U-Series AC Servomotor & Servodriver (Pulse-Train Input)

Cat. No.
I502-E1-5
USER’S MANUAL
OMNUC U SERIES
MODELS R88M-Uj
(AC Servomotors)
MODELS R88D-UPj
(AC Servo Drivers)
AC SERVOMOTORS/DRIVERS (30 to 750-W Pulse-train Inputs)

Thank you for choosing this OMNUC UP-series product.
This manual provides details on the installation, wiring, troubleshooting, and maintenance of OMNUC
UP-series products along with parameter settings for the operation of the products.
S Make sure that actual users of this product will read this manual thoroughly and handle and operate the product with care.
S Retain this manual for future reference.
S This manual describes the specifications and functions of the product and relations with other products. Assume that noth-
ing described in this manual is possible.
S Specifications and functions may change without notice to improve product performance.
S Forward and reverse rotation of AC Servomotors described in this manual are defined as looking at the end of the output
shaft of the motor as follows: counterclockwise rotation (CCW) is forward and clockwise rotation (CW) is reverse.
General Instructions
1. Refer to Precautions first and carefully read and be sure to understand the information provided.
2. Familiarize yourself with this manual and understand the functions and performance of the Servomotor and Ser-
vo Driver for proper use.
3. The Servomotor and Servo Driver must be wired and the Parameter Unit must be operated by experts in electri-
cal engineering.
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.
S Precautions on the dangers of high-voltage equipment.
S 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. Do not perform withstand voltage or other megameter tests on the product. Doing so may damage internal com-
ponents.
6. Servomotors and Servo Drivers have a finite service life. Be sure to keep replacement products on hand and to
consider the operating environment and other conditions affecting the service life.
7. Do not set any parameter not described in this manual, otherwise the Servomotor or Servo Driver may malfunc-
tion. Contact your OMRON representatives if you have any inquiry.
8. The functions and specifications differ for the various models, as shown below. Be sure to check which models
are being used before proceeding.
S HA/LA/V/W AC Servo Drivers: R88D-UPjjHA, R88D-UPjjLA, R88D-UPjjV, and R88D-UPjjW
S H/L AC Servo Drivers: R88D-UPjjH and R88D-UPjjL
NOTICE
Before using the product under the following conditions, consult your OMRON representatives, make
sure that the ratings and performance characteristics of the product are good enough for the systems,
machines, or equipment, and be sure to provide the systems, machines, or equipment with double safety
mechanisms.
1. Conditions not described in the manual.
2. The application of the product to nuclear control systems, railroad systems, aviation systems, vehicles, com-
bustion systems, medical equipment, amusement machines, or safety equipment.
3. The application of the product to systems, machines, or equipment that may have a serious influence on human
life and property if they are used improperly.
Items to Check After Unpacking

Check the following items after removing the product from the package:
S Has the correct product been delivered (i.e., the correct model number and specifications)?
S Has the product been damaged in shipping?
The product is provided with this manual. No connectors or mounting screws are provided.
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. Al-
ways heed the information provided with them. Failure to heed precautions can result in inju-
ry 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, of-
ten 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, 1994
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 re-
sponsibility 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.
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 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.
S Locations subject to direct sunlight.

S Locations subject to temperatures or humidity outside the range specified in the
specifications.
S Locations subject to condensation as the result of severe changes in temperature.
S Locations subject to corrosive or flammable gases.
S Locations subject to dust (especially iron dust) or salts.
S Locations subject to shock or vibration.
S 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:
S Locations subject to static electricity or other forms of noise.

S Locations subject to strong electromagnetic fields and magnetic fields.
S Locations subject to possible exposure to radioactivity.
S 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
interruption 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
required 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
VISUAL INDEX
For users who wish to operate soon.
- 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, 3-4, 3-5, and 3-6 of Chap-
ter 3 Operation.
Instructions for jog operation using a Parameter Unit are provided in 3-6.
SYSMAC CS1/C/CV Position Control Unit

Programmable Controller C200HW-NC113
C200HW-NC213
C200HW-NC413
C200H-NC112
C200H-NC211
C500-NC113
C500-NC211
Pulse input
Controller Connecting Cable

Chapter 5: 5-3-1
Setting Functions
- Setting User Parameters: Section 3-5-1
- Internally Set Speed Control: Section 3-5-3
- Electronic Gears: Section 3-5-4
- Encoder Dividing: Section 3-5-5
- Bias: Section 3-5-6
- Torque Control: Section 3-5-7
- Brake Interlock: Section 3-5-8
OMNUC U is a series of fully Adjustments and Troubleshooting

software-controlled AC servo - Adjustments: Section 3-7
drivers built on advanced OM- - Displays: Section 4-1
RON software servo technol- - Monitor Outputs: Section 4-2
ogy. It provides high perfor-
- Protections and Diagnostics: Section 4-3
mance, a sensitive man-ma-
chine interface, and economy. - Troubleshooting: Section 4-4
OMNUC U Series
OMNUC U-series AC Servo Driver
Cable Specifications
Chapter 5: 5-3-2, 5-3-3
I/O Operations
Chapter 5: 5-1-3
Power
signals
Encoder
signals
OMNUC U-series
AC Servomotor
Motor Specifications
Chapter 5: 5-2
Parameter Units Operation Method

Chapter 3: 3-3, 3-4, 3-5
Table of Contents
Chapter 1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-3 Servo Driver Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-4 Applicable Standards and Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-4-1 UL/cUL Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-4-2 EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 2. System Design and Installation . . . . . . . . . . . . . . . . . . . . . .

2-1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-1-1 External Dimensions (Unit: mm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-1-2 Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2 Wiring Products Conforming to UL/cUL
and Wiring Products Not Conforming to Any Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-1 Connecting OMRON Servo Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-2 Connector-Terminal Conversion Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-3 Wiring Servo Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-4 Wiring for Noise Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-5 Peripheral Device Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3 Wiring Products Conforming to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3-1 Connecting Servo Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3-2 Wiring Servo Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3-3 Wiring Products Conforming to EMC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3-4 Peripheral Device Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 3. Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-1 Operational Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-2 Turning On Power and Checking Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-2-1 Items to Check Before Turning On Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-2-2 Turning On Power and Confirming the Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3 Using Parameter Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3-1 Parameter Unit Keys and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3-2 Modes and Changing Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3-3 Mode Changes and Display Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-4 Initial Settings: Setup Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-4-1 Setting and Checking Setup Parameters (Cn-01, 02) . . . . . . . . . . . . . . . . . . . . . . . . . .
3-4-2 Setup Parameter Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-4-3 Important Setup Parameters (Cn-01 and Cn-02) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5 Setting Functions: User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-1 Setting and Checking User Parameters (Cn-04 to 29) . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-2 User Parameter Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-3 Internal Speed Control Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-4 Electronic Gear Function: Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-5 Encoder Dividing Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-6 Bias Function: Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-7 Torque Limit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-8 Brake Interlock (For Motors with Brakes) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-6 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-6-1 Preparations for Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-6-2 Jog Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents
3-7 Making Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-7-1 Auto-tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-7-2 Manually Adjusting Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-8 Regenerative Energy Absorption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-8-1 Calculating Regenerative Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-8-2 Servo Driver Absorbable Regenerative Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-8-3 Absorption of Regenerative Energy with the External Regeneration Resistor
(Models Conforming to UL/cUL Standards
and Models Not Conforming to Any Standards) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-8-4 Processing Regenerative Energy with Multiple Axes
(Models Conforming to EC Directives) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 4. Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1 Using Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1-1 Display Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1-2 Status Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1-3 Monitor Mode (Un-) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1-4 Checking Servomotor Parameters (Cn-00 Set to 04) . . . . . . . . . . . . . . . . . . . . . . . . . .
4-2 Using the Monitor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-3 Protective and Diagnostic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-3-1 Alarm Displays and Alarm Code Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-3-2 Alarm Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-3-3 Overload Characteristics (Electron Thermal Characteristics) . . . . . . . . . . . . . . . . . . .
4-3-4 Alarm History Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-4 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-5 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 5. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1 Servo Driver Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1-2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1-3 I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1-4 Explanation of User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2 Servomotor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-3 Torque and Rotational Speed Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-4 Allowable Loads on Servomotor Shafts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-5 Encoder Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3 Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-1 Controller Connecting Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-2 Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-3 Power Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-4 Parameter Unit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-5 Regeneration Unit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-6 Front-surface Mounting Bracket Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 6. Supplementary Materials . . . . . . . . . . . . . . . . . . . . . . . . . .

6-1 Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-2 Servo Connector Terminal Connection Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-3 OMNUC U-series Standard Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-4 Parameter Setting Forms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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
OMNUC AC Servo Drivers control the power supplied to AC Servomotors with pulse-train input signals
and perform precision position control. There are 7 types of AC Servomotors: 30-W, 50-W, 100-W,
200-W, 300-W, 400-W, and 750-W.
j Motor Output Capacity

AC Servomotors with the following output capacities are available.
For 200/230-VAC (170 to 253 V) single-phase, 50/60-Hz Input
30 W, 50 W, 100 W, 200 W, 400 W, and 750 W
For 100/115-VAC (85 to 127 V) single-phase, 50/60-Hz Input
30 W, 50 W, 100 W, 200 W, and 300 W
The Servomotors also come with and without brakes, and with and without keys on the straight
shaft. Servomotors that conform to EC Directives, however, are available only with keys on the
shaft.
j Models Conforming to UL/cUL Standards Available (UL/cUL Markings)

AC Servomotors and Servo Drivers that conform to UL/cUL Standards are now available. Their per-
formance, functionality, and appearance are the same as the conventional U-series (HA/LA) mod-
els. They are useful for obtaining approvals required for specific applications.
Models conforming to UL/cUL Standards have the same product names as conventional U-series
(HA/LA) models. As shown in the following table, they are distinguished by the manufacturing date.
Model Manufacturing date Type Remarks
Models not conforming to Before April 1998 H/L, HA/LA Production of H/L models
any standards discontinued.
Models conforming to After May 1998 HA/LA UL/cUL markings are
UL/cUL Standards attached to products.
j EC Directives (CE Markings)

AC Servomotors and Servo Drivers that conform to EC low-voltage and EMC directives are now
available. These provide the same performance and functions as the rest of the U Series (HA/LA),
and will aid in obtaining specifications.
j Control Functions
Any one of the following 4 control modes can be selected in the parameter settings.
Position Control (Factory Setting)
Controls the position and speed of the Servomotor very precisely with pulse-train input signals.
Any one of the following 3 pulse trains can be selected: forward/reverse pulses, feed pulses/
directional signals, or 90 differential phase (A/B phases) signals.
Position Control with Pulse Stop Input Enabled (HA/LA/V/W Models)
Turning ON the Pulse Stop Input (IPG) prevents the control signals from being read by the Unit
during position control.
1-2
Internal Speed Control Settings
The speed of the motor is controlled with the three speeds (No. 1, No. 2, and No. 3 internal speed
settings) set in the parameters. This mode is effective for simple position control or speed-
switching operation.
Internal Speed Control Setting + Position Control (HA/LA/V/W Models)
Speed control can be performed with the internal speed settings and position control can be per-
formed with pulse-train inputs.
j Auto-tuning
The gain can be adjusted automatically when the responsiveness has been selected to match the
rigidity of the mechanical system. The auto-tuning feature automatically finds the optimum adjust-
ment to match the load, with no need for difficult operations.
j 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, internal status (bit display), command
pulse’s speed, position deviation, and the input pulse counter.
j Jog Operation
Forward/Reverse motor operation can be controlled from the Parameter Unit. Rotational speed can
be set in the parameters.
j Electronic Gear Function (Position Control)

The number of pulses used to rotate the motor is calculated by multiplying the number of command
pulses by the electronic gear ratio. This function is useful in the following kinds of cases.
When you want to finely adjust the position and speed of two lines that need to be synchronized
When you want to increase the control pulse frequency of a controller with a low pulse frequency
When you want to set the movement/pulse to a certain amount, such as 0.01 mm/pulse
The electronic gear ratio is set with parameters G1 and G2 (G1=numerator and G2=denominator).
The setting range for parameters G1 and G2 is 1 to 65,535. The setting range for the gear ratio is
0.01 to 100, i.e., 0.01 ≤ G1/G2 ≤ 100.
j Encoder Resolution Function

This function allows the encoder signal output from the driver to be set anywhere from 16 to 2,048
pulses/revolution.
j Software Start Function (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.
1-3
j Pulse Smoothing Function (Position Control)

Even high-frequency commands can be executed smoothly by including acceleration/deceleration
in the command pulses. The same setting is used for both the acceleration and deceleration times,
and the setting range is 0 to 64 ms.
j Reverse Mode
Forward/Reverse commands can be switched in the parameters, without changing the wiring to the
motor or encoder.
j 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.
j 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).
j Feed-forward and Bias Functions (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.
j Computer Monitor Software (HA/LA/V/W Models)

The special Servo Driver 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 the operation of several drivers. Refer to the Computer Monitor Software Instruction Manual
(I513) for OMNUC U-series Servo Drivers for more details.
1-4
1-2 System Configuration
Parameter Units
SYSMAC CS1/C/CV
Programmable Controller
C200HW-NC113
C200HW-NC213
C200HW-NC413 OMNUC U-series
C200H-NC112 AC Servo Driver
C200H-NC211
C500-NC113
C500-NC211
Position Control Unit
OMNUC U-series
AC Servomotor
1-5
1-3 Servo Driver Nomenclature
j Front View
CN4: Connector for monitor output
Power supply indicator
Alarm indicator
CN3: Parameter Unit connector
CN1: Control I/O connector
Terminal block
CN2: Encoder connector
1-6
1-4 Applicable Standards and Models
1-4-1 UL/cUL Standards
j Applicable Standards
Standard Product Applicable Standard File No. Remarks
UL AC Servo Driver UL508C E179149 Power conversion equipment
AC Servomotor UL1004 E179189 Electric motors
cUL AC Servo Driver cUL C22.2 No. 14 E179149 Industrial control equipment
AC Servomotor cUL C22.2 No.100 E179189 Motor and generators
j Applicable Models
Power supply
pp y AC Servo Drivers AC Servomotors
With incremental encoder
200 VAC R88D-UPHA R88M-U30HA-
(See note 1.) (See note 2.) (See note 3.)
100 VAC R88D-UPLA R88M-U30LA-
(See note 1.) (See notes 2.) (See note 3.)
Note 1. Maximum output current: for example, “04” means approx. 4 A.
Note 2. Motor capacity: for example, “100” means 100 W.
Note 3. Optional specifications
None: Straight shaft without keys and without brake
B: Straight shaft without keys and with brake
S1: Straight shaft with keys and without brake
BS1: Straight shaft with keys and with brake
Note 4. UL/cUL Standards apply to models manufactured after May 1998.
1-4-2 EC Directives
j Applicable Standards
EC Directive Product Directive Remarks
Low voltage AC Servo Driver EN61010-1 Safety requirements for electrical equipment for
measurement, control, and laboratory use.
AC Servomotor IEC34-1, -5, -8, -9 Rotating electrical machines.
EMC AC Servo Driver EN55011 class A Limits and methods of measurement of radio
AC Servomotor group 1 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 2-3-3 Wiring Products Conforming to EMC Direc-
tives is required to conform to EMC Directives.
1-7
j Applicable Models
Power supply
pp y AC Servo Drivers AC Servomotors
With incremental encoder
200 VAC R88D-UPV R88M-U30VA-
(See note.)
100 VAC R88D-UPW R88M-U30WA-
(See note.)
Note Optional specifications (shaft profile: straight shaft with keys)

S1: Straight shaft with keys and without brake
BS1: Straight shaft with keys and with brake
1-8
2Chapter 2
System Design and Installation

2-1 Installation
2-2 Wiring Products Conforming to UL/cUL
and Wiring Products Not Conforming to Any
Standards
2-3 Wiring Products 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.
! 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.
2-2
2-1 Installation
2-1-1 External Dimensions (Unit: mm)
j AC Servo Drivers Conforming to UL/cUL Standards and AC
Servomotors Not Conforming to Any Standards
D R88D-UP02H(A)/UP03H(A)/UP04H(A)/UP08H(A) (200 VAC, 30 to 200 W)
R88D-UP03L(A)/UP04L(A)/UP10L(A) (100 VAC, 30 to 100 W)
5
4
Installation dimensions
55 130 5 45 (5) 45
(6)
Two, Three, M4
6 dia.
160 149 149
R3
5
(165) 6
D R88D-UP12H(A) (200 VAC, 400 W) and R88D-UP12L(A) (100 VAC, 200 W)

5
4 Installation dimensions
75 130 5 60 (5) 60
(6)
Two,
6 dia. Three, M4
160 149 149
R3
(165) 5 6
2-3
j AC Servo Drivers Conforming to UL/cUL Standards and AC

Servomotors Not Conforming to Any Standards (Contd.)
D R88D-UP20H(A) (200 VAC, 750 W) and R88D-UP15LA (100 VAC, 300 W)
3.5
7
105 130 90 (8)
6
Two, 6 dia.
160 149
Two, R3
5
(165) 6 6
90
Installation Four, M4
dimensions
149
2-4
j AC Servo Drivers Conforming to EC Directives

D R88D-UP02V/UP03V/UP04V/UP08V (200 VAC, 30 to 200 W)
R88D-UP03W/UP04W/UP10W (100 VAC, 30 to 100 W)
Installation
dimensions
Two, 6 dia.
R3
Three, M4
D R88D-UP12V (200 VAC, 400 W)

R88D-UP12W (100 VAC, 200 W)
Installation
dimensions
Two, 6 dia.
R3
Three, M4
2-5
j AC Servo Drivers Conforming to EC Directives (Contd.)

D R88D-UP20V (200 VAC, 750 W)
R88D-UP15W (100 VAC, 300 W)
Two, 6 dia.
Two, R3
Installation
dimensions
Four, M4
2-6
j Regeneration Unit
D R88A-RG08UA
(15) (6) 25 Dia.: 6
Installation dimensions
Two, M4
160 130 149 149

R3
15
6 (18.5) 130
5
25
50
j Parameter Units
D R88A-PR02U
18.5
63
Two, 4.5 dia.
50 7
125 135
(8)
1000
2-7
D R88A-PR03U
6.9
15
54
57.5
2-8
j AC Servomotors Conforming to UL/cUL Standards and AC

Servomotors Not Conforming to Any Standards
D 30-W/50-W/100-W Standard Models:
R88M-U03030HA, R88M-U05030HA, R88M-U10030HA
R88M-U03030LA, R88M-U05030LA, R88M-U10030LA
300±30
35 Encoder adapter
Motor plug
18
14 dia.
300±30
6.5 4
9.5
6h6 dia.
5 2.5 6 Four, R3.7
Two, 4.3 dia.
17
30h7 dia. 46 dia.
40
33 40
LL 25
D 30-W/50-W/100-W Models with Brake:

R88M-U03030HA-B, R88M-U05030HA-B, R88M-U10030HA-B
R88M-U03030LA-B, R88M-U05030LA-B, R88M-U10030LA-B
300±30
35
Encoder adapter
Motor plug
21
14 dia.
300±30
9.5
6h6 dia.
6.5 4 Four, R3.7

5 2.5
Two, 4.3 dia.
17
30h7 dia.
46 dia.
40
33 LB 40
LL 25
L
Standard Models Models with Brake

Model L LL S Model L LL LB S
R88M-U03030HA 94.5 69.5 6 R88M-U03030HA-B 126 101 31.5 6
R88M-U03030LA R88M-U03030LA-B
R88M-U05030HA 102.0 77.0 6 R88M-U05030HA-B 133.5 108.5 31.5 6
R88M-U05030LA R88M-U05030LA-B
R88M-U10030HA 119.5 94.5 8 R88M-U10030HA-B 160 135 40.5 8
R88M-U10030LA R88M-U10030LA-B
2-9

R88M-U20030HA, R88M-U40030HA
R88M-U20030LA, R88M-U30030LA
300±30
35
Encoder adapter
Motor plug
21
300±30 14 dia.
5.2 7
14h6 dia.
12
6 3 Four, 5.5 dia. Four, R5.3
17
70 dia.
50h7 dia.
60
34 60
LL 30
L

R88M-U20030HA-B, R88M-U40030HA-B
R88M-U20030LA-B, R88M-U30030LA-B
300±30
35
Encoder adapter
Motor plug
21
14 dia.
300±30
5.2 5.5 7
14h6 dia.
12 Four,
6 3 5.5 dia. Four, R5.3
17
70 dia.
50h7 dia.
60
34 39.5 60
LL 30
L

Model L LL Model L LL
R88M-U20030HA 126.5 96.5 R88M-U20030HA-B 166 136
R88M-U20030LA R88M-U20030LA-B
R88M-U40030HA 154.5 124.5 R88M-U40030HA-B 194 164
R88M-U30030LA R88M-U30030LA-B
2-10

D 750-W Standard Models: R88M-U75030HA
300±30
35 Encoder adapter
Motor plug
21
300±30 14 dia.
5.2 8
15
8 3 Four, R8.2
Four, 7 dia.
17
16h6 dia.
90 dia.
70h7 dia.
80
35
34 80
145 40
185
D 750-W Models with Brake: R88M-U75030HA-B
300±30
35
Encoder adapter
Motor plug
21
14 dia.
300±30
5.2 8
15
8 3 Four, R8.2
17
Four, 7 dia.
90 dia.
16h6 dia.
70h7 dia.
80
35
34 44.5 80
189.5 40
229.5
2-11
j AC Servomotors Conforming to EC Directives

R88M-U03030VA-S1, R88M-U05030VA-S1, R88M-U10030VA-S1
R88M-U03030WA-S1, R88M-U05030WA-S1, R88M-U10030WA-S1
14 dia.
Sh6 dia. Four, R3.7

Two, 4.3 dia.
46 dia.
30h7 dia.

R88M-U03030VA-BS1, R88M-U05030VA-BS1, R88M-U10030VA-BS1
R88M-U03030WA-BS1, R88M-U05030WA-BS1, R88M-U10030WA-BS1
14 dia.
Sh6 dia. Four, R3.7

Two, 4.3 dia.
46 dia.
30h7 dia.

Model L LL S Model L LL LB S
R88M-U03030VA-S1 94.5 69.5 6 R88M-U03030VA-BS1 126 101 31.5 6
R88M-U03030WA-S1 R88M-U03030WA-BS1
R88M-U05030VA-S1 102.0 77.0 6 R88M-U05030VA-BS1 133.5 108.5 31.5 6
R88M-U05030WA-S1 R88M-U05030WA-BS1
R88M-U10030VA-S1 119.5 94.5 8 R88M-U10030VA-BS1 160 135 40.5 8
R88M-U10030WA-S1 R88M-U10030WA-BS1
2-12
j AC Servomotors Conforming to EC Directives (Contd.)

D 200-W/300-W/400-W Standard Models: R88M-U20030VA-S1, R88M-U40030VA-S1
R88M-U20030WA-S1, R88M-U30030WA-S1
14 dia.
Four,
14h6 dia. 5.5 dia. Four, R5.3
70 dia.
50h7 dia.
D 200-W/300-W/400-W Models with Brake: R88M-U20030VA-BS1,

R88M-U40030VA-BS1, R88M-U20030WA-BS1, R88M-U30030WA-BS1
14 dia.
Four,
5.5 dia. Four, R5.3
14h6 dia.
70 dia.
50h7 dia.
Standard Models Standard Models Models with Brake

Model L LL Model L LL
R88M-U20030VA-S1 126.5 96.5 R88M-U20030VA-BS1 166 136
R88M-U20030WA-S1 R88M-U20030WA-BS1
R88M-U40030VA-S1 154.5 124.5 R88M-U40030VA-BS1 194 164
R88M-U30030-WA-S1 R88M-U30030WA-BS1
2-13
j AC Servomotors Conforming to EC Directives (Contd.)

D 750-W Standard Models: R88M-U75030VA-S1
14 dia.
Four, R8.2
Four, 7 dia.
16h6 dia. 90 dia.
70h7 dia.
D 750-W Models with Brake: R88M-U75030VA-BS1
14 dia.
Four, 7 dia. Four, R8.2
16h6 dia. 90 dia.
70h7 dia.
2-14
j Shaft Dimensions of Motors With Keys

Standard U-series AC Servomotors do not have keys on the shafts. The dimensions of motors with keys
(produced on order) 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.
D 30-W/50-W Models
Without Brake: R88M-U03030-S1, R88M-U05030-S1
With Brake: R88M-U03030-BS1, R88M-U05030-BS1
14 Dia.: 6h6 1.2
2
D 100-W Models
Without Brake: R88M-U10030-S1
With Brake: R88M-U10030-BS1
14 Dia.: 8h6
1.8
3
D 200-W/300-W/400-W Models
Without Brake: R88M-U20030-S1, R88M-U40030-S1, R88M-U30030-S1
With Brake: R88M-U20030-BS1, R88M-U40030-BS1, R88M-U30030-BS1,
20 Dia.: 14h6
3
5
D 750-W Models
Without Brake: R88M-U75030-S1,
With Brake: R88M-U75030-BS1
30
Dia.: 16h6 3
2-15
2-1-2 Installation Conditions
j AC Servo Drivers
D 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
Fan Fan 50 mm min.
Servo Driver
Servo Driver
Servo Driver
Side of Unit
W W
50 mm min.
30 mm min. W = 10 mm min.
D 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: 35% to 85% (RH, with no condensation)
• Atmosphere: No corrosive gases.
D 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 55°C, then a service life of approximately 50,000 hours can be ex-
pected. A drop of 10°C in the ambient temperature will double the expected service life.
2-16
D 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.
j AC Servomotors
D 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.
D Impact and Load

• The Servomotor is resistant to impacts of up to 10 G
{98 m/s2}. Do not subject it to heavy impacts or loads
during transport, installation, or positioning. In addi-
tion, do not hold onto the encoder, cable, or connec-
tor 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.
D Connecting to Mechanical Systems

• The axial loads for Servomotors are specified in sec-
tion 5-2-4. If an axial load greater than that specified Ball screw center line
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
can sufficiently absorb mechanical eccentricity and
Motor shaft center line Shaft core
variation. displacement
Recommended Coupling
Name Maker
Oldham coupling Myghty Co., Ltd
• For spur gears, an extremely large radial load may Adjust backlash
be applied depending on the gear precision. Use by adjusting the
spur gears with a high degree of accuracy (for exam- distance between
shafts.
ple, JIS class 2: normal line pitch error of 6 µm max. Backlash
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.
2-17
• 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.
Make moveable.
• Do not put rubber packing on the flange surface. If
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 ap-
plied, 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
Make adjustable.
Belt Tension Motor shaft Load shaft
D Water and Drip Resistance

• The Servomotor does not have a water-proof structure. Except for the connector areas, the protec-
tive structure is covered by the following JEM (The Japan Electrical Manufacturers’ Association)
standards.
Models Conforming to UL/cUL Standards and Models Not Conforming to Any Standards: IP-42
EC Directive Models: IP-44 (except shaft penetration point)
• 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, in-
sulation defects or short-circuiting may occur. Take measures to prevent machining oil penetration.
D Oil Seals
If the motor shaft is exposed to oil or grease, use a Servomotor with oil seals (available as special
specification). (Inquire for details.)
2-18
D Other Precautions
• Do not apply commercial power directly to the Servomotor. The Servomotors run on synchronous
AC and use permanent magnets. Applying 3-phase power will burn out the motor coils.
• Do not carry or otherwise handle the Servomotor by its cable, otherwise the cable may become dis-
connected or the cable clamp may become damaged.
• 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.
2-19
2-2 Wiring Products Conforming to UL/cUL and Wiring

Products Not Conforming to Any Standards
2-2-1 Connecting OMRON Servo Controllers

Use general-purpose control cables (purchased separately) or Servo Relay Units for the
C200H to connect U-series AC Servomotors and Servo Drivers to OMRON Servo Con-
trollers.
j Connecting SYSMAC C-series Position Control Units

Position Control Units for SYSMAC
SYSMAC C-series C-series Programmable Controllers
Programmable Controller 3G2A5-NC111-EV1
C500-NC113
C500-NC211
C200H-NC112
C200H-NC211
C200HW-NC113
C200HW-NC213
C200HW-NC413
General-purpose Control Cable

R88A-CPUS
OMNUC U-series
AC Servo Driver
Power Cable
R88A-CAUS
R88A-CAUB
Encoder Cable
R88A-CRUC OMNUC U-series
AC Servomotor
Note Refer to Chapter 5 Specifications for connector and cable specifications.
2-20
j Connecting SYSMAC C200H and C500Position Control Units (Using

Servo Relay Units)
C200H Position C200H Position

Control Unit (1 axis) Control Unit (2 axes)
C200H-NC112 C200H-NC211
C500 Position Control Unit

C500-NC113 (1 axis)
C500-NC211 (2 axes)
Position Control Unit Connecting Position Control Unit Connecting

Cable (for C200H-NC112) Cable (for C200H-NC211 and
XW2Z-050J-A1 (0.5 m) C500-NC113/211)
XW2Z-100J-A1 (1 m) XW2Z-050J-A2 (0.5 m)
XW2Z-100J-A2 (1 m)
Terminal Connection Unit Terminal Connection Unit

(for C200H-NC112) (for C200H-NC211)
XW2B-20J6-1B XW2B-40J6-2B
Note 1. Refer to Section 6 for a connection exam-

ple for Relay Unit terminal blocks. Servo Driver Connecting Cable
Note 2. A Relay Unit is also available for the XW2Z-100J-B1 (1 m)
CQM1-CPU43-V1, CQM1H-PLB21 (with XW2Z-200J-B1 (2 m)
pulse I/O capability).
Note Two cables are required when using the
C200H-NC211, C500-NC211 (two axes).
OMNUC U-series
AC Servo Driver
Power Cable
R88A-CAUS
R88A-CAUB
Encoder Cable
R88A-CRUC
OMNUC U-series
AC Servomotor
Note Refer to documentation on the XW2B Servo Relay Unit for details.
2-21
j Connecting SYSMAC C200HX/HG/HE Position Control Units (Using

Servo Relay Units)
SYSMAC C200HX/HG/HE SYSMAC C200HX/HG/HE

Position Control Units Position Control Unit
C200HW-NC113 (1 axis) C200HW-NC213 (2 axes)
C200HW-NC413 (4 axes)
Position Control Unit Connecting Position Control Unit Connecting

Cable (for C200HW-NC113) Cable (for C200HW-NC213/413)
XW2Z-050J-A6 (0.5 m) XW2Z-050J-A7 (0.5 m)
XW2Z-100J-A6 (1 m) XW2Z-100J-A7 (1 m)
Note Two sets of Relay Units and

Position Control Unit Connect-
ing Cables are required when
Terminal Connection Unit
using the C200HW-NC413.
(for C200H-NC112)
XW2B-20J6-1B
Terminal Connection Unit
(for C200H-NC211)
XW2B-40J6-2B
Note 1. Refer to Section 6 for a connection exam- Servo Driver Connecting Cable
ple for Relay Unit terminal blocks. XW2Z-100J-B1 (1 m)
Note 2. A Relay Unit is also available for the XW2Z-200J-B1 (2 m)
CQM1-CPU43-V1, CQM1H-PLB21 (with
Note Two cables are required when using the
pulse I/O capability).
C200HW-NC213 (2 axes) and four cables
are required when using the C200HW-
NC413 (4 axes).
OMNUC U-series
AC Servo Driver
Power Cable
R88A-CAUS
R88A-CAUB
OMNUC U-series
Encoder Cable AC Servomotor
R88A-CRUC
Note Refer to documentation on the XW2B Servo Relay Unit for details.
2-22
2-2-2 Connector-Terminal Conversion Unit

The AC Servo Driver can be easily connected to the Connector-Terminal Conversion Unit through a
special cable without soldering.
Controller
XW2B-40F5-P
Connector-Terminal
Conversion Unit
R88A-CTUN
Connector Cable for
Connector-Terminal Conversion Unit
OMNUC U-series
AC Servo Driver
Power Cable
R88A-CAUS
R88A-CAUB
OMNUC U-series
Encoder Cable AC Servomotor
R88A-CRUC
2-23
2-2-3 Wiring Servo Drivers

Provide proper wire diameters, ground systems, and noise resistance when wiring terminal blocks.
j Wiring Terminal Blocks
Power supply input terminals
Main-circuit DC output terminals
Red
To Motor
White
Blue
Green
Power Cable
R88A-CAUS
R88A-CAUB (with brake)
(The broken lines indicate signal
lines for the brake. There is no
polarity on these lines.)
Black
Black 24 VDC
Terminal Name Function

label
R Power supply The commercial power supply input terminals for the main circuit and the
input y
control circuitry.
T R88D-UPH(A): Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz
R88D-UPL(A): Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz1
P Main circuit DC The terminals for connecting
g Regeneration
g Units ((R88A-RG08UA).) Connect
N output h
these i l when
terminals h there
h i a high
is hi h level
l l off regenerative
i energy. (S
(See note.))
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 Blue
Frame ground Green The ground terminal for both the motor output and power supply in-
put. Ground to a class-3 ground (to 100 Ω or less) or better.
Note Refer to 3-8 Regenerative Energy Absorption for the methods to calculate regenerative energy.
2-24
j 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.
D Servo Drivers with 200-VAC Input (R88D-UPH(A))

Driver R88D-UP02H(A) R88D-UP03H(A) R88D-UP04H(A) R88D-UP08H(A) R88D-UP12H(A) R88D-UP20H(A)
(30 W) (50 W) (100 W) (200 W) (400 W) (750 W)
(Watts)
Power supply in- 1.3 A 1.5 A 2.5 A 4.0 A 6.0 A 11.0 A
put current (R, T)
Motor output cur- 0.42 A 0.6 A 0.87 A 2.0 A 2.6 A 4.4 A
rent (U, V, W)
Power supply in- 0.75 mm2 or AWG 18 min. 1.25 mm2 2.0 mm2
put terminal wire
size
Motor output 0.5 mm2 or AWG 20 AWG 20 (see note) to AWG 18
i l wire
terminal i size
i Use OMRON standard cable. The applicable wire size for motor connectors is AWG22 to AWG18.
Ground terminal Use 2.0-mm2 external ground wires. Use the same wire as used for the motor output.
wire size
Note If the cable length is 15 meters or longer for a 750-W Servomotor, the momentary maximum torque at rota-
tion speeds of 2,500 r/min or higher may drop by approximately 7%.
D Servo Drivers with 100-VAC Input (R88D-UPL(A))

Driver model R88D-UP03L(A) R88D-UP04L(A) R88D-UP10L(A) R88D-UP12L(A) R88D-UP15LA
(Watts) (30 W) (50 W) (100 W) (200 W) (300 W)
Power supply input cur- 2.0 A 2.6 A 4.5 A 8.0 A 10.0 A
rent (R, T)
Motor output current (U, 0.63 A 0.7 A 2.2 A 2.7 A 3.7 A
V, W)
Power supply input ter- 0.75 mm2 or AWG 18 min. 1.25 mm2 2 mm2
minal wire size
Motor output terminal 0.5 mm2 or AWG 20 AWG 20 to AWG 18
i size
wire i Use OMRON standard cable. The applicable wire size for motor connectors is AWG22 to
AWG18.
Ground terminal wire Use 2.0-mm2 external ground wires. Use the same wire as used for the motor output.
size
j 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.
D Heat-resistant Vinyl Wiring, UL1007, Rated Temperature 80°C (Reference Value)

AWG size Nominal cross- Configuration Conductive Allowable current (A) for
sectional area ((wires/mm2) resistance ambient temperature
(
(mm 2) (Ω/k )
(Ω/km) 40°C 50°C 60°C
20 0.5 19/0.18 39.5 6.6 5.6 4.5
--- 0.75 30/0.18 26.0 8.8 7.0 5.5
18 0.9 37/0.18 24.4 9.0 7.7 6.0
16 1.25 50/0.18 15.6 12.0 11.0 8.5
2-25
2-2-4 Wiring for Noise Resistance
j 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.
Servo Driver Servomotor

R88D- R88M-
U U
Surge Noise filter Contactor
MCCB absorber X1 TB TB Metal duct
1 3 R U
AC power supply NF V M
2 4 T W
E
Fuse
CN2
RE
3.5mm2 2 mm2 min.
Class-3 ground
(to 100 Ω or less) Ground plate Thick power line
Control board Controller power supply (3.5 mm2)
Machine
ground 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 (MCCB) 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 (MCCB), 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
1 3 1 3
AC input NF E AC output AC input NF E
2 4 2 4
Ground Ground
AC output
2-26
• Use twisted-pair cables for the power supply cables whenever possible, or bind the cables.
R
Driver or Driver
T
Binding
• Separate power supply cables and signal cables when wiring.
j Selecting Components
This section describes the standards used to select components required to increase noise resistance.
Select these components based on their capacities, performances, and applicable ranges.
Recommended components have been listed; refer to the manufacturer of each component for details.
D 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 2-2-3 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.
D 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 200-VAC systems, use a varistor voltage of 470 V.
The surge absorbers shown in the following table are recommended.
Maker Model Varistor Max. limit Surge Energy Fuse Type
voltage voltage immunity resistance capacity
Matsushita ERZV10D471(W) 470 V 775 V 1,250 A 45 J 3 to 5 A Disk
El
Electric
i ERZV14D471(W) 470 V 775 V 2,500 A 80 J 3 to 10 A
Parts
ERZV20D471(W) 470 V 775 V 4,000 A 150 J 5 to 15 A
ERZC20EK471(W) 470 V 775 V 5,000A 150 J --- Block
Ishizuka Z10L471 470 V 773 V 1,000A 15 Ws 3 to 5 A Disk
El i
Electronics Z15L471 470 V 738 V 1,250 A 20 Ws 3 to 5 A
Co
Co.
Z21L471 470 V 733 V 3,000 A 30 Ws 5 to 10 A
Z25M471S 470 V 810 V 10,000 A 235 J --- Block
Okaya R⋅A⋅V --- 783 V 1,000 A --- --- Block
Electric Ind. -781BWZ-2A
R⋅A⋅V --- 783 V 1,000 A --- ---
-781BXZ-2A
R⋅A⋅V --- 620 V 1,000 A --- ---
-401.621BYR-2
Note 1. The (W) Matsushita models are UL and CSA certified.
2-27
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.
D 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.
Maker Model Rated current Remarks
Tokin LF-210N 10 A For single-phase
g
LF-215N 15 A
LF-220N 20 A
To attenuate noise at frequencies of 200 kH 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.
D 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. General-purpose noise filters are made for a power supply fre-
quency of 50/60 Hz; if they are connected to an output of 7.8 to 11 kHz (the Servo Driver PWM frequen-
cy), an extremely large leakage current (approx. 100 times normal) will flow to the capacitor in the noise
filter. The following table shows the noise filters that are recommended for motor output.
Maker Model Rated Remarks
current
Tokin LF-310KA 10 A Three-phase block noise filter
LF-320KA 20 A
ESD-R-47B --- EMI core for radiation noise
Fuji Electrochemical Co. RN80UD --- 10-turn for radiation noise
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 7.8 to 11 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.
2-28
D 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. Used for 100/200-VAC circuit contactors. 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
D 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 Momentary maxi- Coil voltage

mum current
OMRON G6C-2BND 10 A --- 24 VDC
LY2-D 10 A --- 24 VDC
G7L-2A-BUBJ 25 A --- 24 VDC, 200 to 240 VAC
J7AN-E3 15 A 120 A 24 VDC
LC1-D093A60 11 A 200 A 24 VDC, 200/220 VAC,
200 to 240 VAC
D Leakage Breakers
Select leakage breakers designed for inverters.
Since switching operations take place inside the Servo Driver, high-frequency current leaks from the
armature of the Servomotor. 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.
For detailed information about the selection methods of leakage breakers, refer to catalogs provided by
manufacturers.
The following table shows the Servomotor leakage currents for each Servo Driver.
2-29
Driver Leakage current (direct) Leakage current (resistor-capaci-

(including high-frequency cur- tor, in commercial power supply
rent) frequency range)
R88D-UP02H(A) to -UP08H(A) 80 mA 3 mA
R88D-UP12H(A) 60 mA 4 mA
R88D-UP20H(A) 110 mA 5 mA
Note 1. Leakage current values shown above are for motor power lines of 10 m or less. The values will change
depending on the length of power cables and the insulation.
Note 2. Leakage current values shown above are for normal temperatures and humidity. The values will
change depending on the temperature and humidity.
Note 3. Leakage current for 100-VAC-input Servomotors is approximately half that of the values shown above.
j Improving Encoder Cable Noise Resistance

Signals from the encoder are either A, B, or S phase. The frequency for A- or B-phase signals is 154 kHz
max., while the transmission speed for S-phase signals is 616 kbps. 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 ferrite cores. The following table shows the rec-
ommended ferrite core 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.
j Improving Control I/O Signal Noise Resistance

Position can be affected if control I/O signals are influenced by noise. Follow the methods outlined be-
low 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.
• Use separate power supplies for control power and for power for the pulse command and deviation
counter reset input lines. Do not connect the ground wires for these two power supplies to the same
ground.
• We recommend line drivers for the pulse command and deviation counter reset outputs.
• For the pulse command and deviation counter reset input lines, be sure to use twisted-pair shielded
cable, and connect both ends of the shield wire to ground.
2-30
• 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
both ends of the shield wire to ground.
• Wiring must be 1 m or less when using open-collector outputs.
2-31
2-2-5 Peripheral Device Connection Examples

j Connecting to Peripheral Devices
R T Single-phase, 200/230 VAC, 50/60 Hz (R88D-UPH (A))

Single-phase, 100/115 VAC, 50/60 Hz (R88D-UPL(A))
MCCB
1 2 Noise filter
E NF
Main-circuit
3 4 power supply Main-circuit connector
ON
OFF
Class-3 ground 1MC
(to 100 Ω or less)
1MC X Surge killer
X
PL Servo error display
R88D-CAUS
1MC
OMNUC U-series (-CAUB) OMNUC U-series
AC Servo Driver Power Cable AC Servomotor
XB
B
24VDC
R
T U
V
CN1 M
X 34 ALM W
24 VDC
35 ALMCOM
X Class-3 ground
User’s control device
CN1 CN2 R88A-CRUC

Encoder Cable
CN1
BKIR 7 XB
R88A-CPUS 24 VDC
General-purpose OGND 10
Control Cable
2-32
j Connecting a Regeneration Unit

Single-phase, 200/230 VAC, 50/60 Hz (R88D-UPH(A))
Single-phase, 100/115 VAC, 50/60 Hz (R88D-UPL(A))
OMNUC U-series Servo Driver
R 1MC
R U
T V M
T
W
CN1
X 34 ALM CN2
12 to
24 VDC E
35 ALMCOM
OFF
P N
1MC X
P N External
ON R regeneration
1MC ALM resistor
RG
ALM JP Short bar
R88A-RG08UA
Regeneration Unit
Note 1. When using the external regeneration resistor, disconnect the short bar between the RG and
JP terminals. The internal circuit may be damaged if the external regeneration resistor is con-
nected with the shortbar still connected between the RG and JP terminals.
Note 2. Connect the external regeneration resistor between the P and RG terminals.
Note 3. The Regeneration Unit does not conform to EC Directives.
Note 4. When connecting the ALM output, form a sequence so that the power supply is shut OFF
when the contacts open. The Unit may be damaged if the ALM output is used without forming
a power shut-off sequence.
2-33
2-3 Wiring Products Conforming to EC Directives
2-3-1 Connecting Servo Controllers

Use general-purpose control cables (purchased separately) to connect U-series AC
Servomotors and Servo Drivers to OMRON Servo Controllers.
j Connecting to a Servo Controller
Servo Controller
General-purpose Control Cable

R88A-CPUS
OMNUC U-series
AC Servo Driver
(Model conforming to
EC Directives)
Power Cable
R88A-CAU001
R88A-CAU01B OMNUC U-series
AC Servomotor
Encoder Cable (Model conforming
R88A-CRUDC to EC Directives)
(Incremental) (Incremental)
2-34
2-3-2 Wiring Servo Drivers

Provide proper wire diameters, ground systems, and noise resistance when wiring terminal blocks.
j Wiring Terminal Blocks
Power supply input terminals
Main-circuit DC output terminals
Red
To Motor
White
Blue
Power Cable
R88A-CAU001
R88A-CAU01B (with brake) Green
(The broken lines indicate signal
lines for the brake. There is no
polarity on these lines.)
Black
Black 24 VDC
Terminal Name Function

label
L1 Power supply The commercial power supply input terminals for the main circuit and the
input control circuitry.
y
L2 R88D-UPV: Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz
R88D-UPW: Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz
+ Main circuit DC When there is a high level of regenerative energy in a multi-axis system, the
output + terminals can be connected together and the – terminals can be connected
– together to increase the ability to absorb regenerative energy
U Motor connection Red These are the output terminals to the Servomotor. Be careful to wire
V i l
terminals h
White them l
correctly.
W Blue
Frame ground Green Ground to a class-3 ground (to 100 Ω or less) or better.
Note Refer to 3-8 Regenerative Energy Absorption for the methods to calculate regenerative energy.
2-35
j 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.
D Servo Drivers with 200-VAC Input (R88D-UPV)

Driver R88D-UP02V R88D-UP03V R88D-UP04V R88D-UP08V R88D-UP12V R88D-UP20V
(Watts) (30 W) (50 W) (100 W) (200 W) (400 W) (750 W)
Power supply input 1.3 A 1.5 A 2.5 A 4.0 A 6.0 A 11.0 A

current (L1, L2)
Motor output cur- 0.42 A 0.6 A 0.87 A 2.0 A 2.6 A 4.4 A
rent (U, V, W)
Power supply input 0.75 mm2 or AWG 18 min. 1.25 mm2 2.0 mm2
terminal wire size
Motor output 0.5 mm2 or AWG 20 AWG 20 (see note) to AWG 18
i l wire
terminal i size
i Use OMRON standard cable. The applicable wire size for motor connectors is AWG22 to AWG18.
Protective earth Use 2.0-mm2 external ground wires. Use the same wire as used for the motor output.
terminal wire size
Note If the cable length is 15 meters or longer for a 750-W Servomotor, the momentary maximum torque at rota-
tion speeds of 2,500 r/min or higher may drop by approximately 7%.
D Servo Drivers with 100-VAC Input (R88D-UPW)

Driver model R88D-UP03L(A) R88D-UP04L(A) R88D-UP10L(A) R88D-UP12L(A) R88D-UP15LA
(Watts) (30 W) (50 W) (100 W) (200 W) (300 W)
Power supply input cur- 2.0 A 2.6 A 4.5 A 8.0 A 10.0 A
rent (L1, L2)
Motor output current (U, 0.63 A 0.7 A 2.2 A 2.7 A 3.7 A
V, W)
Power supply input ter- 0.75 mm2 or AWG 18 min. 1.25 mm2 2 mm2
minal wire size
Motor output terminal 0.5 mm2 or AWG 20 AWG 20 to AWG 18
wire
i size
i Use OMRON standard cable. The applicable wire size for motor connectors is AWG22 to
AWG18.
Protective earth termi- Use 2.0-mm2 external ground wires. Use the same wire as used for the motor output.
nal wire size
j 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.
D Heat-resistant Vinyl Wiring, UL1007, Rated Temperature 80°C (Reference Value)

AWG size Nominal cross- Configuration Conductive Allowable current (A) for
sectional area ((wires/mm2) resistance ambient temperature
(
(mm 2) (Ω/k )
(Ω/km) 40°C 50°C 60°C
20 0.5 19/0.18 39.5 6.6 5.6 4.5
--- 0.75 30/0.18 26.0 8.8 7.0 5.5
18 0.9 37/0.18 24.4 9.0 7.7 6.0
16 1.25 50/0.18 15.6 12.0 11.0 8.5
2-36
2-3-3 Wiring Products Conforming to EMC Directives

Models conforming to EC Directive will meet the requirements of the EMC Directives EN55011 Class A
Group 1 (EMI) and EN50082-2 (EMS) if they are wired under the conditions described in this section. If
the connected devices, wiring, and other conditions cannot be made to fulfill the installation and wiring
conditions when the product is incorporated into a machine, the compliance of the overall machine must
be confirmed.
The following conditions must be met to conform to EMC Directives.
• The Servo Driver must be installed in a metal case (control panel).
• Noise filters and surge absorbers must be installed on all power supply lines.
• Shielded cables must be used for all I/O signal lines and encoder lines. (Use tin-plated, soft copper
wires for the shield weaving.)
• All cables leaving the control panel must be wired in metal ducts or conduits with blades.
• Ferrite cores must be attached to the shielded cable and the shield must be clamped directly to the
ground plate to ground it.
j Wiring Methods
Control panel
Metal plate
Noise Brake pow-
filter er supply
Metal Metal
AC power duct or Surge Contactor duct or
supply conduit absorber conduit
Noise
2m filter 0.5 m
max. max.
Ground (100 Ω max.) Controller

power Ferrite Ferrite
supply core core
Clamp Clamp
Controller
Clamp
1 m max.
Grounding plate
Controller
Note 1. The cable winding for the ferrite core must be 1.5 turns.
Note 2. Remove the sheath from the cable and ground it directly to the metal plate at the clamps.
• Ground the motor’s frame to the machine ground when the motor is on a movable shaft.
• Use the grounding plate for the protective earth 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 (MCCB) 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.
2-37
• No-fuse breakers (MCCB), 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
1 3 1 3
AC input NF E AC output AC input NF E
2 4 2 4
Ground Ground
AC output
• Use twisted-pair cables for the power supply cables whenever possible, or bind the cables.
L1 L1
Driver or Driver
L2 L2
Binding
• Separate power supply cables and signal cables when wiring.
j Control Panel Structure

Any gaps in the cable entrances, mounting screws, cover, or other parts of a control panel can allow
electric waves to leak from or enter the control panel. The items described in this section must be abided
by in panel design and selection to ensure that electric waves cannot leak or enter the control panel.
D Case Structure
• Use a metal control panel with welded joints on the top, bottom, and all sides. The case must be electri-
cally conductive.
• When assembling the control panel, remove the coating from all joints (or mask the joints when coat-
ing) to ensure electrical conductivity.
• Be sure that no gaps are created when installing the control panel, as gaps can be caused by distortion
when tightening screws.
• Be sure there are not any electrically conductive parts that are not in electrical contact.
• Ground all Units mounted in the control panel to the panel case.
D Cover Structure
• Use a metal cover.
• Use a water-proof structure, as shown in the following diagram, and be sure there are no gaps.
• Use electrically conductive packing between the cover and the case, as shown in the following dia-
gram. (Remove the coating the contact points of the packing (or mask the contact points when coat-
ing) to ensure electrical conductivity.)
2-38
• Be sure that no gaps are created when installing the cover, as gaps can be caused by distortion when
tightening screws.
Case
Case
Cover
Control panel Oil-proof Conductive
packing packing
Oil-proof
packing
Conductive
packing
Case (inside)
j Selecting Components
D 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 2-2-3 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.
D 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 200-VAC systems, use a varistor voltage of 470 V.
The surge absorbers shown in the following table are recommended.
2-39
Maker Model Max. limit Surge Type Remarks

voltage immunity
Okaya
y R.A.V-781BYZ-2 783 V 1,000 A Block For power supply line
El
Electric
i Ind.
I d R.A.V-781BXZ-4 783 V 1,000 A For power supply line
ground
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.
D Noise Filters
Use the following noise filters on the power supplies for the Servo Driver and brake. These filters are
manufactured by Okaya Electric Ind.
Application Model Rated Test voltage Insulation Leakage Attenuation
current resistance current characteristic
( )
(max.) Normal Common
(MHz) (MHz)
200 V, 30 to 100 W SUP-P5H- 5A Between Between 0.6 mA 0.5 to 30 0.2 to 30
100 V, 30 or 50 W EPR-4 terminals: terminals and (at 250 V
Brake power supply 1,250 V rms, case: rms 60 Hz)
50/60 Hz, 60 s 6,000 MΩ min.
200 V, 200 or 400 W SUP-P8H- 8A (at 500 VDC) 0.6 to 30 0.3 to 30
Between
100 V, 100 W EPR-4
terminals and
case:
200 V, 750 W SUP-P10H- 10 A 0.7 to 30 0.4 to 30
2,000 V rms,
100 V, 200 or 300W EPR-4
50/60 Hz, 60 s
The appearance of the noise filters is shown below. Screw terminals are used.
Two, 4.8 dia.
Five, M4
2-40
D 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
D 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 Momentary maxi- Coil voltage
mum current
OMRON J7AN-E3 15 A 120 A 24 VDC
D Leakage Breakers
• Select leakage breakers designed for inverters.
• Since switching operations take place inside the Servo Driver, high-frequency current leaks from the
armature of the Servomotor. With inverter leakage breakers, high-frequency current is not detected,
preventing the breaker from operating due to leakage current.
• When selecting leakage breakers, also remember to add the leakage current from devices other than
the Servomotor, such as machines using a switching power supply, noise filters, inverters, and so on.
• For detailed information about the selection methods of leakage breakers, refer to catalogs provided
by manufacturers.
• The following table shows the Servomotor leakage currents for each Servo Driver.
Driver Leakage current (direct) Leakage current (resistor-capacitor,
(including high-frequency current) in commercial power supply fre-
quency range)
R88D-UA02V to -UA08V 80 mA 3 mA
R88D-UA12V 60 mA 4 mA
R88D-UA20V 110 mA 5 mA
Note 1. Leakage current values shown above are for motor power lines of 10 m or less. The values will change
depending on the length of power cables and the insulation.
Note 2. Leakage current values shown above are for normal temperatures and humidity. The values will
change depending on the temperature and humidity.
2-41
Note 3. Leakage current for 100-VAC-input Servomotors is approximately half that of the values shown above.
j Improving Encoder Cable Noise Resistance

The following encoder signals are used: A, B, and S phase. The frequency for A- or B-phase signals is
154 kHz max.; the transmission speed for S-phase signals is 616 kbps.
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 ferrite cores. The following table shows the rec-
ommended ferrite core 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.
j Improving Control I/O Signal Noise Resistance

Position can be affected if control I/O signals are influenced by noise. Follow the methods outlined be-
low 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.
• 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, plus the absolute encoder signal) lines, be sure to use twisted-
pair shielded cable, and connect both ends of the shield wire to ground.
2-42
2-3-4 Peripheral Device Connection Examples

j Connecting to Peripheral Devices
R T Single-phase, 200/230 VAC, 50/60 Hz (R88D-UPV)
Single-phase, 100/115 VAC, 50/60 Hz (R88D-UPW)
MCCB
1 2 Noise filter
E NF
Main-circuit
3 4 power supply Main-circuit connector
ON
OFF
Class-3 ground 1MC
1MC X Surge killer
X
PL Servo error display
R88D-CAU001
1MC
OMNUC U-series (-CAU001B) OMNUC U-series
AC Servo Driver Power Cable AC Servomotor
XB
B
24VDC
L1
L2 U
V
CN1 M
X 34 ALM W
24 VDC
35 ALMCOM
X
User’s control device
Class-3 ground
CN1 CN2 (to 100 Ω or less)
R88A-CRUDC
Encoder Cable
R88A-CPUS CN1
General-purpose
Control Cable BKIR 7 XB
24 VDC
OGND 10
2-43
3
Chapter 3
Operation
3-1 Operational Procedure
3-2 Turning On Power and Checking Displays
3-3 Using Parameter Units
3-4 Initial Settings: Setup Parameters
3-5 Setting Functions: User Parameters
3-6 Trial Operation
3-7 Making Adjustments
3-8 Regenerative Energy Absorption
Operation Chapter 3
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
interruption 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.
3-2
Operation Chapter 3
3-1 Operational Procedure
After confirming that the system has been correctly installed and wired, make the initial
settings for the Servo Driver. Then, set the functions as required for the application of the
Servomotor.
Any incorrect settings in the parameters could cause unexpected motor operation,
creating an extremely dangerous situation. Use the procedures provided in this section
to carefully set all parameters.
j Startup Procedure
1. Mounting and Installation
Install the Servomotor and Servo Driver according to the installation conditions: Chapter 2, sec-
tion 2-1.
2. Wiring and Connections
Connect to power supply and peripheral devices: Chapter 2, section 2-2, 2-3.
The specified installation and wiring conditions are particularly important to ensure that models con-
forming to EC Directives actually conform to the EC Directive in the final system.
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 3-2.
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 3-2
5. Initial Settings
Make the settings for the operation setup parameters (initial settings): Chapter 3, section 3-4.
6. Function Settings
By means of the user parameters, set the functions according to the operating conditions: Chap-
ter 3, section 3-5.
7. Trial Operation
Before performing trial operation, turn the power supply off and then back on so that any parameters
that have been set will be valid.
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 3-6.
8. Adjustments
Execute auto-tuning. Manually adjust the gain as required: Chapter 3, section 3-7.
9. Operation
Operation can now begin. If any trouble should occur, refer to Chapter 4 Applications: Chapter 4.
3-3
Operation Chapter 3
3-2 Turning On Power and Checking Displays
3-2-1 Items to Check Before Turning On Power
j Checking Power Supply Voltage

• Check to be sure that the power supply voltage is within the ranges shown below.
R88D-UPH(A) (200 VAC specifications): Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz
R88D-UPL(A) (100 VAC specifications): Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz
R88D-UPV (200 VAC specifications): Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz
R88D-UPW (100 VAC specifications): Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz
j Checking Terminal Block Wiring

• The power supply inputs R and T, or L1 and L2, must be properly connected to the terminal block.
• The Servomotor’s red (U), white (V), and blue (W) power lines and the green ground wire ( ) must
be properly connected to the terminal block.
j Checking the Servomotor

• There should be no load on the Servomotor. (Do not connect to the mechanical system.)
• The power lines and power cables must be securely connected at the Servomotor.
j 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.
j Checking the Control Connectors

• The control connectors must be securely connected.
• The Run command must be OFF.
j Checking the Parameter Unit Connection

• The Parameter Unit (R88A-PR02U or R88A-PR03U) must be securely connected to connector
CN3.
3-2-2 Turning On Power and Confirming the Display
j Turning On Power
• Confirm that it is safe to turn on the power supply and then turn on the power supply.
3-4
Operation Chapter 3
j 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. “Base block” 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. Check the conductivity of the cable by itself.
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
3-3 Using Parameter Units
The key operations for the Hand-held R88A-PR02U Parameter Unit and the Mounted
R88A-PR03U Parameter Unit vary depending on the functions used.
3-3-1 Parameter Unit Keys and Functions

Hand-held Mounted PR02U PR03U Function
Parameter Unit Parameter Unit
R88A-PR02U R88A-PR03U RESET
+ Alarm reset
Mode switching
Data memory
SERVO DATA
Servo ON/OFF during jog op-
erations
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
3-3-2 Modes and Changing Modes
j Modes
OMNUC U-series AC Servo Drivers have four operating modes, as described in the following table. For
example, the Settings Mode is used to set parameters.
Mode Function
Status display mode Bit display (indicating internal status via indicators):
Power supply ON display, base block, positioning completion, rotation detection and
current limit detection, command pulse input
Symbol display (indicating internal status via 3-digit 7-segment display):
Base block, operating, forward rotation prohibited, reverse rotation prohibited, alarm
display
Settings mode System check: Jog operations, alarm history data clear, motor parameters 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 (HA/LA/V/W Models)
Alarm history display Displays contents of alarms that have been previously generated (up to a maximum
mode of 10).
3-6
Operation Chapter 3
j 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 cn-00 un-00 0 - a.0 2
3-3-3 Mode Changes and Display Contents

The following diagram shows the functions and references for each mode.
3-7
Operation Chapter 3
Power ON Bit Displays (page 4-4)

Power ON
Base block (motor not receiving power)
Status display Positioning completion
mode Command pulse input
(Display example) -. bb Motor rotation detected / Current limit detected
Symbol Displays
b b Base block
r U n In operation (running)
p % t Forward rotation prohibited
n % t Reverse rotation prohibited
a. Alarm display
Jog operation (page 3-31)

Settings mode c n - 0 0 System check mode Clear alarm history data (page 4-14)
Motor parameters check (page 4-8)
Auto-tuning (page 3-32)
DATA Sequence input signal switch (page 3-9)

Setup Sequence output signal switch
c n - 0 1 parameter Interrupt return processing switch
no. 1 Abnormal stop selection
Deviation counter with Servo OFF
P control switch selection
P control switch conditions
Pulse Stop Switch (HA/LA/V/W Models)
DATA Reverse mode (page 3-9)

Setup Input command mode
c n - 0 2 parameter Command pulse mode
no. 2 Deviation counter clear
Speed integration constant’s units (HA/LA/V/W
Models)
Torque command filter time constant (HA/LA/V/W
Models)
Command pulse logic
Monitor output level switch
User parameters c n - 0 4 Speed loop gain (page 3-14)
c n - 2 9 Unit number setting (HA/LA/V/W Models)
Monitor mode u n - 0 0 Speed feedback (page 4-5)

u n - 0 1 Speed command (When using internally set speed control)
u n - 0 2 Torque command
u n - 0 3 Number of pulses from U-phase edge
u n - 0 4 Electrical angle
u n - 0 5 Internal status bit display 1
u n - 0 6 Internal status bit display 2
u n - 0 7 Command pulse speed display
u n - 0 8 Position deviation (deviation counter)
Alarm u n - 0 9 Input pulse counter (HA/LA/V/W Models)
history
display
mode 0 - a. Error one time before (page 4-14)
9 - a. Error ten time before
3-8
Operation Chapter 3
3-4 Initial Settings: Setup Parameters

Setup parameters are parameters that are essential for starting up the system. They in-
clude I/O signal function changes, selection of processing for momentary stops and er-
rors, command pulse modes, 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.)
3-4-1 Setting and Checking Setup Parameters (Cn-01, 02)

j Displaying Setup Parameters
There are two setup parameters: No. 1 (Cn-01) and No. 2 (Cn-02).
To display the contents of setup parameters, execute the following key operations.
1. To go into settings mode (cn-00), press the MODE/SET Key.

2. To display the setup parameter number (cn-01 or cn-02), press the Up and Down keys.
3. To display the contents of the setup parameter, press the DATA key.
To display the setting of setup parameter No. 2, press the Up Key twice at step 2. before pressing the
DATA Key.
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 display 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.”
j Setting Setup Parameters
First, display the setting of the setup parameter (No. 1 or No. 2) using the procedure given above. To
change a setting, specify the bit to be changed and then set it to “1” or “0.”
D Making Settings with Hand-held Parameter Unit (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.
D Making Settings with Mounted Parameter Unit (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.”
3-9
Operation Chapter 3
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.
3-4-2 Setup Parameter Contents
j Setup Parameter No. 1 (Cn-01)

Item Bit no. Factory Setting Explanation
setting
Sequence
q input sig-
g 0 0 0 Servo turned ON or OFF by Run command (externally input).
nall switching
i hi 1 Servo always ON.
1 0 --- Not used.
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.
Sequence
q output sig-
g 4 0 0 Takes TGON/CLIMT signal as motor rotation detection output.
nall switching
i hi 1 Takes TGON/CLIMT signal as current limit detection output.
Processingg at time of 5 ((see 1 0 Servo alarm set at time of recovery from momentary stop.
f
recovery from mo- note 1) 1 Servo alarm automatically cleared at time of recovery from mo-
mentary stop mentary stop.
Abnormal stop 6 1 0 Motor stopped by dynamic brake.
1 Motor stopped with free run.
7 ((see 1 0 Dynamic brake OFF after motor stopped.
note 2) 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. (see note 6)
Deviation counter A 0 0 Clear counter for alarms occurring while Servo is OFF
i h Servo
with S OFF 1 Do not clear counter for alarms occurring while Servo is OFF
P control switch b 1 0 Switch control according to bits C and d.
selection
l i 1 Do not switch
P control switch d,, C 0,, 0 0, 0 The torque command value (Cn-0C) is taken as the condition.
conditions
di i (
(see 0, 1 The speed command value (Cn-0d) is taken as the condition.
note 3)
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.
E 0 --- Not used.
3-10
Operation Chapter 3
Item Bit no. Factory Setting Explanation
setting
Pulse stop switching F 0 0 Position Control (when bit 2 of Cn-02 is 0)
(HA/LA/V/W Models) Disables the pulse stop input.
(CN1-15 is the gain reduction (MING).)
Internal speed control settings (when bit 2 of Cn-02 is 1)
Command pulses aren’t received when PCL and NCL
are OFF.
1 Position Control (when bit 2 of Cn-02 is 0)
Enables the pulse stop input.
(CN1-15 is the pulse stop input (IPG).)
Internal speed control settings (when bit 2 of Cn-02 is 1)
Command pulses aren’t received when PCL and NCL
are OFF.
(Position control is performed with the internal speed
control settings and the pulse-train input.)
Note 1. If power is immediately turned back on after having been cut off, a momentary stop alarm may be gen-
erated. If bit no. 5 is set to “1,” the alarm will be cleared automatically even if it is generated, and opera-
tion will resume.
Note 2. If set bit 6 to “1” and bit 8 to “0,” the dynamic brake relay will turn OFF after the Servomotor stops, re-
gardless of the setting of bit no. 7.
Note 3. With P control switch conditions, a change from PI control to P control is selected.
Note 4. Do not set bit nos. 1 and E of setup parameter no. 1 (Cn-01).
Note 5. 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)
Note 6. The position loop will not be effective when stopping in this mode.
3-11
Operation Chapter 3
j Setup Parameter No. 2 (Cn-02)

Item Bit Factory Setting Explanation
no. setting
Reverse rotation mode 0 0 0 Rotates in the CCW direction with a + command. (See note
3.)
1 Rotates in the CW direction with a + command.
1 0 --- Not used.
Input command mode 2 0 0 Position control with pulse-train input:
CN1-11 and 12 are used as forward and reverse current limit
inputs (PCL, NCL).
In the H/L Models, CN1-15 will be the gain reduction (MING).
In the HA/LA/V/W Models, CN1-15 will be the gain reduction
(MING) if Cn-01 bit F is set to “0” or the pulse stop input (IPG)
if Cn-01 bit F is set to “1.”
1 Internal speed control settings:
CN1-11 and 12 are used as speed selection commands 1 and
2 inputs (SPD1, SPD2).
CN1-15 will be the rotation direction command (RDIR).
Command pulse mode 5,, 4,, 3 0,, 0,, 1 0, 0, 0 Feed pulse and Forward/reverse signal
0, 0, 1 Forward rotation pulse and Reverse rotation pulse
0, 1, 0 90° phase difference (A/B phase) signal (1X)
6 0 --- Not used.
7 0 --- Not used.
8 0 --- Not used.
9 0 --- Not used.
Deviation counter clear A 1 0 Clears the deviation counter when the signal is high level
1 Clears the deviation counter on the rising edge of the signal
Speed integration b 0 0 1 ms
constant’s units
(HA/LA/V/W Models) 1 0.01 ms
Torque command filter c 0 0 Primary filter
time constant
(HA/LA/V/W Models) 1 Secondary filter
Command pulse logic
g re- d 0 0 Positive logic
versall 1 Negative logic
Parameter Unit monitor E 0 0 Position deviation monitor set for 1 command.
output llever change
h 1 Position deviation monitor set for 100 commands.
F 0 --- Not used.
Note 1. Do not set bits number 1, 6 to 9, and F of setup parameter no. 2 (Cn-02).
Note 2. 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)
Note 3. Counterclockwise direction when viewed from the motor output shaft is CCW and clockwise direction is
CW.
3-12
Operation Chapter 3
3-4-3 Important Setup Parameters (Cn-01 and Cn-02)

This section explains the particularly important setup parameters. If these parameters aren’t set proper-
ly, the motor might not operate or might operate unpredictably. Set these parameters appropriately for
the system being used.
j Control Mode Settings

The control mode is determined by the following setup parameters:
• Input command mode: Cn-02 bit 2 (position control by pulse-train input/internal speed control set-
tings)
• Pulse stop switch: Cn-01 bit F (The function of this bit depends on the setting of Cn-02 bit 2.)
The following diagram shows the function of these two bits:
Cn-01
bit F Position control by pulse-train input
0
Cn-02 Position control by pulse-train input
1 HA/LA/V/W
bit 2 (The pulse stop input (IPG is enabled.)
0 Models
Control mode
1 Cn-01 Internal speed control settings only.
bit F (servo lock when stopped)
0
Internal speed control settings and
1 HA/LA/V/W
position control by pulse-train input
Models
Cn-02 bit 2 Cn-01 bit F Control mode

0 0 Position control by pulse-train inputs (Factory setting)
1 Position control by pulse-train inputs (pulse stop input (IPG) enabled)
1 0 Internal speed control settings only. (Servo lock when stopped.)
1 Internal speed control settings + position control by pulse-train input
Note Cn-01 bit F is effective in the HA/LA/V/W Models only. With H/L Models, use Cn-02 bit 2 to select
either “position control by pulse-train inputs” or “internal speed control settings.”
j Command Pulses in Position Control

Bits 3, 4, and 5 of Cn-02 specify the kind of command pulse mode used for position control, as shown in
the following table.
Cn-02 bit 3 Cn-02 bit 4 Cn-02 bit 5 Selected command pulse mode
0 0 0 Feed pulse (PULS)/Direction signal (SIGN)
1 0 0 Forward pulse (CCW)/Reverse pulse (CW) (Factory setting)
0 1 0 90differential phase (A/B phase) signal (1×)
Note One of three multiples can be selected when inputting a 90differential phase signal (1×, 2×, or
4×). If the 4× multiple is selected, the input pulses are multiplied by a factor of 4, so the number of
motor revolutions (speed and angle) are 4 times the number when the 1× multiple is selected.
3-13
Operation Chapter 3
j 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 1
Servo OFF Servo free (dynamic brake ON)
or Alarm 1
Decelerate by free run. Servo free (dynamic brake OFF)
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
3-5 Setting Functions: User Parameters
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
3-14
Operation Chapter 3
3-5-1 Setting and Checking User Parameters (Cn-04 to 29)

j Displaying User Parameters
Perform the following procedures on the Parameter Unit to display the user parameters.
D Displaying with Handy-type (R88A-PR02U)

1. Press the MODE/SET Key to go into settings mode (cn-).
2. Press the Direction Keys to display the desired user parameter number.
Press the Right and Left Keys to select the digit to be set. The digit whose value can be set will blink.
Press the Up and Down Keys to increment or decrement the digit.
3. Press the DATA Key to display the setting of the specified parameter.
4. Press the DATA Key again to return to the parameter number display.
Note If only the Up or Down Key is pressed at step 2., the parameter number can be set directly. In this
case, the rightmost digit will blink. The number cannot be set if the second digit (the 10s digit) is
blinking (i.e., blinking indicates the digit that can be changed).
D Displaying with Mounted-type (R88A-PR03U)

1. Press the MODE/SET Key to go into settings mode (cn-).
2. Press the Up and Down Keys to display the desired user parameter number.
The number will be incremented or decremented each time the Up or Down Key is pressed.
3. Press the DATA Key to display the setting of the specified parameter.
D Parameter Display Example

Parameter Number Display [1] [2] Data Display
DATA
c n - 0 4 0 0 0 8 0
DATA
[5] [4]
j Setting User Parameters

First, use the previous procedure to display the settings of the user parameter. Then use the following
procedures to set user parameters.
D Making Settings with Handy-type (R88A-PR02U)

1. Use the Right and Left Keys to select the digit that is to be set. The digit for which the value can be
changed will blink.
2. Press the Up and Down Keys to change the value of the digit.
3. Repeat the previous two steps as required to set the parameter.
4. Press the MODE/SET or DATA Key. The parameter will be set and the display will blink.
3-15
Operation Chapter 3
6. Repeat steps 1 through 5 above as required to set other parameters.
Note 1. Settings can also be made by pressing only the Up and Down Keys in stead of using steps 1.
and 2. This will enable setting digits higher than the one that is blinking. Use whichever meth-
od is faster for the number of digits that need to be set.
Note 2. The Down Key can be pressed when all digits higher than the blinking one are zeros to set the
minimum value in the setting range.
Note 3. The fifth digit (i.e., the leftmost digit) cannot be made to blink by pressing the Left Key. The fifth
digit can be set from the fourth digit. For example, to set “10000,” press the Left Key to make
the fourth digit blink and then press the Up Key again once the fourth digit reaches “9.” The
fifth digit will change to “1” and the fourth digit will change to “0.”
D Making Settings with Mounted-type (R88A-PR03U)

1. 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.
2. Press the MODE/SET Key (or the DATA Key). The parameter will be set and the display will blink.
3. Pressing the DATA Key again will bring back the parameter number display.
4. Repeat steps 1 through 4 above as required to set other parameters.
3-5-2 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-04 Speed loop gain 80 Hz 1 to 2,000 Adjusts speed loop response.
(See note 1.)
Cn-05 Speed loop integration 20 ms 2 to 10,000 Speed loop integration const.
constant With the HA/LA/V/W Models,
the units can be set with bit b
of Cn-02. Bit b=0: 1-ms units
Bit b=1: 0.01-ms units
Cn-06 Emergency stop torque Maximum % 0 to maxi- Deceleration torque when ab-
torque mum torque normality occurs (compared to
rated torque).
Cn-07 Software start acceleration 0 ms 0 to 10,000 Acceleration time setting for
time software start.
Cn-08 Forward torque limit Maximum % 0 to maxi- Output torque for rotation in
torque mum torque forward direction (compared to
rated torque).
Cn-09 Reverse torque limit Maximum % 0 to maxi- Output torque for rotation in re-
torque mum torque verse direction (compared to
rated torque).
Cn-0A Encoder divider rate (See 1,000 Pulses/ 16 to 2,048 Setting for number of output
note 2.) revolution pulses from Servo Driver.
3-16
Operation Chapter 3

No. setting range
Cn-0b Rotational speed for motor 20 r/min 1 to 4,500 Setting for rotational speed for
rotation detection motor rotor detection output.
Cn-0C P control switching (torque 200 % 0 to maxi- If a torque command exceeds
commands) mum torque 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 Command 0 to 1,000 If the deviation pulse exceeds
ation pulse) units this value, the mode switches
Cn-10 Jog speed 500 r/min 0 to 4,500 Setting for manual rotational
speed
Cn-11 Number of encoder pulses 2,048 Pulses/ 2,048 Setting for number of pulses
(See notes 2 and 3.) revolution 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-15 Brake command speed 100 r/min 0 to 4,500 Sets rotational speed for out-
putting 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 fil-
time constant ter time constant (6.4 to
398 Hz).
Cn-18 Forward rotation external 100 % 0 to maxi- Output torque for when for-
current limit mum torque ward rotation current limit is in-
put (compared to rated
torque).
Cn-19 Reverse rotation external 100 % 0 to maxi- Output torque for when re-
current limit mum torque verse rotation current limit is
input (compared to rated
torque).
Cn-1A Position loop gain 40 1/s 1 to 500 For position loop response ad-
justment.
Cn-1b Positioning completion 3 Command 0 to 250 Sets the range for the position-
range units ing completion signal output.
Cn-1C Bias rotational speed 0 r/min 0 to 450 Sets the bias for position con-
trol.
Cn-1d Feed-forward amount 0 % 0 to 100 Position control feed-forward
compensation.
Cn-1E Deviation counter overflow 1,024 × 256 1 to 32,767 Sets the level for detection of
level commands deviation counter overflow.
Cn-1F No. 1 internal speed set- 100 r/min 0 to 4,500 Rotational speed, no. 1 inter-
ting nal setting
Cn-20 No. 2 internal speed set- 200 r/min 0 to 4,500 Rotational speed, no. 2 inter-
ting nal setting
Cn-21 No. 3 internal speed set- 300 r/min 0 to 4,500 Rotational speed, no. 3 inter-
ting nal setting
3-17
Operation Chapter 3

No. setting range
Cn-23 Software start deceleration 0 ms 0 to 10,000 Sets the deceleration time for
time software starts.
Cn-24 Electronic gear ratio G1 4 --- 1 to 65,535 Setting range
(numerator) (see note 2) 1/100 ≤ G1/G2 ≤ 100
Cn-25 Electronic gear ratio G2 1 --- 1 to 65,535
(denominator) (see note 2)
Cn-26 Position command accel- 0 × 0.1 ms 0 to 640 Sets the time constant for
eration/deceleration time smoothing.
constant
Cn-27 Feed-forward command 0 × 0.1 ms 0 to 640 Sets the feed-forward com-
filter mand filter.
Cn-28 Compensating gain 0 --- 0 to 100 Adjustment gain during posi-
(HA/LA/V/W Models) tion control
Cn-29 Unit number setting 0 --- 0 to 14 Unit number setting used dur-
(HA/LA/V/W Models) ing multi-axis communications
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-11 (number of encoder pulses), Cn-24 (Electronic gear ratio G1 (numerator)),
and Cn-25 (Electronic gear ratio G2 (denominator)) 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. Do not change the setting of Cn-11 (number of encoder pulses). The motor might not operate correctly if
the setting is changed.
Note 4. Refer to the Computer Monitor Software Instruction Manual (I513) for OMNUC U-series
Servo Drivers for more details on Cn-29 (unit number setting).
3-18
Operation Chapter 3
3-5-3 Internal Speed Control Settings
j Function
• This function controls Servomotor speed using the speeds set in the parameters (No. 1, No. 2, and
No. 3 internal speed settings).
• The internal speed is selected with control input terminals CN1-11 and CN1-12 (speed selection
commands 1 and 2). The direction of rotation is specified with CN1-15 (the rotation direction com-
mand).
• When both speed selection commands 1 and 2 are OFF, the motor will decelerate to a stop in the
software start deceleration time (specified in Cn-23) and then go into servo lock status.
Depending on the parameter settings, it might be possible to perform position control in this status
using pulse-train inputs. (HA/LA/V/W Models)
j Setup Parameter Settings

• Set bit 2 of setup parameter number 2 (Cn-02) to “1.” When this bit is set to “1,” the internal speed
control settings function can be used and CN1-11, 12, and 15 have the following functions:
Control inputs CN1-11 and 12: . . . . Speed selection commands 1 and 2 (SPD1 and SPD2)
Control input CN1-15: . . . . . . . . . . . Rotation direction command (RDIR)
• The following table shows the combinations of speeds and directions that can be selected with these
three control inputs.
CN1-11 CN1-12 CN1-15 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
D Internal Speed Control Settings and Position Control (HA/LA/V/W Models)

• When bit F of setup parameter number 1 (Cn-01) is set to “1,” the control mode will be “internal speed
control settings and position control.”
• In this control mode, it is possible to perform speed control using the internal speed control settings
as well as position control using the pulse-train inputs.
• When both SPD1 and SPD2 are OFF, the motor will be decelerated, the positioning completion out-
put will be output, and the servo will enter servo lock status. It will still be possible to receive pulse
command inputs in servo lock status.
Note Input pulse commands after the positioning completion output (INP) is turned ON. The Unit will
ignore any pulses input before the positioning completion output goes ON.
3-19
Operation Chapter 3
j User Parameter Settings

No. setting range
Cn-07 Software start acceleration 0 ms 0 to 10,000 Sets the time for the motor to
time accelerate from 0 r/min to
4,500 r/min.
Cn-23 Software start deceleration 0 ms 0 to 10,000 Sets the time for the motor to
time decelerate from 4,500 r/min to
0 r/min.
Cn-26 Position command accelera- 0 0.1 ms 0 to 640 Sets the time constant for
tion/deceleration time constant pulse smoothing.
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 settings.
Note 2. The actual acceleration and deceleration times are found by means of the following formula:
Internal speed setting (r/min) Software start acceleration

Actual acceleration (deceleration) time = ×
4,500 (r/min) (deceleration) time
Note 3. The position command acceleration/deceleration time constant is effective on the pulse command.
Motor speed
4500 r/min
Time
3-20
Operation Chapter 3
j Operation Example
D Internal Speed Control Settings + Position Control (HA/LA/V/W Models)
Speed selection
command 1
SPD1
6 ms min.
Speed selection
command 2
SPD2
Switch rotation
direction
RDIR
6 ms min.
Pulse
command
Positioning
completed
(INP)
Speed 3
Speed 2
Speed 1
Motor operation
Speed 1
3-5-4 Electronic Gear Function: Position Control
j Function
• The motor will be driven with a pulse determined by multiplying the command pulse count by the
electronic gear ratio.
• The electronic gear is useful for the following applications:
To fine-tune the position and speed of two lines that must be synchronized.
When using a positioner with a low command pulse frequency.
To set the machine movement per pulse to a specific value, such as 0.01 mm.
j Setting User Parameters

• The electronic gear is set as G1 divided by G2 (G1/G2). G1 is set in user parameter Cn-24; G2 is set
in Cn-25. The target pulse count is computed as follows:
Target pulse count = Command pulse count x G1/G2
• If G1/G2 = 1, the motor will turn once for every 8,192 command pulses (driver running at a factor of
4X).
• One pulse for the position deviation (deviation counter) display and positioning completion range will
be equivalent to one input pulse (here the unit is said to be the command).
3-21
Operation Chapter 3

No. setting range
Cn-24 Electronic gear ratio G1 4 --- 1 to 65,535 Setting range
(numerator) 1/100 ≤ G1/G2 ≤ 100
Cn-25 Electronic gear ratio G2 1 --- 1 to 65,535
(denominator)
Note The factory settings will produce turn the motor once for every 2,048 input pulses.
j Example
If G1 is set to 8,192 and G2 is set to 1,000, the motor will turn once for every 1,000 input pulses (output as
8,192 pulses). The motor speed will also be 8,192/1,000 times faster.
Driver
Motor One revolution
1,000 pulses Electronic gear 8,192 pulses
(8,192 pulses)
G1/G2
= 8,192/1,000
3-5-5 Encoder Dividing Function
j 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 2,048.
• 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).
• Set the parameters as shown in the following table.
PRM Parameter name Factory Setting range Explanation
No. setting
Cn-0A Encoder divider rate 1,000 16 to 2,048 Setting for number of output
pulses/ pulses/revolu- pulses from Servo Driver.
revolution
tion
Note The power must be toggled to enable this parameter (be sure that the indicators go out complete-
ly).
3-22
Operation Chapter 3
j 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 = 2,048).
Note The width of the Z-phase output pulse is not affected by the divider rate and will remain constant.
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 2,048, 1024, 512,..., 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 = 2,048/encoder divider rate
Input to frequency divider A-phase

(encoder output)
B-phase
3-23
Operation Chapter 3
3-5-6 Bias Function: Position Control

The bias function shortens positioning time by adding the bias rotational speed to the
speed command when the residual pulses in the deviation counter exceed the position-
ing completion range.
j Function
• When the residual pulses in the deviation counter exceed the positioning completion range (Cn-1b),
this function adds the bias rotational speed (Cn-1C) to the speed command. When the pulses are
within the positioning completion range, it stops adding the bias rotational speed.
j Parameters to be Set
PRM No. Parameter name Factory Unit Setting Explanation
setting range
Cn-1b Positioning completion 3 Com- 1 to 250 Sets the range for positioning
range mand completion signal output.
units
Cn-1C Bias rotational speed 0 r/min 0 to 450 Sets position control bias.
Note 1. When not using the bias function, set the bias rotational speed to “0.”
Note 2. As the bias rotational speed increases, Servomotor rotation becomes more unstable. The optimal val-
ue changes depending on the load, gain, and positioning completion range, so observe the response
while making the adjustment. Start with the bias rotational speed set to 0 and slowly increase it.
j Operation
• When the residual pulses in the deviation counter exceed the positioning completion range (Cn-1b),
the bias rotational speed (Cn-1C) is added to the deviation counter output (speed command).
• When the pulses are within the positioning completion range, the bias rotational speed is no longer
added to the speed command.
• For internal processing block configuration, refer to the position loop block diagram in 3-7-2 Manual-
ly Adjusting Gain.
+r/min. Speed command Servomotor speed without
(Frequency of bias function
command pulse
train)
Servomotor speed when
bias function is used
Motor speed
Time reduced Time
Positioning ON
completion
INP OFF
3-24
Operation Chapter 3
3-5-7 Torque Limit Function
j Function
• This function limits the Servomotor’s output torque.
• 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 work-
piece with a steady force, such as in a bending machine.
• There are two methods for limiting 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 CN1-11 (PCL: forward current limit input)
and CN1-12 (NCL: reverse current limit input). Set user parameters Cn-18 (forward rotation external
current limit) and Cn-19 (reverse rotation external current limit).
j Parameter Settings
D Method 1: Limiting the Force Applied During Operation

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

• Setup Parameter Settings (Bit 2 of Cn-02 = 0)
Set bit 2 of Cn-02 (the input command mode) to “0.” When bit 2 is “0,” control input terminal CN1-11
will be PCL (forward current limit input), CN1-12 will be NCL (reverse current limit input), and it will
be possible to use the external current limit function.
• User Parameter Settings
PRM Parameter name Factory Unit Setting range Explanation
No. setting
Cn-18 Forward rotation 100 % 0 to maximum This parameter sets the output torque
external current limit torque limit (as a percentage of the rated
torque) when the forward rotation cur-
rent limit is input.
Cn-19 Reverse rotation 100 % 0 to maximum This parameter sets the output torque
external current limit torque limit (as a percentage of the rated
torque) when the reverse rotation cur-
rent limit is input.
3-25
Operation Chapter 3
3-5-8 Brake Interlock (For Motors with Brakes)
j 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 2-2-5 Peripheral Device Connection Examples.
j Function
The output timing of the brake interlock signal (BKIR) that control turning the magnetic brake ON and
OFF can be set.
j 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 rotational speed for out-
putting brake commands.
Cn-16 Brake timing 2 50 10 ms 10 to 100 Waiting time from servo-off to
brake command output.
3-26
Operation Chapter 3
j Operation
D Timing for Run Command (RUN) (When Servomotor is Stopped)
Run instruction
RUN
25 to 35 ms Approx. 6 ms
Brake interlock
signal
BKIR
Brake power
supply
200 max. 100 max.

Brake Cancelled
operation Maintained
(See note 1)
Pulse train
command
CW/CCW
Cn-12 (see note 2)

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 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.
D Timing for Power Supply (When Servomotor is Stopped)
Power supply
55 to 75 ms
Brake interlock
signal
BKIR
Cn-12 (see note)
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.
3-27
Operation Chapter 3
D Timing for Run Command (RUN), Errors, Power Supply: Servomotor Stopped
Power supply
Run command
RUN
Alarm output
ALM
(See note 2)
Brake interlock
signal
BKIR
Power on
Power to
motor Power off
Approx. 10 ms
(See note 1.)
Motor rotational
speed Brake command speed Braking by dynamic brake
(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 rotational 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.
3-28
Operation Chapter 3
3-6 Trial Operation
After the wiring is complete and the parameter settings have been made, conduct a trial
operation. First, check with rotation of the motor without connecting a load (i.e., without
connecting the mechanical system). Then, connect the mechanical system, auto-tune
the system, and confirm that the correct operation pattern is performed.
3-6-1 Preparations for Trial Operation
j Preparations
D Power Off
The power supply must be toggled to apply some of the parameter settings. Always turn off the power
supply before starting.
D No Motor Load
Do not connect a load to the motor shaft during trial operation, just in case the motor runs out of control.
D Stopping the Motor

Make sure that the power switch can be turned off or the Run command used to stop the motor immedi-
ately in case of trouble.
D Connecting a Parameter Unit

Connect a Parameter Unit to the CN3 connector on the front of the Servo Driver if one is not already
connected.
j 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.
Display example: b b
• Set the speed loop gain (Cn-04) to 20 or less. (Match the gain with no load.)
1. Confirm the initial display shown above.

2. Press the MODE/SET Key to enter the settings mode.
3. Press the Up Key to specify user parameter Cn-04.
4. Press the DATA Key to display the setting of Cn-04.
5. Press the Down Key to change the setting to 20.
6. Press the DATA Key to record the new setting in memory.
3-29
Operation Chapter 3
(2) Jog Operations (See 3-6-2 Jog Operations.)
• Perform jog operations using the Parameter Unit and confirm the following:
Does the motor turn in the correct direction?
Is there any unusual sound or vibration?
Do any error occur?
• If an error occurs, refer to Chapter 4 Application for troubleshooting.
(3) Connect a load and auto-tune (See 3-7 Making Adjustments.)
• Connect the motor shaft to the load (mechanical system) securely, being sure to tighten screws so that
they will not become loose.
• Perform auto-tuning with the Parameter Unit.
(4) Turning ON the Run command Input
• Turn ON the run command input. The Servomotor will go into servo-ON status.
• Give a speed command, or carry out the following check with a jogging operation.
(5) Low Speed Operation
• Operate at low speed.
Apply a low-frequency pulse command.
The meaning of “low speed” can vary with the mechanical system. Here, “low speed” means approxi-
mately 10% to 20% of the actual operating speed.
• 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?
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.
(6) Operation Under Actual Load Conditions
• 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?
Are there any abnormal sounds or vibration?
Is either the Servomotor or the Servo Driver abnormally overheating?
Is anything abnormal occurring?
• If anything abnormal occurs, refer to Chapter 4 Application and apply the appropriate countermea-
sures.
(7) Readjust the gain.
• If the gain could not be adjusted completely using auto-tuning, perform the procedure in 3-7 Making
Adjustments to adjust the gain.
3-30
Operation Chapter 3
3-6-2 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
j Operating Procedure (Key in Parentheses are for Mounted-type

Parameter Units)
1. Confirm that the initial display is shown (–. bb).
3. Using the Up and Down Keys, set parameter number “00.” (System check mode)
5. Using the Up and Down Keys, set the parameter to “00.” (Jog operation)
6. Press the MODE/SET Key to shift to the jog display.
7. Press the SERVO (DATA) Key to turn on the servo.
8. Press the Up Key to jog forward. Forward operation will continue as long as the key is held down.
9. Press the Down Key to jog in reverse. Reverse operation will continue as long as the key is held
down.
10. Press the SERVO (DATA) Key to turn off the servo.
11. Press the MODE/SET Key to return to the data display.
12. Press the DATA Key to return to the settings mode.
j User Parameter Settings

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
3-31
Operation Chapter 3
3-7 Making Adjustments
3-7-1 Auto-tuning
Auto-tuning rotates the Servomotor with a load connected (mechanical system), and au-
tomatically adjusts the position loop gain, the speed loop gain, and the speed loop in-
tegration time constant. When adjustments cannot be made by auto-tuning, refer to
3-7-2 Manually Adjusting Gain.
j Executing Auto-tuning
Make sure that Cn-28 for compensation gain adjustment is set to 0 before performing auto-tuning. Prop-
er gain adjustment may not be possible with auto-tuning if the parameter is not set to 0. This parameter
is factory-set to 0.
[1] [2] [3]
c n - 0 0 DATA
0 0 - 0 5
[6]
[4]
[5]
c - 0 0 1 t U n
Auto-tuning display
e n d
Auto-tuning end display

5. Using the Up and Down Keys, set the parameter to “05.” (Auto-tuning)
6. Press the MODE/SET Key to switch to the mechanical rigidity selection display.
7. Using the Up and Down Keys, adjust the rigidity to the mechanical system.(Refer to Selecting Me-
chanical Rigidity below.)
8. Press the MODE/SET Key to switch to the auto-tuning display.
3-32
Operation Chapter 3
9. Press the SERVO (DATA) Key to turn on the servo. (This step is not required if the Run Command
Input is ON.)
10. Perform auto-tuning, using the Up Key for forward operation and the Down Key for reverse opera-
tion. Continue pressing the key until “End” is displayed, indicating that auto-tuning has been com-
pleted.
11. Release the key. The data display will return.
D Selecting Mechanical Rigidity

Select the set value to match the rigidity of the mechanical system.
HA/LA/V/W Models
Response Set Position loop gain Representative applications
value (1/s)
Low 001 16 Articulated robots,, harmonic drives,, chain drives,, belt drives,,
002 28 rack
k andd pinion
i i d drives,
i etc.
Medium 003 40 XY tables, Cartesian-coordinate robots, general-purpose ma-
chinery, etc.
High
g 004 56 Ball screws ((direct coupling),
g), feeders,, etc.
005 78
006 108
007 130
H/L Models
Response Set Position loop gain Representative applications
value (1/s)
Low 001 20 Articulated robots, harmonic drives, chain drives, belt drives,
rack and pinion drives, etc.
Medium 002 40 XY tables, Cartesian-coordinate robots, general-purpose ma-
chinery, etc.
High 003 60 Ball screws (direct coupling), feeders, etc.
Note The higher the rigidity of the mechanical system is, the higher the response becomes.
D Auto-tuning
• Auto-tuning will not be complete until at least three operations have been completed. Be sure there is
plenty of room for the machine to operate.
• If the auto-tuning is not complete after three operation, operations will be repeat as long as the key is
held down.
• The Servomotor rotation speed will be approximately 1/2 that of the jog speed (Cn-10).
• Auto-tuning will automatically change the setting of the user parameter position loop gain (Cn-1A),
speed loop gain (Cn-04), and speed loop integration time constant (Cn-05). These values will not be
changed, however, until the auto-tuning operation has been completed.
3-33
Operation Chapter 3
• If auto-tuning does not complete or if the gain set via auto-tuning is not sufficient, adjust the gain manu-
ally using the procedure in 3-7-2 Manually Adjusting Gain.
1/2 jog speed
0
Approx. 1.1 s Approx. 0.7 s
3-34
Operation Chapter 3
3-7-2 Manually Adjusting Gain

Make sure that Cn-28 for compensation gain adjustment is set to 0 before performing
auto-tuning. This parameter is factory-set to 0.
! Caution Never make extreme changes in the setting. Doing so may cause unstable operation
or result in injury. Gradually vary the gain setting from the standard value shown be-
low and check motor operation while changing the settings.
j Gain Adjustment 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), Increase Cn-05 (speed loop integra-
but do not increase it so far that over- tion time constant).
shooting occurs.
: When vibration can’t be eliminated despite

several adjustments or positioning is too slow:
End adjustment.
Increase Cn-17 (torque command filter
time constant).
HA/LA/V/W Models:
Increase Cn-28 (compensating gain).
3-35
Operation Chapter 3
j Gain Adjustment Standards
The following table shows reference values for gain adjustment. Adjustments can be made quickly if
these values are used as standards. Make the initial gain setting based on the load inertia.
Load inertia Speed loop gain Speed loop Position loop gain Comments
factor Cn-04 (Hz) integration constant Cn-1A (1/s)
Cn-05 (ms)
1 80 40 60 High rigidity
3 80 20 40 Factory setting
3 120 30 40 ---
10 350 40 40 ---
20 420 80 20 Moderate rigidity
20 200 120 10 Low rigidity
Adjustment Parameters
j Adjusting Speed Loop Gain

No. setting range
Cn-04 Speed loop gain 80 Hz 1 to Adjusts the speed loop response.
2,000 As the gain is increased, the servo rigidity
is strengthened. The greater the inertia
rate, the higher this is set. If the gain is set
too high, oscillation will occur.
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 the gain
is too high.)
Motor speed
(speed monitor)
When speed loop gain is low.
Time
3-36
Operation Chapter 3
j Adjusting the Speed Loop Integration Time Constant
No. setting range
Cn-05 Speed loop integra- 20 1 ms/ 2 to Speed loop integration constant.
tion constant 0.01 ms 10,000 As the constant is increased, the response
is shortened and the resiliency toward ex-
ternal force is weakened. If it is set too
short, oscillation will occur.
The unit set in bit b of Cn-02 (integration
constant’s unit) is used to set the constant.
(HA/LA/V/W Models)
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

No. setting range
Cn-17 Torque command 4 0.1 ms 0 to 250 Sets torque command filter time constant.
filter time constant Increase the time constant to reduce os-
cillation due to machinery resonance fre-
quency.
The filter characteristic is switched using
the torque command filter time constants.
(HA/LA/V/W Models)
Cn-1A Position loop gain 40 1/s 1 to 500 For servo-lock strength adjustment when
position lock function is used. Adjust to
match mechanical rigidity.
3-37
Operation Chapter 3
j Position Loop Gain
The responsiveness of the servo system is determined by the position loop gain. When a servo system
has high position loop gain, the responsiveness is greater and positioning can be faster. In order for
position loop gain to be raised, the mechanical rigidity and the characteristic frequency must be in-
creased. For general NC machine tools, the range is 50 to 70 (1/s); for general machinery and assembly
devices, it is 30 to 50 (1/s); for industrial robots, it is 10 to 30 (1/s). The factory setting for position loop
gain is 40 (1/s), so it should be lowered for systems with low rigidity.
Position loop gain is generally expressed as follows:
Instruction command frequency (pulses/s)
Position loop gain (Kp) = (1/s)
Deviation counter’s residual pulse amount (pulses)
In addition, the system response setting is 1/Kp, so in order to increase the responsiveness, it is neces-
sary to increase the position loop gain. If a system has low rigidity or low characteristic frequency, in-
creasing the position loop gain sympathetic vibration of machinery will occur and an alarm will be gener-
ated.
If position loop gain is low, positioning time can be improved by using feed-forward control.
In addition to this method, positioning completion can be speeded up by using the bypass function.
High position loop gain
Motor speed
Low position loop gain
Time

No. setting range
Cn-1b Positioning comple- 3 Com- 0 to 250 Sets the range for the positioning comple-
tion range mand tion signal output. (Generally set according
units to the precision required by the system.)
Increasing the positioning completion range
too much can cause the positioning
completion output to turn ON during low-
speed operation or other times when there
are few residual pulses.
Cn-1C Bias rotational 0 r/min 0 to 450 Used to reduce positioning time.
speed Positioning time will be decrease as the
bias rotational speed is increased, but will
become unstable if it is increased too
much. Increase the value gradually from 0
and observe the affect on the system.
Cn-1d Feed-forward 0 % 0 to 100 Position control feed-forward compensa-
amount tion.
j Feed-forward Amount
The feed-forward amount is effective when the position loop gain is set to less than 25 l/s. It will not be
very effective when the position loop gain is higher than 25 l/s.
3-38
Operation Chapter 3
Increasing the feed-forward amount to much will cause excessive overshooting.
The feed-forward amount is not sent through the deviation counter, but is applied directly to the speed
loop. The differential of the deviation counter is thus not applied, causing a faster response when the
load response is delayed from the commands.
Be sure that the position loop is completely adjusted and that the speed loop is operating safely before
adjusting the feed-forward amount.
Increasing the feed-forward amount too much will cause the speed command to oscillate, resulting in
abnormal noise from the motor. Increase the feed-forward amount slowly from 0%, adjusting it so that
the positioning completion output is not adversely affected (e.g., turn repeatedly ON and OFF) and so
that the speed does not overshoot.
No. setting range
Cn-1E Deviation counter 1,024 × 256 1 to Sets the level for detection of deviation
overflow level com- 32,767 counter overflow.
mands The residual pulses in the deviation counter
will equal the command pulse frequency
divided by the position loop gain. Divide
this value by 256, add a reasonable
amount of leeway, and set the deviation
counter overflow level to the resulting val-
ue.
Cn-26 Position command 0 × 0.1 ms 0 to 640 Sets the time constant for smoothing (posi-
acceleration/decel- tion command soft start function).
eration time Even if the position command pulses are
constant input in steps, the time constant set here
will be used to accelerate/decelerate the
motor.
The same time will be used for both accel-
eration and deceleration.
Set this parameter to 0 when using a posi-
tion controller that has an acceleration/de-
celeration function.
Cn-27 Feed-forward com- 0 × 0.1 ms 0 to 640 Sets the feed-forward command filter.
mand filter This parameters acts as a low-pass filter to
prevent the feed-forward amount from be-
ing applied too quickly when position com-
mand pulses are input in steps.
Cn-28 Compensating gain 0 --- 0 to 100 Decreases the speed loop gain by the set
(HA/LA/V/W Mod- value when a large torque is output due to
els) acceleration, deceleration, etc.
j Compensating Gain
Increasing the compensating gain will reduce motor vibration and will also enable setting a larger speed
loop gain, allowing faster positioning. Increasing the compensating gain too much will delay following
accelerations/decelerations.
Adjust the compensating gain only after adjusting the speed loop gain (Cn-04) and the speed loop in-
tegration constant (Cn-05).
Depending on the values of the speed loop gain (Cn-04) and the speed loop integration constant
(Cn-05), the upper limit of the compensating gain may be 100 or less. An error will occur if the compen-
sating gain is set too high.
3-39
Operation Chapter 3
Set the compensating gain to 0 when auto-tuning. The gain will not be adjusted correctly if the compen-
sating gain is not set to 0.
j Position Loop Block Diagram
Cn-1d Cn-24,25 Cn-27 Cn-1C

Electronic
Feed-forward Feed-forward Bias rotational
gear ratio
amount command filter speed
G1/G2
Cn-1b
Positioning
Cn-02 bit completion
Cn-26 range
nos. 3, 4, 5 Position com- Cn-24,25
Command Cn-1A Cn-04,05 Cn-17
pulses mand accel- Electronic + +
Command Deviation Position Speed Current
eration/ decel- gear ratio
pulse mode counter loop gain loop loop
eration time G1/G2 –
constant – (Cn-1E)
Cn-28
+ Comp.
+ gain
×4
Cn-0A Speed
Encoder detection
Encoder
output
divider rate
16 to ×4
2048/2048
E M
3-8 Regenerative Energy Absorption
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 connect a Regeneration Unit to
increase the capacity for absorbing regenerative energy.
3-8-1 Calculating Regenerative Energy

Regenerative energy is produced when the direction of Servomotor rotation or output torque is re-
versed. The methods for calculating regenerative energy for the horizontal and vertical shafts are ex-
plained below.
3-40
Operation Chapter 3
Horizontal Axle
Motor operation
Motor output
torque
Note In the output torque graph, when the rotation direction and the torque direction match it is shown
as positive.
The regenerative energy for each section can be found by means of the following formulas:
Eg1 = 1/2 N1 TD1 t1 0.105 [J]
Eg2 = 1/2 N2 TD2 t2 0.105 [J]
N1, N2: Rotation speed at beginning of deceleration [r/min]
TD1, TD2: Deceleration torque [N m]
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.
The maximum regenerative energy for the Servo Driver’s internal capacitors only can be found by
means of the following formula:
Eg = (Eg1, Eg2) [J]
Eg is the larger of Eg1 and Eg2.
When regenerative energy is absorbed at the Servo Driver only, Eg must not exceed the amount of re-
generative energy that can be absorbed at the Servo Driver. In addition, the average regenerative pow-
er when a Regeneration Unit is connected can be found by means of the following formula:
Pr = (Eg1 + Eg2)/T [W]
T: Operation cycle [s]
Eg must not exceed the maximum regeneration absorption capacity of the Servo Driver when only the
Servo Driver is used to absorb regenerative energy. When a Regeneration Unit is connected, the aver-
age regenerative power (Pt) must not exceed the regeneration processing power (12 W) of the Regen-
eration Unit.
Connect an external regeneration resistor when the regeneration processing power of the Regenera-
tion Unit (12 W) is exceeded. Refer to 3-8-3 Absorption of Regenerative Energy with the External Re-
generation Resistor for details on external regeneration resistors.
3-41
Operation Chapter 3
Vertical Axle
Rising
Motor operation
Falling
Motor output
torque
Note In the output torque graph, when the rotation direction and the torque direction match it is shown
as positive.
The regenerative energy for each section can be found by means of the following formulas:
Eg1 = 1/2 N1 TD1 t1 0.105 [J]
Eg2 = N2 TL2 t2 0.105 [J]
Eg3 = 1/2 N2 TD2 t3 0.105 [J]
N1, N2: Rotation speed at beginning of deceleration [r/min]
TD1, TD2: Torque when declining [N m]
TL2: Deceleration torque [N m]
t1, t3: Travel time equivalent to torque when declining [s]
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.
The maximum regenerative energy for the Servo Driver’s internal capacitors only can be found by
means of the following formula:
Eg is the larger of Eg1, Eg2 + Eg3.
When regenerative energy is absorbed at the Servo Driver only, Eg must not exceed the amount of re-
generative energy that can be absorbed at the Servo Driver. In addition, the average regenerative pow-
er when a Regeneration Unit is connected can be found by means of the following formula:
Pr = (Eg1+ Eg2+ Eg3)/T [W]
T: Operation cycle [s]
Eg must not exceed the maximum regeneration absorption capacity of the Servo Driver when only the
Servo Driver is used to absorb regenerative energy. When a Regeneration Unit is connected, the aver-
age regenerative power (Pt) must not exceed the regeneration processing power (12 W) of the Regen-
eration Unit.
3-42
Operation Chapter 3
Connect an external regeneration resistor when the regeneration processing power of the Regenera-
tion Unit (12 W) is exceeded. Refer to 3-8-3 Absorption of Regenerative Energy with the External Re-
generation Resistor for details on external regeneration resistors.
3-8-2 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.
• Connect a Regeneration Unit (R88A-RG08UA) (Refer to 3-8-3). (Models Conforming to UL/cUL
Standards and Models Not Conforming to Any Standards)
• 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.)
• When using multiple axes, the + terminals can be connected together and the – terminals can be
connected together to use regenerative energy as the drive energy for the other axes (Refer to
3-8-4). (Models Conforming to EC Directives)
j 200-VAC Input Type

Model Absorptive regen- Maximum applicable Remarks (see note *3)
eration energy (J) load inertia
(x10–4 kgm2)
R88D-UP02H(A)/UP02V 7.0 0.63 Rotor inertia × 30, 4,500 r/min
(30 W)
(50 W)
(100 W)
(200 W)
(400 W)
(750 W)
Note 1. 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.
Note 2. For Servomotors with brakes, add the brake inertia to the load inertia.
Note 3. This is the applicable range for the horizontal shaft. (No external force should be applied.)
3-43
Operation Chapter 3
j 100-VAC Input Type
Model Absorptive regen- Maximum applicable Remarks (see note *3)
eration energy (J) load inertia
(x10–4 kgm2)
R88D-UP03L(A)/UP03W 7.0 0.63 Rotor inertia × 30, 4,500 r/min
(30 W)
(50 W)
(100 W)
(200 W)
R88D-UP15LA/UP15W 99.5 3.8 Rotor inertia × 20, 4,500 r/min
(300 W)
Note 1. The input voltage is the value at 100 VAC. As the input voltage is increased, the amount of
regenerative energy that can be absorbed is decreased.
Note 2. For Servomotors with brakes, add the brake inertia to the load inertia.
Note 3. This is the applicable range for the horizontal shaft. (No external force should be applied.)
Range for Absorbing Regenerative Energy

The relationship between rotation speed and the load inertia that can be absorbed by a Servo Driver
alone is shown in the diagrams below. If a Servo Driver is operated outside of this range, a Regeneration
Unit must be connected. These diagrams show the applicable range for the horizontal shaft. If an exter-
nal force acts in the same direction as the Servomotor rotation, due to factors such as the fall time on the
vertical shaft, be sure to measure the regenerative energy and check to see that the amount that can be
absorbed is not exceeded.
j R88D-UP02H(A)/-UP03H(A)/-UP04H(A)/-UP02V/-UP03V/-UP04V (30 W, 50 W, 100 W)

R88D-UP03L(A)/-UP04L(A)/-UP10L(A)/-UP03W/-UP04W/-UP10W (30 W, 50 W, 100 W)
Applicable load inertia
(×10–4kgm2)
100W 1.2 × 10–4kgm2
50W 0.78 × 10–4kgm2
30W 0.63 × 10–4kgm2
Rotation speed (r/min)
3-44
Operation Chapter 3
j R88D-UP08H(A)/-UP08V (200 W)
R88D-UP12L(A)/-UP12W (200 W)
(×10–4kgm2)
200W 3.69 × 10–4kgm2
2.15
j R88D-UP12H(A)/-UP12V (400 W)
R88D-UP15LA/-UP15W (300 W)
(×10–4kgm2)
300W, 400W 3.8 × 10–4kgm2
UA15LA
UP15W
UA12H(A)
1.9
UP12V
3-45
Operation Chapter 3
j R88D-UP20H(A)/-UP20V (750 W)
(×10–4kgm2)
700W 13.4 × 10–4kgm2
4.7
3-8-3 Absorption of Regenerative Energy with the External

Regeneration Resistor (Models Conforming to UL/cUL
Standards and Models Not Conforming to Any
Standards)
Connect one or more external regeneration resistors when a Regeneration Unit (R88A-
RG08UA) cannot absorb all of the regenerative energy. Remove the short bar from be-
tween the RG and JP terminals on the Regeneration Unit and connect the resistor be-
tween the P and RG terminals. Connecting to the wrong terminals may destroy the Re-
generation Unit, so connect the resistor carefully. (The Regeneration Unit does not con-
form to EC Directives.)
The external regeneration resistor will heat to approximately 120C. Do not install it near
devices or wiring that is sensitive to heat. Install heat radiation plates suitable to the radi-
ation conditions.
External Regeneration Resistors
j Models
Model Resistance Nominal Regeneration Heat Thermal switch
capacity absorption at radiation output specifications
120C conditions
R88A-RR22047S 47Ω ±5% 220 W 70 W t1.0 × 350 Operating
(SPCC) temperature:
170C±5%
N.C. contact
Rated output: 3 A
3-46
Operation Chapter 3
j Combining External Regeneration Resistors
Item Regeneration absorption capacity
70 W 280 W
Combining external
regeneration
resistors
Note Use a combination with an absorption capacity larger than the average regenerative power (Pr).
j Dimensions (Unit: mm)

1.5 dia. Thermal switch output
(0.3 mm2)
3 dia.
(0.75 mm2)
Wiring External Regeneration Resistors

Remove the short bar from between the RG and JP terminals on the Regeneration Unit and connect the
resistor(s) between the P and RG terminals.
External regeneration resistor
Short bar
Note The thermal switch output must be connected in the same way as the ALM output from the Re-
generation Unit, i.e., so that power supply is shut OFF when the contacts open. The resistor may
be damaged if the thermal switch output is used without forming a power shut-off sequence.
3-47
Operation Chapter 3
3-8-4 Processing Regenerative Energy with Multiple Axes

(Models Conforming to EC Directives)
When using multiple axes, the + terminals on the Servo Drivers can be connected to-
gether and the – terminals can be connected together to use regenerative energy as the
drive energy for the other axes, thus absorbing the energy. Servo Drivers with different
power supply voltages, however, cannot be connected. Also, regeneration absorption
capacity will not be increased when all axes simultaneously produce regenerative ener-
gy.
Wiring Method (Example for 3 Axes)
Axis 1 Axis 2 Axis 3
Note 1. Do not open or close the connections between the + or – terminals while power is being sup-
plied. The Units may be destroyed.
Note 2. Do not connect Servo Drivers that are using different power supply voltages. The Units may
be destroyed.
Regeneration absorption capacity will not be increased when all axes simultaneously produce regen-
erative energy. Take one or more of the following methods if this occurs.
• Reduce the number of rotations being used. (Regenerative energy is directly proportional to the
square of the number of rotations.)
• Increase the deceleration time. (This will reduce the regenerative energy per unit time.)
3-48
4
Chapter 4
Application
4-1 Using Displays
4-2 Using the Monitor Output
4-3 Protective and Diagnostic Functions
4-4 Troubleshooting
4-5 Periodic Maintenance
Application Chapter 4
4-1 Using Displays
4-1-1 Display Functions

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.
j Servo Driver Displays

There are two LED indicators on the Servo Driver itself. One is for the power supply and another is for
alarms.
Power supply indicator

Alarm indicator
Symbol Name Function

PWR Power supply indicator Lit when AC power supply is normal.
ALM Alarm indicator Lit when error occurs.
If the alarm indicator is lit, connect a Parameter Unit and check the contents of the alarm.
j 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
Display area
(7-segment display)
4-2
j Parameter Unit Key Functions

The contents displayed by the Parameter Unit can be changed by key operations.
Handy-type Mounted Function
Parameter Unit Parameter Unit
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
j 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 (indicating internal status via indicators):
Power supply ON display, base block, positioning completed, rotation detection and
current limit detection, command pulse input
Symbol display (indicating internal status via 3-digit 7-segment display):
Base block, operating, forward rotation prohibited, reverse rotation prohibited, alarm
display
Settings mode System check: Jog operations, alarm history data clear, motor parameters 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, position
deviation, and input pulse counter (HA/LA/V/W Models)
Alarm history display Displays contents of alarms that have been previously generated (up to a maximum
mode of 10).
4-3
j 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 cn-00 un-00 0 - a.0 2
4-1-2 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/Current limit detected
Positioning completed Command pulse input
Base block
b b
Power supply ON
Bit data display Symbol display
j Bit Data Display Contents

Bit data Contents
Power supply ON Lit when Servo Driver power supply is ON.
Base block Lit during base block (no power to motor); dimmed when servo is ON.
Positioning completed Lit when the pulse count remaining on the deviation counter is equal to or less
than the positioning completed range set in Cn-1b.
Rotation detection /current Lit when the motor rotational speed is equal to or greater than the rotational
limitt detect
detection
o (See note.)
ote ) speed for motor rotation detection (Cn-0b).
Lit when a torque command is limited by the torque limit value (Cn-08, 09 or
Cn-18, 19).
Command pulse input Lit when the specified command pulse is being input.
Note The setting of bit no. 4 in setup parameter no. 1 (Cn-01) determines whether rotation detection or current
limit detection will be output.
4-4
j 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.)
4-1-3 Monitor Mode (Un-)
j 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 rotational speed of motor.
01 Speed command r/min Displays commands to speed loop when controlling via in-
ternally set speeds.
“0” will be displayed when controlling with pulse trains.
02 Torque command % The command to the current loop is displayed as 100% of
the rated torque.
03 Number of pulses Pulses The number of pulses from the U-phase edge is displayed
from U-phase in units of encoder resolution.
edge Displays pulse number with 1/4 turn being 2048 pulses
(with an error of approx. ±5 pulses).
04 Electrical angle Degrees Displays the electrical angle of the motor.
05 Internal status bit --- Displays Servo Driver internal information as either lit or
display 1 not lit.
06 Internal status bit ---
display 2
07 Command pulse r/min Displays the command pulse counter converted to a fre-
speed display quency (r/min).
08 Position deviation Pulses Displays the pulse count (position deviation) remaining on
(deviation count- the deviation counter in command units (based on input
er) pulses).
09 Input pulse count- Command Counts and displays the input pulses. (HA/LA/V/W Models)
er units
j 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
4-5
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.
j 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
4-6
Monitor Bit no. Symbol Contents

no.
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 rotational speed is equal to or greater than the
CLIMT rotational speed for motor rotation detection (Cn-0b). Lit when a
torque command is limited by the torque limit value (Cn-08, 09 or
Cn-18, 19).
5 INP Lit when the motor rotational speed reaches the speed command val-
ue.
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
(CN1-11) is ON.
8 NCL/SPD2 Lit when reverse rotation current limit / speed selection command 2
(CN1-12) is ON.
9 SVON Lit when motor is receiving power.
10 A Encoder A phase (HA/LA/V/W Models: Lit when there is a signal;
H/L Models: Dimmed when there is a signal)
11 B Encoder B phase (HA/LA/V/W Models: Lit when there is a signal;
12 Z Encoder Z phase (HA/LA/V/W Models: Lit when there is a signal;
13 PU Poll sensor U phase
14 PV Poll sensor V phase
15 PW Poll sensor W phase
16 RUN Lit when run command is ON.
17 MING/ Lit when CN1-15 is ON. (Input signal functions change according to
RDIR/IPG parameter settings.)
18 POT Lit when forward drive prohibit input is ON.
19 NOT Lit when reverse drive prohibit input is ON.
20 Not used
Un-06 1 CW Lit when clockwise command pulses are being input.
2 CCW Lit when counterclockwise command pulses are being input.
3 ECRST Lit when the deviation counter reset input is ON.
4 to 20 Not used
4-1-4 Checking Servomotor Parameters (Cn-00 Set to 04)
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.
4-7
j Servomotor Parameter Checking Operation

The items in parentheses in the following explanation indicate operations using the Handy-type Param-
eter Unit.
[1] [2] [3] [4]
c n - 0 0 DATA
0 0 - 0 4
[5]
[5]
[7]
[6]
f 0 0 0 2 y 0 0 0 0
1. Press the MODE/SET Key to switch to the settings mode.
4. Using the Up and Down Keys, change the setting to “04.” (Servomotor parameter check)
5. Press the MODE/SET Key, and check the Servomotor parameters in order.
6. Press the MODE/SET Key to display special specifications in hexadecimal.
7. Press the MODE/SET Key to return to the data display for the system check mode.
j Parameter Display Contents
D Servomotor Parameters
f 0 0 0 2
Motor capacity 9E: 30 W
b2: 50 W
Motor type 00: 200-V type 01: 100 W
41: 100-V type 02: 200 W
03: 300 W
04: 400 W
08: 750 W
D Special Specifications
y 0 0 0 0
User specifications number (hexadecimal display)
4-8
4-2 Using the Monitor Output
The Servo Drive outputs a monitor voltage proportional to the Servomotor rotation
speed and current from the monitor output connector (CN4) on the top of the Servo Driv-
er. This output can be used to install a meter in the control panel or to enable more pre-
cise gain adjustments.
j Analog Monitor Output Specifications

D Monitor Output Terminals (Top of the Servo Driver)
Pin allocation
CN4
Top of Servo Driver

CN4
Front
D Monitor Output Circuit
47 Ω CN4-1
NM Speed monitor
CN4-3
GND
47 Ω
CN4-2
AM Current monitor
CN4-4
GND
D Monitor Output Specifications

Speed monitor With 0 V as center, voltage output at 0.5 V/(1000 r/min) ratio. Forward rotation: (–) volt-
age; reverse rotation: (+) voltage Output accuracy: approximately ±10%
Current monitor With 0 V as center, voltage output at 0.5 V/(rated torque) ratio. Forward acceleration:
(–) voltage; reverse acceleration: (+) voltage Output accuracy: approximately ±10%
4-9
j Analog Monitor Cable (R88A-CMW001S)

Use this cable to connect the Servo Driver’s Analog Monitor Connector.
Servo Driver External devices
R88D-
1.7 dia.
Servo Driver
Symbol No.
Red Connector socket model
White DF11-4DS-2C (Hirose)
Black Connector socket model
Black
DF11-2428SCF (Hirose)
Cable: AWG24 x 4C UL1007
4-10
4-3 Protective and Diagnostic Functions
4-3-1 Alarm Displays and Alarm Code Outputs

The Servo Driver has the error detection functions shown below. When an error is de-
tected, the alarm output (ALM ) and the alarm code output (AL01-03) are output, the Ser-
vo Driver’s internal power drive circuit is turned off, and the alarm is displayed.
j Alarm Table
Dis- Alarm code
Alarm Error detection Detection contents
play
l ALO1 ALO2 ALO3 ALM f
function
i
a.02 OFF OFF OFF OFF Parameter corruption The checksum for the parameters read
from the EEPROM does not match.
a.04 OFF OFF OFF OFF Parameter setting error Incorrect parameter setting. (HA/LA/V/W
Models)
a.10 ON OFF OFF OFF Overcurrent Overcurrent or overheating detected.
a.31 ON ON OFF OFF Deviation counter over- The pulses remaining on the deviation
flow counter exceed the deviation counter
overflow level set in Cn-1E.
a.40 OFF OFF ON OFF Overvoltage Main circuit DC voltage exceeded the al-
lowable value.
a.51 ON OFF ON OFF Over speed Detected at 4,950 r/min.
a.52 ON OFF ON OFF Excessive speed com- Speed command for 4,700 r/min was in-
mand input put. (H/L Models)
a.70 ON ON ON OFF Overload Detected at reverse limit characteristics
when the output torque exceeds120% of
the rated torque. (HA/LA/V/W Models)
when 135% of the rated torque was ex-
ceeded. (H/L Models)
for 120% to 135% of the rated torque.
(H/L Models)
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 was disconnected or
disconnection. short circuited.
a.f3 OFF ON OFF OFF Momentary power fail- The power supply was re-started within
ure alarm the power retention period.
a.99 OFF OFF OFF ON Alarm reset power sup- This is history data only, and is not an
ply turned on. alarm.
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 longer
mission error 2 exists in the alarm history.)
Note “---” means indefinite.
4-11
4-3-2 Alarm Output

This section describes the timing of alarm outputs when power is turned on and when
alarms occur. The method used to clear alarms is also described.
j Timing Chart
Power input ON
(R, T) OFF
Run command ON
(RUN) OFF
Error
occurrence Error
6 ms min.
Alarm reset ON
(RESET) OFF
Approx. 2 s
6 ms max.
ON
Alarm output
(ALM) OFF
Approx. 350 ms
25 to 35 ms
ON
Power to
motor OFF
j Alarm Output Circuit
Alarm output
Output specifications: 30 VDC, 50 mA max.

Normal: Output transistor ON
Error (alarm): Output transistor OFF
j Clearing Alarms
• Any of the following methods can be used to clear alarms:
Turn ON the alarm reset signal (RESET).
Toggle the power supply.
Press the Reset Key on the Parameter Unit.
Overcurrent alarms (A.10), however, cannot be cleared by toggling the power supply.
• Operation will start as soon as the alarm is cleared if the alarm is cleared while the Run command
(RUN) is ON, possibly creating a dangerous situation. Turn OFF the Run command before clearing
alarms. Take adequate safety precautions if an alarm is going to be cleared while the Run command is
ON or when the Servo Always ON (Cn-01, bit 0 set to 1) is used.
4-12
4-3-3 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.70 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.
j Overload Characteristic Graph

The characteristic between the load ratio and the electronic thermal operating time is shown in the fol-
lowing graph.
Operation time (s)
Load ratio (%)
Note 1. The load ratio is calculated in relation to the Servomotor’s rated current.
Servomotor current
Load ratio (%) = × 100
Servomotor rated current
Note 2. For example, if a current three times the rated motor current is applied continuously, and over-
load will be detected in approximately 3 s.
4-13
4-3-4 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.
To clear the alarm history, set the system check mode to “02” and press the MODE/SET
Key.
j Displaying the Alarm History
0 - 4 0
Error number Alarm history data

2. Press the MODE/SET Key to go to the alarm history display mode.
3. 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.)
j 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.
[2] [3] [4] [5]
c n - 0 0 DATA
0 0 - 0 2
[7]
[6]
To data display
Alarm history data cleared.

5. Using the Up and Down Keys, set the parameter to “02.” (Alarm history clear)
6. Press the MODE/SET Key to clear the alarm history data.
4-14
4-4 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.
j Error Diagnosis by Means of Operating Status

Symptom Probable cause Items to check Countermeasures
The power supply indicator Power supply lines are in- • Check the power supply • Correct the power supply.
(PWR) does not light even correctly wired. voltage. • Correct the wiring.
when the power supply is • Check the power supply
turned on. lines.
The motor does not oper- The RUN signal is OFF Check the RUN signal’s ON • Input the RUN signal.
ate even when command (when Cn-01 bit no. 0 is “0”). and OFF by means of the • Correct the wiring.
pulses are input. ((No monitor mode.
alarm
l i output.)
is t t) The correspondence be- Check the models. Combine models that corre-
tween the Servo Driver and spond correctly.
the Servomotor is incorrect.
The POT and NOT signals Check whether POT and • Turn ON the POT and
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 mode is the internal Check Cn-02 bit no. 2. Set Cn-02 bit no. 2 to “0” un-
speed control setting mode. less internally set speed
control is being used.
The deviation counter reset Check the deviation counter • Turn OFF the ECRST sig-
input (ECRST) is ON. reset signal in monitor mode nal.
(internal status bit display).
• Correct the wiring.
An error occurred with the Check the RESET signal’s Turn the RESET signal OFF
RESET signal ON. ON and OFF by means of and take measures
the monitor mode. according to the alarm
display.
The setting for the command Check positioner’s Set according to the
pulse mode is not correct command pulse type and controller command pulse
(Cn-02 bits 3, 4, 5). Driver’s command pulse type.
mode.
The motor operates mo- The setting for the number Check whether Cn-11 is Set Cn-11 to “2048.”
mentarily, but then it does of encoder pulses is incor- “2048.”
not operate. rect.
The Servomotor power lines Check the Servomotor pow- Correct the wiring.
or encoder lines are wired er line U, V, and W phases,
incorrectly. and the encoder line wiring.
4-15
Symptom Probable cause Items to check Countermeasures
Servomotor operation is The Servomotor power lines Check the Servomotor pow- Correct the wiring.
unstable. or encoder lines are wired er line U, V, and W phases,
incorrectly. and the encoder line wiring.
The settings for the bias --- Adjust bias revolutions and
function are not correct. positioning completed range.
There are eccentricities or • Check the machinery. Adjust the machinery.
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 according
to how the pulley gears are
engaging.
Gain is wrong. --- • Use auto-tuning.
• Adjust the gain manually.
Servomotor is overheating. The ambient temperature is Check to be sure that the Lower the ambient tempera-
too high. ambient temperature around ture to 40°C or lower. (Use a
the Servomotor is no higher cooler or fan.)
than 40°C.
Ventilation is obstructed. Check to see whether any- Ensure adequate ventilation.
thing is blocking ventilation.
There is an overload. Check the torque command • Lighten the load.
value by means of monitor • Change to a larger capac-
mode. ity Servomotor.
The correspondence be- Check the models. Combine models that corre-
tween the Servo Driver and spond correctly.
the Servomotor is incorrect.
There are unusual noises. The machinery is vibrating. Inspect the machinery to see Fix any problems causing
whether there are any for- vibration.
eign objects in the movable
parts, or whether there is
any damage, deformation, or
looseness.
The speed loop gain adjust- --- • Use auto-tuning.
ment is insufficient. • Adjust the gain manually
(speed loop gain).
Vibration is occurring at Inductive noise is occurring. • Check to see whether the • Shorten the control signal
the same frequency as the Servo Driver control signal lines.
applicable power supply. lines are too long. • Separate control signal
• Check to see whether con- lines from power supply
trol signal lines and power lines.
supply lines are too close • Use a low-impedance
to each other. power supply for control
signals.
4-16
j Error Diagnosis by Means of Alarm Display (Parameter Unit)

Alarm Error content Condition when error oc- Probable cause Countermeasures
display curred
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 to Change the user parameter
ting error turned on. a value outside of the set- setting so it is within the set-
((HA/LA/V/W ting range previously. ting range.
M d l )
Models) Control board defective. Replace Servo Driver.
Occurred after auto-tuning The compensating gain Using the Handy-type
was executed (Cn-28) was set a value oth- Parameter Unit, set Cn-04
er than 0 when auto-tuning and Cn-05 to their factory
was executed. default values, set Cn-28 to
0, then execute auto-tuning.
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 re-
sistance at the Servomo-
tor itself. If there is short-
circuiting, replace the Ser-
vomotor.
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 Servomo-
tor.
Overheating Occurred during operation. The ambient temperature Bring the ambient tempera-
Occurred even though pow- for the Servo Driver is high- ture for the Servo Driver
er was on. er than 55°C. down to 55°C or lower.
If resett is
i executed
t d after
ft The load torque is too high. • Lighten the load.
waiting for a time, operation
resumes. • Lengthen the acceleration
time.
• Select another Servomo-
tor.
4-17
display curred
a.31 Deviation count- Occurred when Servomotor Servomotor power lines or Correct the wiring.
er overflow did not operate even when encoder lines are wired in-
command pulse train was correctly.
i
input.
t The Servomotor is mechani- Unlock the Servomotor
cally locked. shaft.
Occurred at high-speed op- Servomotor power lines or Correct the wiring.
eration. encoder lines are wired in-
correctly.
Occurred when a long com- The gain adjustment is Adjust the gain.
mand pulse was g
given. insufficient.
The acceleration/decelera- Lengthen the
tion times are too extreme. acceleration/deceleration
time.
The load is too large. • Lighten the load.
• Select another Servomo-
tor.
Cn-1E (deviation counter Increase Cn-1E.
overtravel) is too small.
a.40 Overvoltage Occurred when power was The power supply voltage is • The supply voltage must
turned on. outside of the allowable be 170 to 253 VAC when
range. 200 VAC is specified.
• The supply voltage must
be 85 to 127 VAC when
100 VAC is specified.
Occurred during Servomo- The load inertia is too large. • Lengthen the deceleration
tor deceleration. time.
• Reset the motor.
The power supply voltage is • The supply voltage must
outside of the allowable be 170 to 253 VAC when
range. 200 VAC is specified.
Regeneration Unit error Replace the Regeneration
Unit
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.
• Connect a Regeneration
Unit.
a.51 Over speed High-speed rotation oc- The rotational speed ex- • Adjust the gain.
curred when command was ceeded 4,950 r/min due to • Lower the maximum
input. overshooting. speed of the command.
Encoder is wired incorrectly. Correct the wiring.
a.52 Excessive High-speed rotation oc- A speed command exceed- • Lower the command pulse
speed com- curred when command was ing 4,700 r/min was input. frequency.
mand input input. • Reduce the electronic
(H/L Models) gear ratio or increase the
command pulses.
4-18
display curred
a.70 Overload Occurred during operation. Operating at more than • If the Servomotor shaft is
120% of the rated torque. locked, unlock it.
a.71 (A.70) HA/LA/V/W Models • If Servomotor power
ower lines
a.72 Operating at more than are incorrectly wired, cor-
135% of the rated torque. rect them.
(A.71) H/L Models • Lighten the load.
Operating at 120% to 135% • Lengthen the acceleration
of the rated torque. time.
(A.72) H/L Models • Adjust the gain.
Power supply voltage • The supply voltage must
dropped. be 170 to 253 VAC when
a.80 Encoder error Occurred when the power Cn-01 bit no. E is set to “1.” Set Cn-01 bit No. E to “0.”
was turned on.
a.c1 Runaway de- Some movement occurred • Encoder lines wired incor- Correct the wiring.
tected at the beginning of opera- rectly.
tion. • Servomotor power lines
wired incorrectly.
a.c2 Phase error de- Some movement occurred • Encoder lines discon- • Correct the wiring.
tected at the beginning of opera- nected. • Insert the connectors cor-
tion. • Connector contact faulty. rectly.
Occurred when the power Cn-01 bit no. E is set to “1.” Set Cn-01 bit No. E to “0.”
was turned on.
a.c3 Encoder A, B Some movement occurred • Encoder lines discon- • Correct any disconnected
phase wire dis- at the beginning of opera- nected. lines.
connection. tion. • Connector contact faulty. • Insert connectors correct-
ly.
Encoder lines wired incor- Correct the wiring.
rectly.
Encoder defective. Replace the Servomotor.
Servo Driver defective. Replace Servo Driver.
was turned on.
a.c4 Encoder S Some movement occurred • Encoder lines discon- • Correct any disconnected
phase wire dis- at the beginning of opera- nected. lines.
connection. tion. • Connector contact faulty. • Insert connectors correct-
ly.
Encoder lines wired incor- Correct the wiring.
rectly.
Encoder defective. Replace the Servomotor.
Servo Driver defective. Replace Servo Driver.
was turned on.
a.f3 Momentary • A momentary power fail- • Reset and then run again.
power failure ure occurred. • Set Cn-01 bit no. 5 to “1”
alarm • The power supply was re- to automatically clear the
started within the power alarm when the power is
retention period. restored after a momen-
tary power failure.
4-19
display curred
cpf00 Parameter Unit Occurred when power was • Connector contact faulty. • Insert connectors correct-
transmission er- turned on. ly.
ror 1 • Internal element is mal- • Reset and operate again.
functioning.
• Servo Driver defective. • Replace the Servo Driver.
• Parameter Unit is defec- • Replace the Parameter
tive. Unit.
• Cable is broken (R88A-
PR02U).
cpf01 Parameter Unit Occurred while the Parame- • Connector contact faulty. • Insert connectors correct-
transmission er- ter Unit was being
g used. ly.
ror 2 • Internal element is mal- • Reset and operate again.
functioning.
• Internal element is dam- • Replace the Servo Driver.
aged. • Replace the Parameter
• Cable is broken (R88A- Unit.
PR02U).
4-20
4-5 Periodic Maintenance
! 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.
Servo Motors and Drives contain many components and will operate properly only when
each of the individual components is operating properly. Some of the electrical and me-
chanical components require maintenance depending on application conditions. In or-
der to ensure proper long-term operation of Servo Motors and Drivers, periodic inspec-
tion 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 Servo Motor or Driver. Recommended maintenance times are listed below for Servo Motors and
Drivers. Use these are reference in determining actual maintenance schedules.
j Servo Motors
• Recommended Periodic Maintenance
Oil Seal: 2,000 hours
Bearings: 20,000 hours
Application Conditions: Ambient motor operating temperature of 40 C, 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.
j Servo Driver and Regeneration Units

• Recommended Periodic Maintenance
Aluminum analytical capacitors: 50,000 hours
Application Conditions: Ambient driver (regeneration unit) operating temperature of 55 C, rated op-
eration (rated torque), installed as described in operation manual.
• The life of aluminum analytical capacitors is greatly affected by the ambient operating temperature.
Generally speaking, an increase of 10 C in the ambient operating temperature will reduce capacitor
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 and Regen-
eration Units.
• It is recommended that the Servo Driver and Regeneration Unit be inspected at five-year intervals if
they are used under conditions worse than the above or not used over a long time of time. Contact your
OMRON representative for inspection and the necessity of any component replacement.
4-21
5Chapter 5
Specifications
5-1 Servo Driver Specifications
5-2 Servomotor Specifications
5-3 Cable Specifications
5-4 Parameter Unit Specifications
5-5 Regeneration Unit Specifications
5-6 Front-surface Mounting Bracket 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 35% to 85% RH (with no condensation)
Storage ambient temperature –10°C to 75°C
Storage ambient humidity 35% 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 max.; time coefficient: 8 min; 4 sweeps
Impact resistance Acceleration 19.6 m/s2 max., in X, Y, and Z directions, three times
Insulation resistance Between power line terminals and case: 5 MΩ min. (at 1,000 VDC)
Dielectric strength Models Conforming to UL/cUL Standards and Models Not Conforming to
Any Standards
Between power line terminals and case: 1,000 VAC for 1 min
(20 mA max.) at 50/60 Hz
Models Conforming to EC Directives
Between power line terminals and case: 1,500 VAC for 1 min 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 or a megger test 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
55°C (at the rated torque and the rated rotation speed).
5-2
5-1-2 Performance Specifications

j 200-VAC Input Servo Drivers Conforming to UL/cUL Standards and
200-VAC Input Servo Drivers Not Conforming to Any Standards
Item R88D- R88D R88D R88D R88D R88D
UP02H(A) -UP03H(A) -UP04H(A) -UP08H(A) -UP12H(A) -UP20H(A)
Continuous output current (0-P) 0.6 A 0.85 A 1.2 A 2.8 A 3.7 A 6.2 A
Momentary max. output current (0-P) 1.8 A 2.7 A 4.0 A 8.5 A 11.3 A 19.7 A
Input power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz
Control method All-digital servo
Speed feedback Optical encoder, 2,048 pulses/revolution
Applicable load inertia Maximum of 30 times motor’s rotor inertia Maximum of 20 times mo-
tor’s rotor inertia
Inverter method PWM method based on IGBT
PWM frequency 11 kHz 7.8 kHz
Applicable Servomotor R88M R88M R88M R88M R88M R88M
-U03030H( -U05030H( -U10030H( -U20030H( -U40030H( -U75030H(
A) A) A) A) A) A)
Applicable Servomotor wattage 30 W 50 W 100 W 200 W 400 W 750 W
Cable length between motor and driver 20 m max.
Weight (approximate) 0.9 kg 1.2 kg 1.5 kg
Heating value 15 W 18 W 20 W 35 W 45 W 60 W
y Maximum pulse frequency
Capacity 200 kpps
Position loop gain 0 to 500 (1/s)
Electronic gear Electronic gear ratio setting range: 0.01 ≤ (G1/G2) ≤ 100
(G1, G2 = 1 to 65,535)
Positioning completed 0 to 250 command units
range
Feed-forward compensa- 0% to 100% of speed command amount (pulse frequency)
tion
Bias setting 0 to 450 r/min
Position acceleration/decel- 0 to 64.0 ms (The same setting is used for acceleration and deceleration.)
eration time constant
Input sig- Position command pulse in- TTL, line driver input with photoisolation, input current: 6 mA at 3 V
nals put (see note) Feed pulse and direction signal, forward pulse and reverse pulse, or 90differential
phase (A and B phases) signal (set via parameter). Pulse width: See note.
Deviation counter reset TTL, line driver input with photoisolation, input current: 6 mA at 3 V
Sequence input 24-VDC, 5-mA photocoupler input, external power supply: 24±1 VDC, 50 mA min.
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 2,048 pulses/revolution
Z-phase: 1 pulse/revolution
Speed monitor output 0.5 V/1,000 r/min
Current monitor output 0.5 V/rated torque
Sequence output Alarm output, motor rotation detection, brake interlock, positioning completion; open-
collector outputs: 30 VDC, 50 mA (except for alarm code output, which is 30 VDC, 20
mA)
External regeneration processing Required for regeneration of more than 30 times the Required for regeneration
motor’s rotor inertia. of more than 20 times the
motor’s rotor inertia.
Protective functions Overcurrent, grounding, overload, overvoltage, overspeeding, runaway prevention,
transmission errors, encoder errors, deviation counter overflow
Note The input pulse width must meet the following conditions.
H
TIL,TIH ≥ 2.5 µs
L
TIL TIH
5-3
j 100-VAC Input Servo Drivers Conforming to UL/cUL and

100-VAC Input Servo Drivers Not Conforming to Any Standards
Item R88D- R88D- R88D- R88D- R88D-
UP03L(A) UP04L(A) UP10L(A) UP12L(A) UP15LA
Continuous output current (0-P) 0.9 A 1.3 A 3.1 A 3.8 A 4.8 A
Momentary max. output current 2.8 A 4.1 A 10 A 12 A 15 A
(0-P)
Applicable load inertia Maximum of 30 times motor’s rotor inertia 20 times max.
Applicable Servomotor R88M R88M R88M R88M R88M
-U03030L(A) -U05030L(A) -U10030L(A) -U20030L(A) -U30030LA
Applicable Servomotor wattage 30 W 50 W 100 W 200 W 300 W
Cable length between motor and 20 m max.
driver
Heating value 17 W 20 W 30 W 47 W 70 W
y Max. pulse frequency
Capacity 200 kpps
(G1, G2 = 1 to 65,535)
range
Feed-forward com- 0% to 100% of speed command amount (pulse frequency)
pensation
Position acceleration/de- 0 to 64.0 ms (The same setting is used for acceleration and deceleration.)
celeration time constant
Input Position command pulse TTL, line driver input with photoisolation, input current: 6 mA at 3 V
signals input (see note) Feed pulse and direction signal, forward pulse and reverse pulse, or 90differen-
tial phase (A and B phases) signal (set via parameter). Pulse width: See note.
Current monitor output 0.5 V/100%
Sequence output Alarm output, motor rotation detection, brake interlock, positioning completion;
open collector outputs: 30 VDC, 50 mA (except for alarm code output, which is 30
VDC, 20 mA)
5-4
Item R88D- R88D- R88D- R88D- R88D-
External regeneration processing Required for regeneration of more than 30 times the motor’s ro- Required for
tor inertia. regeneration
of more than
20 times the
motor’s rotor
inertia.
Protective functions Overcurrent, grounding, overload, overvoltage, overspeeding, runaway protection,
Note The input pulse width must be meet the following conditions.
H
TIL,TIH ≥ 2.5 µs
L
TIL TIH
j 200-VAC Input Servo Drivers Conforming to EC Directives

UP02V -UP03V -UP04V -UP08V -UP12V -UP20V
Continuous output current (0-P) 0.6 A 0.85 A 1.2 A 2.8 A 3.7 A 6.2 A
Momentary max. output current (0-P) 1.8 A 2.7 A 4.0 A 8.5 A 11.3 A 19.7 A
Applicable load inertia Maximum of 30 times motor’s rotor inertia Maximum of 20 times
motor’s rotor inertia
Applicable Servomotor R88M R88M R88M R88M R88M R88M
-U03030VA -U05030VA -U10030VA -U20030VA -U40030VA -U75030VA
Applicable Servomotor wattage 30 W 50 W 100 W 200 W 400 W 750 W
driver
Heating value 15 W 18 W 20 W 35 W 45 W 60 W
Capacity Maximum pulse frequen- 200 kpps
cy
(G1, G2 = 1 to 65,535)
range
Feed-forward compensa- 0% to 100% of speed command amount (pulse frequency)
tion
signals input (see note) Feed pulse and direction signal, forward pulse and reverse pulse, or 90differ-
ential phase (A and B phases) signal (set via parameter). Pulse width: See note.
Sequence input 24-VDC, 5-mA photocoupler input, external power supply: 24±1 VDC, 50 mA
min.
5-5
UP02V -UP03V -UP04V -UP08V -UP12V -UP20V
Current monitor output 0.5 V/rated torque
open-collector outputs: 30 VDC, 50 mA (except for alarm code output, which is
30 VDC, 20 mA)
External regeneration processing Required for regeneration of more than 30 times the Required for regenera-
motor’s rotor inertia. tion of more than 20
times the motor’s rotor
inertia.
Protective functions Overcurrent, grounding, overload, overvoltage, overspeeding, runaway preven-
tion, transmission errors, encoder errors, deviation counter overflow
Note The input pulse width must meet the following conditions.
H
TIL,TIH ≥ 2.5 µs
L
TIL TIH
j 100-VAC Input Servo Drivers Conforming to EC Directives

Item R88D-UP03W R88D-UP04W R88D-UP10W R88D-UP12W R88D-UP15W
Continuous output current (0-P) 0.9 A 1.3 A 3.1 A 3.8 A 4.8 A
Momentary max. output current 2.8 A 4.1 A 10 A 12 A 15 A
(0-P)
Applicable load inertia Maximum of 30 times motor’s rotor inertia 20 times max.
Applicable Servomotor R88M R88M R88M R88M R88M
-U03030WA -U05030WA -U10030WA -U20030WA -U30030WA
Applicable Servomotor wattage 30 W 50 W 100 W 200 W 300 W
driver
Heating value 17 W 20 W 30 W 47 W 70 W
y Max. pulse frequency
Capacity 200 kpps
(G1, G2 = 1 to 65,535)
range
Feed-forward com- 0% to 100% of speed command amount (pulse frequency)
pensation
5-6
Item R88D-UP03W R88D-UP04W R88D-UP10W R88D-UP12W R88D-UP15W
signals input (see note) Feed pulse and direction signal, forward pulse and reverse pulse, or 90differen-
tial phase (A and B phases) signal (set via parameter). Pulse width: See note.
Current monitor output 0.5 V/100%
open collector outputs: 30 VDC, 50 mA (except for alarm code output, which is 30
VDC, 20 mA)
External regeneration processing Required for regeneration of more than 30 times the motor’s ro- Required for
tor inertia. regeneration
of more than
20 times the
motor’s rotor
inertia.
Protective functions Overcurrent, grounding, overload, overvoltage, overspeeding, runaway protection,
Note The input pulse width must be meet the following conditions.
H
TIL,TIH ≥ 2.5 µs
L
TIL TIH
5-1-3 I/O Specifications
j Terminal Block Specifications, Models Conforming to UL/cUL

Standards and Models Not Conforming to Any Standards
Signal Function Condition
R Power supply in- R88D-UPH(A) (200-VAC Units): Single-phase 200/230 VAC (170 to
T put 253 VAC) 50/60 Hz
R88D-UPL(A) (100-VAC Units): Single-phase 100/115 VAC (85 to
127 VAC) 50/60 Hz
P Main circuit DC These are the connection terminals for the Regeneration Unit
N output (R88A-RG08UA). Connect these when the regeneration energy is high.
U Servomotor U- Red These are the terminals for outputs to the Servomotor.
phase output
V Servomotor V- White
phase output
W Servomotor W- Blue
phase output
Frame ground Green This is the connection terminal. Use a 100 Ω or less (class-3) or bet-
ter ground. It is used in common for Servomotor output and power
supply input.
5-7
j Terminal Block Specifications, Models Conforming to EC Directives

Signal Function Condition
L1 Power supply in- R88D-UPV (200-VAC Units): Single-phase 200/230 VAC (170 to
L2 put 253 VAC) 50/60 Hz
R88D-UPW (100-VAC Units): Single-phase 100/115 VAC (85 to
127 VAC) 50/60 Hz
+ Main circuit DC When using multiple axes and there is excessive regenerative energy, the +
– output terminals can be connected together and the – terminals can be connected
together to increase the regeneration absorption capacity.
U Servomotor U- Red These are the terminals for outputs to the Servomotor.
phase output
V Servomotor V- White
phase output
W Servomotor W- Blue
phase output
Protective earth Green This is the connection terminal. Use a 100 Ω or less (class-3) or bet-
terminal ter ground.
5-8
j CN1: Control I/O Specifications (Common to Models Conforming to

UL/cUL Standards, Models Not Conforming to Any Standards, and
Models Conforming to EC Directives)
D CN1: Control Input

Pin No. Signal name Function Contents
1 +PULS/CW/A Feed pulse, reverse pulse, Line driver input: 6 mA at 3V
90differential
90 differential phase Open collector input: 15 mA at –5V
2 –PULS/CW/A pulse (A phase) Switched between feed pulse
ulse and direction signal,
3 +SIGN/ Direction signal, forward reverse pulse and forward pulse, and 90differential
CCW/B pulse,, 90differential phase pulse ((A and B phases)) using
g bits 3, 4, and 5
4 –SIGN/ h
phase l (B phase)
pulse h ) off the
th Cn-02
C 02 setup
t parameter t
CCW/B Maximum frequency: 200 kpps
5 +ECRST Deviation counter reset Line driver input: 6 mA at 3V
ON: Disables command input and resets deviation
counter.
6 –ECRST Operation can be switched between a status signal
(high level) and a differential signal (rising edge) us-
ing bit A in setup parameter Cn-02.
11 PCL/SPD1 Forward rotation current Forward/reverse rotation current limit (PCL/NCL)
limit input / Speed selec- when setup parameter Cn-02 bit no. 2 = 0.
tion command 1 input ((ON: Current limit))
12 NCL/SPD2 Reverse rotation current Internal setting speed (Cn-1F, 20, 21) selector switch
limit input / Speed selec- when setup parameter Cn-02 bit no. 2 = 1.
tion command 2 input
13 +24VIN +24-V power supply input Power supply for pin nos. 11, 12, 14, 15, 16, 17, 18;
for control DC +24-V input
14 RUN Run command input ON: Servo ON, when setup parameter Cn-01 bit no.
0 = 0.
When setup parameter Cn-01 bit no. 0 = 1, this sig-
nal is not used. (Automatically set to Servo ON.)
15 MING Gain deceleration input ON: Decrease speed loop gain, when setup parame-
ter Cn-02 bit no. 2 = 0 and Cn-01 bit no. F = 0.
IPG Pulse stop input ON: Stop input command pulses, when setup pa-
(HA/LA/V/W rameter Cn-02 bit no. 2 = 0 and Cn-01 bit no. F = 1.
Models)
RDIR Rotation direction com- When setup parameter Cn-02 bit no. 2 = 1, this is
mand inputs the rotation direction command for internal speed
settings 1 to 3. (OFF: Forward, ON: Reverse)
16 POT Forward drive prohibit in- Forward rotation overtravel input (OFF when prohib-
put ited). When setup parameter Cn-01 bit no. 2 = 1, this
signal is not used.
17 NOT Reverse drive prohibit in- Reverse rotation overtravel input (OFF when prohib-
put ited). When setup parameter Cn-01 bit no. 3 = 1, this
signal is not used.
18 RESET Alarm reset input ON: Servo alarm status is reset.
28 --- --- Do not connect.
29 --- ---
5-9
D CN1: Control Output
Pin No. Signal name Function Contents
7 BKIR Brake interlock output Outputs external brake interlock signal.
8 INP Positioning competed out- Turned ON when the pulse count remaining in the
put deviation counter is equal to or less than the posi-
tioning completed range set in user parameter
Cn-1b.
9 TGON Servomotor rotation When setup parameter Cn-01 bit no. 4 = 0, this turns
detection output ON if the Servomotor rotational speed exceeds the
value set for the Servomotor rotation detection
speed (Cn-0b).
CLIMT Current limit detection out- When setup parameter Cn-01 bit no. 4 = 1, this turns
put ON if the forward/reverse rotation current limit (PCL/
NCL) is ON and the output torque reaches either the
external current limit (Cn-18, 19) or the level of the
lowest value set for the torque limit (Cn-08, -09).
If the forward/reverse rotation current limit (PCL/
NCL) is OFF, this output turns ON when the output
torque reaches the value set for the torque limit
(Cn-08, -09).
10 OGND Output ground common Output ground common for BKIR, VCMP, INP,
TGON/CLIMT
19 EGND Encoder signal output This is the ground for encoder signal outputs.
GND
20 +A Encoder A-phase + output Outputs encoder pulses divided according to user
parameter Cn-0A.
Cn 0A Line driver output (conforming to
21 –A Encoder A-phase – output RS-422A).
22 –B Encoder B-phase – output Outputs encoder pulses divided according to user
parameter Cn-0A.
Cn 0A Line driver output (conforming to
23 +B Encoder B-phase + output RS-422A).
24 +Z Encoder Z-phase + output Encoder Z-phase output ((1 pulse/revolution). ) Line
25 –Z Encoder Z-phase – output driver
di output (conforming
( f i to RS-422A).
RS A)
26 --- --- Do not connect.
27 --- ---
30 ALO1 Alarm code output 1 When an alarm is g generated for the Servo Driver,,
31 ALO2 Alarm code output 2 the
h contents off the
h alarm
l are output in
i code.
d Open
O
collector output: 30 VDC VDC, 20 mA max.
max
32 ALO3 Alarm code output 3
33 ALOCOM Alarm code output GND
34 ALM Alarm output When an alarm is g generated for the Servo Driver,,
35 ALMCOM Alarm output GND h
the output i
is OFF
OFF. O
Open ll
collector output.
36 FG Frame ground (see note) Ground terminal for shield wire of cable and FG line.
Note Pin 36 is not used on models conforming to the EC Directives.
D Connectors Used (36P)

Sumitomo 3M Receptacle at Servo Driver 10236-52A2JL
Soldered plug at cable side 10136-3000VE
Case at cable side 10336-52A0-008
5-10
D Pin Arrangement
+feed pulse, Encoder

1 +PULS 19 EGND signal
reverse pulse, output
–feed pulse, /CW/A A phase Encoder
–PULS GND
2 reverse pulse, 20 +A A-phase
/CW/A +direction Encoder
A phase + output
3 +SIGN/
signal, for- 21 –A A-phase
–direction CCW/B
ward pulse, – output
Encoder
4 –SIGN/ signal, for- B phase 22 –B B-phase
CCW/B ward pulse, +deviation Encoder
– output
B phase 5 +ECRST counter re- 23 +B B-phase
–deviation set Encoder + output
6 –ECRST counter re- 24 +Z Z-phase
set Brake + output Encoder
7 BKIR interlock 25 –Z Z-phase
Positioning output – output
8 INP completed 26
Motor rotation
output detection,cur-
9 TGON/ 27
CLIMT rent control
Output detection
10 OGND ground 28
common Forward rota-
11 PCL/ tion current lim- 29
Reverse rota- SPD1 it, speed selec-
tion command 1
12 NCL/ tion current lim- 30 ALO1 Alarm code
SPD2 it, speed selec- output 1
tion command 2 Control DC Alarm code
13 +24VIN 31 ALO2 output 2
+24-V input
Run com-
14 RUN mand in- 32 ALO3 Alarm code
Gain decelera- output 3
put MING/ tion, pulse stop
Alarm code
15 IPG/ input, rotation 33 ALOCOM output
Forward RDIR direction GND
16 POT rotation drive 34 ALM Alarm
prohibit input Reverse output Alarm
17 NOT rotation drive 35 ALMCOM output
prohibit input FG GND
18 RESET Alarm reset 36 (see Frame
input ground
note 2)
Note 1. The IPG (pulse stop input) setting for pin number 15 can be selected in HA/LA/V/W Models
only.
Note 2. Pin 36 is not used on models conforming to EC Directives.
5-11
j Control Input Interface

The input circuit for the control I/O connector (CN1) is as shown in the following diagram.
+24 VIN 13 4.7 k 3.3 k
External power supply

24-VDC ± 1 V
50 mA min. RUN 14 5 mA
To other input circuit GNDs To other input circuits
D Run Command (14: 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 pa-
rameter 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.
D Gain Reduction (15: MING), Pulse Stop (15: IPG),

Rotation Direction Command (15: RDIR)
This input signal can be switched among the following three kinds of signals by changing on the settings
of bit 2 of setup parameter Cn-02 and bit F of setup parameter Cn-01. Select the signal function required
for your application.
• Gain Reduction (15: MING; Cn-02 Bit No. 2 = 0 and Cn-01 Bit No. F = 0)
Bit F of Cn-01 can be set in HA/LA/V/W Models only. Input this signal to lower the loop gain for the
control loop, and to weaken servo rigidity (repellant force with respect to external force).
When the gain reduction is input, speed loop integration is disabled, decreasing the speed loop gain.
In addition, 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 can-
not be used for the vertical shaft where a gravity load is applied, because position deviation will oc-
cur.
• Pulse Stop (15: IPG; Cn-02 Bit No. 2 = 0 and Cn-01 Bit No. F = 1)
This signal can be used in HA/LA/V/W Models only. Command signals won’t be received internally
while this signal is ON.
• Rotation Direction Command (15: RDIR; Cn-02, Bit No. 2= 1)
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.
D Forward Drive Prohibit (16: POT, Cn-01 bit No. 2 = 0)

Reverse Drive Prohibit (17: NOT, Cn-01 bit No. 3 = 0)
These two signals are the inputs for forward and reverse drive prohibit (overtravel). When they are in-
put, driving is possible in the respective directions. When driving is prohibited, movement will stop ac-
5-12
cording 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 prohibition is not used, clear the function by connecting the respec-
ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ
tive 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
Bit
Bit
No. 6
Deceleration Method
Dynamic brake
Stopped Status
Servo free
0
No. 8
0 1
POT (NOT) is OFF Free run Bit
No. 9 Servo free
1
0
Emergency stop torque (Cn-06) See note
1
Servo locked
Note The position loop is not valid when stopping with this mode.
D Forward/Reverse Rotation Current Limit [11, 12: (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 setup parameter Cn-02 bit no. 2. Set the
required functions for using it.
• Forward/Reverse Rotation Current Limit (11, 12: PCL, NCL)
When setup parameter Cn-02 bit no. 2 = 0, these input signals become respectively the forward rota-
tion 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 directions by means of user parameters Cn-18
and 19.
• Speed Selection Command (11, 12: SPD1, SPD2)
When setup parameter Cn-02 bit no. 2 = 1, these input signals become the speed selection com-
mand 1 and the speed selection command 2. Depending on the combination, the Servomotor speed
can be controlled according to the internally set speeds, nos. 1 through 3, which are set in user pa-
rameter Cn-1F, 20, 21. At that time, the CN1-15 pin becomes the rotation direction command (RDIR).
D Alarm Reset (18: RESET)

This is the external reset signal input for the servo alarm. The alarm is reset when the signal turns ON.
Remove the cause of the alarm and then restart operation. In order to prevent danger, turn OFF the run
command before inputting the reset signal.
D Command Pulse Inputs and Deviation Counter Reset Inputs

The input circuits for command pulse and deviation counter reset inputs are shown in the following dia-
gram.
Line-driver Input
Controller side Servo Driver side
+ + 220 Ω
– –
Applicable line driver
AM26LS31A or equivalent
5-13
Open-collector Input
When connected with open collector output, insert a current limit resistor as shown below.
Controller side Servo Driver side
Vcc
R + + 220 Ω
– –
When Vcc = 5 V: R = 0 Ω
When Vcc = 12 V:R = 750 Ω
When Vcc = 24 V:R = 1.6 kΩ
Deviation Counter Reset (5, 6: +ECRST/–ECRST)

The contents of the deviation counter will be reset and the position loop will be disabled when the devi-
ation counter reset signal turns ON.
The deviation counter reset signal must be input for at least 20 µs to be effective. The counter may or
may not be reset if the input signal is less than 20 µs.
The setting of Cn-02 bit No. A determines whether setting is performed on the high signal level or on the
rising edge of the signal.
• +Feed Pulse/Reverse Pulse/90° Differential Pulse A Phase (CN1-1: +PULS/+CW/+A)
–Feed Pulse/Reverse Pulse/90° Differential Pulse A Phase (CN1-2: –PULS/–CW/–A)
+Direction Signal/Forward Pulse/90° Differential Pulse B Phase (CN1-3: +SIGN/+CCW/+B)
–Direction Signal/Forward Pulse/90° Differential Pulse B Phase (CN1-4: –SIGN/–CCW/–B)
The functions of the above pulses depend on the command pulse mode and command pulse logic
setting.
• Command Pulse Mode (Cn-02 bit nos. 5, 4, 3)
Cn-02 bit nos. 5, 4, 3 = 0, 0, 0 Feed pulses and direction signal
Cn-02 bit nos. 5, 4, 3 = 0, 0, 1 Forward pulse and reverse pulse (factory default)
Cn-02 bit nos. 5, 4, 3 = 0, 1, 0 90° differential phase (A and B phases) signal (1X)
Cn-02 bit nos. 5, 4, 3 = 0, 1, 1 90° differential phase (A and B phases) signal (2x)
Cn-02 bit nos. 5, 4, 3 = 1, 0, 0 90° differential phase (A and B phases) signal (4X)
• Command Pulse Logic Reversal (Cn-02 bit no. d)
Cn-02 bit no. d = 0 Positive logic
Cn-02 bit no. d = 1 Negative logic
5-14
Logic Bits Input Command Input pins Forward motor Reverse motor
factor p lse
pulse commands commands
5 4 3 mode
Positive 0 0 0 --- Forward 1: +PULS
pulse and 2: –PULS
direction 3: +SIGN “H” “L”
signal 4: –SIGN
0 0 1 --- Reverse 1: +CW “L”
pulse and 2: –CW
forward 3: +CCW “L”
pulse 4: –CCW
0 1 0 ×1 90 1: +A
differential 2 –A
2: A
0 1 1 ×2
hase
phase 3: +B
1 0 0 ×4 signals 4: –B
Negative 0 0 0 --- Forward 1: +PULS
pulse and 2: –PULS
direction 3: +SIGN “L” “H”
signal 4: –SIGN
0 0 1 --- Reverse 1: +CW “H”
pulse and 2: –CW
forward 3: +CCW “H”
pulse 4: –CCW
0 1 0 ×1 90 1: +A
differential 2: –A
A
0 1 1 ×2
hase
phase 3: +B
1 0 0 ×4 signals 4: –B
5-15
Command Pulse Timing
Command pulse Timing
mode
Forward pulse
Forward commands Reverse commands
and direction Direction
signal T
Maximum t1 t2 τ t1
frequency:
t2 t2
200 kpps
Pulse
t1 t1
t1≤ 0.1µs τ ≥ 2.5µs
t2> 3.0µs T≥ 5.0µs
Reverse pulse
Forward commands
and forward pulse CW
Maximum T Reverse commands
frequency: τ
200 kpps
t2
CCW
t1 t1 t1≤ 0.1µs τ ≥ 2.5µs

t2> 3.0µs T≥ 5.0µs
90differential t1 t1
phase signals
(A and B pulses) A phase
Maximum
frequency:
200 kpps B phase
τ
T Forward commands Reverse commands
t1≤ 0.1µs τ ≥ 2.5µs

T≥ 5.0µs
Note Although the above timing charts show positive logic, the same conditions hold for negative logic.
j Control Output Interface

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

24-VDC ± 1 V
Di
10 Maximum operating voltage: 30 VDC
Maximum output current: 50 mA max.
OGND (Alarm code output: 20 mA max.)
To other output circuits
Di: Diode for preventing surge voltage
(Use speed diodes.)
5-16
D Control Output Sequence
Power supply input

(R, T)
Approx. 2 s *t
Alarm output
(ALM)
6 ms
Positioning completed output
(INP)
Brake interlock output

(BKIR)
25 to 35 ms 6 ms
Run command input

(RUN)
Alarm reset input

(RESET)
Alarm code outputs

(ALO1, ALO2, ALO3)
*t = Approx. 6 s: R88D-UP02H(A)/-UP03H(A)/-UP03L(A)
R88D-UP02V/-UP03V/-UP03W
Approx. 10 s: R88D-UP04H(A)/-UP08H(A)/-UP12H(A)
R88D-UP04L(A)/-UP10L(A)/-UP12L(A)
R88D-UP04V/-UP08V/-UP12V
R88D-UP04W/-UP10W/-UP12W
Approx. 15 s: R88D-UP20H(A)/-UP15L(A)
R88D-UP20V/-UP15W
D Brake Interlock (7: BKIR)

This outputs the external brake timing signal set in Cn-12, 15, and 16. Refer to 3-5-8 Brake Interlock (For
Motors with Brakes) for details.
D Positioning Completed Output (8: INP)

This output is turned ON when the pulse count remaining on the deviation counter is less than the posi-
tioning completed range set in user parameter Cn-1b. If the command speed is low and the positioning
completed range is large, the positioning completed output will remain ON.
D Motor Rotation Detection (9: TGON/CLIMIT)

This output switches between the Servomotor rotation detection output signal and the current limit
detection signal depending on the setting of setup parameter Cn-01 bit no. 4.
• Motor Rotation Detection (9: TGON; Setup Parameter Cn-01 Bit No. 4 = 0)
Outputs when the motor rotational speed equals or exceeds the value set for user parameter Cn-0b
(rotational speed for motor rotation detection).
5-17
• Current Limit Detection (9: CLIMIT; Setup Parameter Cn-01 Bit No. 4 = 1)
When the forward current limit (PCL) and the reverse current limit (NCL) are input, this signal is out-
put when the Servomotor’s output torque reaches the lower of the two following torque limit values:
the torque limit value set for user parameters Cn-18, -19 (forward/reverse rotation external current
limit) or the torque limit value set for user parameters Cn-08, -09 (forward/reverse rotation torque
limit).
D Alarm Output/Alarm Output Ground (34/35: ALM/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.
D Alarm Code Outputs 1 to 3 and Alarm Code Output Ground (30, 31, 32, 33: AL01 to
AL03 and 33: ALOCOM)
When a Servo Driver error is generated, the contents of the error are output in 3-bit code. For details,
refer to 4-3-1 Alarm Displays and Alarm Code Outputs.
D Encoder A-, B-, and Z-phase Outputs (20, 21: +A, -A; 23, 22: +B, -B, 24, 25: +Z, -Z)
Servomotor encoder signals are output as divided phase-difference pulses according to the user pa-
rameter encoder divider rate setting (Cn-0A). The output form is line driver output, and conforms to EIA-
RS-422A. Receive with a line receiver or high-speed photocoupler.
• Output Phase (When Encoder Divider Rate Setting is 2,048)
Forward Rotation Side Reverse Rotation Side

A-phase A-phase
B-phase B-phase
Z-phase Z-phase
5-18
• Output Circuit and Receiving Circuit
Servo Driver Controller on User’s Side
CN1- +5 V
20 +A +A 2 16
3
A-phase R A-phase
21 –A –A 1
4
23 +B +B 6
5
B-phase R B-phase
22 –B –B 7
12
24 +Z +Z 10
Z-phase 11 Z-phase
R
Output line driver 25 –Z –Z 9 8
SN75ALS 174NS 0V
or equivalent 19 EGND GND
Applicable line receiver
0V 0V TI-SN75175/MC3486/AM26LS32
36 FG R = 220 to 470 Ω
FG FG
R = 220 to 470 Ω
5-19
j Control I/O Signal Connections and External Signal Processing
Reverse pulse +CW 220 Ω

1 7
BKIR
–CW 2 Brake interlock
8
Forward pulse
3 220 Ω
INP
+CCW
Positioning
completion Maximum operating
–CCW 4 9 voltage: 30 VDC
TGON Maximum output
Deviation counter reset Motor rotation current: 50 mA
220 Ω 10 detection
+ECRST 5
OGND
Output ground
–ECRST 6 34 common
ALM
Alarm output
35
26 ALMCOM
Do not connect
these pins. 27 30
28 ALO1
29 Alarm code
output
31
ALO2 Maximum operating
voltage: 30 VDC
24 VDC +24 VIN 13 Maximum output
32 current: 20 mA
Run ALO3
instruction RUN 14 33
ALOCOM
4.7 k Alarm code output GND
Gain decel- 20
eration MING 15 +A
Encoder A-phase
Forward 4.7 k 21
–A
rotation drive
prohibit POT 16 23 Line driver output
+B
Reverse 4.7 k EIA-RS422A
Encoder B-phase conforming
rotation drive 22
–B (Load resistance:
prohibit NOT 17 200 Ω max.)
4.7 k 24
Alarm +Z
reset RESET 18 Encoder Z-phase
25
–Z
Forward 4.7 k
rotation
19 EGND
current limit PCL
11 Encoder signal output GND
Reverse 4.7 k 36 FG
rotation Frame ground
current limit NCL 12
4.7 k
Note Pin 36 is not used with models conforming to EC Directives.
5-20
j CN2: Encoder Input Specifications

Pin No. Signal name Function Interface
1, 2, 3 E0V Encoder power supply GND Power supply
y outlet for encoder: 5 V,, 120 mA
4, 5, 6 E5V Encoder power supply +5 V
7 DIR Rotation direction switch input Connects to E0V when reverse rotation is
executed by + input.
8, 9 NC Not used Do not connect.
14 S+ Encoder + S-phase input Line driver input ((conforming
g to EIA-RS422A))
15 S– Encoder – S-phase input (I
(Input i d
impedance: 220 Ω))
16 A+ Encoder + A-phase input Line driver input ((conforming
g to EIA-RS422A))
17 A– Encoder – A-phase input (I
(Input impedance:
i 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 impedance:
i d 220 Ω))
20 FG Shielded ground Cable shielded ground
(see note)
Note Pin 20 is not used on models conforming to EC Directives. Instead, connect the cable shield to the
connector plug and ground it directly using a clamp.
D Connectors Used (20P)
Sumitomo 3M Receptacle at Servo Driver 10220-52A2JL
Soldered plug at cable side 10120-3000VE
Case at cable side 10320-52A0-008
D Pin Arrangement
Encoder
power sup-
1 E0V ply GND 11 NC
Encoder
2 E0V power sup- 12 NC
ply GND Encoder
power sup-
3 E0V ply GND 13 NC
Encoder Encoder
4 E5V power sup- 14 S+
ply +5 V Encoder + S-phase
input Encoder
power sup-
5 E5V ply +5 V 15 S– – S-phase
Encoder Encoder input
6 E5V power sup- 16 A+ + A-phase
ply +5 V Encoder
Rotation input
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
FG input
10 NC 20 (see Frame
ground
note)
Note Pin 20 is not used with models conforming to EC Directives
D 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 E0V terminal for any of pins 1 through 3 (encoder
power supply GND terminal). This function 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.
5-21
When the rotation direction is changed, the encoder A-phase and B-phase output phases are also
changed. When not set, + voltage is for forward rotation and A-phase advance; when set, + voltage if for
reverse rotation and A-phase advance (and - voltage is for forward rotation and B-phase advance).
Therefore wiring changes are unnecessary for encoder signals to the position controller.
D Encoder Pulse Input Signals (A-, B-, S-phase)

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.
D Encoder Power Supply Grounds (1 to 3: E0V) and

Encoder Power Supply 5 V (E5V: 4 to 6)
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.
j CN3: Parameter Unit Input Specifications

Pin No. Signal name Function I/O interface
1 TXD+ Transmission data + This is the send data line-driver output to the
2 TXD– Transmission data – P
Parameter Unit
U i (or
( a personall computer). )
3 RXD+ Reception data + This is the send data line-driver input from the
4 RXD– Reception data – P
Parameter Unit
U i (or
( 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
D 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
5-22
D Connectors Used (D-sub Connector, 9 Pin)
Dai-ichi Denshi Kogyo Socket at Servo Driver 17LE-13090-27 (D2BC)
Soldered plug at cable side 17JE-23090-02 (D1)
Cover at cable side 17JE-09H-15
OMRON Soldered plug at cable side XM2A-0901
Cover at cable side XM2S-0912
j CN4: Speed/Current Monitor Specifications

Pin Signal Function I/O interface
name
1 NM Speed monitor output Voltage output with a ratio of ±0.5 V/(1,000 r/min), centered at 0V.
(–) voltage is forward, (+) voltage is reverse, and output accuracy
is about ±10%.
2 AM Current monitor output Voltage output with a ratio of ±0.5 V / (rated torque), centered at
0V. (–) voltage is forward acceleration, (+) voltage is reverse
acceleration. Output accuracy is about ±10%.
3, 4 GND Output ground This is the output ground mentioned above.
D Connectors Used (4 Pin)

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

Refer to 3-4-2 Setup Parameter Contents and 3-5-2 User Parameter Chart for a table of user parame-
ters and setup parameters.
D Speed Loop Gain: Cn-04

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.
D Speed Loop Integration Constant: Cn-05

This is the integration time for the speed controller. The adjustable range is 2 to 10,000 (ms), and it is
factory set to 20 (ms). As the number is increased, the gain is decreased. The unit can be changed using
the integration time constant setting unit (Cn-02 bit No-b). (HA/LA/V/W Models)
D Emergency Stop Torque: Cn-06

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 the maximum torque (a percentage of
the braking torque as 100% of the Servomotor rated torque). The factory setting is for the maximum
torque.
D Software Start Acceleration Time: Cn-07

Software Start Deceleration Time: Cn-23
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 the acceleration
and deceleration times to 0 (ms) unless using the internal speed settings.
5-23
D Forward Torque Control: Cn-08
Reverse Torque Control: Cn-09
The Servomotor output torque control value for forward rotation is set in Cn-08, and the value for re-
verse rotation is set in Cn-09. The setting range is 0 to the maximum torque, and the factory setting is for
the maximum torque.
D Encoder Divider Rate: Cn-0A

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 2,048 pulses/
revolution, and the factory setting is for 1,000 (pulses/revolution).
D Rotational Speed for Servomotor Rotation Detection: Cn-0b

This sets the rotational 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 sequence output signal switch
(Cn-01 bit 4 = 0), the Servomotor rotation detection output (TGON: CN1-9) is turned ON if the Servomo-
tor rotational speed meets or exceeds this set value. The factory setting is for 20 (r/min).
D P Control Switching (Torque Command): Cn-0C

P Control Switching (Speed Command): Cn-0d
P Control Switching (Acceleration Command): Cn-0E
P Control Switching (Deviation Pulse): Cn-0F
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 selections are made by setting the
setup parameter Cn-01 bit nos. b, d and C.
D Jog Speed: Cn-10

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).
D Number of Encoder Pulses: Cn-11

This sets the number of pulses per revolution of a connected encoder. Do not change this parameter’s
setting; the Servomotor might not operate correctly if it is changed. The factory setting is for 2,048
(pulses/revolution).
D Brake Timing 1: Cn-12

Brake Command Speed: Cn-15
Brake Timing 2: Cn-16
These parameters determine the output timing of the brake interlock signal (BKIR), which controls the
electromagnetic brake.
Brake timing 1 sets the delay time from the time of brake interlock goes OFF until the servo turns off. The
setting range is 0 to 50 (× 10 ms), and the factory setting is for 0 (× 10 ms).
The brake command speed is the speed (r/m) used to turn OFF the brake interlock. The setting range is
0 to 4,500 (r/m) and the factory setting is for 100 (r/m).
Brake timing 2 sets the wait time from when the servo goes OFF until the brake interlock goes OFF. The
setting range is 10 to 100 (× 10 ms), and the factory setting is for 50 (× 10 ms).
5-24
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: CN1-7) 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: CN1-7) 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.)
D Torque Command Filter Time Constant: Cn-17

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).
D Forward Rotation External Current Limit: Cn-18

Reverse Rotation External Current Limit: Cn-19
These set the Servomotor output torque limits for the forward and reverse directions. They are valid
when the forward/reverse current limits (PCL/NCL CN1-11/12) are input. This function can’t be used if
the input command mode is set to “internal speed control settings.” The setting range is 0 to the maxi-
mum torque, and the factory setting is for the 100 (%).
D Position Loop Gain: Cn-1A

Adjust the position loop gain to the rigidity of the machine. Set to between 50 and 70 (1/s) for general NC
machine tools, to between 30 and 50 (1/s) for general and assembly machines, and to 10 to 30 (1/s) for
industrial robots.
Load alarms will be caused by machine oscillation if the position loop gain is increased for systems with
low rigidity or systems with intrinsically low-frequency vibration.
The setting range is 1 to 500 (1/s), and the factory setting is 40 (1/s).
D Positioning Completed Range: Cn-1b

This sets the deviation counter value for outputting the positioning completed output (INP). When the
deviation counter value falls below this setting, the positioning completed output turns ON. The setting
range is 0 to 250 (command units), and the factory setting is 3 (command units).
D Bias Rotational Speed: Cn-1C

This is the setting for position control bias. Use this setting according to the load conditions in order to
shorten positioning time. The setting range is 1 to 450 (r/min), and the factory setting is 0 (r/min).
5-25
D Feed-forward Amount: Cn-1d
This is the feed forward compensation for the position controller. Positioning time is shortened by ad-
ding the command pulse differential to the speed command. The setting range is 0 to 100%, and the
factory setting is 0%.
D Deviation Counter Overflow Level: Cn-1E

This sets the level for detection deviation counter overflow. If the deviation counter value exceeds this
set value, a servo alarm will be generated. The setting range is 1 to 32,767 (×256 command units), and
the factory setting is 1,024 (×256 command units).
D No. 1 Internal Speed Setting: Cn-1F (Factory Setting: 100 r/min)

No. 2 Internal Speed Setting: Cn-20 (Factory Setting: 200 r/min)
No. 3 Internal Speed Setting: Cn-21 (Factory Setting: 300 r/min)
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 3-5-3 Setting Internal Speed Control.
D Electronic Gear Ratio G1 (Numerator): Cn-24

Electronic Gear Ratio G2 (Denominator): Cn-25
The motor will be operated by the pulses resulting from the number of command pulses multiplied by the
gear ratio (G1/G2).
The setting range for both G1 and G2 is 65,535, and the settings are restricted as follows:
(1/100) x (G1/G2) x 100.
The factory setting is : G1 =4, G2 = 1 (i.e., an electronic gear ratio of 4/1). At the factory setting, inputting
2,048 pulses will cause one Servomotor revolution.
D Position Command Acceleration/Deceleration Time Constant: Cn-26

This executes smoothing processing on command pulses for Servomotor operation. It is valid in the
following cases:
• There is no acceleration or deceleration for command pulses.
• The command pulse frequency changes suddenly.
• The electronic gear ratio setting is large (G1/G2 y 10).
The setting range is 0 to 640 (× 0.1 ms), and the factory setting is 0 (× 0.1 ms).
D Feed Forward Command Filter: Cn-27

This is the setting for the low-pass filter so that the feed forward amount is not added suddenly. Using
this setting can prevent overshooting in the event of sudden changes in command pulse frequency. The
setting range is 0 to 640 (× 0.1 ms), and the factory setting is 0 (× 0.1 ms).
D Compensating Gain: Cn-28 (HA/LA/V/W Models)

When outputting a large torque (during acceleration, deceleration, etc.), the speed loop gain is de-
creased based on this setting. Motor vibration can be reduced by increasing this setting; also, the posi-
tioning 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.
5-26
Adjust the compensation gain after adjusting the speed loop gain with Cn-04 and the speed loop inte-
gral time constant with Cn-05.
The compensation gain may not be 100 due to the speed loop gain and speed loop integral time
constant set with Cn-04 and Cn-05, in which case increasing the compensation gain will cause an error.
Make sure that the set value is 0 before performing auto-tuning. Proper gain adjustment may not be
possible with auto-tuning if the set value is not 0.
D Unit Number Setting: Cn-29 (HA/LA/V/W Models)

This setting specifies the Servo Driver’s unit number when communicating with a personal computer.
Set the unit number to 0 when communicating with a single axis. Set the unit number from 1 to 14 when
communicating with multiple axes; in this case, be sure not to use the same unit number for more than
one Unit. The Servo Driver or personal computer might be damaged if the same unit number is used for
more than one Unit. The setting range is from 0 to14, and the factory setting is 0.
Refer to the Computer Monitor Software Instruction Manual (I513) for OMNUC U-series Servo Drivers
for more details on the unit number setting.
5-27
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 max.; time coefficient: 8 min; 4 sweeps
Impact resistance Acceleration 98 m/s2 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 A (JIS C4004): Models conforming to UL Standards
Type B (JIS C4004): All models other than those in Type A
Structure Totally-enclosed self-cooling
Protective structure Models Conforming to UL/cUL Standards and Models Not Conforming to
Any Standards: IP-42 (JEM1030)
Models Conforming to EC Directives: IP-44 (IEC34-5) (excluding shaft
opening)
(Cannot be used in environment with water-soluble cutting fluids.)
Vibration grade V-15 (JEC2121)
Mounting method Flange-mounting
Note 1. Vibration may be amplified due to sympathetic resonance of machinery, so use the Servomotor Driver
under conditions which will not exceed 19.6 m/s2 over a long period of time.
Note 2. The above items reflect individual evaluation testing. The results may differ under compounded condi-
tions.
Note 3. The Servomotor cannot be used in a misty atmosphere.
Note 4. The drip-proofing specifications for models conforming to UL/cUL Standards and models not
conforming to any standards are special specifications covered by IP-44. (Models with drip-
proof specifications provide drip-proofing on Servomotors with oil seals.)
5-28
5-2-2 Performance Specifications

j 200 VAC Servomotors
Item Unit R88M R88M R88M R88M R88M R88M
-U03030H(A) -U05030H(A) -U10030H(A) -U20030H(A) -U40030H(A) -U75030H(A)
-U03030VA -U05030VA -U10030VA -U20030VA -U40030VA -U75030VA
Rated output W 30 50 100 200 400 750
(see note)
Rated torque Nm 0.095 0.159 0.318 0.637 1.27 2.39
(see note)
Rated rota- r/min 3,000 3,000 3,000 3,000 3,000 3,000
tional speed
Momentary r/min 4,500 4,500 4,500 4,500 4,500 4,500
maximum
rotational
speed
Momentary Nm 0.29 0.48 0.96 1.91 3.82 7.10
maximum
torque (see
note)
Momentary % 310 317 322 300 308 316
maximum/
rated current
ratio
Rated cur- A (rms) 0.42 0.60 0.87 2.0 2.6 4.4
rent (see
note)
Momentary A (rms) 1.3 1.9 2.8 6.0 8.0 13.9
maximum
current (see
note)
Rotor inertia kgm2 0.21 × 10–5 0.26 × 10–5 0.40 × 10–5 1.23 × 10–5 1.91 × 10–5 6.71 × 10–5
(GD2/4)
Torque Nm/A 0.255 0.286 0.408 0.355 0.533 0.590
constant
(see note)
Induced volt- mV/ 8.89 9.98 14.0 12.4 18.6 20.6
age constant (r/min)
(see note)
Power rate kW/s 4.36 9.63 25.4 32.8 84.6 85.1
(see note)
Mechanical ms 1.5 0.9 0.5 0.4 0.3 0.3
time
constant
Winding re- Ω 15.8 9.64 6.99 1.34 1.23 0.45
sistance
Winding im- mH 23.1 16.9 13.2 7.2 7.9 5.7
pedance
Electrical ms 1.5 1.8 1.9 5.4 6.4 13
time
constant
Weight kg Approx. 0.3 Approx. 0.4 Approx. 0.5 Approx. 1.1 Approx. 1.7 Approx. 3.4
Corresponding Servo R88D- R88D- R88D- R88D- R88D- R88D-
Driver UP02H(A) UP03H(A) UP04H(A) UP08H(A) UP12H(A) UP20H(A)
-UP02V -UP03V -UP04V -UP08V -UP12V -UP20V
Note The values for torque and rotational speed characteristics, are the values at an armature winding tempera-
ture of 100°C, combined with the Servo Driver. Other values are at normal conditions (20°C, 65%). The
maximum momentary torque is a reference value.
5-29
D AC Servomotor Heat Radiation Conditions
When an AC Servomotor is continuously operated at the rated conditions, a heat radiation plate equiva-
lent to an rectangular aluminum plate of t6 × 250 mm is required at the Servomotor flange mounting
area. (This is for horizontal mounting, with nothing around the Servomotor and no interference from
heat convection currents.)
j 100 VAC Servomotors

Item Unit R88M R88M R88M R88M R88M
-U03030L(A) -U05030L(A) -U10030L(A) -U20030L(A) -U30030LA
-U03030WA -U05030WA -U10030WA -U20030WA -U30030WA
Rated output (see note) W 30 50 100 200 300
Rated torque (see note) Nm 0.095 0.159 0.318 0.637 0.954
Rated rotational speed r/min 3,000 3,000 3,000 3,000 3,000
Momentary maximum r/min 4,500 4,500 4,500 4,500 4,500
rotational speed
Momentary maximum Nm 0.29 0.48 0.96 1.91 3.72
torque (see note)
Momentary maximum/ % 317 322 323 311 400
rated current ratio
Rated current (see note) A (rms) 0.63 0.9 2.2 2.7 3.7
Momentary maximum A (rms) 2.0 2.9 7.1 8.4 14.8
current (see note)
Rotor inertia kgm2 0.21 × 10–5 0.26 × 10–5 0.40 × 10–5 1.23 × 10–5 1.91 × 10–5
(GD2/4)
Torque constant (see Nm/A 0.168 0.194 0.156 0.255 0.279
note)
Induced voltage mV/(r/min) 5.87 6.79 5.43 8.9 9.74
constant (see note)
Power rate (see note) kW/s 4.36 9.63 25.4 32.8 47.3
Mechanical time ms 1.6 0.9 0.6 0.4 0.3
constant
Winding resistance Ω 7.22 4.34 1.22 0.706 0.435
Winding impedance mH 9.7 6.9 2.0 4.0 2.3
Electrical time constant ms 1.3 1.6 1.6 5.7 5.3
Weight kg Approx. 0.3 Approx. 0.4 Approx. 0.5 Approx. 1.1 Approx. 1.7
Corresponding Servo Driver R88D- R88D- R88D- R88D- R88D-
-UP03W -UP04W -UP10W -UP12W -UP15W
Note The values for torque and rotational speed characteristics, are the values at an armature winding tempera-
ture of 100°C, combined with the Servo Driver. Other values are at normal conditions (20°C, 65%). The
maximum momentary torque is a reference value.
D AC Servomotor Heat Radiation Conditions

When an AC Servomotor is continuously operated at the rated conditions, a heat radiation plate equiva-
lent to an rectangular aluminum plate of t6 × 250 mm is required at the Servomotor flange mounting
area. (This is for horizontal mounting, with nothing around the Servomotor and no interference from
heat convection currents.)
5-30
j 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.
D Specifications for AC Servomotors With Brakes (Specifications in Common for 100

and 200 VAC)
Item Unit R88M R88M R88M R88M R88M R88M R88M
-U03030-B -U05030-B -U10030-B -U20030-B -U30030-B -U40030-B -U75030-B
Rotor in- kgm2 0.21 × 10–5 0.26 × 10–5 0.40 × 10–5 1.23 × 10–5 1.91 × 10–5 1.91 × 10–5 6.71 × 10–5
ertia (GD2/4)
Brake in- kgm2 0.09 × 10–5 0.58 × 10–5 1.40 × 10–5
ertia (GD2/4)
Total in- kgm2 0.30 × 10–5 0.35 × 10–5 0.49 × 10–5 1.81 × 10–5 2.49 × 10–5 2.49 × 10–5 8.11 × 10–5
ertia (GD2/4)
Weight kg 0.6 0.7 0.8 1.6 2.2 2.2 4.3
(approx.)
Magne- V 24 VDC ±10% (No polarity)
tized
voltage
Power W (at 20°C) 6 6 6.5 6
con-
sumption
Current A (at 20°C) 0.25 0.25 0.27 0.25
con-
sumption
Static Nm 0.2 min. 0.34 min. 1.5 min. 2.5 min.
friction
torque
Absorp- ms (40 max.) (60 max.) (100 max.) (200 max.)
tion time
(see
note 1)
Release ms (20 max.) (30 max.) (40 max.) (50 max.)
time
(see
note 1)
Backlash --- (±1°)
Rating --- Continuous
Insula- --- Type F (brake only)
tion
grade
Note 1. The operation time measurement is the measured value with a surge killer (CR50500, by Okaya Elec-
tric Industrial Co.) installed.
Note 2. The items in parentheses are reference values.
5-31
5-2-3 Torque and Rotational Speed Characteristics
j Torque Characteristics (With 3-m Standard Cable and 200-VAC Input)

R88M-U03030H(A) R88M-U05030H(A) R88M-U10030H(A)
R88M-U03030VA R88M-U05030VA R88M-U10030VA
Frequent use
Frequent use
Frequent use
Continuous use
Continuous use Continuous use
R88M-U20030H(A) R88M-U40030H(A) R88M-U75030H(A)

R88M-U20030VA R88M-U40030VA R88M-U75030
Frequent use Frequent use Frequent use
Continuous use Continuous use Continuous use
5-32
j Torque Characteristics (With 3-m Standard Cable and 100-VAC Input)

R88M-U03030L(A) R88M-U05030L(A) R88M-U10030L(A)
R88M-U03030WA R88M-U05030VA R88M-U10030VA
Frequent use
Frequent use Frequent use
Continuous use Continuous use Continuous use
R88M-U20030L(A) R88M-U30030LA
R88M-U20030WA R88M-U30030WA
Frequent use Frequent use
Continuous use Continuous use
j Servomotor and Mechanical System Temperature Characteristics

• U-series AC Servomotors use rare earth magnets (neodymium-iron magnets). The temperature co-
efficient for these magnets is approximately -0.13%/°C. As the temperature drops, the Servomotor’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 wheth-
er there abnormal Servomotor overheating or alarms are occurring at high temperatures.
• An increase in load friction torque increases the apparent load inertia. Therefore, even if the Servo
Driver parameters are adjusted at a normal temperature, there may not be optimal operation at low
temperatures. Check to see whether there is optimal operation at low temperatures too.
5-33
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 thrust load load load
(static pressure) (static pressure)
N N N N
R88M-U03030 186 127 68 54
R88M-U05030 186 127 68 54
R88M-U10030 186 127 78 54
R88M-U20030 490 176 245 74
R88M-U30030 490 176 245 74
R88M-U40030 490 176 245 74
R88M-U75030 735 392 392 147
Note 1. The allowable loads are the same for motors with brakes.
Note 2. 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 3. The allowable radial and thrust loads are values determined with a service life of 20,000 hours
taken as a criteria.
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. 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 6. 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 7. Applying an excessive load even once can damage the bearings and eventually cause a
breakdown.
5-34
5-2-5 Encoder Specifications

Item Standards
Encoder method Optical incremental encoder
Number of output pulses A, B phase: 2,048 pulses/revolution
Z phase: 1 pulse/revolution
Power supply voltage 5 VDC±5%
Power supply current DC, 350 mA (for load resistance of 220 Ω)
Phase characteristics 90° ±43.2°
Phase relationship For rotation in the CW direction, A phase is advanced by 90° compared to
B phase.
Maximum rotational speed 4500 r/min
Maximum response frequency 153.6 kHz
Output signals +A, –A, +B, –B, +S, –S
Output impedance Conforming to EIA RS-422A.
Output based on AM26LS31CN or 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.
5-35
5-3 Cable Specifications
5-3-1 Controller Connecting Cables
j Connector-Terminal Block Conversion Unit Cables
D Types of Cable
Model Length (L) Outer diameter of sheath
R88A-CTU001N 1m 9.9 dia.
R88A-CTU002N 2m
D Connection Configuration
46
L 39
72.72 43.6
XW2B-40F5-P t = 18
Connector-Terminal t = 10.3
Conversion Unit
OMNUC U-Series
AC Servomotor Driver
5-36
D Wiring
Signal
No.
No. No. Analog Pulse
1 A 1 1 TREF +CW
2 B 1 2 AGND –CW
3 A 2 3 REF +CWW
4 B 2 4 AGND –CWW
5 A 3 5 +ECRST
6 B 3 6 –ECRST
7 A 4 7 BKIR BKIR
8 B 4 8 VCMP INP
9 A 5 9 TGON TGON
10 B 5 10 0GND 0GND
11 A 6 11 PCL PCL
12 B 6 12 NCL NCL
13 A 7 13 +24 VIN +24 VIN
14 B 7 14 RUN RUN
15 A 8 15 MING MIGN
16 B 8 16 POT POT
17 A 9 17 NOT NOT
18 B 9 18 RESET RESET
19 A 10 19 EGND EGND
20 B 10 20 +A +A
21 A 11 21 –A –A
22 B 11 22 –B –B
23 A 12 23 +B +B
24 B 12 24 +Z +Z
25 A 13 25 –Z –Z
26 B 13 26
27 A 14 27
28 B 14 28
29 A 15 29
30 B 15 30 ALO1 ALO1
31 A 16 31 ALO2 ALO2
32 B 16 32 ALO3 ALO3
33 A 17 33 ALOCOM ALOCOM
34 B 17 34 ALM ALM
35 A 18 35 ALMCOM ALMCOM
36 B 18 Shell FG FG
37 A 19
Cable: AWG24 × 18P Connector plug
38 B 19
UL20276 Sumitomo 3M’s 10136-3000VE
39 A 20 Connector cover
40 B 20 Sumitomo 3M’s 10336-52A-008
Connector plug: Fujitsu’s FCN-361J040-AU

Connector cover: Fujitsu’s FCN-360C040-B
5-37
j General-purpose Control Cable
D Types of Cable
R88A-CPU001S 1m 9.9 dia.
R88A-CPU002S 2m
L 39
43.6
t = 18
Position Control Unit
mounted on a SYSMAC
C/CV-series PC
OMNUC U-Series
5-38
D Wiring
Connector Pin
No. Insulation Dot mark Dot mark Signal name
Arrangement
color
l color
l Analog Pulse
1 19
1 Orange – Black TREF +CW 2 20
3 21
2 Orange – Red AGND –CW 4 22
5 23
3 Gray – Black REF +CCW 6 24
7 25
4 Gray – Red AGND –CCW 8 26
9 27
5 White – Black +ECRST 10 28
11 29
6 White – Red –ECRST 12 30
13 31
7 Yellow – Black BKIR BKIR 14 32
15 33
16 34
8 Yellow – Red VCMP INP 17 35
18 36
9 Pink – Black TGON TGON
10 Pink – Red 0GND 0GND Connector plug model:
11 Gray –– Black PCL PCL 10136-3000VE
(Sumitomo 3M)
12 Gray –– Red NCL NCL
Connector case model:
13 Orange –– Black +24VIN +24VIN
10336-52A0-008
Orange –– Red (Sumitomo 3M)
14 White –– Black RUN RUN
15 White –– Red MING MING
16 Yellow –– Black POT POT
17 Yellow –– Red NOT NOT
18 Pink –– Black RESET RESET
19 Pink –– Red EGND EGND
20 Orange ––– Black +A +A
21 Orange ––– Red –A –A
22 Gray ––– Black –B –B
23 Gray ––– Red +B +B
24 White ––– Black +Z +Z
25 White ––– Red –Z –Z
26 Yellow ––– Black
27 Yellow ––– Red
28 Pink ––– Black
29 Pink ––– Red
30 Orange –––– Black ALO1 ALO1
31 Orange –––– Red ALO2 ALO2
32 Gray –––– Black ALO3 ALO3
33 Gray –––– Red ALOCOM ALOCOM
34 White –––– Black ALM ALM
35 White –––– Red ALMCOM ALMCOM
Shell Shield --- --- FG FG
Cable: AWG24X18P
UL20276
5-39
5-3-2 Encoder Cables
j Encoder Cables for Models Conforming to UL/cUL Standards and

Models Not Conforming to Any Standards
D Types of Cable
R88A-CRU003C 3m 8 dia.
R88A-CRU005C 5m
R88A-CRU010C 10 m
R88A-CRU015C 15 m
R88A-CRU020C 20 m
(Up to a maximum of 20 m between the Monitor and the Servo Driver.)
23.7 L 37
16 33.3
t = 14
t = 14
OMNUC U-Series
AC Servomotor
OMNUC U-Series
D Wiring
Symbol No. No. Symbol

AWG24 (blue)
A+ 1 16 A+
AWG24 (white/blue)
A– 2 17 A–
AWG24 (yellow)
B+ 3 18 B+
AWG24 (white/yellow)
B– 4 19 B–
AWG24 (green)
S+ 5 14 S+
AWG24 (white/green)
S– 6 15 S–
AWG22 (black)
E0V 7 1 E0V
AWG22 (red)
E5V 8 AWG22
4 E5V
(green/yellow)
FG 9 20 FG
Cable: AWG22 × 3C + AWG24 × 3P

UL2589
5-40
<For Cable>
Connector housing model: 172161-1 (Tyco Electronics AMP)
Connector socket contact model: 170365-1 (Tyco Electronics AMP)
Crimping tool: 724649-1
Pulling tool: 724668-2
Connector plug model: 10120-3000VE (Sumitomo 3M)
Connector case model: 10320-52A0-008 (Sumitomo 3M)
<For Motor>
Connector plug model: 172169-1 (Tyco Electronics AMP)
Connector pin contact model: 170359-1 (Tyco Electronics AMP)
j Encoder Cables for Models Conforming to EC Directives
D Types of Cable
R88A-CRUD003C 3m 8 dia.
R88A-CRUD005C 5m
R88A-CRUD010C 10 m
R88A-CRUD015C 15 m
R88A-CRUD020C 20 m
38 L 39
32.2 33.3
t = 15 t = 14
OMNUC U-Series
AC Servomotor
OMNUC U-Series
5-41
D Wiring
Symbol No. No. Symbol
AWG24 (blue)
A+ 1 16 A+
AWG24 (white/blue)
A– 2 17 A–
AWG24 (yellow)
B+ 3 18 B+
AWG24 (white/yellow)
B– 4 19 B–
AWG24 (green)
S+ 5 14 S+
AWG24 (white/green)
S– 6 15 S–
AWG22 (black)
E0V 7 1 E0V
AWG22 (red)
E5V 8 AWG22
4 E5V
(green/yellow)
FG 9 20
Shell FG
Cable: AWG22 × 3C + AWG24 × 3P
UL2589
<For Cable>
Connector model: 17J E 13090-02D8A (DDK) Connector plug model: 10120-3000VE (Sumitomo 3M)
Stud model: 17L-002A1 (DDK) Connector case model: 10320-52A0-008 (Sumitomo 3M)
<For Motor>
Connector: 17JE-23090-02D8A (DDK)
5-42
5-3-3 Power Cable
j Power Cable for Servomotors Without Brakes, Models Conforming to

UL/cUL Standards and Models Not Conforming to Any Standards
D Types of Cable
R88A-CAU003S 3m 5.8 dia.
R88A-CAU005S 5m
R88A-CAU010S 10 m
R88A-CAU015S 15 m
R88A-CAU020S 20 m
L 50
OMNUC U-Series
AC Servomotor
OMNUC U-Series
D Wiring
Symbol No.
AWG20 Red
U-phase 1
AWG20 White
V-phase 2
AWG20 Blue
W-phase 3
AWG20 Green
GR 4
Cable: AWG20 × 4C Crimp-style terminal
UL2517
5-43
<For Cable>
<For Motor>
Connector pin contact model: 170359-1 (Tyco Electronics AMP) for 30 to 100-W models
170360-1 (Tyco Electronics AMP) for 200 to 750-W models
j Power Cable for Servomotors With Brakes, Models Conforming to

UL/cUL Standards and Models Not Conforming to Any Standards
D Types of Cable
R88A-CAU003B 3m 6.8 dia.
R88A-CAU005B 5m
R88A-CAU010B 10 m
R88A-CAU015B 15 m
R88A-CAU020B 20 m
L 50
OMNUC U-Series
AC Servomotor
OMNUC U-Series
5-44
D Wiring
Symbol No.
AWG20 Red
U-phase 1
AWG20 White
V-phase 2
AWG20 Blue
W-phase 3
AWG20 Green
GR 4
AWG20 Black
Brake 5
AWG20 Black
Brake 6
Cable: AWG20 × 6C Crimp-style terminal
UL2517
<For Cable>
<For Motor>
Connector pin contact model: 170359-1 (Tyco Electronics AMP) 30 to 100-W models
170360-1 (Tyco Electronics AMP) 200 to 750-W models
j Power Cable for Servomotors Without Brakes, Models Conforming to

EC Directives
D Types of Cable
R88A-CAU001 1m 5.8 dia.
Note 1. Power cables will be cut to the specified length in 1-m increments.
Note 2. The maximum distance between the Servomotor and the Servo Driver is 20 m.
OMNUC U-Series
AC Servomotor
OMNUC U-Series
5-45
D Wiring
AC Servomotor AC Servo Driver
Red AWG20 Red

U-phase U
White AWG20 White
V-phase V
Blue AWG20 Blue
W-phase W
Green/Yellow AWG20 Green
GR
Cable: AWG20 × 4C
UL2517
j Power Cable for Servomotors With Brakes, Models Conforming to EC

Directives
R88A-CAU01B 1m 6.8 dia.
Note 1. Power cables will be cut to the specified length in 1-m increments.
Note 2. The maximum distance between the Servomotor and the Servo Driver is 20 m.
OMNUC U-Series
AC Servomotor
OMNUC U-Series
5-46
D Wiring
AC Servomotor AC Servo Driver
Red AWG20 Red

U-phase U
White AWG20 White
V-phase V
Blue AWG20 Blue
W-phase W
Green/Yellow AWG20 Green
GR
Red AWG20 Black
Brake
Black AWG20 Black
Brake
Cable: AWG20 × 6C 24 VDC ±10%

UL2517 (no polarity)
5-47
5-4 Parameter Unit Specifications
j General Specifications
Item Standards
Storage and operating No corrosive gasses.
atmosphere
Vibration resistance 4.9 m/s2 max.
Impact resistance Acceleration 19.6 m/s2 max.
j Performance Specifications
Model R88A-PR02U R88A-PR03U
Type Hand held Mounted
Accessory cable 1,000 mm (Connected by connectors.)
Accessory 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 elapsed 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.
5-48
5-5 Regeneration Unit Specifications
j R88A-RG08UA Regeneration Unit
D General Specifications
Item Standards
Storage and operating No corrosive gasses.
atmosphere
Vibration resistance 4.9 m/s2 max.
Impact resistance Acceleration 19.6 m/s2 max.
D Performance Specifications
Model R88A-RG08UA
Regeneration operating voltage 380 VDC
Regeneration processing current 8 ADC
Average regeneration power 12 W (internal resistance: 50 Ω, 60 W)
Externally connected regeneration 47 Ω±5%
resistance
Error detection function Regeneration resistance disconnection, regeneration transistor
damage, overvoltage
Alarm output SPST-NC contact (open contact at time of protective function
operation)
(200 VAC drive possible.)
External dimensions 55 × 160 × 130 (W × H × D)
D Indicator LED Specifications

Name Specifications
POWER Lit while power flows between P and N terminals.
REGEN Lit during regeneration operation.
ALARM-REGEN Lit for regeneration resistance disconnection or regeneration transistor damage.
ALARM-OV Lit when overvoltage occurs.
Note 1. When the error detection function operates, an alarm is output from the Unit.
Note 2. Create a sequence so that the power supply (R-T) to the Servo Driver is cut off when an alarm
is generated.
Note 3. When the error detection function operates and the Servo Driver’s power supply is cut off, the
Regeneration Unit won’t be restored to its normal status until 2 to 3 seconds have elapsed,
even if the power supply is turned on again. (Normal status is restored after the electrolytic
capacitor in the Servo Driver has been discharged and the voltage between P and N drops.)
Note 4. Does not conform to EC Directives.
5-49
5-6 Front-surface Mounting Bracket Specifications
The Front-surface Mounting Brackets (R88A-TK01U/TK02U) are used to mount a Ser-

vo Driver from the front surface. The model of the Bracket depends on the model of the
Servo Driver.
These Mounting Brackets cannot be used with models conforming to EC Directives.
j Combinations
Servo Driver Front-surface Mounting
g Bracket
Model Supply voltage Power model
d l
R88D-UP02H(A) 200 V 30 W R88A-TK01U
R88D-UP03H(A) 50 W
R88D-UP04H(A) 100 W
R88D-UP08H(A) 200 W
R88D-UP12H(A) 400 W
R88D-UP20H(A) 750 W R88A-TK02U
R88D-UP03L(A) 100 V 30 W R88A-TK01U
R88D-UP04L(A) 50 W
R88D-UP10L(A) 100 W
R88D-UP12L(A) 200 W
R88D-UP15LA 300 W R88A-TK02U
Note The Brackets come with a top bracket, a bottom bracket, and five mounting screws.
5-50
j Dimensions
D R88A-TK01U
Top Mounting Bracket
Two, 3.6-dia. pan-head screws
6 dia.
Bottom Mounting Bracket
5-51
D R88A-TK02U
Top Mounting Bracket
6 dia.
Bottom Mounting Bracket
5-52
j Mounting Dimensions
D R88A-TK01U D R88A-TK02U
Two, M5 Three, M5
5-53
6
Chapter 6
Supplementary
Materials
6-1 Connection Examples
6-2 Servo Connector Terminal Connection Unit
6-3 OMNUC U-series Standard Models
6-4 Parameter Setting Forms
Supplementary Materials Chapter 6
6-1 Connection Examples
j Connecting to SYSMAC C200H-NC112 Position Control Unit with

5-VDC Power Supply
NFB Main circuit power supply MC
R
OFF ON
R88B-UP L : MC Main circuit contact
Noise filter
100/115 VAC,50/60 Hz X1
SUP Surge killer
R88B-UP H : MC
200/230 VAC,50/60 Hz PL Servo error display
X1
T
C200H-NC112 Class-3 ground R88D-UP AC Servomotor Driver
Contents Terminal
No. CN 1 TB
Output power supply input, 24 VDC A R
1 R88M-U
T
B Connect external Regen- AC Servomotor
A P eration Unit as required.
2 N
Output power supply input, 5 VDC B Red
R88A-CAU S
5 VDC U Power Cable
A White
CCW (with resistance)
Pulse output
3 3 +CCW V
Blue M
CCW (without resistance) B 4 –CCW W Green
CW (with resistance) A 1 +CW

4
CW (without resistance) B 2 –CW
A
0V 5 CN2
B 5 +ECRST
Deviation counter reset output A 6 –ECRST
6 RE
0V B
A 24 +Z R88A-CRU C
Origin line driver input 8 Encoder Cable
B 25 –Z
12 to 24 VDC
A
Positioning completed input 9
B 8 INP
A 13 +24VIN
10 X1
Position proximity input 14 RUN
B
A 18 RESET
CCW limit input 12
B 10 OGND
A 35 ALMCOM
CW limit input 13
B X1 34 ALM
A 24 VDC
External interrupt input 19
B Shell FG
A
Emergency stop input 20
B R88A-CPU S
General-purpose
Cable
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 a dedicated power supply (5 VDC) for command pulse signals.
Note 5. ERB44-02 diodes (by Fuji Electric) or equivalent are recommended for surge absorption.
Note 6. Use the RUN signal to set whether the Servo can be turned ON/OFF.
6-2
j Connecting to SYSMAC C200H-NC112 Position Control Unit with

24-VDC Power Supply
R ON
OFF
Noise filter
100/115 VAC,50/60 Hz X1
SUP Surge killer
R88B-UP H :
MC
X1
T
Class-3 ground R88D-UP AC Servomotor Driver

C200H - NC112
TB
Contents Terminal R
CN 1
No.
T R88M-U
Output power supply input, 24 VDC A Connect external Regen- AC Servomotor
1 P
B 24 VDC eration Unit as required.
N R88A-CAU S
A Red
U Power Cable
2 White
Output power supply input, 5 VDC B 3 +CCW V
Blue M
CCW (with resistance)
Pulse output
3 A 4 –CCW W Green
CCW (without resistance) B 1 +CW
CW (with resistance) A 2 –CW
4
CW (without resistance) B
CN2
A
0V 5 5
B 1.6 K +ECRST
RE
6 –ECRST
Deviation counter reset output A
6
0V B R88A-CRU C
24 +Z Encoder Cable
A
Origin line driver input 8 25 –Z
B 12 to 24 VDC
A
Positioning completed input 9 8 INP
B
13 +24VIN
A X1
Position proximity input 10 14 RUN
B
A 18 RESET
CCW limit input 12 10 OGND
B
A 35 ALMCOM
CW limit input 13 34 ALM
B X1
24 VDC
A
External interrupt input 19
B Shell FG
A
Emergency stop input 20 R88A-CPU S
B General-purpose
Cable
6-3
j Connecting to SYSMAC C200H-NC211 and C500-NC113/211 Position

Control Unit with 5-VDC Power Supply
R ON
OFF
Noise filter
100/115 VAC,50/60 Hz X1
SUP Surge killer
R88B-UP H : MC
X1
T
C200H - NC211
CN 1 TB
Contents No. R
R88M-U
Output power supply input, 24 VDC 1 T AC Servomotor
Connect external Regen-
24 VDC P eration Unit as required.
Output power supply, 0 V 23 N R88A-CAU S
Red
5 VDC U Power Cable
White
X-axis pulse CW (with resistance) 2 1 +CW V
Blue M
output CW (without resistance) 3 2 –CW W Green
CCW (with resistance) 13 3 +CCW
CCW (without resistance) 14 4 –CCW
5 +ECRST
X-axis deviation counter reset output 4 6 CN2
–ECRST
X-axis origin line driver input 9 24 +Z
X-axis origin common 11 25 –Z RE
X-axis positioning completed input 8 8 INP R88A-CRU C
Encoder Cable
X/Y-axis input common 22 13 +24VIN

24 VDC
X1
X-axis external interrupt input 6 14 RUN
X-axis origin proximity input 7 18 RESET
X-axis CCW limit input 17 10 OGND
X-axis CW limit input 18 35 ALMCOM
X/Y-axis emergency stop input 19 X1 34 ALM
24 VDC
Shell FG
FG 12
R88A-CPU S
General-purpose Cable
Note 4. Use a dedicated power supply (5 or 24 VDC) for command pulse signals.
Note 6. This wiring diagram is an example of X-axis wiring only. If two-axis control is used, the external
input and Servo Driver wiring must be done in the same way for the Y axis.
6-4
j Connecting to SYSMAC C200H-NC211 and C500-NC113/211 Position

Control Unit with 24-VDC Power Supply
R ON
OFF
Noise filter
100/115 VAC,50/60 Hz X1
SUP Surge killer
R88B-UP H : MC
X1
T
C200H - NC211
CN 1 TB
Contents No. R
Output power supply input, 24 VDC 1 T R88M-U
Connect external Regen- AC Servomotor
24 VDC P eration Unit as required.
Output power supply, 0 V 23 N R88A-CAU S
Red
1 +CW U Power Cable
White
X-axis pulse CW (with resistance) 2 2 –CW V
Blue M
output CW (without resistance) 3 3 +CCW W Green
CCW (with resistance) 13 4 –CCW
CCW (without resistance) 14
1.6 K 5 +ECRST
X-axis deviation counter reset output 4 6 CN2
–ECRST
X-axis origin line driver input 9 24 +Z
X-axis origin common 11 25 –Z RE
X-axis positioning completed input 8 8 INP R88A-CRU C
Encoder Cable
X/Y-axis input common 22 13 +24VIN

24 VDC
X1
X-axis external interrupt input 6 14 RUN
X-axis origin proximity input 7 18 RESET
X-axis CCW limit input 17 10 OGND
X-axis CW limit input 18 35 ALMCOM
X/Y-axis emergency stop input 19 X1 34 ALM
24 VDC
Shell FG
FG 12
R88A-CPU S
Note 6. This wiring diagram is an example of X-axis wiring only. If two-axis control is used, the external
input and Servo Driver wiring must be done in the same way for the Y axis.
6-5
j Connecting to SYSMAC 3G2A5-NC111-EV1 Position Control Unit

R ON
OFF
Noise filter
100/115 VAC,50/60 Hz X1
SUP Surge killer
R88B-UP H : MC
X1
T

3G2A5-NC111-EV1
TB
Contents Terminal
No. CN 1 R
A 13 +24 VIN T R88M-U
12 to 24 VDC 1 Connect external Regen- AC Servomotor
B 24 VDC X1 P eration Unit as required.
CW limit A 14 RUN N R88A-CAU S
2
CCW limit B 18 RESET U Power Cable
Emergency stop A 35 ALMCOM V
3 M
External interrupt B X1 34 ALM W
Origin A 24 VDC
4
Origin proximity B
Local A
5 CN2
Ready B
5 VDC RE
A
5 VDC 8 B 1 +CW R88A-CRU C
Pulse output
CW+ A 2 –CW Encoder Cable

CW– 9 B 3 +CCW
CCW+ A 4 –CCW
CCW– 10 B 5 +ECRST
6 –ECRST
Shell FG
R88A-CPU S
Note 4. When using a 3G2A5-NC111-EV1 Position Control Unit, origin search is carried out according
to the origin and origin proximity inputs. Set the origin and origin proximity for the mechanical
system. Even after the 3G2A5-NC111-EV1 completes the origin search and pulses are
stopped, pulses are still accumulated in the deviation counter in the Servo Driver. The Servo-
motor will move for the amount of residual pulses and then stop, so there may be a discrepan-
cy with the origin. In order to minimize the amount of the discrepancy, set the origin search
proximity speed as low as possible.
6-6
j Connecting to SYSMAC C200HW-NC113/213/413 Position Control

Units (5-VDC Power Supply)
Main circuit power supply
R88D-UP H : 200/230
VAC, 50/60 Hz
Main circuit contact
Noise filter
R88D-UP L : 100/115
VAC, 50/60 Hz Surge killer
Servo error display
C200HW-NC113/213/413 Class-3 ground R88D-UP
Contents
24-V DC input (for output) Connect to External
Regeneration Unit R88M-U
24 VDC as requred.
0-V input (for output)
Red
5 VDC White R88A-CAU S
X-axis CW (with a resistor)
pulse Blue
output CW (w/O a resistor)
Green
CCW (with a resistor)
CCW (w/O a resistor)
X-axis dev. cntr. reset output

X-axis origin line driver input
X-axis origin common R88A-CRU C
X-axis positioning complete input
X-axis input common

12 to 24 VDC
X-axis external interrupt input
X-axis origin proximity input

X-axis CCW limit input
X-axis CW limit input
X-axis emerg. stop input
24 VDC
R88A-CPU S
Note 4. Use the 5-VDC and 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. This diagram shows a connection example for the X axis only. For 2-axis control, connect an
external input and Servo Driver for the Y axis as well.
Note 7. Make the setting so that the Servo can be turned ON and OFF with the RUN signal.
Note 8. The maximum response for the pulse command input of the U-series Servo Driver is
200 kpps.
6-7
j Connecting to SYSMAC C200HW-NC113/213/413 Position Control

Units (24-VDC Power Supply)
Main circuit power supply
R88D-UP H : 200/230
VAC, 50/60 Hz
Noise filter
R88D-UP L : 100/115 Main circuit contact
VAC, 50/60 Hz
Surge killer
Servo error display
C200HW-NC113/213/413 Class-3 ground R88D-UP
Contents
24-V DC input (for output)
Connect to External
Regeneration Unit R88M-U
24 VDC as required.
0-V input (for output)
Red
White R88A-CAU S
X-axis CW (with a resistor)
pulse Blue
output CW (w/O a resistor)
Green
CCW (with a resistor)
CCW (w/O a resistor)
X-axis dev. cntr. reset output

X-axis origin line driver input
X-axis origin common R88A-CRU C
X-axis positioning complete input
X-axis input common

12 to 24 VDC
X-axis external interrupt input

X-axis origin proximity input
X-axis CCW limit input
X-axis CW limit input
X-axis emerg. stop input
24 VDC
R88A-CPU S
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. This diagram shows a connection example for the X axis only. For 2-axis control, connect an
external input and Servo Driver for the Y axis as well.
Note 7. Make the setting so that the Servo can be turned ON and OFF with the RUN signal.
Note 8. The maximum response for the pulse command input of the U-series Servo Driver is
200 kpps.
6-8
6-2 Servo Connector Terminal Connection Unit
Terminal Connection Unit for C200H-NC112

XW2B-20J6-1B
C200H-NC112 connector Servo Driver connector
Two, 3.5 dia.
Note: Terminal block pitch: 7.62 mm
Emergency Origin
stop proximity
CW CCW
limit limit
Com- Com- Com- Com- Com-

mon mon mon mon mon
(See note 1)
External 24
interrupt VDC
24 VDC
Note 1. The XB contact is used to turn ON/OFF the electromagnetic brake.

Note 2. Do not connect unused terminals.
Note 3. The 0 V terminal is internally connected to the common terminals.
Note 4. The following crimp terminal is applicable: R1.25-3 (round with open end).
6-9
Terminal Connection Unit for C200H-NC211
XW2B-40J6-2B
X-axis Servo Driver Y-axis Servo Driver
C200H-NC211 connector connector connector
Two, 3.5 dia.
X/Y-axis X-axis Y-axis

emergency origin origin
stop proximity proximity
X-axis X-axis Y-axis Y-axis

CW CCW X-axis X-axis X-axis X-axis CW CCW Y-axis Y-axis Y-axis Y-axis
limit limit RUN MING ALM BKIR limit limit RUN MING ALM BKIR
Com- Com- Com- Com- Com- Com- Com- Com- Com-

mon mon mon mon mon mon mon mon mon
X-axis (See
RESET 24 note 1) (See note 1)
Y-axis 24
VDC Y-axis RESET VDC
X-axis external
X-axis
ALMCOM interrupt
external Y-axis
interrupt ALMCOM
24 VDC

Note 2. Connect the CW and CCW limit signals to a common terminal when controlling one axis.
6-10
Terminal Connection Unit for CQM1-CPU43-V1, CQM1H-PLB21
XW2B-20J6-3B
CQM1 connector Servo Driver connector
Two, 3.5 dia.
Com- Com-
mon mon
CQM1 Input Unit
(See
note 3)
(See (See 24
note 1) note 1) VDC
(See
note 2)
24 VDC
Note 1. Inputting this signal will cause the CQM1’s output pulse to be returned and input to the high-
speed counter.
Note 2. Input this output signal to a CQM1’s Input Unit.
Note 4. An open-collector output is used for the Z phase.
6-11
6-3 OMNUC U-series Standard Models
j Models Conforming to UL/cUL Standards and Models Not Conforming

to Any Standards
D Servomotors
Specification Model
Straight
g shaft with Standard ((no 200 VAC 30 W R88M-U03030HA
no kkey b k )
brake) 50 W R88M-U05030HA
100 W R88M-U10030HA
200 W R88M-U20030HA
400 W R88M-U40030HA
750 W R88M-U75030HA
100 VAC 30 W R88M-U03030LA
50 W R88M-U05030LA
100 W R88M-U10030LA
200 W R88M-U20030LA
300 W R88M-U30030LA
With brake 200 VAC 30 W R88M-U03030HA-B
50 W R88M-U05030HA-B
100 W R88M-U10030HA-B
200 W R88M-U20030HA-B
400 W R88M-U40030HA-B
750 W R88M-U75030HA-B
100 VAC 30 W R88M-U03030LA-B
50 W R88M-U05030LA-B
100 W R88M-U10030LA-B
200 W R88M-U20030LA-B
300 W R88M-U30030LA-B
6-12
Specification Model
Straight
g shafts with Standard ((no 200 VAC 30 W R88M-U03030HA-S1
k
keys b k )
brake) 50 W R88M-U05030HA-S1
100 W R88M-U10030HA-S1
200 W R88M-U20030HA-S1
400 W R88M-U40030HA-S1
750 W R88M-U75030HA-S1
100 VAC 30 W R88M-U03030LA-S1
50 W R88M-U05030LA-S1
100 W R88M-U10030LA-S1
200 W R88M-U20030LA-S1
300 W R88M-U30030LA-S1
With brake 200 VAC 30 W R88M-U03030HA-BS1
50 W R88M-U05030HA-BS1
100 W R88M-U10030HA-BS1
200 W R88M-U20030HA-BS1
400 W R88M-U40030HA-BS1
750 W R88M-U75030HA-BS1
100 VAC 30 W R88M-U03030LA-BS1
50 W R88M-U05030LA-BS1
100 W R88M-U10030LA-BS1
200 W R88M-U20030LA-BS1
300 W R88M-U30030LA-BS1
D Servo Drivers with Pulse-train Inputs

Specification Model
Pulse-train input 200 VAC 30 W R88D-UP02HA
50 W R88D-UP03HA
100 W R88D-UP04HA
200 W R88D-UP08HA
400 W R88D-UP12HA
750 W R88D-UP20HA
100 VAC 30 W R88D-UP03LA
50 W R88D-UP04LA
100 W R88D-UP10LA
200 W R88D-UP12LA
300 W R88D-UP15LA
D Parameter Unit
Specification Model
Handy type R88A-PR02U
Mounted type R88A-PR03U
D Regeneration Unit
Specification Model
Regeneration processing current: 8 A R88A-RG08UA
6-13
D External Regeneration Resistor
Specification Model
Regeneration capacity: 70 W, 47 Ω R88A-RR22047S
D Encoder Cables
Specification Model
Connectors at both ends 3m R88A-CRU003C
5m R88A-CRU005C
10 m R88A-CRU010C
15 m R88A-CRU015C
20 m R88A-CRU020C
Cable only 1-m units R88A-CRU001
D Power Cables
Specification Model
For standard Connector at one 3m R88A-CAU003S
motors ((no b
brake)
k ) end
d 5m R88A-CAU005S
10 m R88A-CAU010S
15 m R88A-CAU015S
20 m R88A-CAU020S
Cable only 1-m units R88A-CAU001
For motors with Connector at one 3m R88A-CAU003B
b k
brakes end
d 5m R88A-CAU005B
10 m R88A-CAU010B
15 m R88A-CAU015B
20 m R88A-CAU020B
Cable only 1-m units R88A-CAU01B
D General-purpose Control Cables

Specification Model
For general-purpose 1m R88A-CPU001S
controllers,
controllers connector at one
end 2m R88A-CPU002S
6-14
D Servo Relay Units
Specification Model
Servo Relay C200H-NC112 XW2B-20J6-1B
Unit C200HW-NC113
C200H-NC211 XW2B-40J6-2B
C500-NC113/211
C200HW-NC213/413
CQM1-CPU43-V1 XW2B-20J6-3B
CQM1H-PLB21
Servo Driver Cable 1m XW2Z-100J-B1
2m XW2Z-200J-B1
Position Control C200H-NC112 0.5 m XW2Z-050J-A1
U i Cable
Unit C bl 1m XW2Z-100J-A1
C200H-NC211 0.5 m XW2Z-050J-A2
C
C500-NC113/211
NC / 1m XW2Z-100J-A2
CQM1-CPU43-V1 0.5 m XW2Z-050J-A3
CQM H PLB
CQM1H-PLB21 1m XW2Z-100J-A3
C200HW-NC113 0.5 m XW2Z-050J-A6
1m XW2Z-100J-A6
C200HW-NC213 0.5 m XW2Z-050J-A7
C HW NC
C200HW-NC413 1m XW2Z-100J-A7
D Connectors, Terminal Blocks and Peripheral Cable

Specification Model
Control cable connector R88A-CNU01C
Connector terminal block XW2B-40F5-P
Connection cable for 1m R88A-CTU001N
i l bl
connector terminal k
block 2m R88A-CTU002N
Analog monitor cable 1m R88A-CMW001S
D Front-surface Mounting Brackets

Specification Model
For the following Servo Drivers R88A-TK01U
200 VAC: 30 to 400 W
100 VAC: 30 to 200 W
For the following Servo Drivers R88A-TK02U
200 VAC: 750 W
100 VAC: 300 W
Note HA/LA models: Models manufactured after May 1998 conform to UL/cUL Standards.
H/L models: Do not conform to UL/cUL Standards.
6-15
j Models Conforming to EC Directives
D Servomotors
Specification Model
Straight
g shafts with Standard ((no 200 VAC 30 W R88M-U03030VA-S1
k
keys b k )
brake) 50 W R88M-U05030VA-S1
100 W R88M-U10030VA-S1
200 W R88M-U20030VA-S1
400 W R88M-U40030VA-S1
750 W R88M-U75030VA-S1
100 VAC 30 W R88M-U03030WA-S1
50 W R88M-U05030WA-S1
100 W R88M-U10030WA-S1
200 W R88M-U20030WA-S1
300 W R88M-U30030WA-S1
With brake 200 VAC 30 W R88M-U03030VA-BS1
50 W R88M-U05030VA-BS1
100 W R88M-U10030VA-BS1
200 W R88M-U20030VA-BS1
400 W R88M-U40030VA-BS1
750 W R88M-U75030VA-BS1
100 VAC 30 W R88M-U03030WA-BS1
50 W R88M-U05030WA-BS1
100 W R88M-U10030WA-BS1
200 W R88M-U20030WA-BS1
300 W R88M-U30030WA-BS1
D Servo Drivers with Pulse-train Inputs

Specification Model
Pulse-train inputs 200 VAC 30 W R88D-UP02V
50 W R88D-UP03V
100 W R88D-UP04V
200 W R88D-UP08V
400 W R88D-UP12V
750 W R88D-UP20V
100 VAC 30 W R88D-UP03W
50 W R88D-UP04W
100 W R88D-UP10W
200 W R88D-UP12W
300 W R88D-UP15W
D Parameter Units
Specification Model
Handy type R88A-PR02U
Mounted type R88A-PR03U
6-16
D Encoder Cables
Specification Model
Connectors at both ends 3m R88A-CRUD003C
5m R88A-CRUD005C
10 m R88A-CRUD010C
15 m R88A-CRUD015C
20 m R88A-CRUD020C
Cable only 1-m units R88A-CRU001
D Power Cables (Cables Only)

Specification Model
For standard motor (no brake) 1-m units R88A-CAU001
For motor with brake 1-m units R88A-CAU01B
D General-purpose Control Cables

Specification Model
For g
general-purpose controller,, 1 m R88A-CPU001S
connector at one end
d 2m R88A-CPU002S
D Peripheral Cable
Specification Model
Analog monitor cable 1m R88A-CMW001S
6-17
6-4 Parameter Setting Forms
j User Parameters
PRM Parameter name Factory Unit Setting Setting
No. setting range
Cn-04 Speed loop gain (See note 1.) 80 Hz 1 to 2,000
Cn-05 Speed loop integration constant 20 H/L: ms 2 to 10,000
HA/LA/
V/W:
ms or
0.01 ms
Cn-06 Emergency stop torque Maximum % 0 to maxi-
torque mum torque
Cn-07 Soft start acceleration time 0 ms 0 to 10,000
Cn-08 Forward torque limit Maximum % 0 to maxi-
torque mum torque
Cn-09 Reverse torque limit Maximum % 0 to maxi-
torque mum torque
Cn-0A Encoder divider rate (See note 2.) 1,000 Pulses/ 16 to 2,048
revolution
Cn-0b Rotation speed for motor rotation 20 r/min 1 to 4,500
detection
Cn-0C P control switching (torque com- 200 % 0 to maxi-
mands) mum torque
Cn-0d P control switching (speed commands) 0 r/min 0 to 4,500
Cn-0E P control switching (acceleration com- 0 10 0 to 3,000
mands) (r/min)/s
Cn-0F P control switching (deviation pulse) 10 Command 0 to 10,000
units
Cn-10 Jog speed 500 r/min 0 to 4,500
Cn-11 Number of encoder pulses (See notes 2,048 Pulses/ 2,048 2,048
2 and 3.) revolution
Cn-12 Brake timing 1 0 10 ms 0 to 50
Cn-15 Brake command speed 100 r/min 0 to 4,500
Cn-16 Brake timing 2 50 10 ms 10 to 100
Cn-17 Torque command filter time constant 4 100 µs 0 to 250
Cn-18 Forward rotation external current limit 100 % 0 to maxi-
mum torque
Cn-19 Reverse rotation external current limit 100 % 0 to maxi-
mum torque
Cn-1A Position loop gain 40 1/s 1 to 500
Cn-1b Positioning completion range 3 Command 0 to 250
units
Cn-1C Bias rotational speed 0 r/min 0 to 450
Cn-1d Feed-forward amount 0 % 0 to 100
Cn-1E Deviation counter overflow level 1,024 × 256 1 to 32,767
commands
6-18
PRM Parameter name Factory Unit Setting Setting

No. setting range
Cn-1F No. 1 internal speed setting 100 r/min 0 to 4,500
Cn-20 No. 2 internal speed setting 200 r/min 0 to 4,500
Cn-21 No. 3 internal speed setting 300 r/min 0 to 4,500
Cn-23 Soft start deceleration time 0 ms 0 to 10,000
Cn-24 Electronic gear ratio G1 (numerator) 4 --- 1 to 65,535
(see note 2)
Cn-25 Electronic gear ratio G2 (denominator) 1 --- 1 to 65,535
(see note 2)
Cn-26 Position command acceleration/decel- 0 × 0.1 ms 0 to 640
eration time constant
Cn-27 Feed-forward command filter 0 × 0.1 ms 0 to 640
Cn-28 Compensating gain 0 --- 0 to 100
(HA/LA/V/W Models)
Cn-29 Unit number setting 0 --- 0 to 14
(HA/LA/V/W Models) (See note 4)
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-11 (number of encoder pulses), Cn-24 (Electronic gear ratio G1 (nu-
merator)), and Cn-25 (Electronic gear ratio G2 (denominator)) 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 Cn-11 (number of encoder pulses) according to the number of pulses (resolution) of the
encoder. The parameter must be set to 2,048 for an incremental encoder.
Note 4. Refer to the Computer Monitor Software Instruction Manual (I513) for OMNUC U-series
Servo Drivers for more details on Cn-29 (unit number setting).
6-19
j Setup Parameters No. 1 (Cn-01)

Item Bit No. Factory Setting Explanation Setting
setting
Sequence input 0 0 0 Servo turned ON or OFF by Run command (exter- 0=
signal switching nally input).
1 Servo always ON.
1 0 --- No used. 1=0
2 1 0 Enables forward drive prohibit input (POT). 2=
1 Permits always-forward drive.
3 1 0 Enables reverse drive prohibit input (NOT). 3=
1 Permits always -reverse drive.
Sequence 4 0 0 Takes TGON/CLIMT signal as motor rotation detec- 4=
output
out ut signal tion output.
switching 1 Takes TGON/CLIMT signal as current limit detection
output.
Processing at 5 (see 1 0 Servo alarm set at time of recovery from momentary 5=
time of recovery note 1) stop.
from momentary 1 Servo alarm automatically cleared at time of recov-
stop ery from momentary stop.
Abnormal stop 6 1 0 Motor stopped by dynamic brake. 6=
1 Motor stopped with free run.
7 ((see 1 0 Dynamic brake OFF after motor stopped. 7=
note 2)) 1 Dynamic brake ON after motor stopped.
8 0 0 Method for stopping when over-travel occurs de- 8=
pends 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 decelera- 9=
tion stop and servo turns OFF.
1 When over-travel occurs, motor comes to decelera-
tion stop and position is locked. (see note 6)
Deviation A 0 0 Clear counter for alarms occurring while Servo is A=
counter with OFF.
Servo OFF 1 Do not clear counter for alarms occurring while Ser-
vo is OFF.
P control switch b 1 0 Switch control according to bits C and d. b=
selection 1 Do not switch.
P control switch d, C 0, 0 0, 0 The torque command value (Cn-0C) is taken as the C=
conditions (see condition. d=
note 3) 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 condi-
tion.
E 0 --- Not used. E=0
6-20
Item Bit No. Factory Setting Explanation Setting

setting
Pulse stop F 0 0 Position Control (Cn-02 bit 2 = 0) F=
switching Disables the pulse stop input.
(HA/LA/V/W Internal speed control settings (Cn-02 bit 2 = 1)
Models) Command pulses aren’t received when
PCL and NCL are OFF.
1 Position Control (Cn-02 bit 2 = 0)
Enables the pulse stop input.
Internal speed control settings (Cn-02 bit 2 = 1)
Command pulses aren’t received when
PCL and NCL are OFF. (Position control is
performed with the internal speed control
settings and the pulse-train input.)
Note 1. If power is immediately turned back on after having been cut off, a momentary stop alarm may
be generated. If bit no. 5 is set to “1,” the alarm will be cleared automatically even if it is gener-
ated, and operation will resume.
Note 2. 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 3. With P control switch conditions, a change from PI control to P control is selected.
Note 4. Do not change the setting of bits 1 and E of setup parameter no. 1 (Cn-01) when a Servomotor
with an incremental encoder is being used.
Note 5. 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.)
Note 6. The position loop will not be effective when stopping in this mode.
6-21
j Setup Parameters No. 2 (Cn-02)

Item Bit no. Factory Setting Explanation Setting
setting
Reverse rotation mode 0 0 0 Rotates in CCW direction with a + command. 0=
(See note 3.)
1 Rotates in CW direction with a + command.
Origin error mask 1 0 --- No used. 1=0
Input command mode 2 0 0 Position control with pulse-train input: 2=
(see note 2)
CN1-11 and 12 are used as forward and re-
verse current command inputs (PCL, NCL).
In the H/L Models, CN1-15 will be the gain re-
duction (MING).
In the HA/LA/V/W Models, CN1-15 will be the
gain reduction (MING) if Cn-01 bit F is set to
“0” or the pulse stop input (IPG) if Cn-01 bit F
is set to “1.”
1 [Internal speed control settings]
CN1-11 and 12 are used as speed selection
command 1 and 2 inputs (SPD1, SPD2).
CN1-15 is used as rotation direction command
(RDIR).
Command pulse mode 5,, 4,, 3 0,, 0,, 1 0, 0, 0 Feed pulse and Forward/reverse signal 3=
0, 0, 1 Forward rotation pulse and Reverse rotation 4=
pulse 5=
6 0 --- Not used 6=0
7 0 --- Not used 7=0
8 0 --- Not used 8=0
9 0 --- Not used 9=0
Deviation counter clear A 1 0 Clears the deviation counter when the signal is A =
high level
1 Clears the deviation counter on the rising edge
of the signal
Speed integration b 0 0 1 ms b=
constant’s units
(HA/LA/V/W Models) 1 0.01 ms
Torque command filter C 0 0 Primary filter C=
time constant
(HA/LA/V/W Models) 1 Secondary filter
Command pulse logic
g d 0 0 Positive logic d=
reversall 1 Negative logic
Parameter Unit monitor E 0 0 Position deviation monitor set for 1 command. E=
output llever change
h 1 Position deviation monitor set for 100 com-
mand.
F 0 --- Not used F=0
Note 1. Do not set bit nos. 1, 6 to 9, F of setup parameter no. 2 (Cn-02).

Note 2. 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.)
Note 3. Counterclockwise direction viewed from the motor output shaft is CCW.
6-22

U-Series AC Servomotor & Servodriver (Pulse-Train Input)

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Cat. No.

AC SERVOMOTORS/DRIVERS (30 to 750-W Pulse-train Inputs)

Items to Check After Unpacking

OMRON Product References

! WARNING Operation, maintenance, or inspection must be performed by authorized personnel.

S Locations subject to direct sunlight.

Storage and Transportation Precautions

Installation and Wiring Precautions

S Locations subject to static electricity or other forms of noise.

Operation and Adjustment Precautions

Warning Labels for Non-conforming Models

SYSMAC CS1/C/CV Position Control Unit

Controller Connecting Cable

OMNUC U is a series of fully Adjustments and Troubleshooting

OMNUC U-series AC Servo Driver

Parameter Units Operation Method

Chapter 2. System Design and Installation . . . . . . . . . . . . . . . . . . . . . .

Chapter 6. Supplementary Materials . . . . . . . . . . . . . . . . . . . . . . . . . .

j Motor Output Capacity

j Models Conforming to UL/cUL Standards Available (UL/cUL Markings)

j EC Directives (CE Markings)

j Electronic Gear Function (Position Control)

j Encoder Resolution Function

j Software Start Function (Internal Speed Control Settings)

j Pulse Smoothing Function (Position Control)

j Brake Interlock Output

j Feed-forward and Bias Functions (Position Control)

j Computer Monitor Software (HA/LA/V/W Models)

1-2 System Configuration

1-3 Servo Driver Nomenclature

Power supply indicator

CN3: Parameter Unit connector

CN1: Control I/O connector

CN2: Encoder connector

1-4 Applicable Standards and Models

1-4-1 UL/cUL Standards

Note Optional specifications (shaft profile: straight shaft with keys)

System Design and Installation

Installation and Wiring Precautions

160 149 149

D R88D-UP12H(A) (200 VAC, 400 W) and R88D-UP12L(A) (100 VAC, 200 W)

160 149 149

j AC Servo Drivers Conforming to UL/cUL Standards and AC

j AC Servo Drivers Conforming to EC Directives

D R88D-UP12V (200 VAC, 400 W)

j AC Servo Drivers Conforming to EC Directives (Contd.)

160 130 149 149

j AC Servomotors Conforming to UL/cUL Standards and AC

30h7 dia. 46 dia.

D 30-W/50-W/100-W Models with Brake:

6.5 4 Four, R3.7

Standard Models Models with Brake

j AC Servomotors Conforming to UL/cUL Standards and AC

D 200-W/300-W/400-W Models with Brake:

Standard Models Models with Brake

j AC Servomotors Conforming to UL/cUL Standards and AC

D 750-W Models with Brake: R88M-U75030HA-B

j AC Servomotors Conforming to EC Directives

Sh6 dia. Four, R3.7