R88D-GN@,
R88D-GT@
G-Series servo drive
•
•
•
•
•
•
•
•
ML2 and Analog/ Pulse servo drive models
High-response frequency of 1 kHZ
Auto-tuning for easy and quick start-up
Vibration suppression
Positioning, speed or torque control
Separate power and control power supply
Fast and accurate positioning
Incremental and absolute encoder
AC Servo systems
Personal computer
software:
CX-One
G-Series
ML2
Servo
drive
AC
SE
DRIVER
R
VO
0
1
2
3
A compact servo drive family for motion
control. Compact size and integrated
MECHATROLINK-II motion bus.
Ratings
• 230 VAC Single-phase 100 W to 1.5 kW (8.62 Nm)
System configuration
MECHATROLINK-II control
Motion controllers
CJ1W-NC MECHATROLINK-II
Trajexia
stand-alone
Trajexia in PLC
G-Series
ML2
Servo
drive
AC
SE
DRIVER
R
VO
0
1
G-Series
ML2
Servo
drive
AC
SE
DRIVER
R
VO
0
1
G-Series
ML2
Servo
drive
AC
SE
DRIVER
R
VO
0
1
G-Series
ML2
Servo
drive
AC
SE
DRIVER
R
VO
0
1
ADR
2
3
7
8
7
8
7
8
7
8
7
8
9
01
2
3
ADR
2
3
9
01
4
ADR
2
3
ADR
2
3
9
01
2
3
ADR
2
3
9
01
2
3
9
01
2
3
X10
X1
X10
X1
X10
X1
X10
X1
COM
SP
IM
G
COM
COM
SP
IM
G
X10
X1
COM
SP
MECHATROLINK-II
COM
SP
IM
IM
G
G
SP
IM
G
Power cable
G-Series
servo
motors
Encoder cable
Open Analogue/Pulse control
Personal computer:
Sofware CX-One
Power cable
Cylindric
servo
motors
(50 W - 1.5 kW)
Motion control unit
Position
control unit
G-Series
Analogue/ Pulse
Servo drive
General purpose cable
Terminal block for
Servo drive I/O general
purpose signals
Encoder cable
Flat
servo
motors (100-400 W)
G-Series servo drive
4
5
6
4
5
6
4
5
6
5
6
4
5
6
Terminator
103
Servo motor supported
Family
Cylindric
Servo motor
Voltage Speed
Rated torque
230 V
3000 min
-1
0.16 Nm
0.32 Nm
0.64 Nm
1.3 Nm
2.4 Nm
3.18 Nm
4.77 Nm
2000 min
-1
4.8 Nm
7.15 Nm
1000 min
-1
8.62 Nm
3000 min
-1
0.32 Nm
0.64 Nm
1.3 Nm
Capacity
50 W
100 W
200 W
400 W
750 W
1000 W
1500 W
1000 W
1500 W
900 W
100 W
200 W
400 W
Model
R88M-G05030@-@S2
R88M-G10030@-@S2
R88M-G20030@-@S2
R88M-G40030@-@S2
R88M-G75030@-@S2
R88M-G1K030T-@S2
R88M-G1K530T-@S2
R88M-G1K020T-@S2
R88M-G1K520T-@S2
R88M-G90010T-@S2
R88M-GP10030@-@S2
G-Series servo drive
MECHATROLINK-II
Analog/ Pulse
R88D-GN01H-ML2
R88D-GT01H
R88D-GN01H-ML2
R88D-GT01H
R88D-GN02H-ML2
R88D-GT02H
R88D-GN04H-ML2
R88D-GT04H
R88D-GN08H-ML2
R88D-GT08H
R88D-GN15H-ML2
R88D-GT15H
R88D-GN15H-ML2
R88D-GT15H
R88D-GN10H-ML2
R88D-GT10H
R88D-GN15H-ML2
R88D-GT15H
R88D-GN15H-ML2
R88D-GT15H
R88D-GN01H-ML2
R88D-GT01H
R88D-GT02H
R88D-GT04H
50 - 750 W
900 - 1500 W
Flat
100-400 W
R88M-GP20030@-@S2 R88D-GN02H-ML2
R88M-GP40030@-@S2 R88D-GN04H-ML2
Type designation
Servo drive
R88D-GN04H-ML2
G-Series
servo
drive
Drive type
T: Analogue/ pulse type
N: Network type
Model
Blank: Analogue/ pulse type
ML2: MECHATROLINK-II communications
Source
voltage
H: 230 V
Capacity
01
02
04
08
10
15
100 W
200 W
400 W
750 W
1.0 kW
1.5 kW
Servo drive specifications
General specifications
Servo drive type
Applicable
servomotor
15H@
90010T@ / 1K030T@ /
1K5@0T@
R88M-GP@
10030@
20030@
40030@
-
-
-
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%
For single-phase/ three-phase, 200 to 240 VAC +10 to -15%
(50/60 Hz)
(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)
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/s
2
/ 19.6 m/s
2
Configuration
Approx. weight
Conditions
Base mounted
Kg
0.8
1.1
1.5
1.7
R88D-G@
R88M-G@
01H@
05030@/10030@
02H@
20030@
04H@
40030@
08H@
75030@
10H@
G1K020T@
104
Basic specifications
AC servo systems
MECHATROLINK-II servo drive specifications
I/O signal Position/Speed/torque control mode
Performance
Speed variance
Load variance
Voltage variance
Temperature variance
Frequency characteristics
Torque control accuracy (reproducibility)
Soft start time setting
MECHATROLINK
Communication
During 0 to 100% load ±0.01 max. (at rated speed)
0% at ±10% of rated voltage (at rated speed)
0 to 50ºC ±0.1% max. (at rated speed)
1 kHz
±3% (at 20% to 100% of rated torque)
0 to 10 s (acceleration time and deceleration time can be set)
MECHATROLINK-II commands
(for sequence, motion, data setting/reference, monitor, adjustament and other commands)
AC Servo systems
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
RS-232
Interface
Personal computer
communications 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 protocol MECHATROLINK-II
communications Transmission rate
10 Mbps
Data length
32 bytes
Functions
Parameter setting, status display, alarm display (monitor, clear, history), default values function
Tuning
Horizontal and vertical axis mode. One parameter rigidity setting. Load inertia detection.
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<Numerator/Denominator<100
Internal speed setting function
8 internal speeds
Protective functions
Overvoltage, undervoltage, overcurrent, overload, regeneration overload, servo drive overheat
Analog monitor Ouput
The actual servomotor speed, command speed, torque and number of accumulated pulses can be measured
using an oscilloscope or other device.
Panel operator
Display functions
A 2-digit 7-segment LED display shows the servo drive status, alarm codes, parameters, etc.
MECHATROLINK-II communications status LED indicator (COM)
Switches
Rotary switch for setting the MECHATROLINK-II node address
Communications
Sequence input signal
Analog/pulse servo drive specifications
Performance
Control mode
Speed variance
Load variance
Voltage variance
Temperature dependence
Frequency characteristics
Torque control accuracy (reproducibility)
Soft start time setting
Command pulse Input pulse type
Input pulse frequency
Electronic gearing
Input signal
Position, speed and torque control mode
During 0 to 100% load ±0.01 max. (at rated speed)
0% at ±10% of rated voltage (at rated speed)
0 to 50ºC ±0.1% max. (at rated speed)
1 kHz
±3% (at 20% to 100% of rated torque)
0 to 10 s (acceleration time and deceleration time can be set)
Signal + pulse, 90º phase displacement 2-phase pulse (phase A/B) or reverse and forward pulses (CW/CCW)
500 kpps max. line-driver input, 200 kpps max. open-collector input
0,01<Numerator/Denominator<100
I/O signal Speed/torque control Position control
Integrated functions
Command Input
Speed control
Input signal
Torque control
Speed reference voltage
Torque limit
Preset speed control
Torque reference voltage
Speed limit
10 VDC at 3000 r/min: set at delivery (the scale can be set by parameters)
3 VDC at rated torque (torque can be limited separately in positive/negative direction)
Preset speed is selectable from 8 internal settings by digital inputs.
3 VDC at rated torque: set at delivery (the scale and polarity can be set by parameters).
Speed limit can be set by parameter.
Sequence input signal
Sequence output signal
Forward/reverse run prohibit, deviation counter reset, alarm reset, control mode switch, pulse prohibited, speed
selection, gain switch, zero speed designation, origin proximity
Brake release, servo ready and alarm output. It is possible also to output two types of configurable signals: cur-
rent limit, rotation speed detection, warning signal, speed coincidence, positioning completed
G-Series servo drive
105
Communications
RS-232
communications
Interface
Transmission rate
Functions
Interface
Transmission rate
Functions
Integrated functions
RS-485
communications
data
Tuning
Dynamic brake (DB)
Regenerative processing
Overtravel (OT) prevention function
Emergency stop (STOP)
Encoder divider function
Protective functions
Analog monitor Ouput
Panel operator
Display functions
Switches
Personal computer
From 2400 to 57600 bps
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
Communication data interface between servo drives.and personal computer.
From 2400 to 57600 bps
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
Horizontal and vertical axis mode. One parameter rigidity setting. Load inertia detection.
Operates when main power OFF, servo alarm, overtravel or servo OFF
Built-in regeneration resistor in models from 750 W to 1.5 kW. External regeneration resistor optionally.
Dynamic brake, disables torque or emergency stop torque during POT and NOT operation
Emergency stop input
Optional division pulses possible
Overvoltage, undervoltage, overcurrent, overload, regeneration overload, servo drive overheat
The actual servomotor speed, command speed, torque and number of accumulated pulses can be measured
using an oscilloscope or other device.
A 6-digit 7-segment LED display shows the servo drive status, alarm codes, parameters, etc.
Unit No. switch for serial communications. Value from 0 to F. To identify which servo drive the computer is
accesing in RS232 communications when multiple servo drives.
Servo drive part names
Display area
Rotary switches
for ML-II node address
AC SERVO DRIVE
0
1
Display area
Unit No. switch
Settings area
Analog monitor 1 check pin (IM)
Analog monitor 2 check pin (SP)
Check pin (G: GND)
RS-485
comms connector
(CN3A)
RS-232
Comms connector/
Parameter Unit connector
(CN3B)
ADR
7 8
2 3
9
0
1
X10
X1
COM
SP
IM
G
ML-II comms
status LED indicator
RS-232 comms connector (CN3)
ML-II comms connector
(CN6A, CN6B)
2 3
4
5
6
Analog monitor 1 & 2 check pins
(SP, IM, G)
Main-circuit power terminals
(L1, L2, L3)
Control-circuit power terminals
(L1C, L2C)
Main-circuit power terminals
(L1, L2, L3)
Control-circuit power terminals
(L1C, L2C)
Control I/O connector (CN1)
External regenerative resistor
connection terminals (B1, B2, B3)
External regeneration resistor
connection terminals (B1, B2, B3)
Control I/O connector (CN1)
Servo motor connection terminals
(U, V, W)
Servo motor connection terminals
(U, V, W)
Encoder connector (CN2)
Encoder connector (CN2)
Protective ground terminals
Protective ground terminals
MECHATROLINK-II servo drive
Analogue/ pulse servo drive
106
AC servo systems
I/O specifications
Main circuit connector (CNA) specifications
Symbol
L1
L2
L3
L1C
L2C
Name
Main circuits power supply input
Function
AC power input terminals for the main circuit
Note:
for single-phase connect the power supply input to L1 and L3
AC power input terminals for the control circuit
Control circuit power supply input
Servomotor connector (CNB) specifications
Symbol
B1
B2
B3
Name
Function
External regeneration resistor connection terminals Up to 400 W:
If regenerative energy is high, connect an external regenera-
tion resistor between B1 and B2.
From 750 W to 1.5kW: Normally B2 and B3 are connected. If regenerative energy is
high, remove the short-circuit bar between B2 and B3 and
connect an external regeneration resistor between B1 and
B2.
Terminals for outputs to the servomotor.
U
V
W
Servo motor connection terminals
Frame ground
Ground terminal. Ground to 100 or less.
I/O signals (CN1) - Input signals (for MECHATROLINK-II servo drives)
Pin No.
1
2
3
4
5
22
6
23
7
8
19
20
21
34
33
Signal name
+24VIN
STOP
EXT3
EXT2
EXT1
IN1
IN0
IN2
PCL
NCL
POT
NOT
DEC
BAT
BATCOM
Function
Control power supply input for sequence signals: users must provide the +24 V power supply.
Allowable voltage range: 12 to 24 VDC
Emergency Stop Input
Input for emergency stop. Emergency stop function factory default: enable.
External Latch Signals
This external signal input latches the current value feedback pulse counter.
Minimal signal width must be 1 ms.
External general-purpose Input 0
External general-purpose Input 1
External general-purpose Input 2
Forward Torque Limit Input
Reverse Torque Limit Input
Forward Run Prohibit Input
Reverse Run Prohibit Input
Origin Proximity Input
Battery backup input for absolute
encoder
This input is used as external general-purpose input.
This signal input selects the torque limit.
Forward/ reverse drive rotation overtravel input. Stops servomotor when movable
part travels beyond the allowable range of motion.
Connect the origin proximity input signal in the origin search operation.
Connecting pin for the absolute backup battery. Do not connect when a battery is
connected to the servomotor encoder cable.
I/O signals (CN1) - output signals (for MECHATROLINK-II servo drives)
Pin No.
15
16
29
30
31
32
36
35
Signal name
/ALM
ALMCOM
OUTM2
OUTM2COM
OUTM3
OUTM3COM
OUTM1
OUTM1COM
Function
The output turns OFF when an alarm is generated in the Servo drive.
General-purpose output.
The fucntion for this output is selected by changing the parameter:
INP1 (Positioning completed), VCMP (Speed conformity signal), TGON (Servomotor rotation speed detection), READY
(Servo ready), CLIM (Current limit detection), VLIM (Speed limit detection), BKIR (Brake interlock), WARN (Warning sig-
nal)
I/O signals (CN1) - Input signals (for analog/pulse servo drives)
Pin No.
1
3
4
2
5
6
44
45
46
47
14
Control mode Signal name
Position
+24 VCW
+CW
-CW
+24 VCW
+CCW
-CCW
+CWLD
-CWLD
+CCWLD
-CCWLD
Speed
REF
Torque
TREF1
VLIM
-
AGND1
Torque
TREF2
Position/Speed PCL
NCL
-
AGND
Function
Reference pulse input for line driver and open collector according to parameter setting.
Input mode:
Sign + pulse string
Reverse/forward pulse (CCW/CW pulse)
Two-phase pulse (90° phase differential)
Reference pulse input for line driver only.
Input mode:
Reverse/forward pulse (CW/CCW pulse)
Speed reference input: ±10 V/rated motor speed (input gain can be modified using a parameter).
Torque reference input: ±10 V/rated motor torque (input gain can be modified using a parameter).
Speed limit input: ±10 V/rated motor speed (input gain can be modified using a parameter).
Analog signal ground
Torque reference input: ±10 V/rated motor torque (input gain can be modified using a parameter).
Forward torque limit input: ±10 V/rated motor torque (input gain can be modified using a parameter).
Reverse torque limit input: ±10 V/rated motor torque (input gain can be modified using a parameter).
Analog signal ground
15
16
18
17
G-Series servo drive
107
AC Servo systems
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