Omron R7M-A Series User Manual
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Omron R7M-A Series User Manual

Servomotors/servo drivers
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Distributor of Omron Automation & Safety: Excellent Integrated System Limited
Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W
Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com
Excellent Integrated System Limited
Excellent Integrated System Limited
Stocking Distributor
Stocking Distributor
Click to view price, real time Inventory, Delivery & Lifecycle Information:
Click to view price, real time Inventory, Delivery & Lifecycle Information:
Omron Automation & Safety
Omron Automation & Safety
R7D-AP01H
R7D-AP01H
For any questions, you can email us directly:
For any questions, you can email us directly:
sales@integrated-circuit.com
sales@integrated-circuit.com

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Summary of Contents for Omron R7M-A Series

  • Page 1 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Excellent Integrated System Limited Excellent Integrated System Limited Stocking Distributor Stocking Distributor Click to view price, real time Inventory, Delivery & Lifecycle Information: Click to view price, real time Inventory, Delivery &...
  • Page 2 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Cat. No. I533-E1-04 SMARTSTEP A SERIES R7M-A@ (Servomotors) R7D-AP@ (Servo Drivers) Servomotors/Servo Drivers USER’S MANUAL...
  • Page 3 Please keep this manual handy for reference after reading it. 1. To ensure safe and proper use of the OMRON Inverters, please read this USER'S MANUAL (Cat. No. I533-E1) to gain sufficient knowledge of the devices, safety information, and precautions before actual use.
  • Page 4 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com USER’S MANUAL SMARTSTEP A SERIES MODELS R7M-A@ (Servomotors) R7D-AP@ (Servo Drivers) Servomotors/Servo Drivers...
  • Page 5 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com...
  • Page 6 OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
  • Page 7 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com...
  • Page 8 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 Servomo- tor to a class-3 ground (to 100 Ω...
  • Page 9 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com !Caution Do not store or install the product in the following places. Doing so may result in fire, electric shock, or damage to the product.
  • Page 10 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com !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.
  • Page 11 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com 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.
  • Page 12 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Warning Labels Warning labels are pasted on the product as shown in the following illustration. Be sure to follow the instructions given there.
  • Page 13 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com...
  • Page 14 WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted. IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS...
  • Page 15 Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products. At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products.
  • Page 16 Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.
  • Page 17 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com...

  • Page 18: Table Of Contents

    Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Table of Contents Chapter 1. Introduction........
  • Page 19 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com...

  • Page 20: Chapter 1. Introduction

    Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 1 Introduction Features System Configuration Servo Driver Nomenclature Applicable Standards System Block Diagrams...

  • Page 21: Features

    Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 1 Introduction Features The SMARTSTEP A-series Servomotors and Servo Drivers have been developed as pulse string input-type Position Controllers to replace stepping motors in simple positioning systems.
  • Page 22 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Introduction Chapter 1 Note Using a Parameter Unit or personal computer enables operation with parameter settings. Cylinder-style and Flat-style Servomotors ■...

  • Page 23: System Configuration

    Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 1 Introduction System Configuration SYSMAC + Position Control Unit with pulse string output TGON TGON POWER...

  • Page 24: Servo Driver Nomenclature

    Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Introduction Chapter 1 Servo Driver Nomenclature Rotary switch for unit No. selection Rotary switch for gain adjustment Function selection switches: •...

  • Page 25: Applicable Standards

    Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 1 Introduction Applicable Standards EC Directives ■ EC Directives Product Applicable standards Remarks Low Voltage AC Servo Drivers...

  • Page 26: System Block Diagrams

    Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Introduction Chapter 1 System Block Diagrams 100 V AC: R7D-APA3L/-APA5L/-AP01L/-AP02L/-AP04L ■ AC Servo Driver B1 B2 AC Servomotor...
  • Page 27 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 1 Introduction ■ 200 V AC: R7D-APA3H/-APA5H/-AP01H/-AP02H/-AP04H AC Servo Driver B1 B2 AC Servomotor Fuse CHARGE −...

  • Page 28: Chapter 2. Standard Models And Specifications

    Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications Standard Models External and Mounted Dimensions Servo Driver Specifications Servomotor Specifications...

  • Page 29: Standard Models

    Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications Standard Models Servomotors Servo Drivers ■ ■ Specifications Model Single-phase 30 W R7D-APA3L ●...
  • Page 30 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Reduction Gears (Straight Shaft with Key) ■ ● For Cylinder-style Servomotors ●...
  • Page 31 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ Servo Relay Units for CN1 Specifications Model Position For CJ1M-CPU21/...
  • Page 32 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Peripheral Cable Connectors ■ Specifications Model Analog Monitor Cable (CN4) 1 m R88A-CMW001S...

  • Page 33: External And Mounted Dimensions

    Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications External and Mounted Dimensions 2-2-1 Servo Drivers ■ Single-phase 100 V AC: R7D-APA3L/-APA5L/-AP01L/-AP02L (30 W to 200 W) Single-phase 200 V AC: R7D-APA3H/-APA5H/-AP01H/-AP02H (30 W to 200 W) ●...
  • Page 34 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Single-phase 100 V AC: R7D-AP04L (400 W) ■ Single-phase 200 V AC: R7D-AP04H (400 W) ●...
  • Page 35 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ Single-phase/Three-phase 200 V AC: R7D-AP08H (750 W) ● Wall Mounting...
  • Page 36 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 2-2-2 Parameter Unit R7A-PR02A Hand-held Parameter Unit ■ TGON TGON POWER...
  • Page 37 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications 2-2-3 Servomotors Cylinder-style Servomotors without a Brake ■ ● 30 W/50 W/100 W R7M-A03030(-S1)/-A05030(-S1)/-A10030(-S1) 300±30...
  • Page 38 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Cylinder-style Servomotors without a Brake ■ ● 200 W/400 W/750 W R7M-A20030(-S1)/-A40030(-S1)/-A75030(-S1) 300±30...
  • Page 39 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ Flat-style Servomotors without a Brake ● 100 W/200 W/400 W/750 W R7M-AP10030(-S1)/-AP20030(-S1)/-AP40030(-S1)/AP75030(-S1) 300±30...
  • Page 40 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 2-2-4 Reduction Gears ′ For Cylinder-style Servomotors (Backlash = 3 Max.) ■...
  • Page 41 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ′ ■ For Cylinder-style Servomotors (Backlash = 45 Max.) Model Dimensions (mm)
  • Page 42 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ′ For Flat-style Servomotors (Backlash = 3 Max.) ■ Model Dimensions (mm)
  • Page 43 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ′ ■ For Flat-style Servomotors (Backlash = 45 Max.) Model Dimensions (mm)

  • Page 44: Servo Driver Specifications

    Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Servo Driver Specifications SMARTSTEP A-series R7D-AP@ Servo Drivers ■ Select a Servo Driver to match the Servomotor to be used.
  • Page 45 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications 2-3-2 Performance Specifications Control Specifications ■ ● 100-V AC Input Type...
  • Page 46 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Item R7D- R7D- R7D- R7D- R7D- R7D- APA3H APA5H AP01H AP02H...
  • Page 47 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications 2-3-4 Control I/O Specifications (CN1) Control I/O and External Signals for Position Control ■...
  • Page 48 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Control I/O Signals ■ ● CN1 Control Inputs Signal name Function...
  • Page 49 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● Interface for RS-422 Signal name Function Contents RXD+ Reception data Interface for RS-422A transmission and reception.
  • Page 50 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Control Input Circuits ■ ● Position Command Pulse Inputs and Deviation Counter Reset Inputs...
  • Page 51 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ Control Output Circuits ● Sequence and Alarm Outputs Servo Driver...
  • Page 52 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Control Input Details ■ ● Feed Pulse/Direction Signal, Reverse Pulse/Forward Pulse, +90° Phase Difference...
  • Page 53 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications Logic Pn200.0 Command pulse Input pins Servomotor forward Servomotor reverse setting...
  • Page 54 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Command Pulse Timing The following wave forms are for positive logic. Conditions are the same for negative logic.
  • Page 55 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● + Deviation Counter Reset (5: +ECRST) – Deviation Counter Reset (6: –ECRST) The content of the deviation counter will be reset when the deviation counter reset signal turns ON and the position loop will be disabled.
  • Page 56 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ● Positioning Completed Output (8: INP) The INP signal turns ON when the number of accumulated pulses in the deviation counter is less than Pn500 (positioning completed range).
  • Page 57 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications 2-3-7 Monitor Output Connector Specifications (CN4) Pin No. Symbol Signal name...

  • Page 58: Servomotor Specifications

    Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Servomotor Specifications SMARTSTEP A-series Servomotors (R7M-A@) ■ There are two kinds of SMARTSTEP A-series Servomotor: •...
  • Page 59 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications 2-4-2 Performance Specifications 3,000-r/min Cylinder-style Servomotors ■ Item Unit R7M- R7M-...
  • Page 60 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Item Unit R7M- R7M- R7M- R7M- R7M- R7M- A03030 A05030 A10030...
  • Page 61 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● 3,000-r/min Cylinder-style Servomotors: Torque and Rotation Speed Characteristics The following graphs show the characteristics with a 3-m standard cable, and a 100-V AC input for R7D-AP@L Servo Drivers, or a 200-V AC input for R7D-AP@H Servo Drivers.
  • Page 62 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 3,000-r/min Flat-style Servomotors ■ Item Unit R7M- R7M- R7M- R7M- AP10030...
  • Page 63 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications Note 1. *The values for items marked by asterisks are the values at an armature winding tempera- ture of 100 °...
  • Page 64 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 3,000-r/min Flat-style Servomotors: Torque and Rotation Speed Characteristics The following graphs show the characteristics with a 3-m standard cable, and a 100-V AC input for R7D-AP@L Servo Drivers, or a 200-V AC input for R7D-AP@H Servo Drivers.
  • Page 65 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● Servomotor and Mechanical System Temperature Characteristics • SMARTSTEP A-series Servomotors use rare earth magnets (neodymium-iron magnets). The tem- perature coefficient for these magnets is approximately –0.13%/ °...

  • Page 66: Reduction Gear Specifications

    Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Reduction Gear Specifications Reduction Gears for SMARTSTEP A-series Servomotors (R7G-@) ■...
  • Page 67 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● Backlash = 45′ Max. Model Rated Rated torque Ratio Maximum...
  • Page 68 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Reduction Gears for Flat-style Servomotors ■ ● Backlash = 3′ Max.
  • Page 69 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● Backlash = 45′ Max. Model Rated Rated torque Ratio Maximum...

  • Page 70: Cable And Connector Specifications

    Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Cable and Connector Specifications 2-6-1 Control Cables General Control Cables (R88A-CPU@@@S) ■...
  • Page 71 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● Wiring Wire/Mark color Symbol Wire/Mark color Symbol Orange/Black (−) Pink/Red (−−) Connector Pin Arrangement −CW...
  • Page 72 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ● Wiring Terminal Block Connector Servo Driver Symbol −CW −CCW −CCW +ECRST −ECRST...
  • Page 73 Note 3. Mechanical failure, ground faults, or other problems may occur due to damaged insulation if the Cable is used with a radius smaller than the minimum bending radius. Contact your OMRON representative if the Cable will be used with a radius smaller than the minimum bending radius.
  • Page 74 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ● Bending Test Stroke 320 mm Bending radius (R) 100 times/minute...
  • Page 75 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● Wiring Servo Driver Symbol Servomotor Symbol AWG22 Black Connector kit: AWG22 Red −...
  • Page 76 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ● Connection Configuration and External Dimensions Servomotor Servo Driver R7M-A@ R7D-AP@ 43.7...
  • Page 77 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications 2-6-4 Specifications of Separate Cables Specifications of Standard Power Cables (R88A-CAWA@@@@) ■...
  • Page 78 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Power Cables for Servomotors with Brakes Cable side: Servomotor Servo Driver...
  • Page 79 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● Wiring Power Cables for Servomotors without Brakes Cable side: Servomotor...
  • Page 80 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ● Connection Configuration and External Dimensions 43.7 Servo Driver Servomotor R7M-A@...
  • Page 81 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications 2-6-5 Peripheral Cables and Connector Specifications Analog Monitor Cable (R88A-CMW001S) ■...
  • Page 82 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Computer Monitor Cables (R7A-CCA002P@) ■ Computer Monitor Cable and Computer Monitoring Software (run on Windows, Cat. No. SBCE-011) for Servo Drivers are required to use a personal computer for monitoring and setting parameters for a Servo Driver.
  • Page 83 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● Wiring For DOS Personal Computers: Servo Driver Computer Symbol Symbol...
  • Page 84 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Encoder Connector (R7A-CNA0@R) ■ This is the connector for the Encoder Cable. This connector is used when the cable is prepared by the user.
  • Page 85 Servo Relay Units and Cable Specifications This section provides the specifications for the Servo Relay Units and cables used for connecting to OMRON Position Control Units. Select the models that match the Position Control Unit being used. For details, refer to 3-2-1 Connecting Cable.
  • Page 86 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ● Wiring Emergency stop Origin proximity +24 V BKIR limit limit...
  • Page 87 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● Wiring X/Y-axis emergency stop Y-axis origin proximity X-axis origin proximity...
  • Page 88 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ● Wiring +24 V CCW RUN BKIR CCW Com- Com- ECRST RESET ALMCOM (See note 3.)
  • Page 89 Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ XW2B-40J6-4A This Servo Relay Unit connects to the following OMRON Position Control Units. Communications are supported. • CS1W-NC213/-NC233/-NC413/-NC433 • CJ1W-NC213/-NC233/-NC413/-NC433 ● External Dimensions...
  • Page 90 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 XW2B-20J6-8A ■ This Servo Relay Unit connects to the following OMRON Programmable Controllers.
  • Page 91 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ XW2B-40J6-9A This Servo Relay Unit connects to the following OMRON Programmable Controllers.
  • Page 92 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ● Wiring X-axis Y-axis Y-axis Y-axis X-axis X-axis X-axis origin Y-axis...
  • Page 93 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● External Dimensions Terminating resistance selector Signal selectors 4.5 dia. Communications support connectors...
  • Page 94 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ● Terminal Block Connection 1. RS-422 Connector Connect to an RS-422 line.
  • Page 95 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications Lower Terminal Block Pin Arrangement Note 1. Used for the pulse output power supply for the FQM1-MMP21.
  • Page 96 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 5. Servo Phase-B Selectors (Not Used) Leave these selectors set to INC mode.
  • Page 97 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications The following screwdriver can be used to release wires. Recommended Screwdriver...
  • Page 98 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Lower Terminal Block Pin Arrangement 24 V 2-71...
  • Page 99 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications 2-7-2 Cables for Servo Relay Units Servo Driver Cables (XW2Z-@J-B5) ■...
  • Page 100 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Servo Driver Cables (XW2Z-@J-B7) ■ These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit. These Cables are used when connecting a Servo Relay Unit that supports communications (XW2B-40J6-4A).
  • Page 101 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ Servo Driver Cables (XW2Z-@@@J-B12) These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit. Use these cables to con- nect to a Customizable Counter Unit (CSW-HCP22-V1) or Servo Relay Unit (XW2B-80J7-1A).
  • Page 102 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ● Wiring Servo Relay Unit Servo Driver Symbol +24VIN OGND +CCW −CCW...
  • Page 103 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-100J-B10 8.0 dia.
  • Page 104 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Position Control Unit Cables (XW2Z-@J-A3) ■ These Position Control Unit Cables connect a CQM1-CPU43-V1 or CQM1H-PLB21 Programma- ble Controller and an XW2B-20J6-3B Servo Relay Unit.
  • Page 105 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ Position Control Unit Cables (XW2Z-@J-A4) These Position Control Unit Cables connect a C200H-NC112 Position Control Unit and an XW2B- 20J6-1B Servo Relay Unit.
  • Page 106 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Position Control Unit Cable (XW2Z-@J-A5) ■ These Position Control Unit Cables connect a C200H-NC211, C500-NC113, or C500-NC211 Posi- tion Control Unit and an XW2B-40J6-2B Servo Relay Unit.
  • Page 107 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● Wiring Servo Relay Unit Position Control Unit Cable: AWG28 × 6P + AWG28 × 19C...
  • Page 108 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Position Control Unit Cables (XW2Z-@J-A8) ■ These Position Control Unit Cables connect a CS1W-NC113 or C200HW-NC113 Position Control Unit and an XW2B-20J6-1B Servo Relay Unit.
  • Page 109 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ Position Control Unit Cables (XW2Z-@J-A9) These Position Control Unit Cables connect a CS1W-NC213, CS1W-NC413, C200HW-NC213 or C200HW-NC413 Position Control Unit and an XW2B-40J6-2B or XW2B-40J6-4A Servo Relay Unit.
  • Page 110 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ● Wiring Servo Relay Unit Position Control Unit A1/B1 A2/B2 A24/B24...
  • Page 111 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ Position Control Unit Cables (XW2Z-@J-A12) These Position Control Unit Cables connect a CS1W-NC133 Position Control Unit and an XW2B- 20J6-1B Servo Relay Unit.
  • Page 112 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Position Control Unit Cables (XW2Z-@J-A13) ■ These Position Control Unit Cables connect a CS1W-NC233 or CS1W-NC433 Position Control Unit and an XW2B-40J6-2B or XW2B-40J6-4A Servo Relay Unit.
  • Page 113 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● Wiring Position Control Unit Servo Relay Unit AWG20 Black A3/B3...
  • Page 114 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Position Control Unit Cables (XW2Z@J-A16) ■ These Position Control Unit Cables connect a CJ1W-NC113 Position Control Unit and an XW2B- 20J6-1B Servo Relay Unit.
  • Page 115 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● Wiring Servo Relay Unit Position Control Unit Cable: AWG28 × 4P + AWG28 × 9C...
  • Page 116 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Position Control Unit Cables (XW2Z@J-A17) ■ These Position Control Unit Cables connect a CJ1W-NC213 or CJ1W-NC413 Position Control Unit and an XW2B-40J6-2B or XW2B-40J6-4A Servo Relay Unit.
  • Page 117 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● Wiring Servo Relay Unit Position Control Unit A1/B1 A2/B2 A20/B20...
  • Page 118 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Position Control Unit Cables (XW2Z-@J-A20) ■ These Position Control Unit Cables connect a CJ1W-NC133 Position Control Unit and an XW2B- 20J6-1B Servo Relay Unit.
  • Page 119 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● Wiring Position Control Unit Servo Relay Unit AWG20 Black AWG20 Red Cable: AWG28 ×...
  • Page 120 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Position Control Unit Cables (XW2Z-@J-A21) ■ These Position Control Unit Cables connect a CJ1W-NC233 or CJ1W-NC433 Position Control Unit and an XW2B-40J6-2B or XW2B-40J6-4A Servo Relay Unit.
  • Page 121 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ● Wiring Position Control Unit Servo Relay Unit AWG20 Black A3/B3...
  • Page 122 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Position Control Unit Cable (XW2Z-@J-A22) ■ These Position Control Unit Cables connect a CS1W-HCP22 Position Control Unit and an XW2B- 20J6-3B Servo Relay Unit.
  • Page 123 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ Position Control Unit Cables (XW2Z-@J-A23) These Position Control Unit Cables connect a CS1W-HCP22 Position Control Unit and an XW2B- 20J6-3B Servo Relay Unit.
  • Page 124 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ● Wiring Position Control Unit Servo Relay Unit Cable: AWG28 × 4P + AWG28 × 4C Servo Relay Unit Cable: AWG28 ×...
  • Page 125 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ Position Control Unit Cables (XW2Z-@J-A25) These Position Control Unit Cables connect a 3F88M-DRT141 Single-shaft Positioner (for DeviceNet) and an XW2B-20J6-1B Servo Relay Unit.
  • Page 126 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ● Wiring Servo Relay Unit Position Control Unit A16/B16 Cable: AWG28 × 8P + AWG28 ×16C...
  • Page 127 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ CJ1M-CPU Unit Cables (XW2Z-100J-A26) These CJ1M-CPU Unit Cables connect a CJ1M Unit with built-in pulse I/O (CJ1M-CPU21/-CPU22/- CPU23) and a Servo Relay Unit (XW2B-20J6-8A and XW2B-40J6-9A).
  • Page 128 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ● Wiring Servo Relay Unit CJ1M-CPU Unit Cable: AWG28 × 6P + AWG28 ×17C...
  • Page 129 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ Customizable Counter Unit Cables for Special I/O These Customizable Counter Unit Cables connect a Customizable Counter Unit (CS1W-HCP22-V1) and a Servo Relay Unit (XW2B-80J7-1A).
  • Page 130 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ● Wiring Servo Relay Unit Customizable Counter Unit Cable: AWG28 × 6P + AWG28 ×17C...
  • Page 131 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ Customizable Counter Unit Cables for General-purpose I/O These Customizable Counter Unit Cables a Customizable Counter Unit (CS1W-HCP22-V1) and the general-purpose I/O of a Servo Relay Unit (XW2B-80J7-1A).
  • Page 132 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ● Wiring Servo Relay Unit Customizable Counter Unit Crimp terminals Cable: AWG28 × 6P + AWG28 ×17C...
  • Page 133 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ Motion Controller Cables for Special I/O These Motion Controller Cables connect a Motion Control Module (FQM1-MMP21) and the special I/ O of a Servo Relay Unit (XW2B-80J7-1A).
  • Page 134 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ● Wiring Servo Relay Unit Motion Control Module Crimp terminals 2-107...
  • Page 135 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ Motion Controller Cable for General-purpose I/O These Motion Controller Cables connect a Motion Control Module (FQM1-MMP21) and the general- purpose I/O of a Servo Relay Unit (XW2B-80J7-1A).
  • Page 136 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 ● Wiring Motion Control Module Servo Relay Unit Crimp terminals 2-109...
  • Page 137 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ Communications Cables (XW2Z-@J-C1) These Communications Cables connect the communications port of an XW2B-40J6-4A Servo Relay Unit that supports communications and a Programmable Controller Serial Communications Unit or Board.
  • Page 138 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 Parameter Unit Specifications R7A-PR02A Hand-held Parameter Unit ■ A Parameter Unit is required for setting parameters to operate and control...
  • Page 139 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications ■ Function Specifications Model Standards Parameter setting Displaying and changing parameter settings...
  • Page 140 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Standard Models and Specifications Chapter 2 External Regeneration Resistor Specifications If the Servomotor’s regenerative energy is excessive, connect an External Regeneration Resistor.
  • Page 141 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 2 Standard Models and Specifications 2-10 DC Reactors Connect a DC Reactor to the Servo Driver’s DC Reactor connection terminal as a harmonic current control measure.
  • Page 142 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation Installation Conditions Wiring Regenerative Energy Absorption...
  • Page 143 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation Installation and Wiring Precautions !Caution Do not step on or place a heavy object on the product. Doing so may result in injury.
  • Page 144 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 Installation Conditions 3-1-1 Servo Drivers Space around Drivers ■ • Install Servo Drivers according to the dimensions shown in the following illustration to ensure proper heat dispersion and convection inside the panel.
  • Page 145 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation • The service life of a Servo Driver is largely determined by the temperature around the internal elec- trolytic capacitors.
  • Page 146 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 Connecting to Mechanical Systems ■ • The axial loads for Servomotors are specified in 2- 4-2 Performance Specifications.
  • Page 147 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation ■ Other Precautions • Do not apply commercial power directly to the Servomotor. The Servomotors run on synchronous AC and use permanent magnets.
  • Page 148 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 Using Reduction Gears from Other Companies (Reference Information) ■ If the system configuration requires that a SMARTSTEP A-series Motor be used in combination with a reduction gear from another company, select the reduction gear so that the loads on the motor shaft (i.e., both the radial and thrust loads) are with the allowable values.
  • Page 149 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation Wiring 3-2-1 Connecting Cable This section shows the types of connecting cable used in a SMARTSTEP A-series system.
  • Page 150 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 Selecting Connecting Cables ■ 1. Servo Relay Unit Cables Select a Servo Relay Unit and Cable to match the Position Control Unit that is to be used.
  • Page 151 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation ● Selecting Connecting Cables with Communications Support Position Control Unit Position Control Unit Cable...
  • Page 152 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 3. General Control Cables and Control I/O Connector These cables and connector are used for connecting to Controllers for which no special cable is pro- vided, and when the cable for the Servo Driver’s control I/O connector is prepared by the user.
  • Page 153 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation Encoder Cables Specifications Cable model number Remarks Cable for Servomotors with...
  • Page 154 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 3-2-2 Peripheral Device Connection Examples ■ Single-phase Input: R7D-APA3L; R7D-APA5L; R7D-AP01L; R7D-AP02L; R7D-AP04L; R7D-APA3H; R7D-APA5H;...
  • Page 155 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation ■ Three-phase Input: R7D-AP08H Three-phase 200/230 V AC, 50/60 Hz Noise filter (See note 1.) Main-circuit power supply Main-circuit contactor (See note 2.)
  • Page 156 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 3-2-3 Terminal Block Wiring When wiring a Terminal Block, pay attention to wire sizes, grounding systems, and anti- noise measures.
  • Page 157 Frame ground Screw – size N ⋅ m Torque No-fuse breaker or fuse A (rms) capacity Note 1. Use the same wire sizes for 2, B1, and B2. Note 2. Connect an OMRON Servomotor Cable to the Servomotor connection terminals. 3-16...
  • Page 158 Note 1. Use the same wire sizes and tightening torques for 1, 2, B1, and B2. Note 2. Connect an OMRON Servomotor Cable to the Servomotor connection terminals. Wire Sizes and Allowable Current ■ The following table shows the allowable current for when there are three wires.
  • Page 159 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation ■ Terminal Block Wiring Procedure Connector-type Terminal Blocks are used for SMARTSTEP A-series Servo Drivers. The procedure for wiring these Terminal Blocks is explained below.
  • Page 160 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 4. Insert the wire into the slot. With the slot held open, insert the end of the wire. Then let the slot close by releasing the pressure from the lever or the screwdriver.
  • Page 161 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation ● Three-phase Power Supply Input (R7D-AP08H) R7D-AP@ R7M-A@ Contactor AC power...
  • Page 162 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 Correct: Cables are bound. Correct: Properly twisted Driver Driver Binding • Separate power supply cables and signal cables when wiring.
  • Page 163 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation Smart Power Servo Capacity Rated Inrush 125% of NFB model Servo...
  • Page 164 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 Type Model Rated current Maker Three-phase LF-315K 15 A Tokin LF-325K...
  • Page 165 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation Note Thyristors and varistors are made by the following companies. Refer to manufacturers docu- mentation for operating details.Thyristors: Ishizuka Electronics Co.
  • Page 166 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 ● Harmonic Current Countermeasures (DC Reactor) The DC Reactor is used for suppressing harmonic currents. It suppresses sudden and quick changes in electric currents.
  • Page 167 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation ■ Improving Control I/O Signal Noise Resistance Positioning can be affected and I/O signals can error if control I/O is influenced by noise. Follow the methods outlined below for the power supply and wiring.
  • Page 168 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 Wiring Method ■ ● Single-phase Power Supply Input Control panel Metal plate Installation incorporating 2 m max.
  • Page 169 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation ● Three-phase Power Supply Input (R7D-AP08H) Control panel Metal plate Installation incorporating 2 m max.
  • Page 170 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 • Use twisted-pair cables for the power supply cables whenever possible, or bind the cables.
  • Page 171 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation • Be sure that no gaps are created when installing the cover, as gaps can be caused by distortion when tightening screws.
  • Page 172 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 Servo Driver inrush current: With low-speed no-fuse breakers, an inrush current 10 times the rated current flows for 0.02 sec- onds.
  • Page 173 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation Dimensions (The dimensions given below are for noise filters with lead-wire terminals. For the dimensions of noise filters with different types of terminals, contact the manufacturer.)
  • Page 174 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 For three-phase input (FN258L-16/07) 300±10 ● Noise filter for brake power supply Use the following noise filter for the brake power supply.
  • Page 175 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation ● Surge Killers Install surge killers for loads that have induction coils, such as relays, solenoids, brakes, clutches, etc.
  • Page 176 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 The following table shows the Servomotor leakage current for each Servo Driver model.
  • Page 177 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation • If Servomotors with brakes are used, do not share the 24-V DC power supply for brakes with the 24-V DC power supply for control I/O.
  • Page 178 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 Regenerative Energy Absorption The Servo Drivers have internal regenerative energy absorption circuitry for absorbing the regenerative energy produced during time such as Servomotor deceleration, and thus preventing the DC voltage from increasing.
  • Page 179 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation Note There is some loss due to winding resistance, so the actual regenerative energy will be approx- imately 90% of the values derived from these equations.
  • Page 180 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 2π • E • • N • T • t [J ] = 0.0524 • N •...
  • Page 181 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation Note External Regeneration Resistors cannot be connected to 30- to 200-W Servo Drivers.
  • Page 182 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com System Design and Installation Chapter 3 External Regeneration Resistors ■ ● Specifications Model Resistance Nominal Regeneration Heat radiation Thermal switch...
  • Page 183 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 3 System Design and Installation ■ Wiring External Regeneration Resistance ● R7D-AP04L and R7D-AP04H Connect an External Regeneration Resistor between the B1 and B2 terminals.
  • Page 184 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 4 Operation Operational Procedure Switch Settings Preparing for Operation Trial Operation Gain Adjustments User Parameters Operating Functions...
  • Page 185 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 4 Operation Precautions !Caution Confirm that there will be no effect on the equipment, and then perform a test operation.
  • Page 186 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Operation Chapter 4 Operational Procedure After mounting, wiring, and connecting a power supply, check the operation of the Servomotor and Servo Driver.
  • Page 187 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 4 Operation Switch Settings With SMARTSTEP A-series Servo Drivers, operation settings can be performed simply by using the front panel switches. Set the switches appropriately according to the system configuration.
  • Page 188 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Operation Chapter 4 Turning Function Switches ON and OFF ■ The default setting for all function switches is OFF. Use a thin-blade non-conductive ceramic screw- driver or equivalent to turn the switches ON and OFF.
  • Page 189 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 4 Operation ■ Dynamic Brake Setting (Switch 2) Switch 2 sets dynamic brake operation. When dynamic braking is enabled, the Servomotor is stopped rapidly when the RUN command is turned OFF or when an alarm occurs.
  • Page 190 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Operation Chapter 4 Preparing for Operation This section explains the procedure following installation, wiring, and switch setting of the Servomotor and Servo Driver, to prepare the mechanical system for trial operation.
  • Page 191 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 4 Operation ■ Turning ON Power • First carry out the preliminary checks, and then turn ON the control-circuit power supply. It makes no difference whether or not the main-circuit power supply is also turned ON.
  • Page 192 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Operation Chapter 4 Trial Operation Once mounting, wiring, switch setting, and connecting a power supply have been finished and normal status has been confirmed, perform trial operation.
  • Page 193 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 4 Operation 3. Loaded Low-speed Operation • Send a low-speed command from the Host Controller to rotate the Servomotor. (The definition of low speed varies depending on the mechanical system, but a rough estimate is 1/10 to 1/5 of the normal operating speed.)
  • Page 194 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Operation Chapter 4 Gain Adjustments The SMARTSTEP A-series Servo Driver is equipped with an online autotuning function. Use this function to easily adjust the gain even if using a servo system for the first time.
  • Page 195 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 4 Operation ■ Online Autotuning Procedure Start Turn OFF the power. Do not perform extreme adjustment and setting changes as they may Set the gain adjustment rotary switch.
  • Page 196 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Operation Chapter 4 Setting the Gain Adjustment Rotary Switch during Online Autotuning ■ • Setting the gain adjustment rotary switch during online autotuning sets the servo system’s target speed loop gain and position loop gain.
  • Page 197 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 4 Operation ■ Manual Tuning Procedure Start Turn OFF the power. Do not perform extreme adjustment and setting changes as they may Set the gain adjustment rotary switch.
  • Page 198 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Operation Chapter 4 User Parameters This section describes the Servo Driver internal user parameters. Even if operating using the Servo Driver’s front panel switch settings, be sure to understand the kinds of...
  • Page 199 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 4 Operation Parameter Parameter name Description for parameters set with 5 digits Default Unit Setting Restart?
  • Page 200 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Operation Chapter 4 Parameter Parameter name Description for parameters set with 5 digits Default Unit Setting Restart?
  • Page 201 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 4 Operation Pn100 Speed loop gain Settings 1 to 2000 Unit Default Restart? • This gain adjusts the speed loop response.
  • Page 202 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Operation Chapter 4 Pn102 Position loop gain Settings 1 to 2000 Unit Default Restart? • Adjust the position loop response to suit the mechanical rigidity of the system.
  • Page 203 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 4 Operation Pn109 Feed-forward amount Settings 0 to 100 Unit Default Restart? • Sets the feed-forward compensation value during positioning.
  • Page 204 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Operation Chapter 4 Pn110.2 Online autotuning function – Adhesive friction compensation selection Settings 0 to 2 Unit...
  • Page 205 • Sets input conditions under which ECRST (deviation counter reset input, CN1-5: +ECRST, CN1-6: –ECRST) is effective. • If using an OMRON Position Control Unit, do not change the default setting. Pn200.2 Position control setting 1 –Deviation counter reset for servo OFF and alarms...
  • Page 206 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Operation Chapter 4 Pn204 Position command filter time constant 1 (primary filter) × 0.01 ms Settings 0 to 6400...
  • Page 207 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 4 Operation Pn401 Torque command filter time constant × 0.01 ms Settings 0 to 65535 Unit...
  • Page 208 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Operation Chapter 4 Pn600 Regeneration resistor capacity × 10W Settings 0 to max. for Unit Default Restart? model •...
  • Page 209 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 4 Operation Operating Functions 4-7-1 Position Control Functions ■ • Perform position control using the pulse train input from CN1-1,2 for CW and CN1-3,4 for CCW.
  • Page 210 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Operation Chapter 4 4-7-2 Brake Interlock Precautions for Using Electromagnetic Brake ■ • The electromagnetic brake Servomotor with a brake is a non-excitation brake especially for holding.
  • Page 211 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 4 Operation ● RUN, Error, and Power Supply Timing (Servomotor Rotating) ALM (alarm output) (See note 2.)
  • Page 212 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Operation Chapter 4 4-7-3 Torque Limiting Functions ■ • The torque limit function limits the Servomotor’s output torque.
  • Page 213 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 4 Operation ■ Parameters Requiring Settings Parameter No. Parameter name Explanation Pn202 Electronic gear ratio Set the pulse rate for the command pulse and Servomotor travel dis- tance.
  • Page 214 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Operation Chapter 4 4-7-5 Position Command Filter Function Functions ■ • Perform soft start processing for the command pulses using the selected filter to gently accelerate and decelerate.
  • Page 215 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 4 Operation ● Linear Acceleration and Deceleration Speed Command pulse input frequency Time Pn208 Pn208 4-32...
  • Page 216 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 5 Troubleshooting Measures when Trouble Occurs Alarms Troubleshooting Overload Characteristics (Electron Thermal Char- acteristics) Periodic Maintenance...
  • Page 217 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 5 Troubleshooting Measures when Trouble Occurs 5-1-1 Preventive Checks Before Trouble Occurs This section explains the preventive checks and analysis tools required to determine the cause of troubles if they occurs.
  • Page 218 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Troubleshooting Chapter 5 Computer Monitor Software • Install and use the SMARTSTEP A-series Servo Driver Computer Monitor Software for Win- dows version 2.0 (WMON Win Ver.
  • Page 219 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 5 Troubleshooting 5-1-3 Replacing the Servomotor and Servo Driver Perform the following procedure to replace the Servomotor or Servo Driver.
  • Page 220 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Troubleshooting Chapter 5 Alarms If the Servo Driver detects an error, ALM (alarm output) will be output, the power drive circuit in the Servo Driver will turn OFF, and the alarm will be displayed.
  • Page 221 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 5 Troubleshooting ■ Alarm Table Code Error detection function Cause of error Alarm A.04 Parameter setting error The Servomotor does not match the Servo Driver.
  • Page 222 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Troubleshooting Chapter 5 Troubleshooting If an error occurs in the machinery, check the type of error using the alarm indicators and operation status, verify the cause, and take appropriate countermeasures.
  • Page 223 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs Regeneration Occurs during Regenerative energy...
  • Page 224 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Troubleshooting Chapter 5 Display Error Status when Cause of error Countermeasures error occurs Overspeed Occurs when the Encoder signal between Rewire correctly.
  • Page 225 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs Overheat Occurs when the Control panel error Replace the Servo Driver.
  • Page 226 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Troubleshooting Chapter 5 Display Error Status when Cause of error Countermeasures error occurs Deviation Servomotor will Servomotor power or Rewire correctly.
  • Page 227 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 5 Troubleshooting ■ Parameter Unit Alarms Display Error Status when error Cause of error Countermeasures occurs...
  • Page 228 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Troubleshooting Chapter 5 Symptom Probable cause Items to check Countermeasures The Servomotor The RUN signal is OFF.
  • Page 229 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 5 Troubleshooting Symptom Probable cause Items to check Countermeasures Servomotor is The ambient temperature Check to be sure that the ambient Lower the ambient temper- ature to 40 °...
  • Page 230 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Troubleshooting Chapter 5 Overload Characteristics (Electron Thermal Characteristics) An overload protection (electron thermal) function is built into the Servo Driver to protect against Servo Driver or Servomotor overload.
  • Page 231 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 5 Troubleshooting Periodic Maintenance Maintenance and Inspection Precautions !WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may result in malfunction, fire, or electric shock.
  • Page 232 • If the Servomotor or Servo Driver is not to be used for a long time, or if they are to be used under conditions worse than those described above, a periodic inspection schedule of five years is recom- mended. Please consult with OMRON to determine whether or not components need to be replaced.
  • Page 233 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com...
  • Page 234 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 6 Appendix Connection Examples...
  • Page 235 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 6 Appendix Connection Examples Connection Example 1: Connecting to SYSMAC CS1W-NC113/213/413 ■ or C200HW-NC113/213/413 Position Control Units...
  • Page 236 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Appendix Chapter 6 Connection Example 2: Connecting to SYSMAC CS1W-NC133/233/433 ■ Main-circuit power supply Main-circuit contact Surge killer...
  • Page 237 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 6 Appendix ■ Connection Example 3: Connecting to SYSMAC CJ1W-NC113/213/413 Main-circuit power supply Main-circuit contact Surge killer...
  • Page 238 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Appendix Chapter 6 Connection Example 4: Connecting to SYSMAC CJ1W-NC133/233/433 ■ Main-circuit power supply Main-circuit contact Surge killer...
  • Page 239 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 6 Appendix ■ Connection Example 5: Connecting to SYSMAC CS1W-HCP22 Main-circuit power supply Main-circuit contact Surge killer...
  • Page 240 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Appendix Chapter 6 Connection Example 6: Connecting to 3F88M-DRT141 Single-axis ■ Positioner for DeviceNet Main-circuit power supply...
  • Page 241 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 6 Appendix ■ Connection Example 7: Connecting to SYSMAC C200H-NC112 Main-circuit power supply Main-circuit contact Surge Killer...
  • Page 242 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Appendix Chapter 6 Connection Example 8: Connecting to SYSMAC C500-NC113/211 or ■ C200H-NC211 Main-circuit power supply Main-circuit contact...
  • Page 243 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 6 Appendix ■ Connection Example 9: Connecting to Oriental XG8200S Main-circuit power supply Main-circuit contact Surge killer...
  • Page 244 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Appendix Chapter 6 Connection Example 10: Connecting to Oriental SG8030J ■ Main-circuit power supply Main-circuit contact Surge killer...
  • Page 245 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 6 Appendix ■ Connection Example 11: Connecting to Keyence HC-50 Main-circuit power supply Main-circuit contact Surge killer...
  • Page 246 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Appendix Chapter 6 Connection Example 12: Connecting to Melec C-870V1 ■ Main-circuit power supply Main-circuit contact Surge killer...
  • Page 247 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Chapter 6 Appendix ■ Connection Example 13: Connecting to SYSMAC CQM1H-PLB21 Main-circuit power supply Main-circuit contact Surge killer...
  • Page 248 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Appendix Chapter 6 Connection Example 14: Connecting to SYSMAC CPM2C ■ This diagram shows an example using a 10-point CPU Unit with transistor outputs (sinking).
  • Page 249 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com...
  • Page 250 Distributor of Omron Automation & Safety: Excellent Integrated System Limited Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual.

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