Omron, SmartStep Series

last update: December 16, 2013

Compact!

Smaller Servo Drives for Multi-axis Applications
Reduce footprint in the control panel.

The super-compact SMARTSTEP is now even smaller.
The footprint has been reduced by 52%, helping to reduce control panel size.

Downsized Servo Drives for Compact PLCs
Reduce your duct pitch.

SMARTSTEP2 is only 120 mm in height. By mounting it onto the same duct as the compact CP1L PLC, the duct pitch can be reduced, minimizing control panel space.

Easy!

Easy Adjustment
Realtime autotuning sets the optimum gain.

An autotuning function calculates the device load in realtime and automatically sets the optimum gain, simplifying the adjustment procedure.

Easier Installation
Mount the Servo to a DIN Rail in one step.

The Servo Drive can be mounted onto a DIN Rail in a single step by using the DIN Rail Mounting Unit (sold separately) for easier assembly and easier maintenance replacements.

Easy Parameter Settings for Mass Production
Use the Parameter Unit as a copy tool.

Parameter can be easily set for many Servo Drives using the Parameter Unit, enabling easier assembly work in mass production lines.

Advanced Functionality!

Reduce Tact Time
Achieve high-speed positioning and movement.

The command pulse frequency at 500 kpps is twice as fast as previous OMRON models, enabling high-speed and high-precision control.

Check the Present Position
Monitor positioning errors with a feedback pulse.

The present position can be checked from the host using the feedback pulse sent from the Servo Drive to the Controller, allowing device errors to be monitored.

Change Pressing Force
Torque limiting function.

Set two torque limits, and switch between the two limits depending on the application, such as pressing or part insertions.

Reduce Mechanical Vibration
Quick suppression of vibration with an adaptive filter.

The vibration frequency is automatically measured to remove vibration. Even if the resonant frequency changes, realtime evaluation automatically follows the changes to reduce the effect of vibration due to low mechanical rigidity, such as for conveyer belts.

Reduce Tact Time
High-speed positioning with vibration control.

Mechanical vibration at the stop position caused by low mechanical rigidity can be suppressed by removing the vibration frequency.

last update: December 16, 2013

Servo Drive Specifications (R7D-BP)

General Specifications

Item			Specifications
Ambient operating temperature Ambient operating humidity			0 to 55 ºC, 90% max. (with no condensation)
Ambient storage temperature Ambient storage humidity			-20 to 65 ºC, 90% max. (with no condensation)
Storage and operating atmosphere			No corrosive gasses, no dust, no iron dust, no exposure to moisture or cutting oil
Vibration resistance			10 to 60 Hz; acceleration: 5.9 m/s² (0.6 G) max.
Impact resistance			Acceleration of 19.6 m/s² max. 3 times each in X, Y, and Z directions.
Insulation resistance			Between power supply/power line terminals and frame ground: 0.5 MO. min. (at 500 VDC)
Dielectric strength			Between power supply/power line terminals and frame ground: 1,500 VAC for 1 min at 50/60 Hz Between each control signal and frame ground: 500 VAC for 1 min
Altitude			1,000 m above sea level max. (860 hp min.)
Degree of protection			Built into panel (IP10).
International standards	EC Directives	EMC Directive	EN 55011 class A group 1 EN 61000-6-2
	EC Directives	Low Voltage Directive	EN 50178
	UL standards		UL 508C
	cUL standards		cUL C22.2 No.14
	Korean Radio Regulations (KC)		Certified

Note: 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.
Note: 2. Always disconnect all connections to the Servo Drive before you perform insulation resistance tests on it. If you
perform an insulation resistance test while the Servo Drive is connected, the Servo Drive may be damaged.
Never perform dielectric strength tests on the Servo Drive. Failure to follow this precaution may result in
damaging internal elements.
Note: 3. Depending on the operating conditions, some Servo Drive parts will require maintenance.
Note: 4. The service life of the Servo Drive is 50,000 hours at an average ambient temperature of 40ºC at 80% of the
rated torque (excluding axial-flow fan).

Characteristics

100 VAC specification

Item	Servo Drive model
Item	R7D-BPA5L	R7D-BP01L	R7D-BP02L
Continuous output current (rms)	1.0 A	1.6 A	2.5 A
Momentary maximum output current (rms)	3.3 A	5.1 A	7.5 A
Power supply capacity	0.16 KVA	0.25 KVA	0.42 KVA
Input power supply voltage (main circuit)	Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
Input power supply current (rms) (main circuit)	1.4 A	2.2 A	3.7 A
Heat generated (main circuit)	12 W	16 W	22 W
Control method	All-digital servo
Inverter method	IGBT-driven PWM method
PWM frequency	12 kHz		6 kHz
Maximum response frequency (command pulses)	Line drive: 500 kpps, Open collector: 200 kpps
Weight	0.35 kg		0.42 kg
Applicable motor capacity	50 W	100 W	200 W

200 VAC specification

Item	Servo Drive model
Item	R7D-BP01H	R7D-BP02HH	R7D-BP02H	R7D-BP04H
Continuous output current (rms)	1.0 A	1.6 A	1.6 A	2.5 A
Momentary maximum output current (rms)	3.3 A	4.9 A	4.9 A	7.8 A
Power supply capacity	0.27 KVA (0.30 KVA) *	0.35 KVA	0.42 KVA	0.69 KVA (0.77 KVA) *
Input power supply voltage (main circuit)	Both single-phase and three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
Input power supply current (rms) (main circuit)	0.7 A (1.5 A) *	1.6 A	1.1 A	1.8 A (3.5 A) *
Heat generated (main circuit)	14 W	16 W	20 W	26W
Control method	All-digital servo
Inverter method	IGBT-driven PWM method
PWM frequency	12 kHz			6 kHz
Maximum response frequency (command pulses)	Line drive: 500 kpps, Open collector: 200 kpps
Weight	0.35 kg	0.42 kg	0.35 kg	0.42 kg
Applicable motor capacity	100 W	200 W	200 W	400 W

* Values inside parentheses ( ) are for single-phase 200-V use.

Servomotor Specifications (R88M-G)

General Specifications

Item			Specifications
Ambient operating temperature Ambient operating humidity			0 to 40 ºC, 85% max. (with no condensation)
Ambient storage temperature Ambient storage humidity			- 20 to 65 ºC, 85% max. (with no condensation)
Storage and operating atmosphere			No corrosive gases
Vibration resistance			49 m/s² max. in the X, Y, and Z directions
Impact resistance			Acceleration of 98 m/s² max. 3 times each in the X, Y, and Z directions
Insulation resistance			20 MO min. at 500 VDC between the power terminals and FG terminal
Dielectric strength			1,500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal
Operating position			Any direction
Insulation class			Type B
Construction			Totally-enclosed, self-cooling
Degree of protection			IP65 (excluding the through-shaft portion)
Vibration class			V-15
Mounting method			Flange-mounting
International standards	EC Directives	Low Voltage Directive	IEC 60034-5:2001
	UL standards		UL 1004 File No. E179189
	cUL standards		cUL 22.2, No.100

Note: Always disconnect all connections to the Servo Drive before you perform insulation resistance tests on it. If you
perform an insulation resistance test while the Servo Drive is connected, the Servo Drive may be damaged.
Never perform dielectric strength tests on the Servo Drive. Failure to follow this precaution may result in damaging
internal elements.

Characteristics

3,000-r/min Cylindrical Servomotors

100 VAC specification

Item		Unit	R88M-G05030H	R88M-G10030L	R88M-G20030L
*Rated output 1**		W	50	100	200
*Rated torque 1**		Nm	0.16	0.32	0.64
Rated rotation speed		r/min	3000
Max. rotation speed		r/min	5000
*Max. momentary torque 1**		Nm	0.48	0.95	1.78
*Rated current 1**		A (rms)	1.1	1.7	2.5
*Max. momentary current 1**		A (rms)	3.4	5.1	7.6
Rotor inertia		kg·m²	2.5 × 10^-6	5.1 × 10^-6	1.4 × 10^-5
Applicable load inertia		---	30 times rotor inertia max.
*Power rate 1**		kW/s	10.4	20.1	30.3
*Allowable radial load 2**		N	68	68	245
*Allowable thrust load 2**		N	58	58	98
Weight	Without brake	kg	0.3	0.5	0.8
Weight	With brake	kg	0.5	0.7	1.3
Radiation shield dimensions (material)		---	100 × 80 × t10 (Al)		130 × 120 × t12 (Al)
Brake specifications	Brake inertia	kg·m²	2.0 × 10^-7	2.0 × 10^-7	1.8 × 10^-6
	*Excitation voltage 3**	V	24 VDC ± 10%
	Power consumption (at 20 ºC)	W	7	7	9
	Current consumption (at 20 ºC)	A	0.3	0.3	0.36
	Static friction torque	Nm	0.29 min.	0.29 min.	1.27 min.
	*Attraction time 4**	ms	35 max.	35 max.	50 max.
	*Release time 4**	ms	20 max.	20 max.	15 max.
	Backlash		± 1 º
	Allowable work per braking operation	J	39.2	39.2	137
	Allowable total work	J	4.9 × 10³	4.9 × 10³	44.1 × 10³
	Allowable angular acceleration	rad/s²	30,000 max. (Speed of 2,800 r/min minimum must not be stopped in less than 10 ms)
	Brake life	---	10,000,000 operations min.
	Rating	---	Continuous
	Insulation class	---	Type F

*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature.
The momentary maximum torque shown above indicates the standard value.
*2. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal
operating temperatures. The values are also for the locations shown in the following diagram.
*3. The brakes operate when the circuit is open (i.e., they are released when voltage is applied).
*4. The operation time is the measured value (reference value) with a varistor installed as a surge suppressor.

200 VAC specification

Item		Unit	R88M- G05030H	R88M- G10030H	R88M- G20030H	R88M- G40030H
*Rated output 1**		W	50	100	200	400
*Rated torque 1**		Nm	0.16	0.32	0.64	1.3
Rated rotation speed		r/min	3000
Max. rotation speed		r/min	5000
*Max. momentary torque 1**		N·Em	0.48	0.95	1.78	3.60
*Rated current 1**		A (rms)	1.1	1.1	1.6	2.6
*Max. momentary current 1**		A (rms)	3.4	3.4	4.9	7.9
Rotor inertia		kg·m 2	2.5 × 10^-6	5.1 × 10^-6	1.4 × 10^-5	2.6 × 10^-5
Applicable load inertia		---	30 times rotor inertia max.
*Power rate 1**		kW/s	10.4	20.1	30.3	62.5
*Allowable radial load 2**		N	68	68	245	245
*Allowable thrust load 2**		N	58	58	98	98
Weight	Without brake	kg	0.3	0.5	0.8	1.2
Weight	With brake	kg	0.5	0.7	1.3	1.7
Radiation shield dimensions (material)		---	100 × 80 × t10 (Al)		130 × 120 × t12 (Al)
Brake specifi- cations	Brake inertia	kg·m 2	2.0 × 10^-7	2.0 × 10^-7	1.8 × 10^-6	7.5 × 10^-6
	*Excitation voltage 3**	V	24 VDC ± 10%
	Power consumption (at 20 ºC)	W	7	7	9	9
	Current consumption (at 20 ºC)	A	0.30	0.30	0.36	0.36
	Static friction torque	Nm	0.29 min.	0.29 min.	1.27 min.	1.27 min.
	*Attraction time 4**	ms	35 max.	35 max.	50 max.	50 max.
	*Release time 4**	ms	20 max.	20 max.	15 max.	15 max.
	Backlash		± 1 º
	Allowable work per braking operation	J	39.2	39.2	137	196
	Allowable total work	J	4.9 × 10³	4.9 × 10³	44.1 × 10³	147 × 10³
	Allowable angular acceleration	rad/s²	30,000 max. (Speed of 2,800 r/min minimum must not be stopped in less than 10 ms)
	Brake life	---	10,000,000 operations min.
	Rating	---	Continuous
	Insulation class	---	Type F

3,000-r/min Flat Servomotors

100 VAC specification

Item		Unit	R88M-GP10030L	R88M-GP20030L
*Rated output 1**		W	100	200
*Rated torque 1**		Nm	0.32	0.64
Rated rotation speed		r/min	3000
Max. rotation speed		r/min	5000
*Max. momentary torque 1**		Nm	0.85	1.86
*Rated current 1**		A(rms)	1.6	2.5
*Max. momentary current 1**		A(0-p)	6.9	10.5
Rotor inertia		kg·m 2	9.0 × 10^-6	3.4 × 10^-5
Applicable load inertia		---	20 times rotor inertia max.
*Power rate 1**		kW/s	11.4	12.0
*Allowable radial load 2**		N	68	245
*Allowable thrust load 2**		N	58	98
Weight	Without brake	kg	0.65	1.3
Weight	With brake	kg	0.90	2.0
Radiation shield dimensions (material)		---	130 × 120 × t10 (Al)	170 × 160 × t12 (Al)
Brake specifica- tions	Brake inertia	kg·m 2	3.0 × 10^-6	9.0 × 10^-6
	*Excitation voltage 3**	V	24 VDC ± 10%
	Power consumption (at 20 ºC)	W	7	10
	Current consumption (at 20 ºC)	A	0.29	0.41
	Static friction torque	Nm	0.29 min.	1.27 min.
	*Attraction time 4**	ms	50 max.	60 max.
	*Release time 4**	ms	15 max.	15 max.
	Backlash		± 1 º
	Allowable work per braking operation	J	137	196
	Allowable total work	J	44.1 × 10³	147 × 10³
	Allowable angular acceleration	rad/s²	10,000 max. (Speed of 950 r/min minimum must not be stopped in less than 10 ms)
	Brake life	---	10,000,000 operations min.
	Rating	---	Continuous
	Insulation class	---	Type F

200 VAC specification

Item		Unit	R88M-GP10030H	R88M-GP20030H	R88M-GP40030H
*Rated output 1**		W	100	200	400
*Rated torque 1**		Nm	0.32	0.64	1.3
Rated rotation speed		r/min	3000
Max. rotation speed		r/min	5000
*Max. momentary torque 1**		Nm	0.90	1.82	3.60
*Rated current 1**		A(rms)	1.0	1.6	4.4
*Max. momentary current 1**		A(0-p)	4.3	6.8	18.6
Rotor inertia		kg·m 2	9.0 × 10^-6	3.4 × 10^-5	6.4 × 10^-5
Applicable load inertia		---	20 times rotor inertia max.
*Power rate 1**		kW/s	11.4	11.8	25.5
*Allowable radial load 2**		N	68	245	245
*Allowable thrust load 2**		N	58	98	98
Weight	Without brake	kg	0.7	1.3	1.8
Weight	With brake	kg	0.9	2.0	2.5
Radiation shield dimensions (material)		---	130 × 120 × t10 (Al)	170 × 160 × t12 (Al)
Brake specifica- tions	Brake inertia	kg·m 2	3.0 × 10^-6	9.0 × 10^-6	9.0 × 10^-6
	*Excitation voltage 3**	V	24 VDC ± 10%
	Power consumption (at 20 ºC)	W	7	10	10
	Current consumption (at 20 ºC)	A	0.29	0.41	0.41
	Static friction torque	Nm	0.29 min.	1.27 min.	1.27 min.
	*Attraction time 4**	ms	50 max.	60 max.	60 max.
	*Release time4**	ms	15 max.	15 max.	15 max.
	Backlash		± 1 º
	Allowable work per braking operation	J	137	196	196
	Allowable total work	J	44.1 × 10³	147 × 10³	147 × 10³
	Allowable angular acceleration	rad/s²	10,000 max. (Speed of 950 r/min minimum must not be stopped in less than 10 ms)
	Brake life	---	10,000,000 operations min.
	Rating	---	Continuous
	Insulation class	---	Type F

Decelerator Specifications (R88G-HPG/VRXF)

Standard Models and Specifications

Backlash: 3 Arcminutes Max.

Decelerators for Cylindrical Servomotors

Model (R88G-)			Rated speed	Rated torque	Ra- tio	Maxi- mum mo- men- tary speed	Maxi- mum mo- men- tary torque	Decel- erator inertia	Al- lowable radial load	Al- lowable thrust load	Weight
Model (R88G-)			r/min	Nm	%	r/min	Nm	kg·m²	N	N	kg
50 W	1/5	HPG11A05100B	600	0.60	75	1000	1.80	5.00× 10^-7	135	538	0.29
	1/9	HPG11A09050B	333	1.17	81	555	3.51	3.00× 10^-7	161	642	0.29
	1/21	HPG14A21100B	143	2.18	65	238	6.54	5.00× 10^-6	340	1358	1.04
	1/33	HPG14A33050B	91	3.73	71	151	11.2	4.40× 10^-6	389	1555	1.04
	1/45	HPG14A45050B	67	5.09	71	111	15.2	4.40× 10^-6	427	1707	1.04
100 W	1/5	HPG11A05100B	600	1.37	86	1000	4.07	5.00× 10^-7	135	538	0.29
	1/11	HPG14A11100B	273	2.63	75	454	7.80	6.00× 10^-6	280	1119	1.04
	1/21	HPG14A21100B	143	5.40	80	238	16.0	5.00× 10^-6	340	1358	1.04
	1/33	HPG20A33100B	91	6.91	65	151	20.5	6.50× 10^-5	916	3226	2.4
	1/45	HPG20A45100B	67	9.42	65	111	27.9	6.50× 10^-5	1006	3541	2.4
200 W	1/5	HPG14A05200B	600	2.49	78	1000	7.44	2.07× 10^-5	221	883	1.02
	1/11	HPG14A11200B	273	6.01	85	454	17.9	1.93× 10^-5	280	1119	1.09
	1/21	HPG20A21200B	143	10.2	76	238	30.6	4.90× 10^-5	800	2817	2.9
	1/33	HPG20A33200B	91	17.0	81	151	50.8	4.50× 10^-5	916	3226	2.9
	1/45	HPG20A45200B	67	23.2	81	111	69.3	4.50× 10^-5	1006	3541	2.9
400 W	1/5	HPG14A05400B	600	5.66	87	1000	16.5	2.07× 10^-5	221	883	1.09
	1/11	HPG20A11400B	273	11.7	82	454	34.2	5.70× 10^-5	659	2320	2.9
	1/21	HPG20A21400B	143	23.5	86	238	68.8	4.90× 10^-5	800	2547	2.9
	1/33	HPG32A33400B	91	34.7	81	151	101.7	6.20× 10^-5	1565	6240	7.5
	1/45	HPG32A45400B	67	47.4	81	111	138.6	6.10× 10^-5	1718	6848	7.5

Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.
Note: 2. The enclosure rating for Servomotors with Decelerators is IP44.
Note: 3. The allowable radial load is the value at the LR/2 position.
Note: 4. The standard models have a straight shaft. To order a Servomotor with a straight shaft with a key, add a "J" to
the end of the model number, in the place indicated by the box.

Decelerator for Flat Servomotors

Model (R88G-)			Rated speed	Rated torque	Ra- tio	Maxi- mum mo- men- tary speed	Maxi- mum mo- men- tary torque	Decel- erator inertia	Al- lowable radial load	Al- lowable thrust load	Weight
Model (R88G-)			r/min	Nm	%	r/min	Nm	kg·m²	N	N	kg
100 W	1/5	HPG11A05100PB	600	1.37	85	1000	3.84 (3.63)	5.00× 10^-7	135	538	0.34
	1/11	HPG14A11100PB	273	2.63	75	454	7.39 (6.98)	6.00× 10^-6	280	1119	1.04
	1/21	HPG14A21100PB	143	5.40	80	238	15.2 (14.6)	5.00× 10^-6	340	1358	1.04
	1/33	HPG20A33100PB	91	6.91	65	151	19.4 (18.3)	4.50× 10^-5	916	3226	2.9
	1/45	HPG20A45100PB	67	9.42	65	111	26.5 (25.0)	4.50× 10^-5	1006	3541	2.9
200 W	1/5	HPG14A05200PB	600	2.49	78	1000	7.09	2.07× 10^-5	221	883	0.99
	1/11	HPG20A11200PB	273	4.75	68	454	13.5	5.80× 10^-5	659	2320	3.1
	1/21	HPG20A21200PB	143	10.2	76	238	29.2	4.90× 10^-5	800	2817	3.1
	1/33	HPG20A33200PB	91	17.0	81	151	48.5	4.50× 10^-5	916	3226	3.1
	1/45	HPG20A45200PB	67	23.2	81	111	66.1	4.50× 10^-5	1006	3541	3.1
400 W	1/5	HPG20A05400PB	600	4.67	72	1000	12.9	7.10× 10^-5	520	1832	3.1
	1/11	HPG20A11400PB	273	11.7	82	454	32.4	5.80× 10^-5	659	2320	3.1
	1/21	HPG20A21400PB	143	23.5	86	238	65.2	4.90× 10^-5	800	2817	3.1
	1/33	HPG32A33400PB	91	34.7	81	151	96.2	2.80× 10^-4	1565	6240	7.8
	1/45	HPG32A45400PB	67	47.4	81	111	131.2	2.80× 10^-4	1718	6848	7.8

Backlash: 15 Arcminutes Max.

Decelerators for Cylindrical Servomotors

Model (R88G-)			Rated speed	Rated torque	Ra- tio	Maxi- mum mo- men- tary speed	Maxi- mum mo- men- tary torque	Decel- erator inertia	Al- lowable radial load	Al- lowable thrust load	Weight
Model (R88G-)			r/min	Nm	%	r/min	Nm	kg·m²	N	N	kg
50 W	1/5	VRXF05B100CJ	600	0.66	82	1000	1.97	6.04× 10^-6	392	196	0.55
	1/9	VRXF09B100CJ	333	1.18	82	556	3.54	4.97× 10^-6	441	220	0.55
	1/15	VRXF15B100CJ	200	1.85	77	333	5.54	5.26× 10^-6	588	294	0.70
	1/25	VRXF25B100CJ	120	3.08	77	200	9.24	5.14× 10^-6	686	343	0.70
100 W	1/5	VRXF05B100CJ	600	1.44	90	1000	4.28	6.04× 10^-6	392	196	0.55
	1/9	VRXF09B100CJ	333	2.59	90	556	7.70	4.97× 10^-6	441	220	0.55
	1/15	VRXF15B100CJ	200	4.13	86	333	12.26	5.26× 10^-6	588	294	0.70
	1/25	VRXF25B100CJ	120	6.88	86	200	20.43	5.14× 10^-6	686	343	0.70
200 W	1/5	VRXF05B200CJ	600	2.94	92	1000	8.19	1.47× 10^-5	392	196	0.72
	1/9	VRXF09C200CJ	333	4.78	83	556	13.30	2.37× 10^-5	931	465	1.70
	1/15	VRXF15C200CJ	200	8.26	86	333	22.96	3.02× 10^-5	1176	588	2.10
	1/25	VRXF25C200CJ	120	13.76	86	200	38.27	2.93× 10^-5	1323	661	2.10
400 W	1/5	VRXF05C400CJ	600	5.72	88	1000	15.84	3.7× 10^-5	784	392	1.70
	1/9	VRXF09C400CJ	333	10.30	88	556	28.51	2.37× 10^-5	931	465	1.70
	1/15	VRXF15C400CJ	200	17.36	89	333	48.06	3.02× 10^-5	1176	588	2.10
	1/25	VRXF25C400CJ	120	28.93	89	200	80.10	2.93× 10^-5	1323	661	2.10

Note: 1. The value given for the Decelerator inertia is the Servomotor shaft conversion value.
Note: 2. The protective structure rating of the Servomotor combined with the Decelerator is IP44.
(Excluding Decelerator and Servomotor connecting parts.)
Note: 3. The value given for the allowable radial load is the value at the center of the shaft (T/2).
Note: 4. The standard shaft type is a shaft with key and tap. (The key is temporarily assembled to the shaft.)
Note: 5. Take care so that the surface temperature of the Decelerator does not exceed 90ºC.

Decelerator for Flat Servomotors

Model (R88G-)			Rated speed	Rated torque	Ra- tio	Maxi- mum mo- men- tary speed	Maxi- mum mo- men- tary torque	Decel- erator inertia	Al- lowable radial load	Al- lowable thrust load	Weight
Model (R88G-)			r/min	Nm	%	r/min	Nm	kg·m²	N	N	kg
100 W	1/5	VRXF05B100PCJ	600	1.44	90	1000	4.05 (3.83)	6.00× 10^-6	392	196	0.70
	1/9	VRXF09B100PCJ	333	2.59	90	556	7.29 (6.89)	5.00× 10^-6	441	220	0.70
	1/15	VRXF15B100PCJ	200	4.13	86	333	11.61 (10.97)	5.70× 10^-6	588	294	0.90
	1/25	VRXF25B100PCJ	120	6.88	86	200	19.35 (18.28)	5.50× 10^-6	686	343	0.90
200 W	1/5	VRXF05B200PCJ	600	2.94	92	1000	8.37 (8.56)	1.50× 10^-5	392	196	0.90
	1/9	VRXF09C200PCJ	333	4.78	83	556	13.60 (13.89)	2.70× 10^-5	931	465	2.00
	1/15	VRXF15C200PCJ	200	8.26	86	333	23.48 (23.99)	3.02× 10^-5	1176	588	2.40
	1/25	VRXF25C200PCJ	120	13.76	86	200	39.13 (39.99)	2.90× 10^-5	1323	661	2.40
400 W	1/5	VRXF05C400PCJ	600	5.72	88	1000	15.84	3.70× 10^-5	784	392	2.00
	1/9	VRXF09C400PCJ	333	10.30	88	556	28.51	2.70× 10^-5	931	465	2.00
	1/15	VRXF15C400PCJ	200	17.36	89	333	48.06	3.02× 10^-5	1176	588	2.40
	1/25	VRXF25C400PCJ	120	28.93	89	200	80.10	2.90× 10^-5	1323	661	2.40

Note: 1. The values inside parentheses ( ) are those when using a 100-V motor.
Note: 2. The value given for the Decelerator inertia is the Servomotor shaft conversion value.
Note: 3. The protective structure rating of the Servomotor combined with the Decelerator is IP44.
(Excluding Decelerator and Servomotor connecting parts.)
Note: 4. The value given for the allowable radial load is the value at the center of the shaft (T/2).
Note: 5. The standard shaft type is a shaft with key and tap. (The key is temporarily assembled to the shaft.)
Note: 6. Take care so that the surface temperature of the Decelerator does not exceed 90ºC.

Encoder, External Regeneration Resistors, Reactor and Parameter Unit Specifications

Encoder Specifications

Item	Specifications
Encoder system	Optical encoder (incremental encoder)
No. of output pulses	Phases A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation
Power supply voltage	5 V ± 5%
Power supply current	180 mA (max.)
Output signals	+S, - S
Output interface	EIA RS-485 compliance
Output interface	Duplex serial communications data

External Regeneration Resistors Specifications

Model	Re- sistance	Nominal capacity	Regeneration absorption for 120 ºC temperature rise	Heat radiation condition	Thermal switch output specifications
R88A-RR08050S	50 O	80 W	20 W	Aluminum 250 × 250, Thickness: 3.0	Operating temperature: 150 ºC ±5%, NC contact, Rated output: 30 VDC, 50 mA max.
R88A-RR080100S	100 O	80 W	20 W	Aluminum 250 × 250, Thickness: 3.0	Operating temperature: 150 ºC ±5%, NC contact, Rated output: 30 VDC, 50 mA max.
R88A-RR22047S1	47 O	220 W	70 W	Aluminum 350 × 350, Thickness: 3.0	Operating temperature: 170 ºC ±5%, NC contact, Rated output: 3 A

Reactor Specifications

Reactor type	Specifications
Reactor type	Model	Rated current (A)	Inductance (mH)	Weight (kg)
Single-phase Reactors	3G3AX-DL2002	1.6 A	21.4 mH	0.8 kg
	3G3AX-DL2004	3.2 A	10.7 mH	1.0 kg
	3G3AX-DL2007	6.1 A	6.75 mH	1.3 kg
Three-phase Reactor	3G3AX-AL2025	10 A	2.8 mH	2.8 kg

Parameter Unit Specifications

General Specifications

Item	Specifications
Operating ambient temperature Operating ambient humidity	0 to 55 ºC 90% max. (with no condensation)
Storage ambient temperature Storage ambient humidity	- 20 to 80 ºC 90% max. (with no condensation)
Storage and operating atmosphere	No corrosive gases
Vibration resistance	5.9 m/s² max.

Performance Specifications

Item		Specifications
Type		Hand-held
Cable length		1.5 m
Connectors		Mini DIN 8-pin MD connector
Display		7-segment LED
External dimensions		62 × 114 × 15 mm (W × H × D)
Weight		Approx. 0.1 kg (including cable that is provided)
Communications specifications	Standard	RS-232
	Communications method	Asynchronous (ASYNC)
	Baud rate	9,600 bps
	Start bits	1 bit
	Data	8 bits
	Parity	None
	Stop bits	1 bit

last update: October 2, 2017

(Unit: mm)

Servo Drives

50 W/100 W/200 W
R7D-BPA5L
R7D-BP01L
R7D-BP01H
R7D-BP02H

200 W/400 W
R7D-BP02L
R7D-BP02HH
R7D-BP04H

Servomotors

3,000-r/min Cylindrical Servomotors

50 W/100 W
[Without brake]
R88M-G05030H (-S2), R88M-G10030L (-S2), R88M-G10030H (-S2)
[With brake]
R88M-G05030H (-S2), R88M-G10030L (-S2), R88M-G10030H (-S2)

Please click image to enlarge (open in a new window).

200 W/400 W
[Without brake]
R88M-G20030L (-S2), R88M-G20030H (-S2), R88M-G40030H (-S2)
[With brake]
R88M-G20030L-B (S2), R88M-G20030H-B (S2), R88M-G40030H-B (S2)

3,000-r/min Flat Servomotors

100 W/200 W/400 W
[Without brake]
R88M-GP10030L (-S2), R88M-GP10030H (-S2), R88M-GP20030L (-S2)
R88M-GP20030H (-S2), R88M-GP40030H (-S2)
[With brake]
R88M-GP10030L-B (S2), R88M-GP10030H-B (S2), R88M-GP20030L-B (S2)
R88M-GP20030H-B (S2), R88M-GP40030H-B (S2)

Please click image to enlarge (open in a new window).

Decelerators

Backlash: 3 Arcminutes Max.

3,000-r/min servomotors (50 to 400 W)

Please click image to enlarge (open in a new window).

Outline Drawings 1

Please click image to enlarge (open in a new window).

Outline Drawings 2

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3,000-r/min servomotors (100 to 400 W)

Please click image to enlarge (open in a new window).

Outline Drawings

Please click image to enlarge (open in a new window).

Backlash: 15 Arcminutes Max.

3,000-r/min servomotors (50 to 400 W)

Please click image to enlarge (open in a new window).

Outline Drawings

3,000-r/min servomotors (100 to 400 W)

Please click image to enlarge (open in a new window).

Outline Drawings

Parameter Unit

R88A-PR02G

DIN Rail Mounting Unit

R7A-DIN01B

External Regeneration Resistor

R88A-RR22047S1

R88A-RR08050S
R88A-RR080100S

Reactor

3G3AX-DL2002
3G3AX-DL2004

3G3AX-DL2007

3G3AX-AL2025

last update: October 2, 2017

TITLE	DOCUMENT TYPE	SIZE
SMARTSTEP2 Catalog	Catalog	9961 KB
R88M-G[], R7D-BP[] Servomotors/Servo Drives User's Manual	Manual	7110 KB
WS02-DRVC1 CX-Drive Instruction Sheet (Product Guide)	Manual	112 KB

Compact!

Smaller Servo Drives for Multi-axis ApplicationsReduce footprint in the control panel.

Downsized Servo Drives for Compact PLCsReduce your duct pitch.

Easy!

Easy AdjustmentRealtime autotuning sets the optimum gain.

Easier InstallationMount the Servo to a DIN Rail in one step.

Easy Parameter Settings for Mass ProductionUse the Parameter Unit as a copy tool.

Advanced Functionality!

Reduce Tact TimeAchieve high-speed positioning and movement.

Check the Present PositionMonitor positioning errors with a feedback pulse.

Change Pressing ForceTorque limiting function.

Reduce Mechanical VibrationQuick suppression of vibration with an adaptive filter.

Reduce Tact TimeHigh-speed positioning with vibration control.

Servo Drive Specifications (R7D-BP)

General Specifications

Characteristics

100 VAC specification

200 VAC specification

Servomotor Specifications (R88M-G)

General Specifications

Characteristics

3,000-r/min Cylindrical Servomotors

100 VAC specification

200 VAC specification

3,000-r/min Flat Servomotors

100 VAC specification

200 VAC specification

Decelerator Specifications (R88G-HPG/VRXF)

Standard Models and Specifications

Backlash: 3 Arcminutes Max.

Decelerators for Cylindrical Servomotors

Decelerator for Flat Servomotors

Backlash: 15 Arcminutes Max.

Decelerators for Cylindrical Servomotors

Decelerator for Flat Servomotors

Encoder, External Regeneration Resistors, Reactor and Parameter Unit Specifications

Encoder Specifications

External Regeneration Resistors Specifications

Reactor Specifications

Parameter Unit Specifications

General Specifications

Performance Specifications

Servo Drives

Servomotors

3,000-r/min Cylindrical Servomotors

3,000-r/min Flat Servomotors

Decelerators

Backlash: 3 Arcminutes Max.

Backlash: 15 Arcminutes Max.

Parameter Unit

DIN Rail Mounting Unit

External Regeneration Resistor

Reactor

Smaller Servo Drives for Multi-axis Applications
Reduce footprint in the control panel.

Downsized Servo Drives for Compact PLCs
Reduce your duct pitch.

Easy Adjustment
Realtime autotuning sets the optimum gain.

Easier Installation
Mount the Servo to a DIN Rail in one step.

Easy Parameter Settings for Mass Production
Use the Parameter Unit as a copy tool.

Reduce Tact Time
Achieve high-speed positioning and movement.

Check the Present Position
Monitor positioning errors with a feedback pulse.

Change Pressing Force
Torque limiting function.

Reduce Mechanical Vibration
Quick suppression of vibration with an adaptive filter.

Reduce Tact Time
High-speed positioning with vibration control.