts of regenerative energy that can be absorbed by the various Servo
Drivers alone are shown in the tables below. If regenerative energy exceeding these values is pro-
duced, take the following measures.
• Lower the operating rotation speed. (The regenerative energy is proportional to the square of the
rotation speed.)
• Lengthen the deceleration time. (Reduce the amount of regenerative energy per unit time.)
• Lengthen the operating cycle (i.e., the cycle time). (Reduce the average regenerative power.)
Servo Driver model Absorptive regeneration energy Average absorbable regenerative energy
Ec (J) (W)
R88D-UT24H/V 24.3 28
R88D-UT40H/V 24.3 28
R88D-UT60H/V 64.3 28
R88D-UT80H/V 64.3 28
R88D-UT110H 107 56
R88D-UT120H 107 56
3-56
Operation Chapter 3
Servo Driver model requiring exter- Absorptive regeneration energy

nal regenerative resistor Ec (J)
R88D-UT24V-RG 24.3
R88D-UT40V-RG 24.3
R88D-UT60V-RG 64.3
R88D-UT80V-RG 64.3
R88D-UT110V 119
Note 1. The Servo Drivers requiring external regenerative resistors do no have built-in regenerative
resistors. Be sure to install Regenerative Resistors that correspond to the amount of regen-
erative energy.
Note 2. The input voltage is the value at 200 VAC. As the input voltage is increased, the amount of
regenerative energy that can be absorbed is decreased.
3-6-3 Absorption of Regenerative Energy with External

Regenerative Resistors Connected to Models Complying
with EC Directives
If there is excessive regenerative energy that cannot be absorbed by the Servo Driver, use a Servo
Driver model to which external regenerative resistors can be connected. An appropriate number of
external regenerative resistors must be connected between the + and B terminals of the Servo Driver.
Do not connect external regenerative resistors to any other terminals of the Servo Driver, otherwise the
Servo Driver may be damaged. The temperature of the external regenerative resistors rises by approxi-
mately 120°C. Be sure to keep them away from any device or wiring that may be affected by heat. Be
sure to attach proper heat sinks to the external regenerative resistors before use.
External Regenerative Resistor
Model
Model Resistance Nominal Absorption of Heat Thermal
capacity regenerative energy at radiating switch output
120°C temperature rise condition specification
R88A-RR22047S 47Ω±5% 220 W 70 W t1.0 x 350 Operating
(SPCC) temperature:
170°C
Combinations of External Regenerative Resistors

Regenerative absorption capacity
70 W 280 W 1120 W
Combination
Note Make sure to combine external regenerative resistors so that their regeneration absorbing capac-
ity exceeds the average regenerative power (Pr).
3-57
Operation Chapter 3
Dimensions
Thermal switch output
Wiring of External Regenerative Resistor

The external regenerative resistor must be connected between + and B terminals (or between +1 and B
terminals for the R88D-UT110V).
External regenerative resistor
Note Like the ALM output of the Regeneration Unit, the power source of thermal switch output should
turn power off when the contact is open. Refer to 2-3-4 Peripheral Device Connection Examples.
3-58
4Chapter 4
Application
4-1 Absolute Encoder Setup and Battery Changes
4-2 Using Displays
4-3 Using Monitor Output
4-4 Protective and Diagnostic Functions
4-5 Periodic Maintenance
Application Chapter 4

4-2
4-1 Absolute Encoder Setup and Battery Changes
This section explains how to carry out the setup procedure and change the battery for an
absolute encoder.
4-1-1 Absolute Encoder Setup [Absolute]

The setup procedure is required when the mechanical rotation data is set to “0” at the time of Servomo-
tor trial operation, or when the absolute encoder is left for more than two days without a battery con-
nected. (If it is left for more than two days without a battery connected, the internal capacitor voltage
drops and internal components may not operate properly.)
Setup Procedure
Be sure to follow this procedure carefully. Any mistakes in carrying out this procedure could result in
faulty operation.
1. Resetting Data
Connect (short-circuit) the encoder connector terminals R
and S (at the Servomotor) for at least two minutes. (Refer to
the illustration on the right.) Then remove the connecting line
and check to be sure that there is a maximum voltage of 0.4 V
between R and S (with the S terminal as the ground). If the
voltage between the terminals is more than 0.4 V, reconnect
the line between them.
2. Turning On Power to the Servo Driver
Be sure to wire the Servo Driver and the Servomotor properly. Connect the battery to supply battery
power to the encoder and wait for several seconds. Then turn on the power to the Servo Driver.
3. Inputting the SEN Signal (CN1-4)
Turn ON the SEN signal. When the SEN signal is turned ON, a +5-V power supply will be provided to
the encoder.
As long as there is no error, the setup procedure is complete at this point. If alarm A.00 is generated,
repeat the procedure beginning with step 1.
Note When removing encoder connectors, leave the power on for at least 30 minutes with the SEN
signal ON. If there is to be no battery connected, the data for the amount of rotation will be retained
for two days.
Setup Precautions
Note 1. When connecting to the CV500-MC221/421 or C200H-MC221, carry out the setup close to
the mechanical origin.
Note 2. An error will be generated if the absolute data exceeds +32,767 pulses when making the initial
settings for the CV500-MC221/421 or C200H-MC221.
4-3
4-1-2 Replacing Batteries [Absolute]
Lithium Batteries
Be sure to use a battery so that position data will be retained even in case of a power interruption for the
absolute encoder. The following batteries are recommended.
Maker Model Voltage Electrical capacity Remarks
Toshiba Corp. ER6V 3.6 V 2,000 mA • h One/Servo Driver
Service life: Approx. 10 years
Hitachi Maxell, Ltd. ER6 3.6 V 2,050 mA • h One/Servo Driver
Service life: Approx. 10 years
OMRON (made by C500-BAT08 3.6 V 1,650 mA • h One/Servo Driver
Hitachi Maxell, Ltd.) (ER17/33) Service life: Approx. 7 years
Note If the Servo Driver’s internal power supply is turned OFF, the battery voltage will not be monitored.
Be careful to ensure that the voltage does not fall below 2.8 V. If required, install a battery voltage
drop detection circuit or monitor in the system.
Battery Replacement Method

The following procedure can be used to replace the battery without losing the encoder’s rotation data.
1. Turn on the power to the Servo Driver and turn ON the SEN signal, and leave them for at least 30
minutes to charge the encoder’s internal capacitors.
2. Replace the battery. Connect the battery between the Servo Driver’s control I/O connector (CN1)
pin nos. 21 and 22.
21: BAT Backup battery + input (Connect a 2.8- to 4.5-VDC battery.)
22: BATGND Backup battery – input (ground for backup battery)
The battery can be replaced with the power either turned on or off.
Note 1. After step number 1 above has been implemented, the encoder will operate properly for two
days even with the battery removed.
Note 2. When replacing the battery, be careful not to short-circuit across the battery’s plus and minus
terminals.
Note 3. When cutting battery lead lines, cut plus and minus lines separately. If they are cut simulta-
neously, they may short circuit and cause sparks.
Note 4. Dispose batteries according to the specified methods. Never throw the battery into a fire,
otherwise it may explode.
4-4
4-2 Using Displays

OMRON U-series AC Servomotors have unique servo software that enables quantita-
tive monitoring in real time, on digital displays, of changes in a variety of characteristics.
Use these displays for checking the various characteristics during operation.
4-2-1 Display Functions

Servo Driver Displays
There are three LED indicators on the Servo Driver itself. One is for the power supply, one is for alarms,
and the other is a charge indicator.
Symbol Name Color Function
POWER Power supply Green Lit when control power supply is normal.
indicator
ALARM Alarm indicator Red Lit when error occurs.
CHARGE Charge indicator Red Lit when main-circuit power supply is charging.
Power supply indicator
Alarm indicator
Charge indicator
Charge Indicator (CHARGE) Function

The charge indicator lights when the voltage is added to the main-circuit power supply capacitors in the
Servo Driver.
! Caution Even after the AC power supply has been interrupted, the charge lamp remains lit to
indicate that voltage is remaining. Wait until this indicator turns off before touching
the terminal block for inspection or any other purpose. Touching the terminal block
while this indicator is lit can result in electrical shock.
4-5
Parameter Unit Displays

When a Parameter Unit is connected, monitoring can be conducted by means of a 5-digit 7-segment
LED.
R88A-PR02U Handy Type R88A-PR03U Mounted Type
Parameter Unit Key Functions

The contents displayed by the Parameter Unit can be changed by key operations.
Handy type Mounted type Function
R88A-PR02U R88A-PR03U
RESET Alarm reset
+
Mode switching; data memory
SERVO DATA
Servo ON/OFF during jog operations
DATA DATA
Switching between parameter display
and data display; data memory
Increments parameter numbers and
data values.
Decrements parameter numbers and
data values.
Left shift for operation digits
Right shift for operation digits
4-6
Types of Modes
There are four types of modes for Parameter Unit displays. The functions in each mode are shown in the
following table.
Mode Function
Status display mode Bit display: Control-circuit power supply ON display, main-circuit power supply
ON display, base block, positioning completion/speed conformity,
rotation detection, inputting command pulses / inputting speed com-
mand, inputting torque command / inputting deviation counter reset
signal
Symbol display: Base block, operating, forward rotation prohibited, reverse rotation
prohibited, alarm display
Settings mode System check: Jog operations, command offset automatic adjustment, alarm his-
tory data clear, command offset manual adjustment, motor parame-
ters check, auto-tuning
Setting and checking setup parameters
Setting and checking user parameters
Monitor mode Speed feedback, speed commands, torque commands, number of pulses from
U-phase, electrical angle, internal status bit display, command pulse speed display,
position deviation, input pulse counter
Alarm history display Displays contents of alarms that have been previously generated (up to a maximum
mode of 10).
Changing the Mode

Use the MODE/SET Key to change from one mode to another.
Status display Alarm history

Power ON mode Settings mode Monitor mode display mode
(Display example) bb cn00 un00 0 a.0 2
4-7
4-2-2 Status Display Mode

The status display mode is entered when powering up or by means of the MODE/SET Key. In the status
display mode, Servo Driver status is displayed in two ways: bit data and symbols. These displays are
shown in the following illustration.
Rotation detected
Positioning completion (position control)
Command pulses being input (position control)
Speed conformity (speed control)
Speed commands being input (position control)
Base block
b b
Main-circuit power supply ON
Control-circuit Torque commands being input (torque control)
power supply ON Deviation counter reset signal being input (position control)
Bit data display Symbol display
Bit Data Display Contents

Bit data Contents
Control-circuit power supply ON Lit when Servo Driver control-circuit power supply is ON.
Main-circuit power supply ON Lit when Servo Driver main-circuit power supply is ON.
Base block Lit during base block (no power to motor); dimmed when servo is ON.
Positioning completion Lit when the residual pulses in the deviation counter fall below the posi-
tioning completion range set for Cn-1b.
Speed conformity Lit when the motor rotation speed is within the range of (speed com-
mand value ± [Cn-22 set value]).
Rotation detection Lit when the motor rotation speed is equal to or greater than the rotation
speed for motor rotation detection (Cn-0b).
Inputting command pulses Lit when command pulses are being input.
Inputting speed command Lit when a speed command input meets the rotation speed for motor
rotation detection (Cn-0b).
Inputting torque command Lit when a torque command at least 10% of the rated torque is input.
Inputting deviation counter reset Lit when the deviation counter reset signal is being input.
signal
Symbol Display Contents

Symbol display Contents
bb Base block (no power to motor)
rUn Operating
p%t Forward rotation prohibited
n%t Reverse rotation prohibited
a. Alarm display (Refer to alarm table.)
4-8
4-2-3 Monitor Mode
Types of Monitoring
In monitor mode, ten types of monitoring can be carried out.
Monitor no. Monitor contents Unit Explanation
00 Speed feedback r/min Displays actual rotation speed of motor.
01 Speed command r/min Displays command to speed loop. (The display
is “0” for position control by pulse train input.)
02 Torque command % The command to the current loop is displayed
as 100% of the rated torque.
03 Number of pulses from Pulses The number of pulses from the U-phase edge
U-phase edge is displayed in units of encoder resolution.
(There is an uncertainty of about ±5 pulses.)
Incremental: Displays pulse number with 1/4
turn being 4,096 pulses.
Absolute: Displays pulse number with one turn
being 32,768 pulses.
04 Electrical angle Degrees Displays the electrical angle of the motor.
05 Internal status bit display 1 --- Displays
y Servo Driver internal information as
06 Internal status bit display 2 either
i h lilit or not lilit.
07 Command pulse speed dis- r/min Calculates and displays command pulse fre-
play quency in r/min.
08 Position deviation (deviation Command Displays residual pulses in deviation counter
counter) by command units (input pulse standard).
09 Input pulse counter Command Counts and displays input pulses.
Operation in Monitor Mode

In order to conduct monitoring, first go into monitor mode and then set the monitor number and press the
DATA Key. The items in parentheses in the following explanation indicate operations using the Handy-
type Parameter Unit.
[3]
DATA
u n 0 0 DATA
3 0 0 0
Monitor mode Monitor no. [4] Monitor data
1. Press the MODE/SET Key to go into monitor mode.

2. Using the Up and Down (and Right and Left) Keys, set the monitor number.
3. Press the DATA Key to display the monitor data.
4. Press the DATA Key to return to the monitor number display.
5. Press the MODE/SET Key to move from monitor mode to alarm history display mode.
4-9
Internal Status Bit Display (Un-05, Un-06)

Internal status is displayed by 7-segment bit lighting. The bit number allocation is shown in the following
diagram.
13 10 7 4 1
14 11 8 5 2
15 12 9 6 3
16 17 18 19 20
Monitor no. Bit no. Symbol Contents

Un-05 1 ALM Lit when alarm is generated.
2 DBON Lit during dynamic brake operation.
3 DIR Lit when in reverse rotation mode (when Cn-02 bit no. 0 = 1).
4 TGON Lit when the motor rotation speed is equal to or greater than the
rotation speed for motor rotation detection (Cn-0b).
5 INP Lit when residual pulses in the deviation counter are no more
than the setting of Cn-1b (positioning completion range).
VCMP Lit when the motor rotation speed reaches the speed command
value ± the Cn-22 set value.
6 PCON Lit when the speed control loop is in P control.
7 PCL/SPD1 Lit when forward rotation current limit / speed selection command
1 (CN1-45) is ON.
8 NCL/SPD2 Lit when reverse rotation current limit / speed selection command
2 (CN1-46) is ON.
9 SVON Lit when motor is receiving power.
10 A Encoder A phase (Lit when there is a signal)
11 B Encoder B phase (Lit when there is a signal)
12 Z Encoder Z phase (Lit when there is a signal)
13 PU Poll sensor U phase [Incremental]
14 PV Poll sensor V phase [Incremental]
15 PW Poll sensor W phase [Incremental]
16 RUN Lit when run command is ON.
17 MING/PLOCK Lit when CN1-41 is ON. (Input signal functions change according
TVSEL/RDIR/ to parameter settings.)
IPG
18 POT Lit when forward drive prohibit input is ON.
19 NOT Lit when reverse drive prohibit input is ON.
20 SEN Lit when the sensor-on signal is ON. [Absolute]
4-10
Monitor no. Bit no. Symbol Contents

Un-06 1 CW Lit during CW command pulse input.
2 CCW Lit during CCW command pulse input.
3 ECRST Lit when the deviation counter reset input is ON.
4 CLIMT Lit when commands to the current loop are limited by the torque
limit (Cn-08, 09, Cn-18, 19 or TREF).
5 BKIR Lit when external brake interlock output is ON.
6 OLWRN Turns off when at least 20% of overload detection level is
reached.
7 PON Lit while Servo Driver’s main-circuit power supply is on.
8 READY Lit if an error occurs after main-circuit power supply is turned on.
9 to 20 (Not used.)
4-2-4 Checking Servomotor Parameters
Servomotor parameters can be checked when system check mode Cn-00 is set to “04.”
Servomotor parameters are the Servomotor specifications that can be controlled by that
Servo Driver. They are not the specifications of the Servomotor that is connected. Use
this to check whether the Servo Driver and Servomotor combination is suitable.
Servomotor Parameter Checking Operation

The items in parentheses in the following explanation indicate operations using the Handy-type Param-
eter Unit.
[1] [2] [3]
c n 0 0 DATA
0 0 0 4
[5]
[4]
[4]
[4]
f 0 0 0 a y 0 0 0 0
mode)
3. Using the Up and Down (and Right and Left) Keys, set data “04.” (Servomotor parameter check)
4. Press the MODE/SET Key to check the Servomotor parameters in order.
4-11
Parameter Display Contents

Servomotor Parameters
f 0 0 0 a
Motor capacity 0A: 1.0 kW
0F: 1.5 kW
Motor type 00: 200-V type 14: 2.0 kW
1E: 3.0 kW
2C: 4.0 kW
2C: 5.0 kW
Particular Specifications
y 0 0 0 0
User specifications number (hexadecimal display)
4-3 Using Monitor Output

The Servo Driver outputs, in analog, according to parameter settings, a voltage propor-
tional to the Servomotor rotation speed, motor current, speed command value, and devi-
ation counter amount. The monitor voltage is output from the monitor output connector
(CN4) and from pin nos. 16 and 17 of the control I/O connector (CN1). This function can
be used in situations such as making fine gain adjustments or when a meter is attached
to the control panel.
Analog Monitor Output Terminals (Front of the Servo Driver)
CN4 pin allocation
4-12
Monitor Output Circuit
CN4-2 AM terminal
47 Ω Current monitor or speed command monitor /
CN1-16 command pulse speed monitor
CN4-1 NM terminal
47 Ω Speed monitor or deviation counter monitor
CN1-17
CN4-3,4
Ground
CN1-1
Setup Parameter Settings

Analog monitor output contents can be selected by means of bit nos. 6 and 7 of setup parameter no. 2
(Cn-02). The settings are shown in the following table.

setting
Monitor switch 1 6 0 0 Takes AM (CN1-16 and CN4-2) analog monitor
output as current monitor output.
1 Takes AM (CN1-16 and CN4-2) analog monitor
output as speed command monitor output (for speed
control) or command pulse speed monitor output (for
position control). Not valid for torque control (i.e., set
to 0 V).
Monitor switch 2 7 0 0 Takes NM (CN1-17 and CN4-1) analog monitor
output as speed monitor output.
1 Takes NM (CN1-17 and CN4-1) analog monitor
output as deviation counter monitor output. Not valid
for speed or torque control (i.e., set to 0 V).
Parameter Unit E 0 0 Takes deviation monitor as x1 command units.
monitor
i switch
i h level
l l 1 Takes deviation monitor as x100 command units.
Note 1. When the Parameter Unit’s monitor switch level (bit no. E of Cn-02) is set to “1” (x100 com-
mand units), the deviation counter monitor output becomes 0.05 V / (x100 command units).
Note 2. When the Parameter Unit’s monitor switch level (bit no. E of Cn-02) setting is changed, the
change does not go into effect until the power has been turned off and then on again. (Check
to be sure that the LED indicator has turned off.)
4-13
Monitor Output Specifications

Speed monitor With 0 V as center, voltage output at 1 V/(1000 r/min) ratio.
Speed command monitor Forward rotation: (–) voltage; reverse rotation: (+) voltage
Command pulse speed Output accuracy: approximately ±10%
monitor
Current monitor With 0 V as center, voltage output at 2 V/(rated torque) ratio.
Forward acceleration: (–) voltage; reverse acceleration: (+) voltage
Output accuracy: approximately ±10%
Deviation counter monitor With 0 V as center, voltage output at 0.05 V/(command unit: Cn-02, bit no.
E) ratio.
When the deviation counter value is positive, a negative voltage is output,
while a positive voltage is output when the value is negative.
Output accuracy: approximately ±10%
4-14
4-4 Protective and Diagnostic Functions

4-4-1 Alarm Displays and Alarm Code Outputs
The Servo Driver has the error detection functions shown below. When an error is
detected, the alarm output (ALM ) and the alarm code output (ALO1-3) are output, the
Servo Driver’s internal power drive circuit is turned off, and the alarm is displayed.
Alarm Table
Dis- Alarm code Alarm Error detection func- Detection contents; cause of error
play
l ALO1 ALO2 ALO3 ALM tion
i
a.00 OFF OFF OFF OFF Absolute data error Absolute data error at time of SEN sig-
[Absolute] nal input detected.
a.02 OFF OFF OFF OFF Parameter corruption The checksum for the parameters
read from the EEP-ROM does not
match.
a.04 OFF OFF OFF OFF Parameter setting Incorrect parameter setting.
error
a.10 ON OFF OFF OFF Overcurrent Overcurrent detected.
a.30 ON ON OFF OFF Regeneration error Regeneration circuit damaged due to
large amount of regenerative energy.
a.31 ON ON OFF OFF Deviation counter Deviation counter residual pulses
over exceeded level set for Cn-1E.
a.40 OFF OFF ON OFF Overvoltage or Main circuit DC voltage outside of the
insufficient voltage allowable range (150 to 420 VDC).
a.51 ON OFF ON OFF Over speed Detected at 4,950 r/min.
a.71 ON ON ON OFF Overload Detected at reverse limit characteris-
tics when 135% of the rated torque
was exceeded.
a.72 ON ON ON OFF Overload Detected at reverse limit characteris-
tics for 120% to 135% of the rated
torque.
a.80 OFF OFF OFF OFF Encoder error Error detected in the number of feed-
[Absolute] back pulses during one revolution.
a.a1 ON ON ON OFF Radiation shield over- Abnormal temperature rise detected in
heating radiation shield.
a.b1 OFF OFF OFF OFF Command input read- The A/D end signal was not output
ing error from the A/D converter within a fixed
time.
a.c1 ON OFF ON OFF Runaway detected. Faulty power or encoder wiring.
a.c2 ON OFF ON OFF Phase error detected. Connector not properly connected.
Encoder not properly wired.
a.c3 ON OFF ON OFF Encoder A or B phase Either Phase A or Phase B signal was
wire disconnection. disconnected or short circuited.
a.c4 ON OFF ON OFF Encoder S phase wire Encoder S phase (Z phase) was dis-
disconnection. connected or short circuited.
a.f1 OFF ON OFF OFF Missing phase Main-circuit power supply missing
detected. phase or disconnection detected.
a.99 OFF OFF OFF ON Alarm reset power This is history data only, and is not an
supply turned on. alarm.
4-15
Dis- Alarm code Alarm Error detection func- Detection contents; cause of error
play ALO1 ALO2 ALO3 ALM tion
cpf00 OFF OFF OFF OFF Parameter Unit trans- Data could not be transmitted after the
mission error 1 power supply was turned on. (It no
longer exists in the alarm history.)
cpf01 --- --- --- --- Parameter Unit trans- Transmission timeout error (It no
mission error 2 longer exists in the alarm history.)
Note “---” means indefinite.
Alarm Output
This section explains the timing of alarm outputs when the power is turned on and when
alarms occur, and it explains how to clear the alarms.
Timing Chart
Power supply input ON
(R/S/T/r/t or
OFF
L1/L2/L3/L1C/L3C)
Run command ON
RUN OFF
Error
Error occurs
6 ms min.
Alarm reset ON
RESET OFF
Approx.
2s 6 ms max.
Alarm output ON
ALM OFF
Approx.
0 to 35 ms max. 350 ms
Power on
Power to
motor Power off
Alarm Output Circuit

Output specifications: 30 V, 50 mA max.
31 ALM When normal: Output transistor ON
Photocoupler
output circuit Alarm output For alarm: Output transistor OFF
32 ALMCOM
Clearing Alarms
• Any of the following three methods can be used to clear an alarm.
Turn ON the alarm reset signal (RESET).
Power up again. (An overcurrent error (A.10) can’t be cleared just by powering up again.)
Use the Parameter Unit reset operation.
4-16
! Caution If an alarm is cleared while the run command (RUN) is ON, operation will begin
immediately after the alarm is cleared, which could be dangerous. Turn the run com-
mand off before clearing alarms.
When the run command is ON and bit 0 of setup parameter Cn-01 is set to “1” (Servo
always ON), be sure that it is safe to resume operation before clearing an alarm.
Overload Characteristics (Electron Thermal Characteristics)
An overload protection function (electron thermal) is built into the Servo Driver to protect
against Servo Driver or Servomotor overload. If an overload (A.71 to A.72) does occur,
first clear the cause of the error and then wait at least one minute for the Servomotor
temperature to drop before turning on the power again. If the power is turned on again
too soon, the Servomotor coil may be damaged.
Overload characteristics are shown in the following table. If, for example, a current of three times the
Servomotor’s rated current flows continuously, it will be detected after approximately three seconds.
Operation time (s)
Load ratio (%)
Note The load ratio is calculated in relation to the Servomotor’s rated current.
Servomotor current
Load ratio (%) = × 100
Servomotor rated current
4-17
Alarm History Display Mode

The Servo Driver stores the history of the 10 most recent alarms that have been gener-
ated. The alarm history can be displayed by going into the alarm history display mode
and using the Up and Down Keys.
Alarm History Display Contents

• A maximum of 10 items of alarm history data can be saved.
• The alarm history data item “A.99” is saved when an alarm is reset or when power is reset.
Using the Alarm History Display
0 4 0
Error number Alarm history data
1. Press the MODE/SET Key to go to the alarm history display mode.

2. Use the Up and Down Keys to go up and down through the error occurrence numbers and display
the corresponding alarm history data. (The larger the error occurrence number, the less recent the
alarm is.)
3. Press the MODE/SET Key to move from alarm history display mode to status display mode.
Clearing Alarm History Data

Alarm history data initialization is executed in the system check mode. The items in parentheses in the
following explanation indicate operations using the Handy-type Parameter Unit.
[1] [2] [3]
c n 0 0 DATA
0 0 0 2
[5]
[4]
To data display
Alarm history data cleared.
mode)
3. Using the Up and Down (and Right and Left) Keys, set data “02.” (Clear alarm history data)
4. Press the MODE/SET Key to clear the alarm history data.
4-18
4-4-2 Troubleshooting
When an error occurs, check the error contents by means of the operating status and
alarm display, investigate the cause and apply the appropriate countermeasures.
Error Diagnosis by Means of Operating Status

Symptom Probable cause Items to check Countermeasures Control
mode
The power sup- Power supply lines are • Check the power supply • Correct the power supply. Common
ply indicator incorrectly wired. voltage. • Correct the wiring.
(POWER) does • Check the power supply
not light even lines.
when the power
supply is turned
on.
The motor does The RUN signal is OFF Check the RUN signal’s ON • Input the RUN signal. Common
not operate (when Cn-01 bit no. 0 is and OFF by means of the • Correct the wiring.
even when a “0”). monitor mode.
command d iis The correspondence Check the models. Combine models that corre- Common
given. (No between the Servo Driver spond correctly.
alarm is out- and the Servomotor is incor-
put.)
rect.
The POT and NOT signals Check whether POT and • Turn ON the POT and Common
are OFF (when Cn-01 bit NOT are displayed in status NOT signals.
nos. 2 and 3 are “0”). display mode. • If POT and NOT are not
being used, set Cn-01 bit
nos. 2 and 3 to “1.”
The control mode is not Check the control mode Set the control mode to Common
right. selection (Cn-2b). match the command type.
The deviation counter reset With monitor mode, check • Turn OFF the ECRST sig- Position
input (ECRST) is ON. the ON/OFF status of the nal.
deviation counter reset sig- • Correct the wiring.
nal.
An error occurred with the Check the RESET signal’s Turn the RESET signal OFF Common
RESET signal ON. ON and OFF by means of and take measures
the monitor mode. according to the alarm
display.
The command pulse mode Check the Controller’s com- Set the mode to match the Position
(bit nos. 3, 4, 5 of Cn-02) is mand pulse type and the Controller’s command pulse
setting is incorrect. Servo Driver’s command type.
pulse mode.
The speed command (REF) • Check the speed com- Correct the wiring. Speed
voltage is 0 V. mand by means of the
monitor mode.
• Check the speed com-
mand voltage.
The PLOCK signal is ON. Check the PLOCK signal by • Turn the PLOCK signal Speed
means of the monitor mode OFF.
(internal status bit). • Check the Cn-29 value.
The motor The setting for the number Check the value of Cn-11. Inc.: Set Cn-11 to “4096.” Common
operates of encoder pulses is incor- Abs.: Set Cn-11 to “8192.”
y,
momentarily, rect.
b t then
but th it does
d The Servomotor power lines Check the Servomotor Correct the wiring. Common
not operate. or encoder lines are wired power line U, V, and W
incorrectly. phases, and the encoder
line wiring.
4-19
Symptom Probable cause Items to check Countermeasures Control
mode
Servomotor The Servomotor power lines Check the Servomotor Correct the wiring. Common
operation is or encoder lines are wired power line U, V, and W
unstable. incorrectly. phases, and the encoder
line wiring.
The bias function setting is Adjust the bias rotational Position
incorrect. speed and the positioning
completion range.
The polarity of the speed Check the speed command Correct the wiring. Speed
command (REF) input is input wiring.
wrong.
There are eccentricities or • Check the machinery. Adjust the machinery. Common
looseness in the coupling • Try operating the Servo-
connecting the Servomotor motor without a load.
shaft and the mechanical
system, or there are load
torque fluctuations accord-
ing to how the pulley gears
are engaging.
Gain is wrong. • Use auto-tuning. Common
• Adjust the gain manually.
Servomotor is The ambient temperature is Check to be sure that the Lower the ambient tempera- Common
overheating. too high. ambient temperature around ture to 40°C or lower. (Use
the Servomotor is no higher a cooler or fan.)
than 40°C.
Ventilation is obstructed. Check to see whether any- Ensure adequate ventila- Common
thing is blocking ventilation. tion.
There is an overload. Check the torque command • Lighten the load. Common
value by means of monitor • Change to a larger capac-
mode. ity Servomotor.
The correspondence Check the models. Combine models that corre- Common
between the Servo Driver spond correctly.
and the Servomotor is incor-
rect.
There are The machinery is vibrating. Inspect the machinery to Fix any problems causing Common
unusual noises. see whether there are any vibration.
foreign objects in the mov-
able parts, or whether there
is any damage, deforma-
tion, or looseness.
The speed loop gain adjust- • Use auto-tuning. Position
ment is insufficient. • Adjust the gain manually Speed
(speed loop gain).
Vibration is Inductive noise is occurring. • Check to see whether the • Shorten the control signal Common
occurring at the Servo Driver control signal lines.
same frequency lines are too long. • Separate control signal
as the applica- • Check to see whether lines from power supply
ble power sup- control signal lines and lines.
ply. power supply lines are too • Use a low-impedance
close to each other. power supply for control
signals.
The Servomo- The speed command volt- Check the speed command • Adjust the speed com- Speed
tor operates age and the speed com- voltage. mand offset.
even when mand input section are off- • Use speed control mode
speed com- set. with position lock function.
mand is for 0 V. (Control mode selection:
Cn-2b = 10)
4-20
Error Diagnosis by Means of Alarm Display (Parameter Unit)

Alarm dis- Error content Condition when error Probable cause Countermeasures
play occurred
a.00 Absolute data Occurred when SEN signal Absolute encoder malfunc- • Turn ON SEN signal
error [Absolute] turned ON. tion again.
• Execute setup for abso-
lute encoder.
Faulty wiring of absolute Correct the wiring.
encoder
a.02 Parameter cor- Occurred when power was Internal memory error Replace Servo Driver.
ruption turned on.
a.04 Parameter set- Occurred when power was A user parameter was set Change the user parameter
ting error turned on. to a value outside of the setting so it is within the
setting range previously. setting range.
Control board defective. Replace Servo Driver.
a.10 Overcurrent Occurred when power was Control board defective. Replace Servo Driver.
turned on.
Occurred when Servo was • Current feedback circuit Replace Servo Driver.
turned on. error
• Main circuit transistor
module error
Servomotor power line is • Correct the power line
short-circuited or grounded. short-circuiting or ground-
ing.
• Measure the insulation
resistance at the Servo-
motor itself. If there is
short-circuiting, replace
the Servomotor.
There is faulty wiring at the Correct the wiring.
U, V, or W phase, or the
GR.
Servomotor coil are dam- Measure the winding resis-
aged. tance. If the coil are dam-
aged, replace the Servo-
motor.
a.30 Regeneration Occurred during operation.Regeneration circuit com- Replace Servo Driver.
error ponent error
a.31 Deviation Occurred when Servomotor Servomotor power line or Correct the wiring.
counter
cou over
te o e did
d d not operate
ot o even
e ate e e when
e encoder line malfunction
command d pulse
l train
i was Mechanical lock is in effect. If the Servomotor shaft is
input. locked, unlock it.
Occurred during high- Servomotor power line or Correct the wiring.
speed rotation. encoder line malfunction
Occurred during long com- Gain adjustment is insuffi- Adjust the gain.
mand
a d pulse
u se input.
ut cient.
Acceleration is too sudden. Lengthen the acceleration
time.
Load is too large. • Lighten the load.
• Select another Servomo-
tor.
4-21
play occurred
a.40 Overvoltage; Occurred when power was The main-circuit power • The main-circuit power
Insufficient volt- turned on. supply voltage is outside of supply voltage must be
g
age the allowable range. 170 to 253 VAC.
Occurred during Servomo- The load inertia is too • Lengthen the decelera-
tor deceleration. large. tion time.
tor.
The main-circuit power Lower the voltage to within
supply voltage has the allowable range.
exceeded the allowable
range.
Occurred while lowering Gravity torque is too large. • Add a counterbalance to
(vertical shaft) the machine, and reduce
the gravity torque.
• Reduce the lowering
speed.
a.51 Overspeeding High-speed rotation The rotation speed • Adjust the gain.
occurred when command exceeded 4,950 r/min due • Lower the maximum
was input. to overshooting. speed of the command.
Encoder is wired incor- Correct the wiring.
rectly.
a.71 Overload Occurred during operation. Operating at more than • If the Servomotor shaft is
135% of the rated torque. locked, unlock it.
(Effective torque) • If Servomotor power lines
are incorrectly wired, cor-
rect them.
• Lighten the load.
• Lengthen the accelera-
tion time.
• Adjust the gain.
Power supply voltage has Check the power supply
dropped. voltage and raise it to
within the allowable range.
a.72 Overload Occurred during operation. Operating at 120% to 135% • Lighten the load.
of the rated torque. (Effec- • Lengthen the accelera-
tive torque) tion time.
• Adjust the gain.
Power supply voltage has Check the power supply
dropped. voltage and raise it to
within the allowable range.
a.80 Encoder error Occurred during operation. Absolute encoder faulty Correct the wiring.
[[Absolute]
bso ute] wiring or poor contact.
Pulse counter malfunction Turn OFF the SEN signal
and input the alarm reset.
Then turn ON the SEN sig-
nal again.
a.a1 Overheating Occurred during operation. The ambient temperature Bring the ambient tempera-
If reset is executed after for the Servo Driver is ture for the Servo Driver
waiting for a time, operation higher than 55°C. down to 55°C or lower.
resumes.
The load torque is too high. • Lighten the load.
• Lengthen the accelera-
tion time.
tor.
4-22
play occurred
a.b1 Command Occurred during operation. Malfunctioning of the com- Reset and then run again.
input
ut reading
ead g mand input reading area.
error Damage at the command Replace Servo Driver.
input reading area.
a.c1 Runaway Some movement occurred • Encoder lines wired Correct the wiring.
detected at the beginning of opera- incorrectly.
tion. • Servomotor power lines
wired incorrectly.
a.c2 Phase error Some movement occurred • Encoder lines wired • Correct the wiring.
detected at the beginning of opera- incorrectly. • Insert connectors cor-
tion. • Connector contact faulty. rectly.
Occurred when power was • Incorrect setting on bit E • Set bit E of Cn-01 to 0
turned on. of parameter Cn-01. when the incremental
encoder is in use.
• Set bit E of Cn-01 to 1
when the absolute
encoder is in use.
a.c3 Encoder A, B Some movement occurred • Encoder lines discon- • Correct any disconnected
phase lines dis- at the beginning of opera- nected. lines.
connected. tion. • Connector contact faulty. • Insert connectors cor-
rectly.
Encoder lines wired incor- Correct the wiring.
rectly.
Occurred when power was Incorrect setting on bit E of • Set bit E of Cn-01 to 0
turned on. parameter Cn-01. when the incremental
encoder is in use.
when the absolute
encoder is in use.
a.c4 Encoder S Some movement occurred • Encoder lines discon- • Correct any disconnected
phase lines dis- at the beginning of opera- nected. lines.
connected. tion. • Connector contact faulty. • Insert connectors cor-
rectly.
Encoder lines wired incor- Correct the wiring.
rectly.
Occurred when power was Incorrect setting on bit E of • Set bit E of Cn-01 to 0
turned on. parameter Cn-01. when the incremental
encoder is in use.
when the absolute
encoder is in use.
a.f1 Missing phase Occurred when Servo was • Main-circuit power supply Check the main-circuit
turned ON. is not on. power supply wiring.
• Main-circuit power supply
has missing phase or dis-
connected line.
cpf00 Parameter Unit Occurred when power was Servo Driver defective. Replace Servo Driver.
transmission turned on.
error 1
cpf01 Parameter Unit Occurred while the Param- Internal element is malfunc- Reset and then run again.
ttransmission
a s ss o eter Unit
ete U t was
as being
be g used.
used tioning.
error 2 Internal element is dam- Replace Servo Driver.
aged.
4-23
4-5 Periodic Maintenance
Maintenance and Inspection Precautions

! WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may
result in malfunction, fire, or electric shock.
! Caution Resume operation only after transferring to the new Unit the contents of the data
required for operation. Not doing so may result in an unexpected operation.
Servomotors and Servo Drivers contain many components and will operate properly
only when each of the individual components is operating properly. Some of the electri-
cal and mechanical components require maintenance depending on application condi-
tions. In order to ensure proper long-term operation of Servomotors and Drivers, peri-
odic inspection and part replacement is required according to the life of the components.
The periodic maintenance cycle depends on the installation environment and application conditions of
the Servomotor or Driver. Recommended maintenance times are listed below for Servomotors and
Drivers. Use these are reference in determining actual maintenance schedules.
Servomotors
• Recommended Periodic Maintenance
Bearings: 20,000 hours
Application Conditions: Ambient motor operating temperature of 40C, within allowable shaft load,
rated operation (rated torque and r/m), installed as described in operation
manual.
• The radial loads during operation (rotation) on timing pulleys and other components contacting belts is
twice the still load. Consult with the belt and pulley manufacturers and adjust designs and system set-
tings so that the allowable shaft load is not exceeded even during operation. If a motor is used under a
shaft load exceeding the allowable limit, the motor shaft can break, the bearings can burn out, and
other problems can occur.
Servo Drivers
• Recommended Periodic Maintenance
Aluminum analytical capacitors: 50,000 hours, at an ambient Servo Driver operating temperature
of 40C, rated operation (rated torque), installed as described in
operation manual.
Axle fan: 30,000 hours, at an ambient Servo Driver operating temperature of 40C and an ambi-
ent humidity of 65% RH.
• When using the Servo Driver under the continuous operation mode, cool the Servo Driver with fans
and air conditioners to maintain an ambient operating temperature below 40C.
• The life of aluminum analytical capacitors is greatly affected by the ambient operating temperature.
Generally speaking, an increase of 10C in the ambient operating temperature will reduce capacitor
4-24
life by 50%. We recommend that ambient operating temperature be lowered and the power supply
time be reduced as much as possible to lengthen the maintenance times for Servo Drivers.
• If the Servomotor or Servo Driver is not to be used for a long time, or if they are to be used under condi-
tions worse than those described above, a periodic inspection schedule of five years is recom-
mended. Please consult with OMRON to determine whether or not components need to be replaced.
4-25
5
Chapter 5
Specifications
5-1 Servo Driver Specifications
5-2 Servomotor Specifications
5-3 Cable Specifications
5-4 Parameter Unit Specifications
Specifications Chapter 5
5-1 Servo Driver Specifications
5-1-1 General Specifications

Item Specifications
Operating ambient temperature 0°C to 55°C
Operating ambient humidity 20% to 85% RH (with no condensation)
Storage ambient temperature –20°C to 85°C
Storage ambient humidity 20% to 85% RH (with no condensation)
Storage and operating atmo- No corrosive gasses.
sphere
Vibration resistance 10 to 55 Hz in X, Y, and Z directions with 0.10-mm double amplitude;
acceleration: 4.9 m/s2 {0.5 G} max.; time coefficient: 8 min; 4 sweeps
Impact resistance Acceleration 19.6 m/s2 {2 G} max., in X, Y, and Z directions, three times
Insulation resistance Between power line terminals and case: 1 MΩ min. (at 500 VDC)
Dielectric strength Between power line terminals and case: 1,500 VAC for 1 min (20 mA
max.) at 50/60 Hz
Protective structure Built into panel.
Note 1. The above items reflect individual evaluation testing. The results may differ under com-
pounded conditions.
Note 2. Absolutely do not conduct a withstand voltage test with a megger tester on the Servo driver. If
such tests are conducted, internal elements may be damaged.
Note 3. Depending on the operating conditions, some Servo Driver parts will require maintenance. Refer to
4-5 Periodic Maintenance for details.
Note 4. The service life of the Servo driver is 50,000 hours at an average ambient temperature of 40°C
at 80% of the rated torque.
5-2
5-1-2 Performance Specifications

Performance Specifications (Models Not Conforming to Standards)
Item R88D- R88D R88D R88D R88D R88D
UT24H -UT40H -UT60H -UT80H -UT110H -UT120H
Continuous output current (0-P) 8.6 A 14.0 A 17.0A 27.4 A 35.8 A 37.0 A
Momentary maximum output current 24 A 40 A 59 A 79 A 108 A 119 A
(0-P)
Input Main circuits Three-phase 200/230 VAC (170 to 253 V) 50/60 Hz
power
supply Control circuits Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz
Control method All-digital servo
Speed [Incremental] Optical incremental encoder, 4,096 pulses/revolution
f db k
feedback [Absolute] Optical absolute encoder, 8,192 pulses/revolution
Applicable load inertia Maximum of 10 times motor’s rotor inertia
Inverter method PWM method based on IGBT
PWM frequency 3.3 kHz
Applicable (R88M-) [Incremen- U1K030H U1K530H U2K030H U3K030H U4K030H U5K030H
Servomo-
Se o o tal]
tor [Absolute] U1K030T U1K530T U2K030T U3K030T U4K030T U5K030T
Applicable Servomotor wattage 1.0 kW 1.5 kW 2.0 kW 3.0 kW 4.0 kW 5.0 kW
Weight Approx. 4.0 kg Approx. 5.0 kg Approx. 8.0 kg
Heating g Main circuits 55 W 80 W 120 W 170 W 250 W 260 W
value
l Control circuits 20 W 22 W 24 W
Capacity y Speed control range 1:5,000
f analog
for l Load fluctuation rate 0.01% at 0% to 100% (at rated rotation speed)
inputs
Voltage fluctuation rate 0% at input voltage of 170 to 253 VAC
Temperature fluctuation ±0.1% max. at 0 to +50°C
rate
Frequency characteris- 250 Hz (at the same load as the rotor inertia)
tics
Acceleration time setting 0 to 10 s (acceleration and deceleration set separately)
Capacity y Maximum frequency 200 kpps
f pulse
for l Position loop gain 1 to 1,000 (1/s)
train
Electronic gear ratio Setting range: 0.01 (G1, G2) 100 (G1, G2 = 1 to 65,535)
inputs
Positioning range 0 to 250 (command unit)
Feed-forward com- 0% to 100% of speed command amount (pulse frequency)
pensation
Bias setting 0 to 450 (r/min)
Position acceleration 0 to 64 (ms) (same setting for acceleration and deceleration)
constant setting
5-3
Control Specifications (Models Conforming to EC Directives)

Item R88D- R88D R88D R88D R88D-UT110V
UT24V- -UT40V- -UT60V- -UT80V-
Continuous output current (0-P) 8.6 A 14.0 A 17.0A 27.4 A 37.0 A
Momentary maximum output current 24 A 40 A 59 A 79 A 119 A
(0-P)
Input Main circuits Three-phase 200/230 VAC (170 to 253 V) 50/60 Hz
power
supply Control circuits Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz
Control method All-digital servo
Speed [Incremental] Optical incremental encoder, 4,096 pulses/revolution
ffeedback
db k [Absolute] Optical absolute encoder, 8,192 pulses/revolution
Applicable load inertia Maximum of 10 times motor’s rotor inertia
Inverter method PWM method based on IGBT
PWM frequency 3.3 kHz
Applicable (R88M-) [Incremental] U1K030V U1K530V U2K030V U3K030V U4K030V U5K030V
Servomo-
tor [Absolute] U1K030X U1K530X U2K030X U3K030X U4K030X U5K030X
Applicable Servomotor wattage 1.0 kW 1.5 kW 2.0 kW 3.0 kW 4.0 kW 5.0 kW
Weight Approx. 4.0 kg Approx. 5.0 kg Approx. 15.0 kg
Heating g Main circuits 55 W 80 W 120 W 170 W 260 W
value
l Control circuits 20 W 22 W 24 W
Capacity y Speed control range 1:5,000
f analog
for l Load fluctuation rate 0.01% at 0% to 100% (at rated rotation speed)
inputs
Voltage fluctuation rate 0% at input voltage of 170 to 253 VAC
Temperature fluctuation ±0.1% max. at 0 to +50°C
rate
Frequency characteris- 250 Hz (at the same load as the rotor inertia)
tics
Acceleration time setting 0 to 10 s (acceleration and deceleration set separately)
Capacity y Maximum frequency 200 kpps
f pulse
for l Position loop gain 1 to 1,000 (1/s)
train
Electronic gear ratio Setting range: 0.01 (G1, G2) 100 (G1, G2 = 1 to 65,535)
inputs
Positioning range 0 to 250 (command unit)
Feed-forward com- 0% to 100% of speed command amount (pulse frequency)
pensation
Bias setting 0 to 450 (r/min)
Position acceleration 0 to 64 (ms) (same setting for acceleration and deceleration)
constant setting
5-4
I/O Signals (Common to Models Not Conforming to Standards and

those Conforming to EC Directives)
Signals Specifications
Input sig- Speed command voltage ±2 to 10 VDC / rated rotation speed (set via parameter)
nals (motor forward rotation by +voltage)
Input impedance: Approx. 30 kΩ; circuit time constant: Approx. 47 µs
Torque command volt- ±1 to 10 VDC / rated torque (set via parameter)
age (motor forward torque by +voltage)
Input impedance: Approx. 30 kΩ; circuit time constant: Approx. 47 µs
Position command pulse TTL, line-driver input; photoisolation; input current: 6 mA at 3 V
One of the following set via parameter:
Feed pulse, forward/reverse signal,
Forward pulse, reverse pulse,
or 90 phase difference (A/B phase) signal.
Input pulse width must be as shown in diagram.
Error counter reset input TTL, line-driver input; photoisolation; input current: 6 mA at 3 V
Sensor ON signal input 1 mA at 5 VDC, TTL input, current to encoder on high level
(absolute)
Sequence input 24-VDC, 5-mA photocoupler input, external power supply: 24±1 VDC,
50 mA min.
Run command, (gain deceleration, position lock command, control mode switch,
direction command, pulse prohibit), forward/reverse current limit, (speed com-
mand 1, 2), forward/reverse drive prohibit, alarm reset
Signals within parentheses can be set via parameters.
Output Position feedback output A-, B-, Z-phase line driver output (EIA RS-422A)
signals A-phase and B-phase (dividing rate setting): 16 to 4,096 pulses/revolution
A-phase and B-phase (dividing rate setting): 16 to 8,192 pulses/revolution
Z-phase: 1 pulse/revolution
Speed monitor output 1 V/1,000 r/min
Current monitor output 2 V/rated torque
Sequence output Open collector output, 30 VDC, 50 mA
Alarm output, (speed conformity/positioning completion, motor rotation detection,
servo ready, current limit detection, brake interlock, overload warning, overload
alarm)
Open collector output, 30 VDC, 20 mA
Alarm code output
Signals within parentheses can be set via parameters.
Protective Functions (Common to Models Not Conforming to

Standards and those Conforming to EC Directives)
Signals Specifications
Dynamic brake stopping Operates when the power supply turns off, a servo alarm is generated, an over-
run occurs, or the servo turns off.
Other protective functions Absolute data error (absolute), parameter destruction, parameter setting error,
overcurrent, regenerative error, error counter overflow, overvoltage, undervol-
tage, overspeeding, overload, encoder errors (absolute), heating plate overheat-
ing, command input read error, overrun prevention, position misdetection,
encoder A/B phase break, encode S phase break, out-of-phase detection,
Parameter Unit transmission error
5-5
5-1-3 I/O Specifications
Terminal Block Specifications (Models Not Conforming to Standards)

Signal Function Condition
Frame ground This is the ground terminal. Ground to a maximum of 100 Ω (class-3).
R Main circuits Three-phase 200/230 VAC (170 to 253 VAC) 50/60 Hz
S power supply
T input
r Control circuits Single-phase 200/230 VAC (170 to 253 VAC) 50/60 Hz
t power supply
input
P Main circuit DC Do not connect anything to these terminals
B output (Forward)
N (Reverse)
U Servomotor Red These are the terminals for outputs to the Servomotor. Be sure to
U-phase output wire
e these
ese terminals
e correctly.
a s co ec y
V Servomotor White
V-phase output
W Servomotor Black
W-phase output
Frame ground Green
Terminal Block Specifications (Models Conforming to EC Directives)

Signal Function Condition
Frame ground This is the ground terminal. Ground to a maximum of 100 Ω (class-3).
L1 Main circuits Three-phase 200/230 VAC (170 to 253 VAC) 50/60 Hz
L2 power supply
L3 input
L1C Control circuits Single-phase 200/230 VAC (170 to 253 VAC) 50/60 Hz
L3C power supply
input
+ (+1) Main circuit DC Be sure to connect a regenerative resistor (corresponding to the amount of
B output (Forward) regenerative energy) between the + and B terminals for the R88D-UT V-RG
– (Reverse) and between the +1 and B terminals for the R88D-UT110V. Refer to 3-6-3
Absorption of Regenerative Energy with External Regenerative Resistors
Connected to Models Complying with EC Directives for details.
U Servomotor Red These are the terminals for outputs to the Servomotor. Be sure to
U-phase output wire
e these
ese terminals
e correctly.
a s co ec y
V Servomotor White
V-phase output
W Servomotor Black
W-phase output
Frame ground Green
5-6
CN1 Control I/O Specifications (Common to Models Not Conforming to

Standards and those Conforming to EC Directives)
CN1 Control Inputs

Pin Signal Function Contents Command
No. name mode
5 REF Speed command ±2 to ±10 V / rated revolution Speed
input Changeable
C a geab e by means
ea s oof use
user parameter
aa ee C Cn-03
03 Torque
6 AGND Speed command speed command scale.
input ground
9 TREF Torque command ±1 to ±10 V / rated torque Speed
input Changeable
C a geab e by means
ea s oof use
user parameter
aa ee C Cn-13
3 Torque
10 AGND Torque command torque command scale.
input ground
3 PCOM Open collector Used to use an open-collector output for CW, Position
13 command power CCW, and ECRST signals. Connect + inputs to the
18 supply terminals and connect – inputs to open-collector
output terminals.
7 +PULS/ Feed pulse, Line-driver input: 6 mA at 3 V Position
CW/A reverse pulse, or Open-collector input: 15 mA at 5 V
90 phase differ-
8 –PULS/ ence pulse (A Switch via bits 3, 4, and 5 of setup parameter
CW/A phase) Cn-02.
11 +SIGN/ Forward/reverse Maximum response frequency: 200 kpps
CCW/B signal, forward
pulse,
pulse or 90
12 –SIGN/ phase difference
CCW/B pulse (B phase)
14 –ECRST Error counter reset Line-driver input: 6 mA at 3 V Position
Open-collector input: 15 mA at 5 V
Error counter cleared on ON signal
15 +ECRST Switch between status signal (high level) and differ-
ential signal (rising edge) via bit A of setup param-
eter Cn-02.
40 RUN Run command ON: Servo ON, when setup parameter Cn-01 bit All
input no. 0 = 0.
When setup parameter Cn-01 bit no. 0 = 1, this
signal is not used. (Automatically set to Servo ON.)
5-7

No. name mode
41 MING Gain deceleration When user parameter CN-2b = 0 or 1, and SPD1 Position
input and SPD2 are both OFF and parameter Cn-2b = 3, Speed
4, or 5, then
ON: Decrease speed loop gain
TVSEL Control mode When user parameter Cn-2b = 7, 8, or 9, then Switch control
switch input ON: Change control mode mode
PLOCK Position lock com- When user parameter Cn-2b = 10, then Position lock
mand input ON: position lock goes in effect if the motor rotation speed
speed is no more than the position lock rotation
speed (Cn-29).
IPG Pulse disable input When user parameter Cn-2b = 11, then Position
ON: Command pulse inputs are ignored and the (pulse dis-
motor stops. abled)
RDIR Rotation direction When user parameter Cn-2b = 3, 4, 5, or 6 and an Internal set-
command inputs internal set speed is selected, this is the rotation ting
direction command for internal speed settings 1 to Speed control
3. (OFF: Forward rotation, ON: Reverse rotation)
42 POT Forward drive pro- Forward rotation overtravel input (OFF when pro- All
hibit input hibited). When setup parameter Cn-01 bit no. 2 =
1, this signal is not used.
43 NOT Reverse drive pro- Reverse rotation overtravel input (OFF when pro- All
hibit input hibited). When setup parameter Cn-01 bit no. 3 =
1, this signal is not used.
44 RESET Alarm reset input ON: Servo alarm status is reset. All
45 PCL/ Forward rotation Forward/reverse rotation current limit (PCL/NCL) All
SPD1 current limit input /when user parameter Cn-2b = 0, 1, 2, 7, 8, 9, 10,
Speed selection or 11 (ON: Current limit)
command 1 input Internal settingg speed ((Cn-1F,, 20,, 21)) selector
46 NCL/ Reverse rotation switch
i h when
h user parameter C Cn-2b2b = 3 3, 4
4, 5
5, or 6
SPD2 current limit input /
Speed selection
command 2 input
47 +24VIN +24-V power sup- Power supply for pin nos. 40, 41, 42, 43, 44, 45, All
ply input for control and 46; +24-V input
DC
4 SEN Sensor ON input ON: 5-V power supplies to absolute encoder [abso- Speed
lute]
2 SENGND Sensor ON input
The signal is not used when setup parameter
ground
Cn-01 bit no. 1 = 1.
21 BAT Backup battery + Backup battery connector terminals for power inter- Speed
input ruption
u o for absolute
o abso uee encoder [absolute]
code [abso u e]
22 BATGND Backup battery –
input
5-8
CN1 Control Outputs
No. name mode
1 GND Ground common Ground for the encoder output, alarm code, and All
monitor output
16 AM Current monitor Voltage is output centered on 0 V according to the All
following ratio: 2 V/(rated torque)
Forward acceleration is negative, reverse accelera-
tion is positive.
Output accuracy is approximately 10%
17 NM Speed monitor Voltage is output centered on 0 V according to the All
following ratio: 1 V/(1,000 r/min)
Forward is negative, reverse is positive.
Output accuracy is approximately 10%
19 +Z Encoder Z-phase Encoder Z-phase output (1 pulse/revolution). Line All
+ output driver
d output
e ou (conforming
u (co o g to
o RS-422A).
S )
20 –Z Encoder Z-phase
– output
23 P12 Built-in command Power supply for speed commands and torque com- Speed
power supplyy mands. Torque
24 N12 Can be used for speed and torque commands by
connecting an external variable resistor.
The function of the following pairs of signals is set in user parameter CN-2d (output signal selection);
25 (+) and 26 (–), 27 (+) and 28 (–), 29 (+) and 30 (–)
25 VCMP Speed conformity Output (ON) when the Servomotor speed error is Speed
to output within the speed conformity signal output range
30 (Cn-22).
INP Positioning com- Output (ON) when the position error is within the Position
pletion output positioning completion range (Cn-1b).
TGON Servomotor rota- Output (ON) if the Servomotor rotation speed All
tion detection out- exceeds the value set for the Servomotor rotation
put detection speed (Cn-0b).
READY Servo ready output Output (ON) if no errors are discovered after power- All
ing the main circuits.
CLIMT Current limit detec- The CLIMT signal will turned ON in any of the fol- All
tion output lowing 3 cases:
• The output torque reaches the value set for the
torque limit (Cn-08, -09)
• The forward/reverse rotation current limit (PCL/
NCL) is ON and the output torque reaches the exter-
nal current limit set in Cn-18 or Cn-19.
• The output torque reaches the analog current limit Speed
input (TREF). (When Cn-02 bit no. 8 = 1)
BKIR Brake interlock Outputs external brake interlock signal according to All
output setting in Cn-12, 15, and 16.
OLWRN Overload warning Goes OFF when the effective torque exceeds 20% All
output of the overload detection level.
OLALM Overload alarm Goes OFF when an overload is detected. All
output Goes ON when the alarm reset is input.
5-9

No. name mode
31 ALM Alarm output When an alarm is g generated for the Servo Driver,, All
32 ALMCOM Alarm output h output iis OFF
the OFF. O ll
Open collector output ((50
0 mA,
A
ground 30 VDC max.)
33 +A Encoder A-phase Outputs encoder pulses divided according to user All
+ output parameter Cn-0A. Line driver output (conforming to
RS-422A).
34 –A Encoder A-phase
– output
35 –B Encoder B-phase Outputs encoder pulses divided according to user All
– output parameter Cn-0A. Line driver output (conforming to
RS-422A).
36 +B Encoder B-phase
+ output
37 ALO1 Alarm code output When an alarm is generated for the Servo Driver, All
1 the contents of the alarm are output in 3-bit code.
Open collector output: 30 VDC, 20 mA max.
38 ALO2 Alarm code output
2
39 ALO3 Alarm code output
3
50 FG (see Frame ground Ground terminal for shield wire of cable and FG line. –––
note 2)
Note 1. Do not connect pins no. 48 and 49.

Note 2. Pin No. 50 is open for models conforming to the EC Directives. Connect the cable shield to the
connector case and ground it directly using a clamp.
CN1 Connectors Used (50P)

Receptacle at Servo Driver 10250-52A2JL (Sumitomo 3M)
Soldered plug at cable side 10150-3000VE (Sumitomo 3M)
Case at cable side 10350-52A0-008 (Sumitomo 3M)
5-10
Pin Arrangement Encoder out- Positioning

completion
1 GND put alarm 26 –INP
code ground output ground
Sensor ON Motor rotation (see note 1)
2 SENGND input ground 27 +TGON detection output
[absolute] Open-collector (see note 1) Motor rotation
3 PCOM command 28 –TGON detection out-
power put ground
Servo ready (see note 1)
4 SEN Sensor ON 29 +READY output (see
input [abso-
note 1) Servo ready
lute] Speed com-
5 REF mand input 30 –READY output ground
Speed com- (see note 1)
6 AGND mand input 31 ALM Alarm output
ground + feed pulse, +
+PULS Alarm output
7 /+CW/+A reverse pulse, 32 ALMCOM
ground
– feed pulse, – + A phase Encoder
8 –PULS reverse pulse, 33 +A
/–CW/–A A-phase + out-
– A phase put Encoder
Torque com- A-phase – out-
9 TREF mand input 34 –A
Torque com- Encoder put
10 AGND mand input 35 –B B-phase – out-
ground + forward/re- put
verse signal, + Encoder
11 +SIGN 36 +B B-phase + out-
– forward/re- /+CCW/+B forward pulse,
–SIGN + B phase put
12 verse signal, 37 AL01 Alarm code
/–CCW – forward pulse, output 1
/–B – B phase. Open-collector Alarm code
13 PCOM command 38 AL02
output 2
power
– error Alarm code
14 –ECRST 39 AL03
counter reset output 3
+ error counter Run command
15 +ECRST reset 40 RUN
input
Current moni- MING Gain deceleration,
16 AM tor (see note 41 /PLOCK position lock, control
2) /TVSEL mode, pulse disable,
rotation direction Forward rota-
Speed monitor /IPG /RDIR
17 NM 42 POT tion drive pro-
(see note 2)
Open-collector Reverse rota- hibit input
18 PCOM command 43 NOT tion drive pro-
power Encoder hibit input
+Z RESET Alarm reset
19 Z-phase + out- 44
Forward cur- input
put
Encoder PCL rent limit/speed
20 –Z Z-phase – out- 45
/SPD1 selection com- Reverse cur-
put Backup battery mand 1
21 BAT + input [abso- 46 NCL rent limit/speed
lute] /SPD2 selection com-
Backup battery Control DC mand 1
22 BATGND – input [abso- 47 +24VIN
+24-V input
lute] Built-in com-
23 P12 mand power 48
Built-in com- supply
24 N12 mand power 49
supply Positioning
25 +INP completion out- 50 FG Frame ground
put (see note 1) (see note 3)
Note 1. The output terminal function of CN1 pins 25 through 30 are set in user parameter Cn-2d (out-
put signal selection). The output signals shown above are the factory settings.
Positioning completion (INP: position control)/speed conformity (VCMP: speed control)
Motor rotation detection (TGON) Servo ready (READY)
Current limit detection (CLIMT) Break interlock (BKIR)
Overload warning (OLWRN) Overload alarm (OLARM)
Of these, positioning completion (INP: position control)/speed conformity (VCMP: speed con-
trol) can be set for CN1 pints 25 and 26 only.
Note 2. The content of the monitor output for the AM and NM terminals can be changed via setup
parameter Cn-02 bits 6 and 7.
5-11
Control Input Interface

The input circuit for the control I/O connector (CN1) is as shown in the following diagram.
+24 VIN 47 4.7 k
External power supply

24 VDC ± 1 V 3.3 k
50 mA min. RUN 40
To other input circuit GNDs To other input circuits
Run Command (40: RUN)

This is the input that turns on the power drive circuit for the main circuit of the Servo Driver. If this signal is
not input (i.e., servo-off status), the Servomotor cannot operate. Depending on the setting of setup
parameter Cn-01, bit no. 0, this signal can be bypassed. In that case, the servo will be turned on after the
power is turned on.
Gain Reduction, Position Lock Command, Control Mode Switch, Rotation Direction
Command, Pulse Disable (41: MING/PLOCK/TVSEL/RDIR/IPG)
This input signal switches among the following five kinds of signals according to the settings of user
parameter Cn-2b.
• Gain Reduction (41: MING; User Parameter Cn-2b = 0 (speed control) or 1 (position control),
or user parameter Cn-2b = 3, 4, or 5 and SPD1 and SPD2 (speed selection commands 1 and 2)
are both OFF)
Input this signal to lower the loop gain for the control loop, and to weaken servo rigidity (repellant
force with respect to external force). If position control is executed without including a position loop,
there may be some position deviation due to temperature drift from a device such as the A/D con-
verter. In such a case, if a gain reduction is input, the loop gain of the speed loop will be lowered and
the amount of drift will be decreased. If there is static friction torque on the load (5% or more of the
rated torque), the Servomotor will completely stop.
In addition, if a position loop is included, when parts are inserted after positioning, the insertion
operation is made easier because the repellant force with respect to external force is weakened by
the inputting of this signal. This cannot be used for the vertical shaft where a gravity load is applied,
because position deviation will occur.
• Position Lock Command (41: PLOCK; User Parameter Cn-2b = 10 (position lock speed con-
trol))
If position control is executed without including a position loop, there may be some position deviation
due to temperature drift from a device such as the A/D converter. In such a case, if this signal is input,
when the Servomotor rotation speed is less than the rotation speed set for the position lock rotation
speed (user parameter Cn-29), the mode changes from speed control mode to position control
mode. The Servomotor goes into position lock status and completely stops. This function can be
used even for the vertical shaft where a gravity load is applied.
5-12
• Control Mode Switch (41: TVSEL; User Parameter Cn-2b = 7, 8, or 9 (change control mode))
If user parameter Cn-2b is 7 (position control + speed control), the mode is switched between posi-
tion control and speed control (ON: speed control).
If user parameter Cn-2b is 8 (position control + torque control), the mode is switched between posi-
tion control and torque control (ON: torque control).
If user parameter Cn-2b is 9 (speed control + torque control), the mode is switched between speed
control and torque control (ON: speed control).
• Rotation Direction Command (41: RDIR; User Parameter Cn-2b = 3, 4, 5, or 6 and either SPD1
or SPD2 is ON for internally set speed)
This signal becomes the rotation direction change command for when operation is carried out at the
internally set speed (no. 1 through no. 3 internally set speeds). When this signal is not input, the rota-
tion direction is forward; when it is input, the direction is reverse.
• Pulse Disable (41: IPG; User Parameter Cn-2b = 11 (position control, pulse disabled)
Command pulse inputs are disabled. The motor will stop when this signal goes ON and the position
will be locked.
Forward/Reverse Drive Prohibit (42 POT: forward drive prohibit, Cn-01 bit 2 = 0;
43 NOT: reverse drive prohibit, Cn-01 bit 3 = 0))
These two signals are the inputs for forward and reverse drive prohibit (overtravel). When they are
input, driving is possible in the respective direction. When driving is prohibited, movement will stop
according to the settings of bits nos. 6, 8, and 9 of setup parameter no. 1 (Cn-01). Alarm status will not be
generated at the Driver. When drive prohibit is not used, clear the function by connecting the respective
ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ
signal to the external power supply +24-V GND or setting setup parameter Cn-01, bit nos. 2, 3 = 1,1.
Stopping Methods when Forward/Reverse Drive Prohibit is OFF
ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ Bit Deceleration Method Stopped Status
Bit
No. 6 Dynamic brake Servo free
0
No. 8
0 1
POT (NOT) is OFF Free run Bit
Servo free
1 No. 9
0
Emergency stop torque (Cn-06)
1
Servo locked
See note 1.
Note 1. The position loop will not operate for position control when stopping in this mode.
Note 2. When torque control is being used, the stop method is determined by the status of bit 6. (The
status of bit 8 is irrelevant.)
Forward/Reverse Rotation Current Limit [45, 46: (PCL/SPD1), (NCL/SPD2)]

These input signals switch between the forward/reverse current limit and the speed selection command
signal for the internally set speed, depending on the setting of user parameter Cn-2b.
• Forward/Reverse Rotation Current Limit (45, 46: PCL, NCL; user parameter Cn-2b = 0, 1, 2, 7,
8, 9, 10, or 11)
These input signals are the forward rotation current limit and the reverse rotation current limit, and
they limit the current to the Servomotor. The current limit values can be set for the respective direc-
tions by means of user parameters Cn-18 and 19. The set values can be set for up to the maximum
output current as 100% of the rated output current.
5-13
• Speed Selection Command (45, 46: SPD1, SPD2; user parameter Cn-2b = 3, 4, 5, or 6)
These input signals are the speed selection command 1 and the speed selection command 2.
Depending on the combination of signals, the Servomotor speed can be controlled according to the
internally set speeds, nos. 1 through 3, which are set in user parameter Cn-1F, 20, 21. At that time,
the CN1-41 pin becomes the rotation direction command (RDIR).
Alarm Reset (44: RESET)

This is the external reset signal input for the servo alarm. Remove the cause of the alarm and then
restart operation. In order to prevent danger, either set the speed command to 0 V or turn OFF the run
command before inputting the reset signal.
Sensor ON Input (4: SEN) [Absolute]

Sensor ON Input Ground (2: SENGND) [Absolute]
The SEN signal input circuit is shown below.
+5 V
High: Approx. 1 mA
7406 or
equivalent 0V 0V
• A PNP transistor is recommended.

• Signal Levels High: 4 V min.
Low: 0.7 V max.
When the SEN signal turns ON (low to high), 5 V is supplied to the absolute encoder. When power is not
supplied to the motor (Run command input OFF) and the SEN signal is turned OFF (high to low), the 5 V
to the absolute encoder is cut off.
The SEN signal is ignored while power is supplied to the motor even if it is turned OFF.
Power cannot be supplied to the motor even if the Run command is received unless the SEN signal is
ON. Power will also not be supplied to the motor between t6he time that the SEN signal turns ON and the
encoder achieves normal operation even if the Run command is received. Do not turn ON the SEN sig-
nal for at least 3 s after turning on the power supply. Refer to the chart below to turn the SEN signal ON,
OFF, and ON again.
SEN signal
1.3 s min. 15 ms min.
5-14
Backup Battery + Input (21: BAT) [Absolute]
Backup Battery – Input (22: BATGND) [Absolute]
These are the connection terminals for a backup battery for power interruption to the absolute encoder.
The battery voltage is 2.8 to 4.5 V.
A backup battery is not supplied with the motor or driver. Purchase a battery separately.
Connect the battery as shown in the following diagram.
BAT
21
Backup battery
2.8 to 4.5 V BATGND
22
Command Pulse and Error Counter Reset Interface

The input circuits for the control connector’s (CN1) command pulses and error counter reset are shown
in the following diagrams.
Line Driver Inputs
Controller side Servo Driver side

+ + 220 Ω
– –
Applicable driver: AM26L S31A

or equivalent
Open Collector Inputs
Controller side Servo Driver side
3, 13, 18
PCOM
+ 220 Ω
1 GND
+ Error Counter Reset (15: +ECRST)

– Error Counter Reset (14: –ECRST)
The content of the error counter will be reset when the error counter reset signal turns ON and the posi-
tion loop will stop operating.
Input the reset signal for 20 µs minimum. The counter will not be reset if the signal is too short.
Cn-02 bit no. A can be used to set either a status signal (high) or a differential signal (rising edge).
5-15
+ Feed Pulse, Reverse Pulse, 90 Phase Difference Pulse A Phase
(7: +PULS/+CW/+A)
– Feed Pulse, Reverse Pulse, 90 Phase Difference Pulse A Phase
(8: –PULS/–CW/–A)
+ Forward/Reverse Signal, Forward Pulse, 90 Phase Difference Pulse B Phase
(11: +SIGN/+CCW/+B)
– Forward/Reverse Signal, Forward Pulse, 90 Phase Difference Pulse B Phase
(12: –SIGN/–CCW/–B)
The function of these signals depends on the command pulse mode and the command pulse logic.
• Command Pulse Mode (Cn-02 bits 5, 4, 3)
Cn-02 bits 5, 4, 3 = 0, 0, 0: Feed pulse and direction signal (factory setting)
Cn-02 bits 5, 4, 3 = 0, 0, 1: Forward pulse and reverse pulse
Cn-02 bits 5, 4, 3 = 0, 1, 0: 90 Phase Difference (phases A/B) (1 multiplier)
• Command Pulse Logic (Cn-02 bit d)
Cn-02 bit d = 0: Positive logic; Bit d = 1: Negative logic
Log Cn-02 bit Input Command Input pins Motor forward com- Motor reverse com-
ic multi-
m lti- p lse
pulse mand mand
5 4 3 plier mode
Positive
0 0 0 ––– Feed 7: +PULS

pulse and 8: –PULS
direction 11: +SIGN
signal 12: –SIGN H L
0 0 1 ––– Reverse 7: +CW

L
pulse and 8: –CW
forward 11: +CCW
pulse 12: –CCW L
0 1 0 X1 90 phase 7: +A
difference 8: –AA
0 1 1 X2 signals 11: +B
1 0 0 X4 12: –B
Negative
0 0 0 ––– Feed 7: +PULS

pulse and 8: –PULS
direction 11: +SIGN
signal 12: –SIGN H
L
0 0 1 ––– Reverse 7: +CW H
pulse and 8: –CW
forward 11: +CCW
pulse 12: –CCW H
0 1 0 X1 90 phase 7: +A
difference 8: –AA
0 1 1 X2 signals 11: +B
1 0 0 X4 12: –B
5-16
• Command Pulse Timing (Although the following wave forms are for positive logic, conditions are the
same for negative logic.)
Command pulse Timing
mode
Feed pulse and Forward rotation command
direction signal Reverse rotation
command
Maximum input Direction signal
frequency: 200 kpps t1
t1 t2
t2 t2
Feed pulse
t1 t1
Reverse pulse and Reverse rotation

forward pulse command
Maximum input Forward rotation command
frequency: 200 kpps Reverse pulse
t2
Forward pulse
t1 t1
90 phase difference Reverse rotation

Forward rotation command
signals (A-/B-phase command
pulse)
Maximum input A phase pulse
frequency: 200 kpps t1 t1
B phase pulse
5-17
Control Output Interface

The output circuit for the control I/O connector (CN1) is as shown in the following diagram.
To other output circuits
Servo Driver side
External power supply

24 VDC ± 1 V
Di
Maximum operating voltage: 30 VDC
Maximum output current: 50 mA
– (Alarm code output: 20 mA max.)
Di: Diode for preventing surge voltage
(Use speed diodes.)
Control Output Sequence

Power supply input ON
(R, S, T, r, t,)
OFF
Approx. 2 s 300 ms
Alarm output ON
(ALM)
OFF
200 ms (see note) 6ms 60ms
Servo ready output ON

(READY) OFF
Positioning completion output ON

(INP) OFF
Brake interlock output ON

(BKIR) OFF
0 to 35 ms 6 ms
Run command input ON

(RUN)
OFF
Alarm reset input ON

(RESET) OFF
Alarm code outputs ON

(ALO1, ALO2, ALO3) OFF
Note This signal will remain ON for approximately 250 ms after input of the SEN signal when using an
absolute encoder.
5-18
+ Speed Conformity (25/27/29: +VCMP), Positioning completion (25/27/29: +INP),
Motor Rotation Detection (25/27/29: +TGON), Current Limit Detection (25/27/29:
+CLIMT), Brake Interlock (25/27/29: +BKIR), Overload Warning (25/27/29: +OLWRN),
Overload Alarm (25/27/29: +OLARM)
– Speed Conformity (26/28/30: –VCMP), Positioning completion (26/28/30: –INP),

Motor Rotation Detection (26/28/30: –TGON), Current Limit Detection (26/28/30:
–CLIMT), Brake Interlock (26/28/30: –BKIR), Overload Warning (26/28/30: –OLWRN),
Overload Alarm (26/28/30: –OLARM)
The function of the above three pairs of output terminals is determined by the setting of user parameter
Cn-2d. Any of the available functions can be set to any of the terminal pairs. Each digit in the setting
corresponds to one of the output terminal pairs. A setting of 0 is allowed only for the first digit (CN1 pins
25 and 26).
Set Value: 210
Setting of function for CN1-25, -26
Output signal function Set value

Positioning completion (INP)/Speed conformity (VCMP) 0
Motor rotation detection (TGON) 1
Current Limit Detection (CLIMT) 3
Brake Interlock (BKIR) 4
Overload Warning (OLWRN) 5
Overload Alarm (OLARM) 6
• Speed Conformity (Speed Control Mode)
This is output when the speed difference between the speed command and the rotation speed is equal
to or less than the value set for the speed conformity signal output range (user parameter Cn-22). For
example, if the speed command is for 3,000 r/min and the set value is for 50 r/min, it is output in the
range from 2,950 to 3,050 r/min.
• Positioning completion (Position Control Mode)
This is output when the pulse count in the error counter is equal to or less than the positioning comple-
tion range (Cn-1b). If the command speed is low speed and the positioning completion range is large,
the positioning completion output will remain ON.
• Motor Rotation Detection
Outputs when the motor rotation speed equals or exceeds the value set for user parameter Cn-0b
(rotation speed for motor rotation detection).
• Servo Ready
This signal is output if no errors are detected after powering up the main circuits.
• Current Limit Detection
The CLIMT signal will turned ON in any of the following 3 cases:
The output torque reaches the limit value set in user parameter Cn-08 or Cn-09 (the forward and
reverse rotation torque limits).
The forward/reverse rotation current limit (PCL/NCL) is ON and the output torque reaches the limit
value set in user parameter Cn-18 or Cn-19.
5-19
The output torque is limited by the analog voltage input through TREF when Cn-02 bit no. 8 = 1
(speed control mode only).
• Brake Interlock
This signal outputs an external brake timing signal according to the setting of Cn-12, -15, and -16.
Refer to 3-3-14 Brake Interlock for details.
• Overload Warning
This signal goes OFF when the effective torque exceeds 20% of the overload detection level.
• Overload Alarm
This signal goes OFF when an overload is detected. The signal will go ON when the alarm reset is
input.
Alarm Output (31: ALM)

Alarm Output Ground (32: ALMCOM)
When the Servo Driver detects an error, outputs are turned OFF. At that time, an alarm code (see below)
is output according to the contents of the error. This output is OFF at the time of powering up, and turns
ON when the power-up processing is completed.
Alarm Code Outputs 1 to 3 (37, 38, 39: ALO1 to ALO3)

When a Servo Driver error is generated, the contents of the error are output in 3-bit code. The alarm
code output ground common is CN1 pin 1 or 2. For details, refer to 4-4-1 Alarm Displays and Alarm
Code Outputs.
Encoder A-, B-, and Z-phase Outputs (33, 34: +A, -A; 36, 35: +B, -B; 19, 20: +Z, -Z)
Servomotor encoder signals are output as divided phase-difference pulses according to the user
parameter encoder divider rate setting (Cn-0A). The output form is line driver output, and conforms to
EIA-RS-422A. Receive with a line driver or high-speed photocoupler.
• Output Phase (When Encoder Divider Rate Setting is 4,096) [Incremental]

A-phase A-phase
B-phase B-phase
Z-phase Z-phase
• Output Phase (When Encoder Divider Rate Setting is 8,192) [Absolute]

A-phase A-phase
B-phase B-phase
Z-phase Z-phase
5-20
Note 1. The Z and A phases are synced, but the pulse width can be shorter than phase A.
Note 2. Absolute data is first output from phase A as serial data when the SEN signal goes ON (low to
high) and then it is output as the initial incremental pulses A and B (90 phase difference
pulse). Finally, the same output operation as for a normal incremental corder (90 phase dif-
ference pulse) is carried out.
Note 3. The normal incremental encoder signals (phases A and B) are output approximately 400 ms
after the SEN signal is input.
• Output Circuit and Receiving Circuit [Incremental]
Servo Driver Controller on User’s Side
CN1- +5 V
33 +A +A 2 16
3
A-phase R A-phase
34 –A –A 1
4
36 +B +B 6
5
B-phase R B-phase
35 –B –B 7
12
19 +Z +Z 10
Z-phase 11 Z-phase
R
Output line driver 20 –Z –Z 9 8
SN75ALS 0V
194NS or equivalent 1 GND GND
Applicable line receiver
0V 0V TI-SN75175/MC3486/AM26LS32
50 FG R: 220 Ω to 470 Ω
FG (See FG
note)
Note Pin No. 50 is open for models conforming to the EC Directives. Connect the cable shield to the
5-21
Control I/O Signal Connections and External Signal Processing for

Positioning Control
Positioning
Reverse completion
pulse
Forward Maximum operating

pulse voltage: 30 VDC
Maximum output
current: 50 mA
Error Servo ready

counter
reset
Alarm output
Do not connect Alarm code

outputs
these pins
Maximum operating
voltage: 30 VDC
Maximum output
current: 20 mA
Current monitor
(2 V/rated torque)
Encoder A, B, and
Speed monitor Z phase outputs
(1 V/(1,000 r/min))
Line driver output

24 VDC +24 VIN EIA-RS422A
conforming
(Load resistance:
Run command 200 Ω max.)
Gain
deceleration
Forward rotation
drive prohibit
Reverse rotation
drive prohibit
Ground common
Alarm reset
Forward rotation
current limit
Frame ground
Reverse rotation
current limit Note Pin No. 50 is open for models con-
forming to the EC Directives. Connect
the cable shield to the connector case
and ground it directly using a clamp.
5-22
Control I/O Signal Connections and External Signal Processing for

Speed Control
Speed
command
Speed conformity
A/D
Torque
converter
command
Maximum operating
Motor rotation detection
voltage: 30 VDC
Maximum output
current: 50 mA
Power for speed and +12 V
torque commands Servo ready
Max.: 30 mA DC –12 V
Sensor ON
+5 V
Alarm output
0V
0V
Backup battery Alarm code

(2.8 to 4.5 V) outputs
Maximum operating
voltage: 30 VDC
Do not connect Maximum output
these pins current: 20 mA
Current monitor
(2 V/rated torque)
Speed monitor
(1 V/(1,000 r/min)) Encoder A-phase outputs
24 VDC +24
Line driver output
Run command EIA-RS422A
Encoder B-phase outputs conforming
(Load resistance:
200 Ω max.)
Gain deceleration
Forward rotation Encoder Z-phase outputs

drive prohibit
Reverse rotation
drive prohibit
Ground common
Alarm reset
Forward rotation
current limit
Frame ground
Reverse rotation Note 1. Pins 2, 4, 21, and 22 are for use with
current limit an absolute encoder.
Note 2. Pin No. 50 is open for models con-
forming to the EC Directives. Con-
nect the cable shield to the connector
case and ground it directly using a
clamp.
5-23
CN2: Encoder Input Specifications

Pin No. Signal name Function Interface
1, 2, 3 E0V Encoder power supply GND Power supplyy outlet for encoder: 5 V,, 400 mA
4, 5, 6 E5V Encoder power supply +5 V
7 DIR Rotation direction switch input Connects to GND when reverse rotation is
executed by + input.
8, 9 NC Not used Do not connect.
10, 11 NC Not used Do not connect.
12 BAT+ Battery + (see note 1) Backup power output for encoder
13 BAT– Battery – (see note 1) 10 µA,
A 33.6
6 V (b
(backup,
k rotation
i stopped)
d)
14 S+ (Z+) Encoder + S- (Z-) phase input Line driver input (conforming to EIA-RS422A)
(see note 2) ((Input
u impedance:
eda ce 220 0 Ω))
15 S– (Z–) Encoder – S- (Z-) phase input
(see note 2)
16 A+ Encoder + A-phase input Line driver input (conforming
( g to EIA-RS422A))
17 A– Encoder – A-phase input (I
(Input iimpedance:
d 220 Ω))
18 B+ Encoder + B-phase input Line driver input (conforming
( g to EIA-RS422A))
19 B– Encoder – B-phase input (I
(Input iimpedance:
d 220 Ω))
20 FG Shielded ground (see note 3) Cable shielded ground
Note 1. These terminals are for an absolute encoder.

Note 2. Incremental encoders use the S phase; absolute encoders, the Z phase.
Connectors Used (20P)
Receptacle at Servo Driver 10220-52A2JL (Sumitomo 3M)
Soldered plug at cable side 10120-3000VE (Sumitomo 3M)
Case at cable side 10320-52A0-008 (Sumitomo 3M)
Pin Arrangement
Encoder
1 E0V power sup- 11 NC
Encoder ply GND
2 E0V power sup- 12 BAT+ Battery +
ply GND Encoder (see note)
Battery –
3 E0V power sup- 13 BAT–
ply GND (see note)
Encoder Encoder +
4 E5V power sup- 14 S+ S- (Z-)
ply +5 V Encoder (Z+) phase input Encoder –
5 E5V power sup- 15 S– S- (Z-)
Encoder ply +5 V Encoder + (Z–) phase input
6 E5V power sup- 16 A+ A-phase
ply +5 V Rotation input Encoder –
7 DIR direction 17 A– A-phase
switch input Encoder + input
8 NC 18 B+ B-phase
input Encoder –
9 NC 19 B– B-phase
input
10 NC 20 FG Frame
ground
(See note 2.)
Note 1. The battery pins are for an absolute encoder.
5-24
Rotation Direction Change (7: DIR)
To set up the mechanical configuration so that a + voltage input causes reverse rotation instead of for-
ward rotation, this terminal can be connected to the GND terminal for any of pins 1 through 3. This func-
tion carries out the same operation by means of setting setup parameter Cn-02 bit no. 0 to “1.” Use this
to prevent runaway when replacing the Servo Driver.
When the rotation direction is changed, the encoder A-phase and B-phase output phases are also
changed. The following example is for speed control: When not set (factory setting), + voltage is for
forward (CCW) rotation and A-phase advance; when set, + voltage if for reverse (CW) rotation and
A-phase advance (and – voltage is for forward rotation and B-phase advance). Therefore wiring chan-
ges are unnecessary for encoder signals to the positioner.
Encoder Pulse Input Signals (A-, B-, S-phase (incremental), Z-phase (absolute))
Inputs signals output from the Servomotor encoder. In S-phase, servo sensor U-, V-, W-, and Z-phase
are transmitted according to A- and B-phase logic.
Encoder Power Supply + 5-V Output and Ground (1, 2, 3: E0V; 4, 5, 6: E5V)
Outputs +5.2 ±0.1 V as the power supply for the Servomotor encoder. The encoder power supply can-
not be used for other purposes.
CN3: Parameter Unit Input Specifications

Pin No. Signal name Function I/O interface
1 TXD+ Transmission data + This is data transmitted to a Parameter Unit ((or
2 TXD– Transmission data – a personall computer).)
3 RXD+ Reception data + This is data received from a Parameter Unit ((or
4 RXD– Reception data – a personall computer).
)
5 PRMU Unit switching This is the switching terminal for a Parameter
Unit or personal computer. If the pin is open, it
is for a personal computer. If connected to
+5V, it is for a Parameter Unit.
6 RT1 Termination resistance This is the termination resistance terminal for
enabled/disabled 1-to-1
the line receiver. For 1 to 1 communications or
7 RT2 for the final Servo Driver, short-circuit
RT1-RT2.
8 +5V +5 V output This is the +5 V output to the Parameter Unit.
9 GND Ground
5-25
Pin Arrangement
Transmission
1 TXD+
data +
6 RT1
Termination
2 TXD– Transmission resistance
data – on/off
7 RT2
3 RXD+ Reception
data +
8 +5V +5-V output
Reception
4 RXD–
data –
9 GND Ground
Unit
5 PRMU
switching
Connectors Used (D-sub Connector, 9P)

Socket at Servo Driver 17LE-13090-27 (D2BC) (DDK)
Soldered plug at cable side 17JE-23090-02 (D1) (DDK) (XM2A-0901 (OMRON))
Cover at cable side 17JE-09H-15 (DDK) (XM2S-0912 (OMRON))
CN4: Monitor Output Connector Specifications

Function I/O interface
Speed monitor Voltage output with a ratio of 1 V/(1,000 r/min), centered at 0 V.
Speed command monitor (–) voltage is forward, (+) voltage is reverse, and output accuracy is
Command pulse speed monitor about ±10%.
Current monitor Voltage output with a ratio of 2 V / (rated torque), centered at 0 V.
(–) voltage is output during forward acceleration and positive voltage
during reverse acceleration.
Output accuracy is about ±10%.
Error counter monitor Voltage output with a ratio of 0.05 V/(command unit: Cn-o2 bit E),
centered at 0 V.
(–) voltage is a positive count, (+) voltage is a negative count, and
output accuracy is about ±10%.
Connectors Used (4P)

Pin header at Servo Driver DF11-4DP-2DS (Hirose Electric )
Socket at cable side DF11-4DS-2C (Hirose Electric )
Socket crimp-type terminal at cable side DF11-2428 SC (Hirose Electric )
5-26
5-1-4 Explanation of User Parameters

Refer to 3-3-2 Setting and Checking User Parameters (Cn-03 to 2d) for a table of user parameters.
Speed Command Scale: Cn-03 (Speed, Torque)

This is a constant for adjusting the motor rotation speed for the speed command input. The adjustable
range is 10 to 2,000 (r/min/V). The factory setting is for 300 (r/min/V), with an input voltage of 10 V at
3,000 r/min.
Rotation speed
(r/min)
3000 r/min
Maximum rotation speed
6V
Setting at time
of shipping
3000 r/min
Rated rotation speed
10V
Speed command input voltage (V)
When a position control loop is formed for a speed command type, this speed command scale becomes
the position loop gain.
5-27
Speed Loop Gain: Cn-04 (Position, Speed)
This is the proportional gain for the speed controller. The adjustable range is 1 to 2,000 Hz (the response
frequency when equivalent inertia is used). As the number is increased, the gain is increased.
The factory setting is for 80 (Hz). Using the factory setting for the Servomotor alone or with a small load
inertia will cause vibration to occur, so set the value to a maximum of 20 (Hz) for operation.
Speed Loop Integration Time Constant: Cn-05 (Position, Speed)

This is the integration time for the speed controller. The adjustable range is 200 to 51,200 (0.01 ms), and
it is factory set to 2,000. As the number is increased, the gain is increased.
Emergency Stop Torque: Cn-06 (Position, Speed)

When setup parameter Cn-01 bit no. 8 = 1, this sets the braking torque for over-travel stopping (forward/
reverse drive prohibit input operation). The setting range is 0% to 350% of maximum torque (a percent-
age of the braking torque as 100% of the Servomotor rated torque). The factory setting is for 350% of the
maximum torque.
Software Start Acceleration Time: Cn-07 (Speed)

Software Start Deceleration Time: Cn-23 (Speed)
The Servomotor rotation acceleration time from 0 r/min to 4,500 r/min is set in Cn-07, and the decelera-
tion time from 4,500 r/min to 0 r/min is set in Cn-23. The factory setting is for 0 (ms).
Set to 0 (ms) when positioning is controlled by connecting a positioner with an acceleration function or
when the speed control mode is not being used.
Set both the acceleration and deceleration times when using these functions.
Forward Rotation Torque Control: Cn-08 (Position, Speed, Torque)

Reverse Rotation Torque Control: Cn-09 (Position, Speed, Torque)
The Servomotor output torque control value for forward rotation is sen in Cn-08, and the value for
reverse rotation is set in Cn-09. The setting range is 0% to 350% of the maximum torque, and the factory
setting is for 350% of the maximum torque.
Encoder Dividing Rate Setting: Cn-0A (Position, Speed, Torque)

The number of pulses detected (A- and B-pulses) per encoder revolution is converted to the number of
pulses set for this parameter and output from the Servo Driver. The setting range is 16 to 8,192 pulses/
revolution, and the factory setting is for 1,000 (pulses/revolution).
The upper limit of the setting range is 4,096 for incremental encoders and 8,192 for absolute encoders.
Rotation Speed for Servomotor Rotation Detection: Cn-0b (Position, Speed,

Torque)
This sets the rotation speed for detecting whether or not the Servomotor is rotating. The setting range is
1 to 4,500 r/min. When motor rotation detection has been set for the output signal switch (Cn-2d = 1), the
Servomotor rotation detection output (TGON) is turned ON if the Servomotor rotational speed meets or
exceeds this set value. The factory setting is for 20 (r/min).
5-28
P Control Switching (Torque Command): Cn-0C (Position, Speed)
P Control Switching (Speed Command): Cn-0d (Position, Speed)
P Control Switching (Acceleration Command): Cn-0E (Position, Speed)
P Control Switching (Error Pulse): Cn-0F (Position)
These set the various points for switching the speed controller from PI control to P control in order to
moderate excessive characteristics when an operation such as acceleration or deceleration is
executed accompanied by output saturation of the controller. These parameters are enabled by setting
the P control switching selection (Cn-01 bit b) to 1. The selections are made by setting the setup param-
eter Cn-01 bit nos. d and C.
P Control Switching (Torque Command) is set between 0% and 350% as a percentage of the rated
torque. The factory setting is 200%.
P Control Switching (Speed Command) is set between 0 and 4,500 r/min. The factory setting is 0.
P Control Switching (Acceleration Command) is set between 0 and 3,000 in units of 10 (r/min)/s. The
factory setting is 0.
P Control Switching (error pulse) is set between 0 and 10,000 in command units. The factory setting is
10.
Jog Speed: Cn-10 (Position, Speed, Torque)

This sets the speed for manual operation. The setting range is 0 to 4,500 r/min. During manual opera-
tion, operating commands are given from the Parameter Unit. The factory setting is for 500 (r/min).
Number of Encoder Pulses: Cn-11 (Position, Speed, Torque)

This sets the number of pulses per revolution of a connected encoder. The setting is either 4,096 for an
incremental encoder or 8,192 for an absolute encoder. The Servomotor might not operate correctly if
any other values are used. The factory setting is for 4,096 (pulses/revolution).
Brake Timing 1: Cn-12 (Position, Speed, Torque)

Brake Command Speed: Cn-15 (Position, Speed, Torque)
Brake Timing 2: Cn-16 (Position, Speed, Torque)
These parameters set the output timing for the brake interlock signal (BKIR), which turns the electro-
magnetic brake ON and OFF. The settings are enabled when the brake interlock is set in the output
signal selection (Cn-2d = 4).
Brake timing 1 is a parameter for Servomotors with brakes, and it sets the delay time from the time of
brake interlock output (BKIR) until the servo turns off. The setting range is 0 to 50 (× 10 ms), and the
factory setting is for 0 (× 10 ms).
When setting the brake timing, the time when the servo turns off until the brake interlock is set to off is set
as the holding time.
If the run command turns off, a servo error occurs, or the main-circuit power supply turns off during
operation of a Servomotor with a brake, the dynamic brake comes on (setup parameter Cn-01 bit no. 6 =
0) and Servomotor rotation speed is decreased. When the speed drops to the level of the value set for
the brake command speed (Cn-15), the brake interlock output (BKIR) turns OFF.
Even if the speed does not drop to the level of the value set for the brake command speed (Cn-15), the
brake interlock output (BKIR) turns OFF after the time set for brake timing 2 has elapsed. (This time
setting is made for the purpose of preventing damage to machinery or the Servomotor holding brake.)
The setting range is 10 to 100 (× 10 ms), and the factory setting is for 50 (× 10 ms).
5-29
Torque Command Scale: Cn-13 (Speed, Torque)
This sets the input voltage per rated torque for the torque command scale (TREF: CN1-1). The setting
range is 10 to 100 (× 0.1 V/rated torque), and the factory setting is 30 (× 0.1 V/rated torque, for a setting
of 3 V/rated torque).
Motor output torque At time of shipping

(× rated torque)
3 V/Rated torque
10 V/Rated torque
Torque command voltage (V)
Speed Limit: Cn-14 (Torque)

This limits the Servomotor rotation speed for the torque control mode and is valid in torque control mode
only. The setting range is 0 to 4,500 (r/min), and the factory setting is for 3,000 (r/min).
Torque Command Filter Time Constant: Cn-17 (Position, Speed, Torque)

This sets the low-pass filter time constant for the torque command. The setting range is 0 to 250 (×
100 µs), and the factory setting is 4 (× 100 µs).
The relationship between the filter time constant and the cut-off frequency can be found by means of the
following formula:
fc (Hz) = 1 / (2ΠΤ) : Τ= Filter time constant
If Τ= 400 (µs), fc will be approximately 400 (Hz).
When the characteristic vibration of the machinery is within the response frequency of the servo loop,
Servomotor vibration will occur. In order to prevent this sympathetic vibration based on the characteris-
tic vibration of the machinery, set the torque filter time constant to a value that will eliminate the vibration
(i.e., set it to a high value).
5-30
Forward Rotation External Current Limit: Cn-18 (Position, Speed, Torque)
Reverse Rotation External Current Limit: Cn-19 (Position, Speed, Torque)
These set the Servomotor output torque limits for the forward and reverse directions. The are valid
when when the forward/reverse current limits (PCL/NCL) are input. This function can’t be used when
the control mode is “internal speed control settings.” The setting range is 0% to 350% of the maximum
torque, and the factory setting is for the 100 (%).
Position Loop Gain: Cn-1A (Position, Speed)

It is valid for position control and position lock status. The setting range is 1 to 1,000 (1/s), and the factory
setting is 40 (1/s). Set to between 50 and 70 for general NC machine tools, to between 30 and 50 for
general-purpose machine assembly machines, and to between 10 and 30 for industrial robots. If the
position loop gain is set too high for systems with low machine hardness or for systems with low inherit
vibrations, machine resonance can result, causing an overload alarm.
Positioning Completion Range: Cn-1b (Position)

This sets the error counter value for outputting the positioning completion signal (INP). The positioning
completion output will be ON when the error counter is at or below this value.
The setting range is 0 to 250 in command units and the factory setting is 3.
Bias Rotational Speed: Cn-1C (Position)

This is the position control bias setting. It can be used according to the load conditions to reduce the
positioning time.
The setting range is 0 to 450 in r/min and the factory setting is 0.
Feed-forward Amount: Cn-1d (Position)

This is the compensation value for position control feed-forward. Positioning time is reduced by adding
the differential of the command pulse to the speed command.
The setting range is 0% to 100% and the factory setting is 0%.
Deviation Counter Over Level: Cn-1E (Position)

This is the setting for detection level for deviation counter overrun. A servo alarm will be generated if the
error counter exceeds this value.
The setting range is 1 to 32,767 in x256 command units and the factory setting is 1,024.
No. 1 Internal Speed Setting: Cn-1F (Factory Setting: 100 r/min) (Speed)
No. 2 Internal Speed Setting: Cn-20 (Factory Setting: 200 r/min) (Speed)
No. 3 Internal Speed Setting: Cn-21 (Factory Setting: 200 r/min) (Speed)
Make these settings to control speeds by means of internal settings. The setting range is 0 to 4,500
(r/min). For details, refer to 3-3-4 Setting Internal Speed Control.
Speed Conformity Signal Output Range: Cn-22 (Speed)

When the absolute value of the difference between the speed command and the Servomotor rotation
speed (the speed deviation) is equal to or less than the set value, the speed conformity output (VCMP)
turns ON. This parameter is valid in the speed control mode when the speed conformity output is set for
the output signal selection. (Cn-2d = 0)
5-31
If the speed command is for 2,000 (r/min) and the speed conformity signal output range is 100 (r/min),
then the speed conformity output (VCMP) turns ON when the Servomotor rotation speed is between
1,900 (r/min) and 2,100 (r/min). The setting range is 0 to 100 (r/min), and the factory setting is for 10
(r/min).
Electronic Gear Ratio G1 (Numerator): Cn-24 (Position)

Electronic Gear Ratio G2 (Denominator): Cn-25 (Position)
The motor will rotate via the pulse obtained by multiplying the command pulses by the electronic gear
ratio G1/G2. The setting ranges for G1 and G2 are 1 to 65,535, but (1/100) (G1/G2) 100. The fac-
tory setting is 4/1, meaning that the motor will rotate once for each 4,096 pulses.
Position Command Acceleration/Deceleration Constant: Cn-26 (Position)

This parameter can be used to perform smoothing processing on the command pulses to rotate the
motor. This can be effective in the following cases.
• There is no acceleration or deceleration in the command pulses.
• The frequency of the command pulses varies rapidly.
• The electronic gear ratio is large (G1/G2 10)
The setting range is 0 to 640 in 0.1 ms units and the factory setting is 0.
Feed-forward Command Filter: Cn-27 (Position)

This setting is for a low pass filter to prevent feed-forward amounts from being rapidly added. Over-
shooting can be prevented by using this setting when the command pulse frequency varies rapidly.
The setting range is 0 to 640 in 0.1 ms units and the factory setting is 0.
Compensating Gain: Cn-28 (Position, Speed)

When outputting a large torque (during acceleration, deceleration, etc.), the speed loop gain is
decreased based on this setting. Motor vibration can be reduced by increasing this setting; also, the
positioning time can be reduced because the speed loop gain can be set to a higher value.
If this setting is too high, follow-up delays can occur during acceleration and deceleration. The setting
range is 0 to 100, and the factory setting is 0.
Rotation Speed for Position Lock: Cn-29 (Speed)

This sets the rotation speed for position locks, and is enabled when the control mode selection (Cn-2b)
is set to 10 (position lock speed control). If the motor reaches or falls below the set speed when the
position lock command input (PLOCK) is ON, the system will be changed from speed control to position
control and the motor will servo-lock. The position lock force is adjusted via the position loop gain
(Cn-1A).
The setting range is 0 to 4,500 r/min and the factory setting is 10.
5-32
Motor Selection: Cn-2A (Position, Speed, Torque)
This sets the applicable motor. The setting is determined for the output capacity of each servomotor.
Confirm that the setting is appropriate for the servomotor being used. If the wrong value is used, opera-
tion will be unstable and the motor may be damaged. The setting range is between 0 and 255, and the
factory setting is for an appropriate motor for each driver.

R88D-UT24H R88M-U1K030H- /T- 163
R88D-UT40H R88M-U1K530H- /T- 164
R88D-UT60H R88M-U2K030H- /T- 165
R88D-UT80H R88M-U3K030H- /T- 166
R88D-UT110H R88M-U4K030H- /T- 167
R88D-UT120H R88M-U5K030H- /T- 168

R88D-UT24V- R88M-U1K030V- S1/X- S1 163
R88D-UT40V- R88M-U1K530V- S1/X- S1 164
R88D-UT60V- R88M-U2K030V- S1/X- S1 165
R88D-UT80V- R88M-U3K030V- S1/X- S1 166
R88D-UT110V R88M-U4K030V- S1/X- S1 167
R88M-U5K030V- S1/X- S1 168
Control Mode Selection: Cn-2b (Position, Speed, Torque)

This sets the control mode to speed control, position control, torque control, etc. The motor may operate
unexpectedly if the wrong mode is set. Be sure to check the setting.
The setting range is between 0 to 11, and the factory setting is 1 (Position control (Pulse train com-
mands))

Speed control (Analog commands) 0
Position control (Pulse train commands) [Factory setting] 1
Torque control (Analog commands) 2
Internally-set speed control 3
Internally-set speed control ←→ Speed control (Analog commands) 4
Internally-set speed control ←→ Position control (Pulse train commands) 5
Internally-set speed control ←→ Torque control (Analog commands) 6
Position control (Pulse train commands) ←→ Speed control (Analog commands) 7
Position control (Pulse train commands) ←→ Torque control (Analog commands) 8
Speed control (Analog commands) ←→ Torque control (Analog commands) 9
Speed control (Analog commands) ←→ Position lock prohibit 10
Position control (Pulse train commands) ←→ Pulse prohibit 11
5-33
Encoder Power Supply Voltage: Cn-2C (Position, Speed, Torque)
This sets the encoder power supply voltage. The Cn-2C (encoder power supply voltage) setting
depends on the encoder cable length. The encoder may be damaged if the setting is wrong. Refer to the
following table when making the setting.
Encoder 3m 5m 10 m 15 m 20 m
[Incremental] 52,500 54,000 55,500
[Absolute] 52,500 55,000 57,000
The setting range is from 52,000 to 58,000 in mV units, and the factory setting is 52,500.
Output Signal Selection: Cn-2d (Position, Speed, Torque)

This selects control output functions for CN1 pins 25 to 30. Each digit in the setting corresponds to one
output terminal pair. A setting of 0 is allowed only for the first digit (CN1 pins 25 and 26).
Example Setting Output signal function Set value

210 In position (INP) / speed conformity (VCMP) 0
Motor rotation detection (TGON) 1
Current limit detection (CLIMT) 3
Brake interlock (BKIR) 4
Overload warning (OLWRN) 5
Overload alarm (OLALM) 6
5-34
5-2 Servomotor Specifications
5-2-1 General Specifications

Item Specifications
Storage and operating atmo- No corrosive gasses.
sphere
Vibration resistance 10 to 150 Hz in X, Y, and Z directions with 0.2-mm double amplitude;
acceleration: 24.5 m/s2 {2.5 G} max.; time coefficient: 8 min; 4 sweeps
(see note 1)
Impact resistance Acceleration 98 m/s2 {10 G} max., in X, Y, and Z directions, three times
Insulation resistance Between power line terminals and case: 10 MΩ min. (500 VDC megger)
Dielectric strength Between power line terminals and case: 1,500 VAC for 1 min (10 mA
max.) at 50/60 Hz (JEC 2121)
Run position All directions
Insulation grade Type F (JIS C4004)
Structure Totally-enclosed self-cooling
Protective structure Models not conforming to standards:
IP-65 (IEC 34-5) (Excluding through-shaft portion. The connector used
on the standard cable is IP-30). (see note 2)
Models conforming to EC Directives:
IP-55 (IEC 34-5) (Including through-shaft portion. The connector used on
the standard cable is IP-30).
Cannot be used in environment with water-soluble cutting fluids. (see
note 2)
Vibration grade V-15 (JEC2121)
Mounting method Flange-mounting
Note 1. Vibration may be amplified due to sympathetic resonance of machinery, so use the Servomo-
tor Driver under conditions which will not exceed 19.6 m/s2 {2 G} over a long period of time.
Note 2. Water-proof connectors must be used on the power and encoder cables when used in envi-
ronments subject to direct contact with water. Refer to 2-1-2 Installation Conditions for the
recommended connectors.
Note 3. The Servomotors cannot be used in misty environments.
Note 4. The above items reflect individual evaluation testing. The results may differ under com-
pounded conditions.
5-2-2 Performance Specifications

Item Unit R88M R88M R88M R88M R88M R88M
-U1K030 -U1K530 -U2K030 -U3K030 -U4K030 -U5K030
Rated output* W 1,000 1,500 2,000 3,000 4,000 5,000
Rated torque*
q kgfcm 32.4 48.7 65.0 97.4 129 161
Nm 3.18 4.77 6.36 9.55 12.6 15.8
5-35
-U1K030 -U1K530 -U2K030 -U3K030 -U4K030 -U5K030
Rated rotation r/min 3,000 3,000 3,000 3,000 3,000 3,000
speed
Momentary r/min 4,500 4,500 4,500 4,500 4,500 4,500
maximum
rotation speed
Momentary kgfcm 97.2 146 195 279 375 453
maximum
torque* Nm 9.54 14.3 19.1 27.4 36.8 44.4
Momentary % 279 283 350 289 304 320
maximum/
rated current
ratio
Rated cur- A (rms) 6.1 9.9 12.0 19.4 25.3 26.2
rent*
Momentary A (rms) 17 28 42 56 77 84
maximum cur-
rent*
Rotor inertia kgfcms2 1.78 × 10–3 2.52 × 10–3 3.26 × 10–3 7.14 × 10–3 9.80 × 10–3 12.6 × 10–3
kgm2 1.74 × 10–4 2.47 × 10–4 3.19 × 10–4 7.00 × 10–4 9.60 × 10–4 12.3 × 10–4
(GD2/4)
Torque
q con- kgfcm/A 6.1 5.5 5.3 5.5 5.2 5.8
stant*
t t* Nm/A 0.59 0.54 0.52 0.54 0.51 0.57
Induced volt- mV/ 22.2 20.0 19.5 20.0 19.3 21.2
age constant* (r/min)
Power rate* kW/s 57.9 92.2 103 137 156 171
Mechanical ms 0.9 0.7 0.6 0.6 0.6 0.6
time constant
Winding resis- Ω 0.67 0.31 0.19 0.10 0.063 0.057
tance
Winding mH 4.75 2.40 1.57 1.31 0.89 0.84
impedance
Electrical time ms 7.1 7.7 8.3 14.0 14.1 14.7
constant
Weight [incre- kg Approx. 4.6 Approx. 5.8 Approx. 7.0 Approx. 11 Approx. 14 Approx. 17
mental]
Weight [abso- kg Approx. 5.0 Approx. 6.2 Approx. 7.4 Approx. 11.5 Approx. 14.5 Approx. 17.5
lute]
Corresponding Servo UT24H UT40H UT60H UT80H UT110H UT120H
Driver (R88D-) UT24V- UT40V- UT60V- UT80H- UT110V UT110V
Note 1. *The values for items marked by asterisks are the values at an armature winding temperature
of 100°C, combined with the Servo Driver. Other values are at normal conditions (20°C, 65%).
The momentary maximum torque shown above indicates a standard value.
Note 2. When an AC Servomotor is continuously operated at the rated conditions, a heat radiation
plate equivalent to an rectangular aluminum plate of t20 × 400 mm is required at the Servomo-
tor flange mounting area. (This is for horizontal mounting, with nothing around the Servomo-
tor and no interference from heat convection currents.)
5-36
Caution Do not use 2-kW, 4-kW, or 5-kW servomotors within the shaded portions of the following dia-
grams. If the servomotor is used in these regions, the motor may heat, causing the encoder to
malfunction.
RM88M-U2K030 - (2 kW) RM88M-U4K030 - (4 kW) RM88M-U5K030 - (5 kW)
Effective Effective Effective

torque torque torque
(N.m) (N.m) (N.m)
Ambient temperature ( C) Ambient temperature ( C) Ambient temperature ( C)
5-37
Specifications for Servomotors with Magnetic Brakes
The magnetic brakes installed in Servomotors with brakes are status-holding brakes
with non-magnetized operation. The magnetic brake is released when a magnetic cur-
rent (24 VDC) is applied. The magnetic brake is not meant to be used for braking. Using it
for braking will damage it. During Servomotor operation, be sure to release the magnetic
brake by applying a magnetic voltage. The specifications for Servomotors with brakes
are similar to those for Servomotors without brakes, so except for inertia and weight, the
various constants are all the same.
Note: The inertia for magnetic brakes is the load inertia.
Specifications for AC Servomotors With Brakes

-U1K030 -B -U1K530 -B -U2K030 -B -U3K030 -B -U4K030 -B -U5K030 -B
Rotor iner- kgfcms2 1.78 × 10–3 2.52 × 10–3 3.26 × 10–3 7.14 × 10–3 9.80 × 10–3 12.6 × 10–3
ti
tia kgm2 1.74 × 10–4 2.47 × 10–4 3.19 × 10–4 7.00 × 10–4 9.60 × 10–4 12.3 × 10–4
(GD2/4)
Brake kgfcms2 0.22 × 10–3 2.1 × 10–3
i ti
inertia kgm2 0.22 × 10–4 2.1 × 10–4
(GD2/4)
Total iner- kgfcms2 2.00 × 10–3 2.74 × 10–3 3.48 × 10–3 9.24 × 10–3 11.9 × 10–3 14.7 × 10–3
ti
tia kgm2 1.96 × 10–4 2.69 × 10–4 3.41 × 10–4 9.10 × 10–4 11.7 × 10–4 14.4 × 10–4
(GD2/4)
Weight kg Approx. 6.0 Approx. 7.5 Approx. 8.5 Approx. 14 Approx. 17 Approx. 20
[incremen-
tal]
Weight kg Approx. 6.5 Approx. 8.0 Approx. 9.0 Approx. 14.5 Approx. 17.5 Approx. 20.5
[absolute]
Excitation V 24 VDC ±10% (No polarity)
voltage
Power W (at 20°C) 7 9.8
consump-
tion
Current A (at 20°C) 0.29 0.41
consump-
tion
Static fric- kgfcm 80 min. 200 min.
ti torque
tion t Nm 7.8 min. 20 min.
Absorption ms (180 max.) (180 max.)
time (see
note 1)
Release ms (100 max.) (100 max.)
time (see
note 1)
Backlash --- (±0.5°)
Rating --- Continuous
Insulation --- Type F (brake only)
grade
Note 1. The operation time measurement is the measured value with a surge killer (CR50500, by
Okaya Electric Industrial Co.) installed.
Note 2. The items in parentheses are reference values.
5-38
5-2-3 Torque and Rotation Speed Characteristics

The following graphs show characteristics for various combinations of drivers with an armature winding
temperature of 100 C (with 3-m standard cable and 200-VAC input).
R88M-U1K030H- /-U1K030T- R88M-U1K530H- /-U1K530T- R88M-U2K030H- /-U2K030T-
R88M-U1K030V- S1/-U1K030X- S1 R88M-U1K530V- S1/-U1K530X- S1 R88M-U2K030V- S1/-U2K030X- S1
Frequent usage Frequent usage Frequent usage
Constant usage Constant usage Constant usage
R88M-U3K030H- /-U3K030T- R88M-U4K030H- /-U4K030T- R88M-U5K030H- /-U5K030T-

R88M-U3K030V- S1/-U3K030X- S1 R88M-U4K030V- S1/-U4K030X- S1 R88M-U5K030V- S1/-U5K030X- S1
Frequent usage Frequent usage Frequent usage
Constant usage Constant usage Constant usage
Servomotor and Mechanical System Temperature Characteristics

• U-series AC Servomotors use rare earth magnets (neodymium–iron magnets). The temperature
coefficient for these magnets is approximately -0.13%/°C. As the temperature drops, the Servomo-
tor’s momentary maximum torque increases, and as the temperature rises the Servomotor’s
momentary maximum torque decreases. When the normal temperature of 20°C and –10°C are
compared, the momentary maximum torque increases by approximately 4%. Conversely, when the
magnet warms up to 80°C from the normal temperature of 20°C, the momentary maximum torque
decreases by approximately 8%.
• Generally, in a mechanical system, when the temperature drops the friction torque increases and the
load torque becomes larger. For that reason, overloading may occur at low temperatures. In particu-
lar, in systems which use deceleration devices, the load torque at low temperatures may be nearly
twice the load torque at normal temperatures. Check with a current monitor to see whether overload-
ing is occurring at low temperatures, and how much the load torque is. Likewise, check to see
whether there abnormal Servomotor overheating or alarms are occurring at high temperatures.
• An increase in load friction torque visibly increases load inertia. Therefore, even if the Servo Driver
parameters are adjusted at a normal temperature, there may not be optimal operation at low temper-
atures. Check to see whether there is optimal operation at low temperatures too.
5-39
5-2-4 Allowable Loads on Servomotor Shafts

The allowable loads on Servomotor shafts are shown in the following table. Operate the Servomotor at
no more than the allowable radial and thrust loads. At the time of assembly, assemble the Servomotor at
no more than the momentary maximum radial and thrust loads (static pressure).
Servomotor Momentary allowable Momentary allowable Allowable radial Allowable thrust
radial load (static thrust load (static load load
pressure) pressure)
kgf N kgf N kgf N kgf N
R88M-U1K030 - 160 1,570 60 590 70 680 20 190
R88M-U1K530 - 160 1,570 60 590 70 680 20 190
R88M-U2K030 - 160 1,570 60 590 70 680 20 190
R88M-U3K030 - 160 1,570 120 1,170 100 980 40 390
R88M-U4K030 - 160 1,570 120 1,170 120 1,170 40 390
R88M-U5K030 - 160 1,570 120 1,170 120 1,170 40 390
Note 1. The allowable radial load is the value at a point 5 mm from the end of the shaft.
Radial load
Thrust load
5 mm
Note 2. The allowable radial and thrust loads are values determined with a service life of 20,000 hours
taken as a criteria.
Note 3. Absolutely do not impact the Servomotor or the output shaft by striking them with an imple-
ment such as a hammer. Doing so will damage the Servomotor and encoder bearings.
Note 4. The service life of bearing grease is 20,000 hours at a Servomotor ambient temperature of
40°C, and under the rated operating conditions.
Note 5. Make sure that the radial load is within the allowable range when there is a radial load applied.
If the Servomotor is operated at more than the allowable radial load, the shaft may suffer dam-
age due to fatigue.
Note 6. Applying an excessive load even once can damage the bearings and eventually cause a
breakdown.
5-40
5-2-5 Encoder Specifications

Item Standards
Encoder method Optical encoder
Incremental encoder Absolute encoder
Number of output pulses A, B phase: 4,096 pulses/revolution A, B phase: 8,192 pulses/revolution
Z phase: 1 pulse/revolution Z phase: 1 pulse/revolution
Maximum rotational speed ––– 99,999 rotations
Power supply voltage 5 VDC±5%
Power supply current DC, 350 mA (for load resistance of DC, 400 mA (for load resistance of
220 Ω) 220 Ω)
Applicable battery voltage ––– 3.6 VDC
Battery current consumption ––– 10 µA (3.0 V; when stopped)
Phase characteristics 90° ±36°
Phase relationship For rotation in the CW direction, A phase is advanced by 90° compared to
B phase.
Maximum rotation speed 4,500 r/min
Maximum response frequency 307.2 kHz 614.4 kHz
Output signals +A, –A, +B, –B, +S, –S +A, –A, +B, –B, +Z, –Z
Output impedance Conforming to EIA RS-422A. Conforming to EIA RS-422A.
Output based on MC3487 or equiv- Output based on SN75158 or
alent. equivalent.
Serial communications data Z phase, poll sensor, U, V, W phase –––
Serial communications method Combination communications –––
method based on A, B, and S
phases.
Absolute value communications ––– Rotation amount data
data Absolute position data within one
rotation (output only when power is
supplied)
5-41
5-3 Cable Specifications
5-3-1 Controller Connecting Cable
Connecting Cables for CV500-MC221/421/C200H-MC221
Types of Cable
Number of axes Model Length (L) Outer diameter of sheath
1 R88A-CPUB001M1 1m 8.3 dia.
R88A-CPUB002M1 2m
2 R88A-CPUB001M2 1m 8.3 dia.
R88A-CPUB002M2 2m
Connection Configuration (For 1 Axis)
OMNUC U-series
AC Servo Driver
(R88D-UT )
CV500-MC221/421
C200H-MC221
5-42
Wiring (For 1 Axis)
CV500-MC221/MC421 AWG20 Red *AWG20 Red OMNUC U-series

C200H-MC221 AC Servo Driver
AWG20 Black *AWG20 Blue
Signal Insulation color/Marking color/Marking Signal
21 *
22 *
White/Black – 31
Pink/Black – 40
Yellow/Black – 44
Gray/Black – 2 *
Gray/Red – 4 *
Orange/Black – – 1
White/Red – 33
White/Black – 34
Yellow/Red – 36
Yellow/Black – 35
Pink/Red – 19
Pink/Black – 20
Orange/Red – 5
Orange/Black – 6
Shell
Orange/Black – 47
Gray/Black – 32
Connector plug:
10150-3000VE (Sumitomo 3M)
Connector case:
10350-52A0-008 (Sumitomo 3M)
Connector plug:
10136-3000VE (Sumitomo 3M)
Connector case:
10336-52A0-008 (Sumitomo 3M)
Note 1. The Controller’s symbols are the DRVX-Y connector’s symbols. In a DRVZ-U connector, X →
Z and Y → U.
Note 2. The terminals and wires marked with asterisks are used with Absolute Encoders.
Note 3. Supply 24 VDC to the two wires (black and red) that are taken out from the Controller’s con-
nector. (Red is + and black is –.)
5-43
Connection Configuration (For 2 Axes)
OMNUC U-series
AC Servo Driver
(R88D-UT )
OMNUC U-series
AC Servo Driver
(R88D-UT )
CV500-MC221/421
C200H-MC221
5-44
Wiring (For 2 Axes)
CV500-MC221/MC421 AWG20 Red OMNUC U-series
C200H-MC221 AC Servo Driver
Signal Insulation color/Marking color/Marking AWG20 Black Signal
*AWG20 Red
21 *
*AWG20 Blue
22 *
White/Black – 31
Pink/Black – 40
Yellow/Black – 44
Gray/Black – 2 *
Gray/Red – 4 *
White/Red – 33
White/Black – 34
Yellow/Red – 36
Yellow/Black – 35
Pink/Red – 19
Pink/Black – 20
Orange/Red – 5
Orange/Black – 6
Shell
Orange/Black – 47
Gray/Black – 32
Signal
47
32
White/Black – 31
Pink/Black – 40
Yellow/Black – 44
Gray/Black – 2 *
Gray/Red – 4 *
White/Red – 33
White/Black – 34
Yellow/Red – 36
Yellow/Black – 35
Pink/Red – 19
Pink/Black – 20
Orange/Red – 5
Orange/Black – 6
Connector plug: Shell
10136-3000VE (Sumitomo 3M) *AWG20 Red
21 *
Connector case: *AWG20 Blue
22 *
10336-52A0-008 (Sumitomo 3M)
Connector plug: 10150-3000VE (Sumitomo 3M)
Connector case: 10350-52A0-008 (Sumitomo 3M)
5-45
Note 1. The Controller’s symbols are the DRVX-Y connector’s symbols. In a DRVZ-U connector, X →
Z and Y → U.
Note 2. The terminals and wires marked with asterisks are used with Absolute Encoders.
Note 3. Supply 24 VDC to the two wires (black and red) that are taken out from the Controller’s connector. (Red
is + and black is –.)
Types of Cable
Model Length (L) Outer diameter of sheath
R88A-CPUB001S 1m 9.9 dia.
R88A-CPUB002S 2m
Connection Configuration
SYSMAC CV-/C-series
OMNUC U-Series
AC Servomotor Driver
(R88D-UT )
5-46
Wiring Connector Pin
Arrangement
No. Insulation Dot mark Dot mark Signal name
1 26
l
color l
color Analog Pulse 2 27
3 28
1 Yellow ––– Black EGND EGND 4 29
5 30
2 (GND) (GND) 6 31
7 32
3 PCOM 8 33
9 34
4 (SEN) (SEN) 10 35
11 36
5 Orange – Red REF 12 37
13 38
6 Orange – Black AGND 14 39
15 40
7 Light gray – Red +CW 16 41
17 42
8 Light gray – Black –CW 18 43
19 44
9 White – Red TREF 20 45
21 46
10 White – Black AGND 22 47
23 48
11 Yellow – Red +CCW 24 49
25 50
12 Yellow – Black –CCW
13 PCOM Connector plug model:
14 Pink – Black –ECRST 10150-3000VE (Sumitomo 3M)
Connector case model:
15 Pink – Red +ECRST 10350-52A0-008 (Sumitomo 3M)
16 AM AM
17 NM NM
18 PCOM
19 Light gray –– Red +Z +Z
20 Light gray –– Black –Z –Z
21 (BAT) (BAT)
22 (BATGND) (BATGND)
23 P12 P12
24 N12 N12
25 Orange –– Red +VCMP +INP
26 Orange –– Black –VCMP –INP
27 White –– Red +TGON +TGON
28 White –– Black –TGON –TGON
29 Yellow –– Red +READY +READY
30 Yellow –– Black –READY –READY
31 Pink –– Red ALM ALM
32 Pink –– Black ALMCOM ALMCOM
33 Orange ––– Red +A +A
34 Orange ––– Black –A –A
35 Light gray ––– Black –B –B
36 Light gray ––– Red +B +B
37 White ––– Red ALO1 ALO1
38 White ––– Black ALO2 ALO2
39 Yellow ––– Red ALO3 ALO3
40 Pink ––– Red RUN RUN
41 Pink ––– Black MING MING
42 Orange –––– Red POT POT
5-47
No. Insulation Dot mark Dot mark Signal name

color color Analog Pulse
43 Orange –––– Black NOT NOT
44 Light gray –––– Black RESET RESET
45 White –––– Red PCL PCL
46 White –––– Black NCL NCL
47 Light gray –––– Red +24VIN +24VIN
48
49
50 Shield FG FG
Cable: AWG24X18P
5-48
5-3-2 Encoder Cable

Use the recommended connectors shown in 2-1-2 Installation Conditions to conform to the EC Direc-
tives.
Types of Cable
R88A-CRUB003N 3m 10.3 dia.
R88A-CRUB005N 5m
R88A-CRUB010N 10 m
R88A-CRUB015N 15 m
R88A-CRUB020N 20 m
(Up to a maximum of 20 m between the Servomotor and the Servo Driver.)
37.3 dia.
OMNUC U-Series AC OMNUC U-Series

Servomotor AC Servomotor Driver
(R88M-U 30 - ) (R88D-UT )
5-49
Wiring
Symbol No. No. Symbol

AWG24 (blue)
A+ A 16 A+
A– B AWG24 (white/blue) 17 A–
B+ C AWG24 (yellow) 18 B+
B– D AWG24 (white/yellow) 19 B–
S+(Z+) E AWG24 (green) 14 S+(Z+)
S–(Z–) F AWG24 (white/green) 15 S–(Z–)
E0 V G AWG22 (black) 1 E0 V
E5 V H AWG22 (red) 4 E5 V
Not used.
AWG24 (purple)
K 8 Not used.
AWG24 (white/purple)
Not used. L 9 Not used.
NC P
Reset R AWG24 (white/gray) 10 Reset
AWG24 (white/orange)
BAT– S 13 BAT–
BAT+ T AWG24 (orange) 12 BAT+
AWG22 (green/yellow)
FG J 20 FG
Cable: AWG22 × 3C + AWG24 × 6P
<For Cable>
Connector plug model: MS3106B20-29S (DDK) Contact plug model: 10120-3000VE (Sumitomo 3M)
Cable clamp model: MS3057-12A (DDK) Contact case model:10320-52A0-008 (Sumitomo 3M)
<For Motor>
Receptacle model: MS3102A20-29P (DDK)
5-3-3 Power Cables

Use the recommended connectors shown in 2-1-2 Installation Conditions to conform to the EC Direc-
tives.
Power Cables for Servomotors Without Brakes (1.0 to 2.0 kW)
Types of Cable
R88A-CAUB003S 3m 14 dia.
R88A-CAUB005S 5m
R88A-CAUB010S 10 m
R88A-CAUB015S 15 m
R88A-CAUB020S 20 m
5-50

(R88M-U 30 - ) (R88D-UT )
Wiring
Symbol No.
Red
U-phase A
White
V-phase B
Black
W-phase C
Green
GR D
Cable: AWG12 × 4C Crimp-style terminal: V5.5–4
<For Cable>
Connector plug model: MS3106B18-10S (DDK)
Cable clamp model: MS3057-10A (DDK)
<For Motor>
Power Cables for Servomotors Without Brakes (3.0 to 5.0 kW)
Types of Cable
R88A-CAUC003S 3m 16.5 dia.
R88A-CAUC005S 5m
R88A-CAUC010S 10 m
R88A-CAUC015S 15 m
R88A-CAUC020S 20 m
5-51

(R88M-U 30 - ) (R88D-UT )
Wiring
Symbol No.
Red
U-phase A
White
V-phase B
Black
W-phase C
Green
GR D
<For Cable>
<For Motor>
5-52
Power Cable for Servomotors With Brakes (1.0 to 2.0 kW)
Types of Cable
R88A-CAUB003B 3m 16.5 dia.
R88A-CAUB005B 5m
R88A-CAUB010B 10 m
R88A-CAUB015B 15 m
R88A-CAUB020B 20 m

(R88M-U 30 -B- ) (R88D-UT )
Wiring
Symbol No.
Red
U-phase A
White
V-phase B
Black
W-phase C
Green
GR D
Brown
Brake E
Yellow
Brake F
<For Cable>
<For Motor>
5-53
Power Cable for Servomotors With Brakes (3.0 to 5.0 kW)
Types of Cable
R88A-CAUC003B 3m 20 dia.
R88A-CAUC005B 5m
R88A-CAUC010B 10 m
R88A-CAUC015B 15 m
R88A-CAUC020B 20 m

(R88M-U 30 -B- ) (R88D-UT )
Wiring
Symbol No.
Red
U-phase A
White
V-phase B
Black
W-phase C
Green
GR D
Brown
Brake E
Yellow
Brake F
<For Cable>
<For Motor>
5-54
5-4 Parameter Unit Specifications
General Specifications
Item Standards
Storage and operating No corrosive gasses.
atmosphere
Vibration resistance 0.5 G {4.9 m/s2} max.
Impact resistance Acceleration 2 G {19.6 m/s2} max.
Performance Specifications
Model R88A-PR02U R88A-PR03U
Type Handy type Mounted type
Accessory cable 1,000 mm (Connected by connectors.)
Connectors 7910-7500SC (10 pins) D-sub connector (9 pins)
Display 7-segment LED, 5 digits
External dimensions 63 × 135 × 18.5 (W × H × D) 54 × 57.5 × 15 (W × H × D)
Commu- Standard RS-232C RS-422A
nications
i i Communications Asynchronous (ASYNC)
specifica- method
tions
Baud rate 2,400 bps
Start bits 1 bit
Data 8 bits
Parity None
Stop bits 1 bit
Errors detected by Parameter Display CPF00 Cannot transmit even after 5 seconds have
Unit
U elapses since power supply was turned on.
CPF01 A BCC error or faulty reception data has occurred
for five consecutive times, or a time overrun (1 s)
has occurred for three consecutive times.
5-55
6Chapter 6
Appendix
6-1 Connection Examples
6-2 Encoder Divider Rate for Servo Controllers
6-3 OMNUC U-series Standard Models
6-4 Combinations of Servo Drivers
and Servomotors
Appendix Chapter 6
6-1 Connection Examples
Connection Example 1: Connecting to SYSMAC C200HW-NC113

Main circuit power supply

NFB OFF ON
R MC Main circuit contact
X1
Surge killer
Noise filter
SUP
MC
200/230 VAC 50/60Hz S
Class-3 ground
C200H-NC113 R88D-UTH
CN 1 TB
Contents No. r
24-VDC input (for output) A1 t
R
24
0-V input (for output) A2 VDC S
11 +CCW T
MC
Pulse output
CCW (with a resistor) A6 12 -CCW P R88M-U

CCW (without a resistor) A5 7 +CW B
CW (with a resistor) A8 8 –CW N R88A-CAUBS
Red
CW (without a resistor) A7 U R88A-CAUCS
White
V
X-axis dev. cntr. reset output A11 Black M
15 +ECRST W
1.6 k Green
X-axis origin line driver input A16 14 –ECRST
X-axis origin common A14
X-axis positioning complete input A12 19 +Z
24 VDC 20 –Z
X-axis input common A24 25 +INP

47 +24 VIN
X1 CN2
X-axis external interrupt input 40 RUN R88A-CRUBN
A19
X-axis origin proximity input A21 44 RESET RE
X-axis CCW limit input A23 26 –INP
X-axis CW limit input A22 32 ALMCOM
X-axis emerg. stop input A20 X1 31 ALM
24 VDC
FG
Shell
R88A-CPUBS
Note 1. Incorrect signal wiring can cause damage to Units and the Servo Driver.
Note 2. Leave unused signal lines open and do not wire them.
Note 3. Use mode 2 for origin search.
Note 4. Use the 24-VDC power supply for command pulse signals as a dedicated power supply.
Note 5. The diode recommended for surge absorption is the ERB44-02 (Fuji Electric).
Note 6. Use the RUN signal to set whether the Servo can be turned ON/OFF.
6-2
Appendix Chapter 6
Connection Example 2: Connecting to SYSMAC C200H-NC112 Position

Control Units
NFB OFF ON
X1
Surge killer
Noise filter
SUP
MC
200/230 VAC 50/60Hz S
Class-3 ground
C200H-NC112 R88D-UTH
CN 1 TB
Contents No. r
24-VDC input (for output) A t
1
B R
24
A VDC S
2
5-VDC input (for output) B 11 +CCW T
MC
Pulse output
CCW (with a resistor) A 12 -CCW P R88M-U

3
CCW (without a resistor) B 7 +CW B
CW (with a resistor) A 8 –CW N
4 R88A-CAUBS
CW (without a resistor) Red
B U R88A-CAUCS
White
A V
0V 5 Black M
B 15 +ECRST W
1.6 k Green
Dev. counter reset output A 14 –ECRST
6
0V B
Origin line driver input A 19 +Z

8 20 –Z
B 12 to 24 VDC
Positioning completion A
input 9 25
B +INP
A 47 +24 VIN
Origin proximity input 10 X1 CN2
40 RUN R88A-CRUBN
B
A 44 RESET
CCW limit input 12 RE
B 26 –INP
A 32 ALMCOM
CW limit input 13
B X1 31 ALM
A 24 VDC
External interrupt input 19
B FG
A
Emergency stop input 20
B
Shell
R88A-CPUBS
6-3
Appendix Chapter 6
Connection Example 3: Connecting to SYSMAC

C200H-NC211/C500-NC211 Position Control Units
NFB OFF ON
X1
Noise filter
SUP Surge killer
MC
200/230 VAC 50/60Hz S
C200H-NC211 Class-3 ground

C500-NC211
R88D-UTH
CN 1 TB
Contents No. r
24-VDC input (for output) 1 t
24
VDC R
0-VDC power (for output) 23 S
11 +CCW T
MC
X-axis pulse
CW (with a resistor) 2 12 -CCW P R88M-U

CW (without a resistor) 3 7 +CW B
output
CCW (with a resistor) 13 8 –CW N R88A-CAUBS

CCW (without a resistor) Red
14 U R88A-CAUCS
White
1.6 k 15 +ECRST V
Black M
X-axis dev. cntr. reset output 4 14 –ECRST W
Green
X-axis origin line driver input 9 19 +Z
X-axis origin common 11 20 –Z
X-axis positioning completion input 8 25 +INP
X/Y-axis input common 22 47 +24 VIN

24
VDC X1 CN2
X-axis external interrupt input 40 RUN R88A-CRUBN
6
X-axis origin proximity input 7 44 RESET RE
X-axis CCW limit input 17 26 –INP
X-axis CW limit input 18 32 ALMCOM
X/Y-axis emerg. stop input 19 X1 31 ALM
24 VDC
FG
Shell
FG 12
R88A-CPUBS
Note 6. This wiring diagram is for the X axis only. If the other axis is to be used, connect to the Servo
Driver in the same way.
6-4
Appendix Chapter 6
Connection Example 4: Connecting to SYSMAC C200H-NC111-EV1

Position Control
Units
NFB OFF ON
X1
Surge killer
Noise filter
SUP
MC
200/230 VAC 50/60Hz S
Class-3 ground
C500-NC111-EV1 R88D-UTH
CN 1 TB
Content No. r
A 47 +24 VIN t
12 to 24 VDC 1 24
B X1 R
VDC
CW limit A 40 RUN S
2
CCW limit B 44 RESET T
Emergency stop MC R88M-U
A 32 ALMCOM P
3
External interrupt B X1 31 ALM B
Origin A 24 VDC N
4 Red
R88A-CAUBS
Origin interrupt B U R88A-CAUCS
Local White
A V
5 Black M
Ready B W
Green
5 VDC
A
5 VDC 8 7 +CW
B
CN2 R88A-CRUBN
8 –CW
Pulse output
CW+ A
9 11 +CCW
CW– B RE
CCW+ A 12 -CCW
10
CCW– B 15 +ECRST
14 –ECRST
FG
Shell
R88A-CPUBS
Note 4. When an NC111-EV1 Position Control Unit is used, the origin search is executed by means of
the origin and origin proximity. Establish the origin and origin proximity with respect to the
mechanical system. Pulses remain accumulated in the Servo Driver’s deviation counter even
after the Position Control Unit has completed the origin search and stopped pulses. This
causes the Servomotor to move for the amount of residual pulses before stopping, thereby
causing origin displacement. In order to minimize this, set the origin search low speed as low
as possible.
6-5
Appendix Chapter 6
Connection Example 5: Connecting to SYSMAC C200H-NC222-E

NFB OFF ON
X1
Noise filter
SUP Surge killer
MC
200/230 VAC 50/60Hz S
Class-3 ground
C500-NC222-E R88D-UTH
MD Connector CN 1 TB
Name Signal No. R88A-CPUBS r
X axis + A-phase input X-A 7 33 +A t
X axis – A-phase input X-A 6 34 -A R
X axis + B-phase input X-B 5 36 +B S
X axis – B-phase input X-B 4 35 –B T
X axis + Z-phase input MC R88M-U
X-Z 16 19 +Z P
X axis – Z-phase input 15 20 –Z B
X-Z
X-axis speed command XOUT 9 5 REF N
Red R88A-CAUBS
X-axis speed cmnd., 0V XAG 8 6 AGND U R88A-CAUCS
White
DC GND 1 V
0V Black M
DC GND 17 24 VDC W
Green
+24 V 11
24 V for OUT output
+24 V 12 47 +24 VIN
X1
X-axis OUT 2 output OUT 2X 2 40 RUN
44 RESET
EXT IN Connector 32 ALMCOM
Name Signal No. X1 31 ALM
0V DC GND 1 24 VDC
FG CN2 R88A-CRUBN
X-axis CCW limit input CCWL X 2
X-axis extrnl. stop input STP X 3 Shell RE
X-axis origin input ORG X 4
X-axis external servo free input SERVO X 5
X-axis CW limit input CWL X 6
Frame ground FG 7
+24 V 8 24 VDC
24 V for input
+24 V 9
0V DC GND 11
Note 4. This wiring diagram is an example of X-axis wiring only. For two-axis control, the external
input and Driver wiring must be connected for the Y axis in the same way.
Note 5. External output 2 (OUT 2X) can be turned ON and OFF with external servo-free input, at
which time external output 2 of the C500-NC222-E’s address numbers 420 (X axis) and 820
(Y axis) must be set to 1 (turned OFF at the time of servo free).
Note 6. When the C500-NC222-E is used in NC221 mode, external servo-free input works as emer-
gency stop input. Therefore external output 2 cannot be used as a RUN signal. Input a RUN
signal from other I/O terminals.
6-6
Appendix Chapter 6
Connection Example 6: Connecting to SYSMAC

C500-MC221/421/C200H-MC221 Control Units
Main circuit power supply X-axis external forced stop contact (emergency stop, etc.)
NFB OFF ON
X
Noise filter
SUP Surge killer
MC
200/230 VAC 50/60Hz S
CV500-MC221/421 Class-3 ground

C200H-MC221 R88D-UTH
DRV Connector
DC supply Battery
2.8 to 4.5 V
* CN 1 TB
+24 V 0 V r
– +
24-V input 1 t
24-V input ground 2
21 BAT
* R
X-axis alarm input 3
22 BATGND
ALM
* S
31
X-axis oper. cmnd. output 4 T
40 RUN
X-axis alarm reset output 5 P MC R88M-U
44 RESET
X-axis SEN signal ground 8 B
X-axis SEN signal output
2 SENGND * N R88A-CAUBS
9 Red
X-axis feedback ground 10
4 SEN
* U
White
R88A-CAUCS
1 GND
V Black M
X-axis A phase input 11 33 +A
W Green
X-axis A phase input 12 34 –A
X-axis B phase input 13 36 +B
X-axis B phase input 14 35 –B
X-axis Z phase input 15 19 +Z
X-axis Z phase input 16 20 –Z

X-axis speed command 17 5 REF
X-axis speed cmnd ground 18 6 AGND CN2
R88A-CRUBN
Shell FG
DC supply 24-V output 19 47 +24 VIN RE
0V +24 V 24-V output ground 20 32 ALMCOM
I/O Connector Special-purpose cable
24-V input 1 R88A-CPUBM1 (for one axis)
R88A-CPUBM2 (for two axes)
X-axis CW limit input 2
X-axis CCW limit input 4
X-axis emerg. stop input 6
X-axis origin prox. input 10
24-V input ground 14
Note 3. Connect the terminals and wiring marked by asterisks (*) when using an absolute encoder.
Note 4. This wiring diagram is for the X axis only. If the other axis is to be used, connect to the Servo
Driver in the same way.
Note 5. Be sure to short (in the connector) any unused NC input terminals in the CV500-221/421-E’s
I/O connector.
6-7
Appendix Chapter 6
6-2 Encoder Divider Rate for Servo Controllers

Encoder output pulses for OMNUC U-Series AC Servo Drivers can be set within a range of 16 to 4,096
pulses/revolution by setting the encoder divider rate. Depending on the Controller’s encoder input max-
imum response frequency limits, however, the maximum numbers of revolutions are limited as shown in
the following table. In this table, the divider rates are shown in the top line above the multipliers. (“MC”
indicates CV-500-MC221/421 Motion Control Units, and “NC” indicates C500-NC222-E Position Con-
trol Units.
Encoder Divider Rates (Cn-0A) and Maximum Numbers of Rotations

2,048 to 1,366 1,365 to 1,025 1,024 to 819 4096 4096
Cn-0A >
n n+1
4 2 1 4 2 1 4 2 1 4 2 1
C500-NC222-E 4,500 4,500 4,500 2,490 x n
CV500-MC221/ 2,196 4,394 4,500 3,294 4,500 4,392 4,500 1,098 x n 2,197 x n
MC421
C200H-MC221
Note 1. “n” represents a number from 1 to 256.

Note 2. The numbers in this table indicate the maximum number of revolutions (r/min) that can be
used in combination with Servo Controllers.
Note 3. The upper limit for the maximum number of revolutions is 4,500 r/min.
6-8
Appendix Chapter 6
6-3 OMNUC U-series Standard Models

Models Not Conforming to Any Standards
• Servomotors with Incremental Encoders • Parameter Units
Specification Model
Specification Model
Handy type R88A-PR02U
Straight
g Standard 1.0 kW R88M-U1K030H
shafts
h ft ( ith t
(without Mounted type R88A-PR03U
1.5 kW R88M-U1K530H
without key brake) • Encoder Cables
2.0 kW R88M-U2K030H
Specification Model
3.0 kW R88M-U3K030H
Common to 3m R88A-CRUB003N
4.0 kW R88M-U4K030H i
incremental
t l and
d 5m R88A-CRUB005N
5.0 kW R88M-U5K030H absolute encoders
with connectors at 10 m R88A-CRUB010N
With brake 1.0 kW R88M-U1K030H-B
both ends 15 m R88A-CRUB015N
1.5 kW R88M-U1K530H-B
20 m R88A-CRUB020N
2.0 kW R88M-U2K030H-B
3.0 kW R88M-U3K030H-B • Power Cables (1.0 to 2.0 kW)
4.0 kW R88M-U4K030H-B Specification Model
5.0 kW R88M-U5K030H-B For standard motors 3m R88A-CAUB003S

( ith t brake)
(without b k ) with
ith 5m R88A-CAUB005S
Straight
g Standard 1.0 kW R88M-U1K030H-S1 connector at one end
shafts
h ft with
ith ( ith t
(without 10 m R88A-CAUB010S
1.5 kW R88M-U1K530H-S1
key brake) 15 m R88A-CAUB015S
2.0 kW R88M-U2K030H-S1
20 m R88A-CAUB020S
3.0 kW R88M-U3K030H-S1
For motors with brake 3m R88A-CAUB003B
4.0 kW R88M-U4K030H-S1 and
d with
ith connector
t att 5m R88A-CAUB005B
5.0 kW R88M-U5K030H-S1 one end
10 m R88A-CAUB010B
With brake 1.0 kW R88M-U1K030H-BS1
15 m R88A-CAUB015B
1.5 kW R88M-U1K530H-BS1
20 m R88A-CAUB020B
2.0 kW R88M-U2K030H-BS1
3.0 kW R88M-U3K030H-BS1 • Power Cables (3.0 to 5.0 kW)
4.0 kW R88M-U4K030H-BS1 Specification Model
5.0 kW R88M-U5K030H-BS1 For standard motors 3m R88A-CAUC003S

( ith t brake)
(without b k ) with
ith 5m R88A-CAUC005S
connector at one end
• Servomotors with Absolute Encoders 10 m R88A-CAUC010S
Specification Model 15 m R88A-CAUC015S
Straight
g Standard 1.0 kW R88M-U1K030T 20 m R88A-CAUC020S
shafts
h ft ( ith t
(without 1.5 kW R88M-U1K530T For motors with brake 3m R88A-CAUC003B
without key brake) d with
and ith connector
t att
2.0 kW R88M-U2K030T 5m R88A-CAUC005B
one end
3.0 kW R88M-U3K030T 10 m R88A-CAUC010B
With brake 1.0 kW R88M-U1K030T-B • Dedicated Control Cables
1.5 kW R88M-U1K530T-B Specification Model
2.0 kW R88M-U2K030T-B For 1 1m R88A-CPUB001M1
CV500-MC221 axis
3.0 kW R88M-U3K030T-B 2m R88A-CPUB002M1
/421 and
4.0 kW R88M-U4K030T-B C200H MC221
C200H-MC221
with 2 1m R88A-CPUB001M2
5.0 kW R88M-U5K030T-B axes
connectors at
2m R88A-CPUB002M2
• Servo Drivers both ends
• General-purpose Control Cables
Specification Model
Specification Model
Common to analog g and 1.0 kW R88D-UT24H
pulse
l train
t i inputs
i t For general-purpose 1m R88A-CPUB001S
1.5 kW R88D-UT40H controllers with
C
Common to incremental 2.0 kW R88D-UT60H connector at one end 2m R88A-CPUB002S
and absolute encoders
3.0 kW R88D-UT80H • Control Cable Connector
4.0 kW R88D-UT110H Specification Model
5.0 kW R88D-UT120H Half-pitch 50P (Sumitomo 3M) R88A-CNU11C
6-9
Appendix Chapter 6
Models Conforming to EC Directives

• Servomotors with Incremental Encoders • Parameter Units
Specification Model Specification Model
Straight
g Standard 1.0 kW R88M-U1K030V-S1 Handy type R88A-PR02U
shafts
h ft with
ith ( ith t
(without
key brake) 1.5 kW R88M-U1K530V-S1 Mounted type R88A-PR03U
2.0 kW R88M-U2K030V-S1
• Encoder Cables
3.0 kW R88M-U3K030V-S1
Specification Model
4.0 kW R88M-U4K030V-S1
Common to incremental 3m R88A-CRUB003N
5.0 kW R88M-U5K030V-S1 andd absolute
b l t encoders
d
with connectors at both 5m R88A-CRUB005N
With brake 1.0 kW R88M-U1K030V-BS1
ends
e ds 10 m R88A-CRUB010N
1.5 kW R88M-U1K530V-BS1
15 m R88A-CRUB015N
2.0 kW R88M-U2K030V-BS1
20 m R88A-CRUB020N
3.0 kW R88M-U3K030V-BS1
4.0 kW R88M-U4K030V-BS1 • Power Cables (1.0 to 2.0 kW)
5.0 kW R88M-U5K030V-BS1 Specification Model
• Servomotors with Absolute Encoders For standard motors 3m R88A-CAUB003S
( ith t brake)
(without b k ) with
ith
connector at one end 5m R88A-CAUB005S
Specification Model
10 m R88A-CAUB010S
Straight
g Standard 1.0 kW R88M-U1K030X-S1
shafts
h ft with
ith ( ith t
(without 15 m R88A-CAUB015S
1.5 kW R88M-U1K530X-S1
key brake) 20 m R88A-CAUB020S
2.0 kW R88M-U2K030X-S1
For motors with brake 3m R88A-CAUB003B
3.0 kW R88M-U3K030X-S1 and
d with
ith connector
t att
one end 5m R88A-CAUB005B
4.0 kW R88M-U4K030X-S1
10 m R88A-CAUB010B
5.0 kW R88M-U5K030X-S1
15 m R88A-CAUB015B
With brake 1.0 kW R88M-U1K030X-BS1
20 m R88A-CAUB020B
1.5 kW R88M-U1K530X-BS1
2.0 kW R88M-U2K030X-BS1 • Power Cables (3.0 to 5.0 kW)
3.0 kW R88M-U3K030X-BS1 Specification Model
4.0 kW R88M-U4K030X-BS1 For standard motors 3m R88A-CAUC003S
5.0 kW R88M-U5K030X-BS1 ( ith t brake)
(without b k ) with
ith
connector at one end 5m R88A-CAUC005S
• Servo Drivers 10 m R88A-CAUC010S
15 m R88A-CAUC015S
Specification Model
20 m R88A-CAUC020S
Common to analog g and 1.0 kW R88D-UT24V
pulse
l train
t i inputs
i t For motors with brake 3m R88A-CAUC003B
1.5 kW R88D-UT40V and
d with
ith connector
t att
Common to incremental one end 5m R88A-CAUC005B
2.0 kW R88D-UT60V
and absolute encoders 10 m R88A-CAUC010B
3.0 kW R88D-UT80V
15 m R88A-CAUC015B
4.0 kW R88D-UT110V
20 m R88A-CAUC020B
5.0 kW
• Dedicated Control Cables
• Servo Drivers
(Requiring External Regenerative Resistors) Specification Model
For 1 axis 1m R88A-CPUB001M1
Specification Model CV500 MC221/421
CV500-MC221/421
and C200H-MC221 2m R88A-CPUB002M1
Common to analog g and 1.0 kW R88D-UT24V-RG
l train
pulse t i inputs
i t with connectors
t co ecto s at 2 axes 1m R88A-CPUB001M2
1.5 kW R88D-UT40V-RG b th ends
both d
Common to incremental 2m R88A-CPUB002M2
2.0 kW R88D-UT60V-RG
and absolute encoders
3.0 kW R88D-UT80V-RG • General-purpose Control Cables
Note For the R88D-UTV-RG and R88D-UT110V, be sure to Specification Model
install External Regenerative Resistors that correspond to For general-purpose 1m R88A-CPUB001S
the amount of regenerative energy. controllers with connector at
one end 2m R88A-CPUB002S
• External Regenerative Resistor
• Control Cable Connector
Specification Model Specification Model
70 W R88A-RR22047S Half-pitch 50P (Sumitomo 3M) R88A-CNU11C
6-10
Appendix Chapter 6
6-4 Combinations of Servo Drivers and Servomotors
Models Not Conforming to Any Standards

Servo Drivers Servomotors Motor Capacity
p y
With Incremental With Absolute
Encoders Encoders
R88D-UT24H R88M-U1K030H- R88M-U1K030T- 1 kW
R88D-UT40H R88M-U1K530H- R88M-U1K530T- 1.5 kW
Models Conforming to EC Directives

Servo Drivers Servomotors Motor Capacity
p y
With Incremental With Absolute
Encoders Encoders
R88D-UT24V- R88M-U1K030V-S1 R88M-U1K030X-S1 1 kW
R88D-UT40V- R88M-U1K530V-S1 R88M-U1K530X-S1 1.5 kW
R88D-UT110V R88M-U4K030V-S1 R88M-U4K030X-S1 4 kW
R88M-U5K030V-S1 R88M-U5K030X-S1 5 kW
6-11

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USER’S MANUAL

AC SERVO MOTORS/DRIVERS (1 to 5 kW)

Items to Check After Unpacking

OMRON Product References

! WARNING Installation, operation, maintenance, or inspection must be performed by authorized

Locations subject to direct sunlight.

Storage and Transportation Precautions

Installation and Wiring Precautions

Locations subject to static electricity or other forms of noise.

Operation and Adjustment Precautions

Warning Labels for Non-conforming Models

Warning Labels for Models Conforming to EC Directives

OMNUC U-series AC Servo Driver

OMNUC U-series AC Servomotor OMNUC U-series AC Servomotor

For users who wish to operate as quickly as possible.

Pulse train input

Position Control Units

Using Parameter Unit: Chapter 3, section 3-1-3

Chapter 1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

Chapter 2. System Design and Installation . . . . . . . . . . . . . . . . . . . . . . 2-1

Chapter 3. Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Chapter 4. Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

Chapter 5. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

Chapter 6. Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

Chapter 1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

Chapter 2. System Design and Installation . . . . . . . . . . . . . . . . . . . . . . 2-1

Chapter 3. Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Chapter 4. Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

Chapter 5. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

Chapter 6. Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

Models Bearing the CE Marking and Complying with EC Directives

Servo Drivers Requiring External Regenerative Resistors

Model Number Legend

Legend Item Symbol Description

3 and 4: Option Specifications

Legend Item Symbol Description

Automatic Adjustment of Control Offset (Speed Control and Torque

Electronic Gear Function (Position Control)

Encoder Resolution Function

Software Start Function (Speed Control, Internal Speed Control

Pulse Smoothing Function (Position Control)

Brake Interlock Output

Output Signal Selection Function

Feed-forward Function, Bias Function (Position Control)

Personal Computer Monitor

1-2 System Configuration

Controller (Voltage Output Models)

SYSMAC C/CV Motion Control Unit Position Control

Controller (Pulse Train Output Models)

SYSMAC C/CV Position Control Units

OMNUC U-series AC Servomotor

1-3 Servo Driver Nomenclature

1-4 Applicable Standards and Models

System Design and Installation

Installation and Wiring Precautions

Locations subject to static electricity or other forms of noise.

2-1-1 External Dimensions (Unit: mm)

117 Two, 5.5 dia.

150 Two, 6 dia.