Omron G Manual 

G-SERIES SERVO SYSTEM » Enhanced performance MECHATROLINK-II » Compact size »

The graphs show a move profile with a G-series servo in an application with an inertia ratio of 16:1. Tuning is possible via the easy to use CX-Drive, and takes just 1 minute to complete. The result is superb control, ensuring the servo and hence machine operates at its optimal point, with next to zero knowledge required from the user. Once running, the on-board real time auto-tuning function takes care of the servo operation relative to the load inertia, again ensuring the quality of the finished produced part. In addition, numerous suppression and notch filters are available to suppress machine vibration independent of machine direction. From multiple cables... MECHATROLINK-II Easy connection: single cable only! With their built-in MECHATROLINK-II motion bus, just a single cable is needed to connect servos together. So you not only save on wiring and installation time, you also significantly reduce the chance of connection errors. Reliability is increased since the single-cable connection is much more rugged than a multiple-wiring solution. to only one cable Compact in size big in features Save space, save wiring, save time Before auto-tuning After auto-tuning Always with your application in mind, G-Series servo drives give you additional functionalities to develop your machines faster, more flexibly and more efficiently. Improved speed response, a wider range of servomotors and intuitive and fast auto-tuning belong to the new features, making it suitable for many applications, and always with the expected Omron quality and support. Key features and benefits: • Pocket-size servo with smallest footprint 15x4 cm • Auto-tuning for easy and quick start-up • Built-in MECHATROLINK-II motion bus reduces cabling and allows remote servo configuration and diagnosis • High starting torque: 300% for 3 secs. • Positioning, speed or torque control • Separate power and control power supply • Fast and accurate positioning • Servomotor range from 50 W to 1.5 kW • Incremental and absolute encoder available • Cylindrical and flat servo motors up to 3,000 rpm • Compatible with SmartStep 2 servomotors • Vibration suppression

benefits • 16 axes, point-to-point positioning over ML II • System scalability with models for 2, 4 and 16 axes • Easy, quick and reliable setup • Optimized for positioning applications • Simplified wiring to drives • Integration with Omron Smart Platform Complete and compact positioning system In a minimum of space you can have a complete and powerful PTP system when combining the CJ1W-NCF71 unit and the G-Series servo. This configuration offers 16-axis positioning with linear and circular interpolation, as well as interrupt feeding. The NCF and the G-Series offer the ideal solution for applications where space is tight. Full transparency from a remote host When the G-Series is controlled by NCF positioning unit, the servo drive is fully transparent to a remote PC. This is achieved over MECHATROLINK-II from the G-Series to the PLC and over any serial or Ethernet link between the PLC and PC. Hence complying fully with Omron Smart Platform. Up to 16 axes G-Series + NCF: Optimum positioning for up to 16 axes CJ1W-NC271 CJ1W-NCF71 CJ1W-NC471 2 axes 4 axes 16 axes PLCopen A global standard for industrial control programming, PLCopen provides a standardized programming interface to harmonize the way people design and operate industrial control.

R88D-GN@/R88M-G@ G-Series servo system Compact in size big in features. Save space, save wiring, save time • Built-in MECHATROLINK-II motion bus • Position, speed and torque control • High-response frequency of 1 kHZ • Real time auto-tuning • Vibration suppression • Separate power and control power supply • Available motors with absolute and incremental with 17-bit encoder for greater accuracy • Cylindrical and flat servo motors up to 3000 rpm • Servomotors supported by SmartStep2, G-Series and G5- Series servo drives • Peak torque 300% of continuous torque during 3 seconds or more depending on model • IP65 and shaft oil seal available Ratings • 230 VAC single-phase 100 W to 1.5 kW (8.62 Nm) System configuration G IM SP COM X10 3 2 1 0 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 G IM SP COM X10 3 2 1 0 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 G-Series Servo Motor Flat servo motors (100-400 W) Encoder cable Power cable Personal computer software: CX-One G-Series Servo Drive Position control unit CJ1W-NC_71 CS1W-NC_71 Motion Controller TJ1-MC04/16 CJ1W-MCH72 Terminator MECHATROLINK-II G-Series Servo Drive G-Series Servo Drive G-Series Servo Drive G-Series Servo Drive G-Series Servo Motor Cylindric servo motors (50-1500 W) G-Series MECHATROLINK-II Servo Drive Configuration G IM SP COM X10 3 2 1 0 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 G IM SP COM X10 3 2 1 0 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 G IM SP COM X10 3 2 1 0 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5

7 Servo drive G-Series servo drive Servo drive type designation Servo drive specifications Servo drive type R88D-GN@ 01H-ML2 02H-ML2 04H-ML2 08H-ML2 10H-ML2 15H-ML2 Applicable servomotor R88M-G@ 05030@/10030@ 20030@ 40030@ 75030@ G1K020T@ 90010T@/1K030T@/ 1K5@0T@ R88M-GP@ 10030@ 20030@ 40030@ - - - Basic specifications Max. applicable motor capacity W 100 200 400 750 1000 1500 Continuous output current Arms 1.16 1.6 2.7 4.0 5.9 9.8 Max. output current Arms 3.5 5.3 7.1 14.1 21.2 28.3 Input power Main circuit For single-phase, 200 to 240 VAC +10 to -15% (50/60 Hz) For single-phase/ three-phase, 200 to 240 VAC +10 to -15% (50/60 Hz) Supply Control circuit For single-phase, 200 to 240 VAC +10 to -15% (50/60 Hz) Control method IGBT-driven PWM method Feedback Serial encoder (incremental/absolute) Conditions Usage/storage temperature 0 to +55 °C / -20 to 65 °C Usage/storage humidity 90% RH or less (non-condensing) Altitude 1000m or less above sea level Vibration/shock resistance 5.88 m/s2 / 19.6 m/s2 Configuration Base mounted Approx. weight Kg 0.8 1.1 1.5 1.7 Position/Speed/torque control mode Performance Speed control range 1:5000 Speed variance Load variance During 0 to 100% load ±0.01 max. (at rated speed) Voltage variance 0% at ±10% of rated voltage (at rated speed) Temperature variance 0 to 50ºC ±0.1% max. (at rated speed) Frequency characteristics 1 kHz Torque control accuracy (reproducibility) ±3% (at 20% to 100% of rated torque) Soft start time setting 0 to 10 s (acceleration time and deceleration time can be set) Command Input MECHATROLINK Communication MECHATROLINK-II commands (for sequence, motion, data setting/reference, monitor, adjustament and other commands) I/O signal Sequence input signal Emergency stop, 3 external latch signals, forward/reverse torque limit, forward/reverse run prohibit, origin prox- imity, 3 general-purpose inputs Sequence output signal It is possible to output three types of signals: positioning completed, speed coincidence, rotation speed detection, servo ready, current limit, speed limit, brake release and warning signal 100 W 200 W 400 W 750 W 01 02 04 08 1.5 kW 15 1.0 kW 10 G-Series servo drive Capacity Model ML2: MECHATROLINK-II communications Source voltage H: 230 V R88D-GN04H-ML2 N: Network type

Servo drive part names Integrated functions Communications RS-232 communications Interface Personal computer Transmission rate From 2400 to 57600 bps Functions Parameter setting, status display, alarm display (monitor, clear, history), servo drive data tracing function, test run/autotuning operations, real time trace, absolute encoder setting, default values function MECHATROLINK communications Communications protocol MECHATROLINK-II Transmission rate 10 Mbps Data length 17 bytes and 32 bytes Functions Parameter setting, status display, alarm display (monitor, clear, history), default values function Automatic load inertia detection Horizontal and vertical axis mode. One parameter rigidity setting. Dynamic brake (DB) Operates when main power OFF, servo alarm, overtravel or servo OFF Regenerative processing Built-in regeneration resistor in models from 750 W to 1.5 kW. External regeneration resistor optionally. Overtravel (OT) prevention function Dynamic brake, disables torque or emergency stop torque during POT and NOT operation Emergency stop (STOP) Emergency stop input Encoder divider function Optional division pulses possible Electronic gearing 0,01

9 Servo drives R88D-GN01H-ML2 / GN02H-ML2 (200 V, 100 to 200 W) R88D-GN04H-ML2 (200 V, 400 W) R88D-GN08H-ML2 (200 V, 750 W) Dimensions G IM SP COM X10 3 2 1 0 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 132 70 4 150 40 28±0.5 6 40 Two, M4 140±0.5 150 43±0.5 6 55 Two, M4 140±0.5 150 132 70 4 150 55 0 G IM SP COM X10 3 2 1 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 50±0.5 7.5 65 Two, M4 140±0.5 150 0 G IM SP COM X10 3 2 1 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 172 70 4 150 65

R88D-GN10H-ML2 / GN15H-ML2 (200 V, 1 kW to 1,5 kW ) Servo motor 70±0.5 7.5 85 Two, M4 140±0.5 150 172 70 4 150 85 0 G IM SP COM X10 3 2 1 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 Servo motors type designation 50 W 100 W 200 W 400 W 050 100 200 400 900 W 900 750 W 750 G-Series Servomotor Capacity Shaft end specifications Voltage and encoder specifications H: 230 V with incremental encoder T: 230 V with absolute encoder R88M-GP10030H-BOS2 Motor Type Blank: Cylinder type P: Flat type 1K0 1 kW 1K5 1.5 kW Rated Speed (r/min) 1000 2000 3000 10 20 30 Straigth shaft, no key Blank S2 Straigth, key, tapped Oil seal specifications No oil seal Blank O Oil seal Brake specifications No brake Blank B Brake

11 Cylindrical servo motors 3000/2000/1000 r/min Ratings and specifications Torque-speed charecteristics Servo motor specifications Applied voltage 230 V Servo motor model R88M-@ G05030@ G10030@ G20030@ G40030@ G75030@ G1K030T G1K530T G1K020T G1K520T G90010T Rated output W 50 100 200 400 750 1000 1500 1000 1500 900 Rated torque N·m 0.16 0.32 0.64 1.3 2.4 3.18 4.77 4.8 7.15 8.62 Instantaneous peak torque N·m 0.45 0.90 1.78 3.67 7.05 9.1 12.8 13.5 19.6 18.4 Rated current A (rms) 1.1 1.6 2.6 4 7.2 9.4 5.6 9.4 7.6 Instantaneous max. current A (rms) 3.4 4.9 7.9 12.1 21.4 28.5 17.1 28.5 17.1 Rated speed min-1 3000 2000 1000 Max. speed min-1 5000 4500 5000 3000 2000 Torque constant N·m/A (rms) 0.14 0.19 0.41 0.51 0.64 0.44 0.51 0.88 0.76 1.13 Rotor moment of inertia (JM) kg·m2x10-4 0.025 0.051 0.14 0.26 0.87 1.69 2.59 6.17 11.2 Allowable load moment of inertia (JL) Multiple of (JM) 30 20 15 10 Rated power rate kW/s 10.4 20.1 30.3 62.5 66 60 88 37.3 45.8 66.3 Applicable Encoder Incremental encoder (10000 pulses) - Incremental /Absolute encoder(17 bits) Allowable radial load N 68 245 392 490 686 Allowable thrust load N 58 98 147 196 Approx. mass Kg (without brake) 0.3 0.5 0.8 1.2 2.3 4.5 5.1 6.8 8.5 Kg (with brake) 0.5 0.7 1.3 1.7 3.1 5.1 6.5 8.7 10.1 10 Brake specifications Rated voltage 24 VDC +/-5% 24 VDC +/-10% Holding brake moment of inertia J kg·m2x10-4 0.002 0.018 0.075 0.25 0.33 1.35 Power consumption (at 20°C) W 7 9 10 18 19 14 19 Current consumption (at 20°C) A 0.3 0.36 0.42 0.74 0.81 0.59 0.79 Static friction torque N.m (minimum) 0.29 1.27 2.45 4.9 7.8 4.9 13.7 Rise time for holding torque ms (max.) 35 50 70 50 80 100 Release time ms (max) 20 15 20 15 70 50 Basic specifications Rating Continuous Insulation grade Type B Type F Ambient operating/ storage temperature 0 to +40°C/ -20 to 65°C 0 to +40°C/ -20 to 80°C Ambient operating/ storage humidity 85% RH max. (non-condensing) Vibration class V-15 Insulation resistance 20 MΩ min. at 500 VDC between the power terminals and FG terminal Enclosure Totally-enclosed, self-cooling, IP65 (excluding shaft opening and lead wire ends) Vibration resistance Vibration acceleration 49 m/s² Vibration acceleration 24.5 m/s² Mounting Flange-mounted 0.25 0 1000 2000 3000 4000 5000 0.5 0.45 0.16 0.16 0.1 0.45 Repetitive usage Continuous usage (N·m) (r/min) R88M-G05030H/T (50 W) 0.5 0 1000 2000 3000 4000 5000 1.0 0.93 0.32 0.32 0.93 0.28 Repetitive usage Continuous usage (N·m) (r/min) R88M-G10030H/T (100 W) 1.0 0 1000 2000 3000 4000 5000 2.0 1.78 0.64 0.64 0.38 1.5 1.78 (4500) Repetitive usage Continuous usage (N·m) (r/min) R88M-G20030H/T (200 W) R88M-G40030H/T (400 W) R88M-G75030H/T (750 W) R88M-G1K030T (1 kW) R88M-G1K530T (1.5 kW) 2.0 0 1000 2000 3000 4000 5000 4.0 3.6 1.3 1.3 1.7 0.78 3.6 (3800) Repetitive usage Continuous usage (N·m) (r/min) 4.0 0 1000 2000 3000 4000 5000 8.0 7.05 2.4 2.4 4.0 1.0 7.05 (3600) Repetitive usage Continuous usage (N·m) (r/min) 5 0 1000 2000 3000 4000 5000 10 9.1 3.18 3.18 4.8 9.1 (3600) Repetitive usage Continuous usage (N·m) (r/min) 7.5 0 1000 2000 3000 4000 5000 15 12.9 4.77 4.77 3.6 12.9 (3500) Repetitive usage Continuous usage (N·m) (r/min) R88M-G1K020T (1 kW) R88M-G1K520T (1.5 kW) 0 1000 2000 5 10 15 3000 13.5 4.8 4.8 5.5 3.2 13.5 (2200) Repetitive usage Continuous usage (N·m) (r/min) 10 0 20 1000 2000 3000 19.6 14.3 4.7 7.15 7.15 19.6 (2200) Repetitive usage Continuous usage (N·m) (r/min) 10 0 20 18.4 10.0 4.31 8.62 8.62 1000 2000 18.4 (1600) Repetitive usage Continuous usage (N·m) (r/min) R88M-G90010T (900 W)

Flat servo motors 3000 r/min Ratings and specifications Torque-speed charecteristics Applied voltage 230 V Servo motor model R88M-@ GP10030@ GP20030@ GP40030@ Rated output W 100 200 400 Rated torque N·m 0.32 0.64 1.3 Instantaneous peak torque N·m 0.86 1.8 3.65 Rated current A (rms) 1 1.6 2.5 Instantaneous max. current A (rms) 3.1 4.9 7.5 Rated speed min-1 3000 Max. speed min-1 5000 Torque constant N·m/A (rms) 0.34 0.42 0.54 Rotor moment of inertia (JM) kg·m2x10-4 0.1 0.35 0.64 Allowable load moment of inertia (JL) Multiple of (JM) 20 Rated power rate kW/s 10.2 11.5 25.5 Applicable encoder Incremental (10000 pulses) Incremental /Absolute encoder(17 bits) Allowable radial load N 68 245 Allowable thrust load N 58 98 Approx. mass Kg (without brake) 0.7 1.3 1.8 Kg (with brake) 0.9 2 2.5 Brake specifications Rated voltage 24VDC +/-10% Holding brake moment of inertia J kg·m2x10-4 0.03 0.09 Power consumption (at 20°C) W 7 10 Current consumption (at 20°C) A 0.29 0.41 Static friction torque N.m (minimum) 0.29 1.27 Rise time for holding torque ms (max.) 50 60 Release time ms (max) 15 Basic specifications Rating Continuous Insulation grade Type B Ambient operating/ storage temperature 0 to +40 °C/ -20 to 80°C Ambient operating/ storage humidity 85% RH max. (non-condensing) Vibration class V-15 Insulation resistance 20 MΩ min. at 500 VDC between the power terminals and FG terminal Enclosure Totally-enclosed, self-cooling, IP65 (excluding shaft opening and lead wire ends) Vibration resistance Vibration acceleration 49 m/s2 Mounting Flange-mounted 0.5 0 1000 2000 3000 4000 5000 1.0 0.86 0.32 0.32 0.19 0.86 Repetitive usage Continuous usage (N·m) (r/min) R88M-GP10030H/T (100 W) R88M-GP20030H/T (200 W) R88M-GP40030H/T (400 W) 1.0 0 1000 2000 3000 4000 5000 2.0 1.8 0.64 0.38 0.64 1.8 (4500) Repetitive usage Continuous usage (N·m) (r/min) 2.0 0 1000 2000 3000 4000 5000 4.0 3.65 1.3 1.3 2.0 0.78 3.65 (3600) Repetitive usage Continuous usage (N·m) (r/min)

13 Servo motors Cylindrical type 3000 r/min (230 V, 50-100 W) Cylindrical type 3000 r/min (230 V, 200-750 W) Dimensions Dimensions (mm) Without brake With brake LN Flange surface Shaft end Aprox. Mass (Kg) Model LL LL D S B Without brake With brake R88M-G05030@-@S2 72 102 26.5 30h7 8h6 3h9 0.3 0.5 R88M-G10030@-@S2 92 122 46.5 0.5 0.7 Dimensions (mm) Without brake With brake LR KL1 Flange surface Shaft end Aprox. Mass (Kg) Model LL LL D1 D2 C G Z S QK B H T1 Tap x depth Without brake With brake R88M-G20030@-@S2 79.5 116 30 43 70 50h7 60 6.5 4.5 11h6 18 4h9 4 2.5 M4x8L 0.8 1.3 R88M-G40030@-@S2 99 135.5 14h6 22.5 5h9 5 3 M5x10L 1.2 1.7 R88M-G75030@-@S2 112.2 149.2 35 53 90 70h7 80 8 6 19h6 22 6h9 6 3.5 2.3 3.1 32 40 × 40 46 dia. Two, 4.3 dia. LL LN 200 25 3 6 230 S D Encoder connector Brake connector Servomotor connector B 12.5 M3 x 6L (Tap x Depth) 1.8 3 14 (Dimensions of shaft end with key and tap) KL1 C × C D1 dia. Four, Z dia. 220 200 3 G LL LR S Brake connector Servomotor connector Encoder connector D2 QK Tap x Depth B T1 H (Dimensions of shaft end with key and tap)

Cylindrical type 3000, 2000 and 1000 r/min (230 V, 900 kW - 1.5 kW) Flat type 3000 r/min (230 V, 100 W - 400 W) Dimensions (mm) Without brake With brake LR KL1 Flange surface Shaft end Aprox. Mass (Kg) Model LL LL D1 D2 D3 C G F Z S QK B H T1 Tap x depth Without brake With brake R88M-G1K030T-@S2 175 200 55 98 100 80h7 120 90 7 3 6.6 19h6 42 6h9 6 3.5 M5x12L 4.5 5.1 R88M-G1K530T-@S2 180 205 103 115 95h7 135 100 10 9 5.1 6.5 R88M-G1K020T-@S2 150 175 118 145 110h7 165 130 12 6 22h6 41 8h9 7 4 6.8 8.7 R88M-G1K520T-@S2 175 200 8.5 10.1 R88M-G90010T-@S2 175 200 70 10 Dimensions (mm) Without brake With brake LR KL1 Flange surface Shaft end Aprox. Mass (Kg) Model LL LL D1 D2 C F G Z S QK B H T1 Tap x depth Without brake With brake R88M-GP10030H-@S2 60.5 84.5 25 43 70 50h7 60 3 7 4.5 8h6 12.5 3h9 3 1.8 M3x6L 0.7 0.9 R88M-GP10030T-@S2 87.5 111.5 R88M-GP20030H-@S2 67.5 100 30 53 90 70h7 80 5 8 5.5 11h6 18 4h9 4 2.5 M4x8L 1.3 2 R88M-GP20030T-@S2 94.5 127 R88M-GP40030H-@S2 82.5 115 14h6 22.5 5h9 5 3.0 M5x10L 1.8 2.5 R88M-GP40030T-@S2 109.5 142 Encoder connector Servomotor/brake connector LL LR G F KL1 84 C × C Four, Z dia. D1 dia. D2 S D3 dia. QK B T1 H Tap x Depth (Dimensions of shaft end with key and tap) LL LR F G 200 220 KL1 C × C Brake connector Motor connector (7) (7) Encoder connector Four, Z dia. D2 S D1 dia. B QK Tap x Depth T1 H (Dimensions of shaft end with key and tap)

15 Single-phase, 230 VAC *1 Connect when using an absolute encoder. If a backup battery is connected, an encoder cable with a battery is not required. *2 Connect B2-B3 for the models with a built-in regeneration resistor (models from 750 W). *3 If the amount of regeneration is large, connect an external regeneration resistor to B1-B2. For the models from 750 W, disconnect B2-B3. Installation Emergency Stop /ALM Alarm Output ALMCOM 15 16 8 NCL 7 PCL 6 IN1 5 EXT1 4 EXT2 3 EXT3 2 STOP 1 +24VIN Forword Torque Limit Input General-purpose Input 1 External Latch 1 External Latch 2 External Latch 3 12 to 24 VDC 19 POT Forward run Prohibit Input 20 NOT 21 DEC Origin Proximity Input Shell FG BAT BATCOM Backup Battery *1 34 33 22 IN0 General-purpose Input0 23 IN2 General-purpose Input 2 4.7kΩ 1kΩ 4.7kΩ 1kΩ 4.7kΩ 1kΩ 4.7kΩ 1kΩ 4.7kΩ 1kΩ 4.7kΩ 1kΩ 4.7kΩ 1kΩ 4.7kΩ 1kΩ 4.7kΩ 1kΩ 4.7kΩ 1kΩ 4.7kΩ 1kΩ 4.7kΩ 1kΩ OUTM1 General-purpose Output 1 OUTM1COM 36 35 OUTM2 General-purpose Output 2 OUTM2COM 29 30 OUTM3 General-purpose Output 3 OUTM3COM 31 32 Reverse Torque Limit Input Reverse run Prohibit Input G-Series Servo drive Optical encoder Servo motor CN1 CN2 B3 B2 U V W B1 L1 L3 L1C L2C Regeneration resistor *3 Noise filter CNB CNA CNB *2 Single-Phase 200 to 230 VAC Contactor L1 L2 L3 N Thermal switch

Ordering information Note: The symbols ABCDE... show the recommended sequence to select the components in a G-Series servo system Servo drives Control cables (for CN1) Computer cable (for CN3) MECHATROLINK-II Motion controllers Computer software MECHATROLINK-II cables (for CN6) Footprint filters External regenerative resistor Symbol Specifications Servo drive model A Compatible rotary servo motors Cylindric type Flat type B 1 phase 200 VAC 100 W R88D-GN01H-ML2 R88M-G05030@ R88M-GP10030@ R88M-G10030@ 200 W R88D-GN02H-ML2 R88M-G20030@ R88M-GP20030@ 400 W R88D-GN04H-ML2 R88M-G40030@ R88M-GP40030@ 750 W R88D-GN08H-ML2 R88M-G75030@ - 1.0 kW R88D-GN10H-ML2 R88M-G1K020T@ - 1.5 kW R88D-GN15H-ML2 R88M-G90010T@ - R88M-G1K030T@ - R88M-G1K520T@ - R88M-G1K530T@ - 3000 rpm (100-400 W) A A G-Series Flat type Servo Motor CN6 CN1 L G-Series MECHATROLINK-II Servo Drive 3000 rpm (1000-1500 W) 2000 rpm (1000-1500 W) 1000 rpm (900 W) G IM SP COM X10 3 2 1 0 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 Power cable B Encoder cables C Brake cables E D G-Series Cylindrical type Servo Motor 3000 rpm (50-750W) F G Personal computer: Sofware CX-One Terminal block for Servo drive I/O signals Servo drive I/O signals H I CN3 J MECHATROLINK-II Motion controllers Filter Position control unit CJ1W-NC_71 CS1W-NC_71 Motion controller unit TJ1-MC04/16 CJ1W-MCH72 K MECHATROLINK-II cables M External regenerative resistor Symbol Name Connect to Model F I/O connector kit Servo drive I/O signals - R88A-CNU01C G Terminal block cable 1 m XW2Z-100J-B33 2 m XW2Z-200J-B33 H Terminal block - XW2B-20G4 XW2B-20G5 XW2D-20G6 Symbol Name Model I Computer cable RS232 2 m R88A-CCG002P2 Symbol Name Model J Trajexia stand-alone motion controller TJ1-MC04 (4 axes) TJ1-MC16 (16 axes) Trajexia-PLC motion controller CJ1W-MCH72 Position Controller Unit for CJ1 PLC CJ1W-NCF71 (16 axes) CJ1W-NC471 (4 axes) CJ1W-NC271 (2 axes) Position Controller Unit for CS1 PLC CS1W-NCF71 (16 axes) CS1W-NC471 (4 axes) CS1W-NC271 (2 axes) Specifications Model Configuration and monitoring software tool for servo drives and inverters. (CX-drive version 1.70 or higher) CX-drive Complete OMRON software package including CX-drive. (CX-One version 3.10 or higher) CX-One Symbol Specifications Length Model K MECHATROLINK-II Terminator resistor - JEPMC-W6022-E MECHATROLINK-II cables 0.5 m JEPMC-W6003-A5-E 1 m JEPMC-W6003-01-E 3 m JEPMC-W6003-03-E 5 m JEPMC-W6003-05-E 10 m JEPMC-W6003-10-E 20 m JEPMC-W6003-20-E 30 m JEPMC-W6003-30-E Symbol Applicable servodrive Filter model Rated current Leak- age current Rated voltage L R88D-GN01H@ R88D-GN02H@ R88A-FIK102-RE 2.4 A 3.5 mA 250 VAC single- phase R88D-GN04H@ R88A-FIK104-RE 4.1 A 3.5 mA R88D-GN08H@ R88A-FIK107-RE 6.6 A 3.5 mA R88D-GN10H@ R88D-GN15H@ R88A-FIK114-RE 14.2 A 3.5 mA Symbol Regenerative resistor unit model Specifications M R88A-RR08050S 50 Ω, 80 W R88A-RR080100S 100 Ω, 80 W R88A-RR22047S 47 Ω, 220 W R88A-RR50020S 20 Ω, 500 W

17 Cylindrical servo motors 3000/2000/1000 r/min (50 - 1.5 kW) Flat type servo motors 3000 r/min (100 - 400 W) Encoder Cables Symbol Specifications Servo motor model Compatible servo drives B Voltage Encoder and design Speed Design Rated torque Capacity A 230 V Incremental encoder (10000 pulses) Straight shaft with key & tap 3000 min-1 Without brake 0.16 Nm 50 W R88M-G05030H-S2 R88D-GN01H-ML2 0.32 Nm 100 W R88M-G10030H-S2 R88D-GN01H-ML2 0.64 Nm 200 W R88M-G20030H-S2 R88D-GN02H-ML2 1.3 Nm 400 W R88M-G40030H-S2 R88D-GN04H-ML2 2.4 Nm 750 W R88M-G75030H-S2 R88D-GN08H-ML2 With brake 0.16 Nm 50 W R88M-G05030H-BS2 R88D-GN01H-ML2 0.32 Nm 100 W R88M-G10030H-BS2 R88D-GN01H-ML2 0.64 Nm 200 W R88M-G20030H-BS2 R88D-GN02H-ML2 1.3 Nm 400 W R88M-G40030H-BS2 R88D-GN04H-ML2 2.4 Nm 750 W R88M-G75030H-BS2 R88D-GN08H-ML2 Absolute/ incremental en- coder (17 bits) Straight shaft with key & tap Without brake 0.16 Nm 50 W R88M-G05030T-S2 R88D-GN01H-ML2 0.32 Nm 100 W R88M-G10030T-S2 R88D-GN01H-ML2 0.64 Nm 200 W R88M-G20030T-S2 R88D-GN02H-ML2 1.3 Nm 400 W R88M-G40030T-S2 R88D-GN04H-ML2 2.4 Nm 750 W R88M-G75030T-S2 R88D-GN08H-ML2 3.18 Nm 1 kW R88M-G1K030T-S2 R88D-GN15H-ML2 4.77 Nm 1.5 kW R88M-G1K530T-S2 R88D-GN15H-ML2 With brake 0.16 Nm 50 W R88M-G05030T-BS2 R88D-GN01H-ML2 0.32 Nm 100 W R88M-G10030T-BS2 R88D-GN01H-ML2 0.64 Nm 200 W R88M-G20030T-BS2 R88D-GN02H-ML2 1.3 Nm 400 W R88M-G40030T-BS2 R88D-GN04H-ML2 2.4 Nm 750 W R88M-G75030T-BS2 R88D-GN08H-ML2 3.18 Nm 1 kW R88M-G1K030T-BS2 R88D-GN15H-ML2 4.77 Nm 1.5 kW R88M-G1K530T-BS2 R88D-GN15H-ML2 2000 min-1 Without brake 4.8 Nm 1 kW R88M-G1K020T-S2 R88D-GN10H-ML2 7.15 Nm 1.5 kW R88M-G1K520T-S2 R88D-GN15H-ML2 With brake 4.8 N m 1 kW R88M-G1K020T-BS2 R88D-GN10H-ML2 7.15 Nm 1.5 kW R88M-G1K520T-BS2 R88D-GN15H-ML2 1000 min-1 Without brake 8.62 Nm 900 W R88M-G90010T-S2 R88D-GN15H-ML2 With brake R88M-G90010T-BS2 R88D-GN15H-ML2 Symbol Specifications Servo motor model Compatible servo drives B Voltage Encoder and design Rated torque Capacity A 230 V Incremental encoder (10000 pulses) Straight shaft with key & tap Without brake 0.32 Nm 100 W R88M-GP10030H-S2 R88D-GN01H-ML2 0.64 Nm 200 W R88M-GP20030H-S2 R88D-GN02H-ML2 1.3 Nm 400 W R88M-GP40030H-S2 R88D-GN04H-ML2 With brake 0.32 Nm 100 W R88M-GP10030H-BS2 R88D-GN01H-ML2 0.64 Nm 200 W R88M-GP20030H-BS2 R88D-GN02H-ML2 1.3 Nm 400 W R88M-GP40030H-BS2 R88D-GN04H-ML2 Absolute/ incremental encoder (17 bits) Straight shaft with key & tap Without brake 0.32 Nm 100 W R88M-GP10030T-S2 R88D-GN01H-ML2 0.64 Nm 200 W R88M-GP20030T-S2 R88D-GN02H-ML2 1.3 Nm 400 W R88M-GP40030T-S2 R88D-GN04H-ML2 With brake 0.32 Nm 100 W R88M-GP10030T-BS2 R88D-GN01H-ML2 0.64 Nm 200 W R88M-GP20030T-BS2 R88D-GN02H-ML2 1.3 Nm 400 W R88M-GP40030T-BS2 R88D-GN04H-ML2 Symbol Specifications Model Appearance C Encoder cable for absolute encoder (50-750 W) R88M-G(050/100/200/400/750)30T-@ R88M-GP(100/200/400)30T-@ 1.5 m R88A-CRGA001-5CR-E 3 m R88A-CRGA003CR-E 5 m R88A-CRGA005CR-E 10 m R88A-CRGA010CR-E 15 m R88A-CRGA015CR-E 20 m R88A-CRGA020CR-E Encoder cable for Incremental encoder (50-750 W) R88M-G(050/100/200/400/750)30H-@ R88M-GP(100/200/400)30H-@ 1.5 m R88A-CRGB001-5CR-E 3 m R88A-CRGB003CR-E 5 m R88A-CRGB005CR-E 10 m R88A-CRGB010CR-E 15 m R88A-CRGB015CR-E 20 m R88A-CRGB020CR-E Encoder cable for Absolute encoder (900-1500 W) R88M-G(1K0/1K5)30T-@ R88M-G(1K0/1K5)20T-@ R88M-G90010T-@ 1.5 m R88A-CRGC001-5NR-E 3 m R88A-CRGC003NR-E 5 m R88A-CRGC005NR-E 10 m R88A-CRGC010NR-E 15 m R88A-CRGC015NR-E 20 m R88A-CRGC020NR-E (50-750 W) (900-1500 W)

Absolute Encoder Battery cable Note: The absolute encoder battery cable is only an extension and must be used with an absolute encoder cable. Power cables Brake cable (for 50-750W servomotors) Connectors for power, encoder and brake cables Symbol Specifications Model Appearance C Absolute Encoder battery cable Battery not included 0.3 m R88A-CRGD0R3C One R88A-BAT01G Battery included 0.3 m R88A-CRGD0R3C-BS Absolute Encoder backup battery 2,000 mA.h 3.6V - - R88A-BAT01G Symbol Specifications Model Appearance D For servomotors from 50 to 750W R88M-G(050/100/200/400/750)30@ R88M-GP(100/200/400)30@ For servomotors with brake, a separate cable (R88A-CAGA@BR-E) is needed 1.5 m R88A-CAGA001-5SR-E 3 m R88A-CAGA003SR-E 5 m R88A-CAGA005SR-E 10 m R88A-CAGA010SR-E 15 m R88A-CAGA015SR-E 20 m R88A-CAGA020SR-E For servomotors from 900 to 1.5 kW without brake R88M-G(1K0/1K5)30T-S2 R88M-G(1K0/1K5)20T-S2 R88M-G90010T-S2 1.5 m R88A-CAGB001-5SR-E 3 m R88A-CAGB003SR-E 5 m R88A-CAGB005SR-E 10 m R88A-CAGB010SR-E 15 m R88A-CAGB015SR-E 20 m R88A-CAGB020SR-E For servomotors from 900 to 1.5 kW with brake R88M-G(1K0/1K5)30T-BS2 R88M-G(1K0/1K5)20T-BS2 R88M-G90010T-BS2 1.5 m R88A-CAGB001-5BR-E 3 m R88A-CAGB003BR-E 5 m R88A-CAGB005BR-E 10 m R88A-CAGB010BR-E 15 m R88A-CAGB015BR-E 20 m R88A-CAGB020BR-E Symbol Specifications Model Appearance E Brake cable only. For servomotors from 50 to 750W with brake R88M-G(050/100/200/400/750)30@-BS2, R88M-GP(100/200/400)30@-BS2 1.5 m R88A-CAGA001-5BR-E 3 m R88A-CAGA003BR-E 5 m R88A-CAGA005BR-E 10 m R88A-CAGA010BR-E 15 m R88A-CAGA015BR-E 20 m R88A-CAGA020BR-E Battery holder Specifications Applicable Servomotor Model Connectors for power cables Motor side R88M-G(050/100/200/400/750)30@, R88M-GP(100/200/400)30@ R88A-CNG01A Motor side R88M-G(1K0/1K5)30@-S2, R88M-G(1K0/1K5)20@-S2, R88M-G90010@-S2 (without brake) MS3108E20-4S Motor side R88M-G(1K0/1K5)30@-BS2, R88M-G(1K0/1K5)20@-BS2, R88M-G90010@-BS2 (with brake) MS3108E20-18S Connectors for encoder cables Drive side (CN2) - R88A-CNW01R Motor side R88M-G(050/100/200/400/750)30T-@, R88M-GP(100/200/400)30T-@ (Absolute encoder) R88A-CNG01R Motor side R88M-G(050/100/200/400/750)30H-@, R88M-GP(100/200/400)30H-@ (Incremental encoder) R88A-CNG02R Motor side R88M-G(1K0/1K5)30T-@, R88M-G(1K0/1K5)20T-@, R88M-G90010T-@ MS3108E20-29S Connector for brake cable Motor side R88M-G(050/100/200/400/750)30@-BS2, R88M-GP(100/200/400)30@-BS2 R88A-CNG01B In the interest of product improvement, specifications are subject to change without notice. ALL DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527.

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