R7D B Datasheet en 200809

SMARTSTEP 2
R7D-BP
R88M-G
Advanced Functionality in a Super Compact Design
Actual Size
35 120 105 (W H D)
(Excluding mounting)
50 to 400 W
Pulse Train Input
AC Servomotors
and Servo Drives
Easy and Advanced Performance
Solve Your Equipment Problems

from Design to Maintenance.
Integrated Development Environment

Cut Your TCO from Design to Maintenance.
Setting & Programming
Setting Parameters
Programming
Maintain your Server Drives with the

CX-Drive in the CX-One FA
Integrated Tool Package.
Unit Configuration
Integrated Debugging
Improve Tact Time
System Design
PC
Operation & Maintenance
No Adjustment
Suitable for systems with low
mechanical rigidity
Even Smaller
Control Panel
System Configuration
Interpreting Model Numbers
10
Ordering Information
12
Servo Drive-Servomotor Combinations
16
Servomotor and Decelerator Combinations
16
Servo Relay Units and Cables
17
Cable Combinations
18
Servo Drive Specifications
22
Servomotor Specifications
23
Decelerator Specifications
28
Encoder, External Regeneration

Resistors, Reactor and Parameter Unit
Specifications
30
Connections
31
I/O Circuit Diagrams
33
Nomenclature and Functions
36
Dimensions
39
About Manuals
49
FB
Easy programming with the

Smart FB Library
Parameter Editing & Monitoring

The Servomotor
parameters can be
edited, monitored, and
saved with the CX-Drive.
Easy Parameter Settings
Easy monitoring of the NC

Unit & Drive errors
PT
CP1H/ CP1L
Mechanical vibration is controlled with a

vibration control function and adaptive filter.
Mount the Drive to the

DIN Rail in one step.
Selection Guide
Alarm & Maintenance
Simple Realtime Autotuning

eliminates the need for
complicated adjustments.
Installation
Control from a PLC is made easy by using function blocks.

The Servo System can be managed from design to maintenance with the CX-One FA
Integrated Package.
Maintenance with Integrated

Support Software
Significantly faster
command pulse
Features
Note: CX-Drive (version 1.61) support for

SMARTSTEP2 series Servo Drives can be
obtained by using the CX-One V2 auto-update
function from May 30, 2008.
PC
Simply download parameter settings

by using the copy function.
Palm-size Design
Reduce Design Work

Easy control from PLC with the
Smart FB Library.
SMARTSTEP2
Easy monitoring of Position Control Unit and Servo Drive errors
SMARTSTEP2: Features
Easy and Advanced Performance
Solve Your Equipment Problems

from Design to Maintenance.
Integrated Development Environment

Cut Your TCO from Design to Maintenance.
Setting & Programming
Setting Parameters
Programming
Maintain your Server Drives with the

CX-Drive in the CX-One FA
Integrated Tool Package.
Unit Configuration
Integrated Debugging
Improve Tact Time
System Design
PC
Operation & Maintenance
No Adjustment
Suitable for systems with low
mechanical rigidity
Even Smaller
Control Panel
10
12
16
16
17
Cable Combinations
18
Servo Drive Specifications
22
Servomotor Specifications
23
Decelerator Specifications
28
Encoder, External Regeneration

Resistors, Reactor and Parameter Unit
Specifications
30
Connections
31
33
36
Dimensions
39
About Manuals
49
FB
Easy programming with the

Smart FB Library
Parameter Editing & Monitoring

The Servomotor
parameters can be
edited, monitored, and
saved with the CX-Drive.
Easy Parameter Settings
Easy monitoring of the NC

Unit & Drive errors
PT
CP1H/ CP1L
Mechanical vibration is controlled with a

vibration control function and adaptive filter.
Mount the Drive to the

DIN Rail in one step.
Selection Guide
Alarm & Maintenance
Simple Realtime Autotuning

eliminates the need for
complicated adjustments.
Installation
Control from a PLC is made easy by using function blocks.

The Servo System can be managed from design to maintenance with the CX-One FA
Integrated Package.
Maintenance with Integrated

Support Software
Significantly faster
command pulse
Features
Note: CX-Drive (version 1.61) support for

SMARTSTEP2 series Servo Drives can be
obtained by using the CX-One V2 auto-update
function from May 30, 2008.
PC
Simply download parameter settings

by using the copy function.
Palm-size Design
Reduce Design Work

Easy control from PLC with the
Smart FB Library.
SMARTSTEP2
Easy monitoring of Position Control Unit and Servo Drive errors
Ball Screws, Belt Conveyers,and More: Ideal

A Super-compact, High-performance Servo
for a Wide Range of Applications

System That's Easy to Use
for Precise Positioning with Ease
Compact!
Easy!
Advanced Functionality!
Smaller Servo Drives for Multi-axis Applications
Easy Adjustment
Reduce Tact Time
Reduce Mechanical Vibration
Reduce footprint in the control panel.
Realtime autotuning sets the optimum gain.
Achieve high-speed positioning and movement.
Quick suppression of vibration with an adaptive filter.
The super-compact SMARTSTEP is now even smaller.

The footprint has been reduced by 52%, helping to
reduce control panel size.
An autotuning function calculates the device load in

realtime and automatically sets the optimum gain,
simplifying the adjustment procedure.
The command pulse frequency at 500 kpps is twice as

fast as previous OMRON models, enabling high-speed
and high-precision control.
Double
the
Speed
The vibration frequency is automatically measured to

remove vibration. Even if the resonant frequency
changes, realtime evaluation automatically follows the
changes to reduce the effect of vibration due to low
mechanical rigidity, such as for conveyer belts.
55
130
Load signal
35
105
160
120
SMARTSTEP2
Downsized Servo Drives for Compact PLCs
SMARTSTEP
SMARTSTEP2
Footprint
Reduced
by 52%
Note: Excluding mounting
bracket.
SMARTSTEP
Automatic
Gain
Setting
100
200
Easier Installation
Mount the Servo to a DIN Rail in one step.

The Servo Drive can be mounted onto a DIN Rail in a
single step by using the DIN Rail Mounting Unit (sold
separately) for easier assembly and easier maintenance
replacements.
Reduce your duct pitch.
One-step
Mounting
SMARTSTEP2 is only 120 mm in height. By mounting it

onto the same duct as the compact CP1L PLC, the duct
pitch can be reduced, minimizing control panel space.
Automatically adjusts
filter to vibration
frequency.
300
400
500
Command pulse frequency (kpps)
Check the Present Position
Vibration
Monitor positioning errors with a feedback pulse.
Reduce Tact Time
The present position can be checked from the host

using the feedback pulse sent from the Servo Drive to
the Controller, allowing device errors to be monitored.
High-speed positioning with vibration control.
Command pulse
Error
occurred
Mechanical vibration at the stop position caused by low

mechanical rigidity can be suppressed by removing the
vibration frequency.
Previous model
Feedback pulse
Reduced
Duct Space
CP1L
SMARTSTEP2
Easy Parameter Settings for Mass Production
Change Pressing Force
Use the Parameter Unit as a copy tool.
Torque limiting function.
Parameter can be easily set for many Servo Drives

using the Parameter Unit, enabling easier assembly
work in mass production lines.
Set two torque limits, and switch between the two limits
depending on the application, such as pressing or part
insertions.
Note: Use the wiring duct and the height max 60mm.
The width between the top and bottom side of the board and the drives is max 100 mm.
Control for one vibration frequency

Stop position
Vibration
160mm
Quickly suppresses
vibration
Stop position
No vibration!
Setting A
Setting B
Upload
Download
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Ball Screws, Belt Conveyers,and More: Ideal

A Super-compact, High-performance Servo
for a Wide Range of Applications

System That's Easy to Use
for Precise Positioning with Ease
Compact!
Easy!
Advanced Functionality!
Smaller Servo Drives for Multi-axis Applications
Easy Adjustment
Reduce Tact Time
Reduce Mechanical Vibration
Reduce footprint in the control panel.
Realtime autotuning sets the optimum gain.
Achieve high-speed positioning and movement.
Quick suppression of vibration with an adaptive filter.
The super-compact SMARTSTEP is now even smaller.

The footprint has been reduced by 52%, helping to
reduce control panel size.
An autotuning function calculates the device load in

realtime and automatically sets the optimum gain,
simplifying the adjustment procedure.
The command pulse frequency at 500 kpps is twice as

fast as previous OMRON models, enabling high-speed
and high-precision control.
Double
the
Speed
The vibration frequency is automatically measured to

remove vibration. Even if the resonant frequency
changes, realtime evaluation automatically follows the
changes to reduce the effect of vibration due to low
mechanical rigidity, such as for conveyer belts.
55
130
Load signal
35
105
160
120
SMARTSTEP2
Downsized Servo Drives for Compact PLCs
SMARTSTEP
SMARTSTEP2
Footprint
Reduced
by 52%
Note: Excluding mounting
bracket.
SMARTSTEP
Automatic
Gain
Setting
100
200
Easier Installation
Mount the Servo to a DIN Rail in one step.

The Servo Drive can be mounted onto a DIN Rail in a
single step by using the DIN Rail Mounting Unit (sold
separately) for easier assembly and easier maintenance
replacements.
Reduce your duct pitch.
One-step
Mounting
SMARTSTEP2 is only 120 mm in height. By mounting it

onto the same duct as the compact CP1L PLC, the duct
pitch can be reduced, minimizing control panel space.
Automatically adjusts
filter to vibration
frequency.
300
400
500
Command pulse frequency (kpps)
Check the Present Position
Vibration
Monitor positioning errors with a feedback pulse.
Reduce Tact Time
The present position can be checked from the host

using the feedback pulse sent from the Servo Drive to
the Controller, allowing device errors to be monitored.
High-speed positioning with vibration control.
Command pulse
Error
occurred
Mechanical vibration at the stop position caused by low

mechanical rigidity can be suppressed by removing the
vibration frequency.
Previous model
Feedback pulse
Reduced
Duct Space
CP1L
SMARTSTEP2
Easy Parameter Settings for Mass Production
Change Pressing Force
Use the Parameter Unit as a copy tool.
Torque limiting function.
Parameter can be easily set for many Servo Drives

using the Parameter Unit, enabling easier assembly
work in mass production lines.
Set two torque limits, and switch between the two limits
depending on the application, such as pressing or part
insertions.
Note: Use the wiring duct and the height max 60mm.
The width between the top and bottom side of the board and the drives is max 100 mm.
Control for one vibration frequency

Stop position
Vibration
160mm
Quickly suppresses
vibration
Stop position
No vibration!
Setting A
Setting B
Upload
Download
Download
Selection Guide
The optimum combination can be found from

to handle various applications.
a variety of functions and model variations
Servo Drive Variations
Servomotor Variations
OMNUC G Series
Servo Drives with General-purpose Inputs MECHATROLINK-II* Compatible Servo Drives
R88D-GT
R88D-GN -ML2
Power supply
AC100V
Single-phase
Single/
Three-phase
Motor capacity
Single-phase
AC100V
50
W
100
W
200
W
400
W
50
W
100
W
200
W
400
W
Single-phase
50
W
100
W
200
W
400
W
50
W
100
W
200
W
400
W
AC200V Single/
Three-phase
750
W
900
W
1
kW
1.5
kW
750
W
900
W
1
kW
1.5
kW
2
kW
3
kW
4
kW
4.5
kW
Pulse
train
Command type
Control modes
Position
control
Control modes
5
kW
7.5
kW
2
kW
Vibration control
Vibration
control
Autotuning
AUTO
4
kW
Position
control
4.5
kW
6
kW
50
W
Vibration
control
Servo Drive functions
INC
50
W
7.5
kW
Motor type
200
W
*1
Analog:
ML2: MECHATROLINK-II
Analog The speed and torque
Torque control: Control is applied to
Torque adjust the rotational force. Torque control

control
is suitable for applications such as parts

insertion, pressing, and screw tightening.
Fit gain: The rigidity for the realtime
FIT
GAIN autotuning for position control is set
automatically. By repeatedly inputting

a specific operation pattern, the
optimum rigidity is set automatically.
are input to the Servo

as analog signals.
ML2 high-speed Servo

communications motion
network. (See note.)
INC
ABS
INC
INC
INC
200
W
200W
INC
ABS
INC
INC
ABS
INC
INC
INC
Pulse
train
400W
INC
ABS
INC
INC
ABS
INC
INC
INC
Position
control
750W
INC
ABS
INC
Adaptive *3
filter
Torque *1
limit
Torque *1
limit
INC
Command control mode switching:
Mode
switching Switching is possible between any two of
the three control modes: position control,
speed control, and torque control.
Absolute output: When the Controller
ABS power supply is turned ON, the Controller

reads the Servo absolute position data to
restore the absolute position.
Position control: Control is
position and then stop at the

target position.
Vibration control function:
Vibration Vibration is suppressed by

control automatically setting a filter for
the vibration frequency.
Incremental output: When
INC
the Controller power supply is

turned ON, operation is always
started from the origin point.
3000r/min
INC
Adaptive *2
filter
Position
control applied to move to the target
3000r/min
Flat type
INC
ABS
400
W
*3. One adaptive filter and one notch filter.
INC
ABS
INC
ABS
1.5kW
INC
ABS
INC
ABS
2kW
INC
ABS
INC
ABS
INC
ABS
3kW
INC
ABS
INC
ABS
INC
ABS
INC
ABS
INC
ABS
INC
ABS
INC
ABS
4kW
4.5kW
INC
INC
ABS
1kW
INC
ABS
5kW
6kW
Pulse train:
Cylinder type
100W
100
W
Functions
distance are input to the
Servo as pulse trains.
2000r/min
Flat type
INC
AUTO
*2. One adaptive filter and two notch filters.
1000r/min
Cylinder type
INC
ABS
Vibration
control
INC
Cylinder type
50W
4
speeds
*1. Two limits.
Pulse The speed and travel

train
Rated speed
900W
8
speeds
Internal set speeds
100
W
AUTO
ABS
R88M-G
Three-phase
200
W
Torque
control
Speed
control
*1
Adaptive *2
filter
ABS
5
kW
Single/
Three-phase
Single-phase
Mode
switching
Torque *1
limit
Encoder output
R88M-G
Servomotor capacity
Tuning functions
Mode
switching
Torque limits
3
kW
Three-phase
ML2
Torque
control
Speed
control
FIT
GAIN
6
kW
Single-phase
Analog
Control mode switching
Realtime autotuning
Three-phase
SMARTSTEP2 Series
Pulse train input
Single-phase
AC200V
Three-phase
Interface
R7D-BP
Single-phase
Single/
Three-phase
OMNUC G Series
Servomotors with General-purpose Inputs and MECHATROLINK-II* Compatible Servomotors
SMARTSTEP2 Series
Pulse train input
INC
ABS
Speed control: Control is applied to change the linear
Speed or rotational speed. For example, speed control is used

control
for applications such as turning grindstones, controlling

welding speeds, and controlling feeding speeds.
7.5kW
INC *4
ABS
*4. The rated speed is 1,500 r/min for 7.5 kW Servomotors only
Autotuning: The motor is moved according to a
AUTO command pattern automatically generated by the Servo

Drive, then estimates the load inertia from the torque
required at that time to automatically set the optimum gain.
Adaptive filter: The machine
Adaptive load inertia is calculated in

filter
realtime and the result is used to

automatically set the optimum gain.
Torque limit: Switching is
Torque possible between the first torque

limit
limit and the second torque limit to

limit the Servomotor output torque.
Functions
INC Incremental/absolute output: The Servomotor can be switched between an incremental
output and an absolute output. When an absolute output is selected and the Controller power supply
ABS is turned ON, the Controller reads the Servo absolute position data to restore the absolute position.
Incremental output: When the Controller power supply is
INC
turned ON, operation is always started from the origin point.

*MECHATROLINK-II is a registered trademark of the MECHATROLINK Members Association
For detailed specifications of the OMNUC G Series, refer to the OMNUC G Series Catalog (Cat. No. I814).
SMARTSTEP2: Selection Guide
Selection Guide
The optimum combination can be found from

to handle various applications.
a variety of functions and model variations
Servo Drive Variations
Servomotor Variations
OMNUC G Series
Servo Drives with General-purpose Inputs MECHATROLINK-II* Compatible Servo Drives
R88D-GT
R88D-GN -ML2
Power supply
AC100V
Single-phase
Single/
Three-phase
Motor capacity
Single-phase
AC100V
50
W
100
W
200
W
400
W
50
W
100
W
200
W
400
W
Single-phase
50
W
100
W
200
W
400
W
50
W
100
W
200
W
400
W
AC200V Single/
Three-phase
750
W
900
W
1
kW
1.5
kW
750
W
900
W
1
kW
1.5
kW
2
kW
3
kW
4
kW
4.5
kW
Pulse
train
Command type
Control modes
Position
control
Control modes
5
kW
7.5
kW
2
kW
Vibration control
Vibration
control
Autotuning
AUTO
4
kW
Position
control
4.5
kW
6
kW
50
W
Vibration
control
Servo Drive functions
INC
50
W
7.5
kW
Motor type
200
W
*1
Analog:
ML2: MECHATROLINK-II
Analog The speed and torque
Torque control: Control is applied to
Torque adjust the rotational force. Torque control

control
is suitable for applications such as parts

insertion, pressing, and screw tightening.
Fit gain: The rigidity for the realtime
FIT
GAIN autotuning for position control is set
automatically. By repeatedly inputting

a specific operation pattern, the
optimum rigidity is set automatically.
are input to the Servo

as analog signals.
ML2 high-speed Servo

communications motion
network. (See note.)
INC
ABS
INC
INC
INC
200
W
200W
INC
ABS
INC
INC
ABS
INC
INC
INC
Pulse
train
400W
INC
ABS
INC
INC
ABS
INC
INC
INC
Position
control
750W
INC
ABS
INC
Adaptive *3
filter
Torque *1
limit
Torque *1
limit
INC
Command control mode switching:
Mode
switching Switching is possible between any two of
the three control modes: position control,
speed control, and torque control.
Absolute output: When the Controller
ABS power supply is turned ON, the Controller

reads the Servo absolute position data to
restore the absolute position.
Position control: Control is
position and then stop at the

target position.
Vibration control function:
Vibration Vibration is suppressed by

control automatically setting a filter for
the vibration frequency.
Incremental output: When
INC
the Controller power supply is

turned ON, operation is always
started from the origin point.
3000r/min
INC
Adaptive *2
filter
Position
control applied to move to the target
3000r/min
Flat type
INC
ABS
400
W
*3. One adaptive filter and one notch filter.
INC
ABS
INC
ABS
1.5kW
INC
ABS
INC
ABS
2kW
INC
ABS
INC
ABS
INC
ABS
3kW
INC
ABS
INC
ABS
INC
ABS
INC
ABS
INC
ABS
INC
ABS
INC
ABS
4kW
4.5kW
INC
INC
ABS
1kW
INC
ABS
5kW
6kW
Pulse train:
Cylinder type
100W
100
W
Functions
distance are input to the
Servo as pulse trains.
2000r/min
Flat type
INC
AUTO
*2. One adaptive filter and two notch filters.
1000r/min
Cylinder type
INC
ABS
Vibration
control
INC
Cylinder type
50W
4
speeds
*1. Two limits.
Pulse The speed and travel

train
Rated speed
900W
8
speeds
Internal set speeds
100
W
AUTO
ABS
R88M-G
Three-phase
200
W
Torque
control
Speed
control
*1
Adaptive *2
filter
ABS
5
kW
Single/
Three-phase
Single-phase
Mode
switching
Torque *1
limit
Encoder output
R88M-G
Servomotor capacity
Tuning functions
Mode
switching
Torque limits
3
kW
Three-phase
ML2
Torque
control
Speed
control
FIT
GAIN
6
kW
Single-phase
Analog
Control mode switching
Realtime autotuning
Three-phase
SMARTSTEP2 Series
Pulse train input
Single-phase
AC200V
Three-phase
Interface
R7D-BP
Single-phase
Single/
Three-phase
OMNUC G Series
Servomotors with General-purpose Inputs and MECHATROLINK-II* Compatible Servomotors
SMARTSTEP2 Series
Pulse train input
INC
ABS
Speed control: Control is applied to change the linear
Speed or rotational speed. For example, speed control is used

control
for applications such as turning grindstones, controlling

welding speeds, and controlling feeding speeds.
7.5kW
INC *4
ABS
*4. The rated speed is 1,500 r/min for 7.5 kW Servomotors only
Autotuning: The motor is moved according to a
AUTO command pattern automatically generated by the Servo

Drive, then estimates the load inertia from the torque
required at that time to automatically set the optimum gain.
Adaptive filter: The machine
Adaptive load inertia is calculated in

filter
realtime and the result is used to

automatically set the optimum gain.
Torque limit: Switching is
Torque possible between the first torque

limit
limit and the second torque limit to

limit the Servomotor output torque.
Functions
INC Incremental/absolute output: The Servomotor can be switched between an incremental
output and an absolute output. When an absolute output is selected and the Controller power supply
ABS is turned ON, the Controller reads the Servo absolute position data to restore the absolute position.
Incremental output: When the Controller power supply is
INC
turned ON, operation is always started from the origin point.

*MECHATROLINK-II is a registered trademark of the MECHATROLINK Members Association
For detailed specifications of the OMNUC G Series, refer to the OMNUC G Series Catalog (Cat. No. I814).
AC Servomotors and SMARTSTEP 2-series Servo Drives with Pulse String Inputs
R88M-G/R7D-BP
Advanced Functionality in a Super Compact Design.

Compact AC Servo Drives
Resonance Control for High-speed Positioning
The footprint of the compact AC Servo Drives is only 48%
Realtime autotuning estimates the load inertia of the ma-
that of the SMARTSTEP A Series, and the volume is only
chine in realtime and automatically and constantly sets the
39%. The AC Servo Drives of the SMARTSTEP 2 Series
optimal gain. The adaptive filter automatically suppresses
are also equipped with new functions and higher perfor-
vibration caused by resonance.

Compatible with 90 Phase Difference Input Command
mance for more accurate positioning.

Vibration Suppressed during Acceleration/Deceleration of
Pulses
Low-rigidity Mechanisms
In addition to conventional CW/CCW inputs (2 pulses) and
Damping control suppresses vibration when using the
SIGN/PULS inputs (1 pulse), the SMARTSTEP 2 supports
SMARTSTEP 2 for low-rigidity mechanisms or devices in
90 phase difference inputs. This makes it possible to input
which the end vibrates.
encoder output signals directly into the Servo Drive for simplified synchronization control.
Note: CX-Drive (version 1.61) support for SMARTSTEP2 series Servo Drives can be obtained
by using the CX-One V2 auto-update function from May 30, 2008.
Controllers
SYSMAC CJ-series PLC
FQM1-series PLC
Monitor Software
Parameter Unit
CX-Drive
See Note
R88A-PR02G
SYSMAC CS-series PLC
Personal Computer Monitor Cable

Flexible
Motion Controller with Pulse I/O
R88A-CCG002P2
Pulse Train Command

FQM1-MMP22
Position
Position Control
Unit Cables
XW2Z-@@@J-A@
Control Unit
CJ1W-NC113/213/413
CJ1W-NC133/233/433
Servo Relay
Units
XW2B-@@J@-@@@
Servo Drive
Cables
XW2Z-@@@J-B@@
CS1W-NC113/213/413
CS1W-NC133/233/433
Pulse Train Command

SYSMAC CJ1M
CJ1M-CPU2@
Connector-Terminal Block Conversion Units and Cable

CUSTOMIZABLE COUNTER UNIT
CS1W-HCP22-V1
XW2@-34G@
XW2Z-@@@J-B28
Support Software
CX-One
SYSMAC CP1H/CP1L
FA Integrated Tool Package
CX-Programmer
CX-Position
R88M-G/R7D-BP
A Wide Range of Pulse Settings

A wide range of pulse settings, such as the command pulse
factor, electronic gear, and encoder dividing rate, enable
optimal pulse settings for your device or system.
Simplified Speed Control with Internal Speed Settings
Four internal speed settings allow the speed to be easily
switched by using external signals.
Encoder Output Dividing
The number of motor encoder pulses output by the Servo
Drive can be freely set between 1 and 2,500 pulses per rotation. A parameter can also be set to change the phase.
AC Servo Drive
AC Servomotors
Motor power signals
Power Cables
Standard
Cables
Power Cables
Without a brake
R7A-CAB@@@S
POWER
ALM
C
N
3
With a brake
R88A-CAGA@@B
Robot
C
N
1
Cables
Power Cables
Without a brake
R7A-CAB@@@SR
CN2
C
N
B
With a brake
R88A-CAGA@@BR
C
N
A
OMNUC
G-series Servomotor
R88M-G
feedback signals
SMARTSTEP
2 Servo Drive
Encoder Cables
R7D-BP
Standard
Cables
R88A-CRGB@@@C
Power Supply Cables
Robot
Cables
R88A-CRGB@@@CR
Single-Phase
Power
R7A-CLB002S2
Power
R7A-CLB002S3
External Regenerative Resistor
Connection Cable
R7A-CLB002RG
Three-Phase
Peripheral Devices
Decelerators
Backlash:
3 Arcminutes Max.
R88G-HPG
Backlash: 15 Arcminutes Max.

R88G-VRSF
Reactors
3G3AX-DL
3G3AX-AL
External
Regeneration Resistors
R88A-RR
R88M-G/R7D-BP

Servo Drive Model Numbers
The model number provides information such as the Servo Drive type, the applicableServomotor capacity, and the power supply voltage.
R7D-BP01H
SMARTSTEP 2
Servo Drive
Drive Type
P: Pulse-string input
Applicable Servomotor
Capacity
A5: 50 W
01: 100 W
02: 200 W
04: 400 W
Power Supply Voltage

L: 100 VAC
H: Single-phase/Three-phase 200 VAC
HH: Single-phase 200 VAC
Note Single phase: Haploid phase
Servomotor Model Numbers
The model number provides information such as the Servomotor type, Servomotor capacity, rated speed, and options.
R88M-GP10030H-BOS2
G-series Servomotor
Motor Type
None: Cylinder type
P: Flat type
Servomotor Capacity
050: 50 W
100: 100 W
200: 200 W
400: 400 W
Rated Rotation Speed

30: 3000 r/min
Applied Voltage
H: 200 VAC
L: 100 VAC
Options
None: Straight shaft
B: Brake
O: With Oil seal
S2: With Key tap
10
R88M-G/R7D-BP
Understanding Decelerator Model Numbers

Backlash = 3' Max.
R88G-HPG14A05100PBJ
Decelerator for
G-Series Servomotors
Backlash = 3 Max.
Flange Size Number

11A
14A
20A
32A
50A
65A
:@40
:@60
:@90
:@120
:@170
:@230
Gear Ratio
05
09
11
12
20
21
25
33
45
:1/5
:1/9 (only frame number 11A)
:1/11 (except frame number 65A)
:1/21 (except frame number 65A)
:1/33
:1/45
Applicable Servomotor Capacity

050
100
200
400
: 50 W
:100 W
:200 W
:400 W
Motor Type
Blank :3,000-r/min cylindrical servomotors
P
:flat servomotors
Backlash
B
:3 max.
Option
Blank :Straight shaft
J
:With key and tap
Backlash = 15' Max.
R88G-VRSF09B100PCJ
Decelerator for
G-Series Servomotors
Backlash = 15 Max.
Gear Ratio
05
09
15
25
:1/5
:1/9
:1/15
:1/25
Flange Size Number

B
C
D
:@52
:@78
:@98
Applicable Servomotor Capacity

050
100
200
400
: 50 W
:100 W
:200 W
:400 W
Motor Type
Blank :3,000-r/min cylindrical servomotors
P
:flat servomotors
Backlash
C
:15 max.
Option
J
:With key and tap
R88M-G/R7D-BP
11
Servo Drives
Specifications
Single-phase 100 VAC
Model
50 W
R7D-BPA5L
100 W
R7D-BP01L
200 W
R7D-BP02L
50 W
Single-phase/three-phase 200
VAC
100 W
R7D-BP01H
400 W
R7D-BP04H
Single-phase 200 VAC
200 W
R7D-BP02HH
Three-phase 200 VAC
200 W
R7D-BP02H
Servomotors
INC 3,000-r/min Cylindrical Servomotors
Model
Specifications
Without brake
100 V
200 V
With brake
100 V
200 V
Straight shaft
Straight shaft with key and tap
50 W
R88M-G05030H
R88M-G05030H-S2
100 W
R88M-G10030L
R88M-G10030L-S2
200 W
R88M-G20030L
R88M-G20030L-S2
50 W
R88M-G05030H
R88M-G05030H-S2
100 W
R88M-G10030H
R88M-G10030H-S2
200 W
R88M-G20030H
R88M-G20030H-S2
400 W
R88M-G40030H
R88M-G40030H-S2
50 W
R88M-G05030H-B
R88M-G05030H-BS2
100 W
R88M-G10030L-B
R88M-G10030L-BS2
200 W
R88M-G20030L-B
R88M-G20030L-BS2
50 W
R88M-G05030H-B
R88M-G05030H-BS2
100 W
R88M-G10030H-B
R88M-G10030H-BS2
200 W
R88M-G20030H-B
R88M-G20030H-BS2
400 W
R88M-G40030H-B
R88M-G40030H-BS2
Note: Models with oil seals are also available.
INC 3,000-r/min Flat Servomotors

Model
With brake
Without brake
Specifications
100 V
200 V
100 V
200 V
Straight shaft
Straight shaft with key and tap
100W
R88M-GP10030L
200W
R88M-GP20030L
R88M-GP10030L-S2
R88M-GP20030L-S2
100W
R88M-GP10030H
R88M-GP10030H-S2
200W
R88M-GP20030H
R88M-GP20030H-S2
400W
R88M-GP40030H
R88M-GP40030H-S2
100W
R88M-GP10030L-B
R88M-GP10030L-BS2
200W
R88M-GP20030L-B
R88M-GP20030L-BS2
100W
R88M-GP10030H-B
R88M-GP10030H-BS2
200W
R88M-GP20030H-B
R88M-GP20030H-BS2
400W
R88M-GP40030H-B
R88M-GP40030H-BS2
Note: Models with oil seals are also available.
12
R88M-G/R7D-BP
Decelerators
Decelerators for Cylindrical Servomotors
Specifications
Motor capacity
50 W
100 W
200 W
400 W
Model
Gear ratio
Specifications
Motor capacity
Model
Gear ratio
1/5
R88G-HPG11A05100B
1/5
R88G-VRSF05B100CJ
1/9
R88G-HPG11A09050B
1/9
R88G-VRSF09B100CJ
1/21
R88G-HPG14A21100B
1/15
R88G-VRSF15B100CJ
1/33
R88G-HPG14A33050B
1/25
R88G-VRSF25B100CJ
1/45
R88G-HPG14A45050B
1/5
R88G-VRSF05B100CJ
1/5
R88G-HPG11A05100B
1/9
R88G-VRSF09B100CJ
1/11
R88G-HPG14A11100B
1/15
R88G-VRSF15B100CJ
1/21
R88G-HPG14A21100B
1/25
R88G-VRSF25B100CJ
1/33
R88G-HPG20A33100B
1/5
R88G-VRSF05B200CJ
1/45
R88G-HPG20A45100B
1/9
R88G-VRSF09C200CJ
1/5
R88G-HPG14A05200B
1/15
R88G-VRSF15C200CJ
1/11
R88G-HPG14A11200B
1/25
R88G-VRSF25C200CJ
1/21
R88G-HPG20A21200B
1/5
R88G-VRSF05C400CJ
1/33
R88G-HPG20A33200B
1/9
R88G-VRSF09C400CJ
1/45
R88G-HPG20A45200B
1/15
R88G-VRSF15C400CJ
1/5
R88G-HPG14A05400B
1/25
R88G-VRSF25C400CJ
1/11
R88G-HPG20A11400B
1/21
R88G-HPG20A21400B
1/33
R88G-HPG32A33400B
1/45
R88G-HPG32A45400B
50 W
100 W
200 W
400 W
Note: 1. The standard models have a straight shaft with a key.

Note: 2. The backlash is the value when a load of 5% of the allowable output
torque is applied to the output shaft.
Note: 1. The standard models have a straight shaft.

Note: 2. To order a Servomotor with a straight shaft with key, add J to the end
of the model number, in the place indicated by the box.
Example: R88G-HPG11A05100BJ
Decelerator for Flat Servomotors
Decelerators for Flat Servomotors
Specifications
Motor capacity
100 W
200 W
400 W
Gear ratio
Model
Specifications
Motor capacity
Gear ratio
Model
1/5
R88G-HPG11A05100PB
1/5
R88G-VRSF05B100PCJ
1/11
R88G-HPG14A11100PB
1/9
R88G-VRSF09B100PCJ
1/21
R88G-HPG14A21100PB
1/15
R88G-VRSF15B100PCJ
1/33
R88G-HPG20A33100PB
1/25
R88G-VRSF25B100PCJ
1/45
R88G-HPG20A45100PB
1/5
R88G-VRSF05B200PCJ
1/5
R88G-HPG14A05200PB
1/9
R88G-VRSF09C200PCJ
1/11
R88G-HPG20A11200PB
1/15
R88G-VRSF15C200PCJ
1/21
R88G-HPG20A21200PB
1/25
R88G-VRSF25C200PCJ
1/33
R88G-HPG20A33200PB
1/5
R88G-VRSF05C400PCJ
1/45
R88G-HPG20A45200PB
1/9
R88G-VRSF09C400PCJ
1/5
R88G-HPG20A05400PB
1/15
R88G-VRSF15C400PCJ
1/11
R88G-HPG20A11400PB
1/25
R88G-VRSF25C400PCJ
1/21
R88G-HPG20A21400PB
1/33
R88G-HPG32A33400PB
1/45
R88G-HPG32A45400PB
100 W
200 W
400 W
Note: 1. The standard models have a straight shaft with a key.

Note: 2. The backlash is the value when a load of 5% of the allowable output
torque is applied to the output shaft.
Note: 1. The standard models have a straight shaft.

Note: 2. To order a Servomotor with a straight shaft with key, add J to the end
of the model number, in the place indicated by the box.
Example: R88G-HPG11A05100BJ
R88M-G/R7D-BP
13
Accessories and Cables

Control Cables (for CN1)

Specifications
Connector-Terminal Block Cables
General-purpose Control Cables
Model
1m
XW2Z-100J-B28
2m
XW2Z-200J-B28
1m
R7A-CPB001S
2m
R7A-CPB002S
Encoder Cables (for CN2) (Standard Cables)

Specifications
Standard Cables (connectors attached)
Model
3m
R88A-CRGB003C
5m
R88A-CRGB005C
10 m
R88A-CRGB010C
15 m
R88A-CRGB015C
20 m
R88A-CRGB020C
Servomotor Power Cables (for CNB) (Standard Cables)
Model
2m
R88A-CCG002P2
Power Supply Cables

Specifications
Model
Power Supply Input Cable for Single-Phase

Power (connectors attached)
2m
R7A-CLB002S2
Power Supply Input Cable for Three-Phase

Power (connectors attached)
2m
R7A-CLB002S3
External Regenerative Resistor Connection

Cable
2m
R7A-CLB002RG
Connectors
Specifications
Model
Main Circuit Connector (CNA)
R7A-CNB01P
Servomotor Connector (CNB)
R7A-CNB01A
Model
Control Input Connector (CN1)
R88A-CNW01C
3m
R7A-CAB003S
Encoder Input Connector (CN2)
R88A-CNW01R
5m
R7A-CAB005S
Servomotor Connector for Encoder Cable
R88A-CNG02R
10 m
R7A-CAB010S
Servomotor Connector for Servomotor Power Cable
R88A-CNG01A
15 m
R7A-CAB015S
Brake Cable Connector
R88A-CNG01B
20 m
R7A-CAB020S
Specifications
Standard Cables (connectors attached)
Specifications
Connector-Terminal Block Conversion Units

Brake Cables (Standard Cables)
Specifications
Specifications
Standard Cables
Model
XW2B-34G4
3m
R88A-CAGA003B
With M3.5 screws
XW2B-34G5
5m
R88A-CAGA005B
With M3 screws
XW2D-34G6
10 m
R88A-CAGA010B
15 m
R88A-CAGA015B
20 m
R88A-CAGA020B
Encoder Cables (for CN2) (Robot Cables)

Specifications
Robot Cables (connectors attached)
Model
3m
R88A-CRGB003CR
5m
R88A-CRGB005CR
10 m
R88A-CRGB010CR
15 m
R88A-CRGB015CR
20 m
R88A-CRGB020CR
External Regeneration Resistors

Specifications
Specifications
Model
Model
220 W, 47
R88A-RR22047S
80 W, 100
R88A-RR080100S
80 W, 50
R88A-RR08050S
Reactors
Specifications
Single-phase 100 V
Servomotor Power Cables (for CNB) (Robot Cables)
Robot Cables (connectors attached)
Model
With M3 screws
Single-phase 200 V
Applicable Servo Drive
Model
R7D-BPA5L
3G3AX-DL2002
R7D-BP01L
3G3AX-DL2004
R7D-BP02L
3G3AX-DL2007
R7D-BP01H
3G3AX-DL2004
R7D-BP02HH
3G3AX-DL2004
3m
R7A-CAB003SR
R7D-BP04H
3G3AX-DL2007
5m
R7A-CAB005SR
R7D-BP01H
3G3AX-AL2025
10 m
R7A-CAB010SR
R7D-BP02H
3G3AX-AL2025
15 m
R7A-CAB015SR
R7D-BP04H
3G3AX-AL2025
20 m
R7A-CAB020SR
Three-phase 200 V
DIN Rail Mounting Unit

Brake Cables (Robot Cables)
Specifications
Specifications
Robot Cables
14
Model
3m
R88A-CAGA003BR
5m
R88A-CAGA005BR
10 m
R88A-CAGA010BR
15 m
R88A-CAGA015BR
20 m
R88A-CAGA020BR
Model
R7A-DIN01B
Parameter Unit
Specifications
Parameter Unit
R88M-G/R7D-BP
Model
R88A-PR02G
Servo Relay Units (for CN1)

Model
Specifications
For CJ1W-NC133/-NC113
For CS1W-NC133/-NC113
For C200HW-NC113
XW2B-20J6-1B
For CJ1W-NC233/-NC433/-NC213/-NC413
For CS1W-NC233/-NC433/-NC213/-NC413
For C200HW-NC213/-NC413
XW2B-40J6-2B
For CJ1M-CPU21
For CJ1M-CPU22
For CJ1M-CPU23
for 1 axis
XW2B-20J6-8A
for 2 axis
XW2B-40J6-9A
For FQM1-MMP22
XW2B-80J7-12A
For CQM1H-PLB21
XW2B-20J6-3B
Servo Relay Unit Cables (for Servo Drives)

Model
Specifications
For Position Control Unit/CQM1H-PLB21
(XW2B-20J6-1B/XW2B-40J6-2B/
XW2B-20J6-3B)
1m
XW2Z-100J-B29
2m
XW2Z-200J-B29
For CJ1M
(XW2B-20J6-8A/XW2B-40J6-9A)
1m
XW2Z-100J-B32
2m
XW2Z-200J-B32
For FQM1-MMP22
(XW2B-80J7-12A)
1m
XW2Z-100J-B30
2m
XW2Z-200J-B30
Servo Relay Unit Cables (for Position Control Units)

Model
Specifications
For CJ1W-NC133
For CS1W-NC133
For CJ1W-NC113
0.5 m
XW2Z-050J-A18
1m
XW2Z-100J-A18
0.5 m
XW2Z-050J-A19
1m
XW2Z-100J-A19
0.5 m
XW2Z-050J-A10
1m
XW2Z-100J-A10
0.5 m
XW2Z-050J-A11
1m
XW2Z-100J-A11
0.5 m
XW2Z-050J-A14
1m
XW2Z-100J-A14
0.5 m
XW2Z-050J-A15
1m
XW2Z-100J-A15
For CS1W-NC113
For C200HW-NC113
0.5 m
XW2Z-050J-A6
1m
XW2Z-100J-A6
For C200HW-NC213/-NC413
0.5 m
XW2Z-050J-A7
1m
XW2Z-100J-A7
For CJ1M-CPU21
For CJ1M-CPU22
For CJ1M-CPU23
0.5 m
XW2Z-050J-A33
1m
XW2Z-100J-A33
0.5 m
XW2Z-050J-A28
1m
XW2Z-100J-A28
2m
XW2Z-200J-A28
0.5 m
XW2Z-050J-A30
1m
XW2Z-100J-A30
General-purpose
I/O Cables
For FQM1-MMP22
Special I/O Cables
For CQM1H-PLB21
2m
XW2Z-200J-A30
0.5 m
XW2Z-050J-A3
1m
XW2Z-100J-A3
R88M-G/R7D-BP
15

Only the Servomotor and Servo Drive combinations listed here can be used. Do not use other combinations.
Cylindrical Servomotor
Servomotors Combinations
Servo Drive
Voltage
Single-phase
100VAC
Servomotor
Pulse-string input
Rated output
Without brake
R7D-BPA5L
50 W
R88M-G05030H
R88M-G05030H-B
R7D-BP01L
100 W
R88M-G10030L
R88M-G10030L-B
R7D-BP02L
200 W
R88M-G20030L
R88M-G20030L-B
50 W
R88M-G05030H
R88M-G05030H-B
100 W
R88M-G10030H
R88M-G10030H-B
R7D-BP02HH
200 W
R88M-G20030H
R88M-G20030H-B
R7D-BP04H
400 W
R88M-G40030H
R88M-G40030H-B
50 W
R88M-G05030H
R88M-G05030H-B
100 W
R88M-G10030H
R88M-G10030H-B
R7D-BP02H
200 W
R88M-G20030H
R88M-G20030H-B
R7D-BP04H
400 W
R88M-G40030H
R88M-G40030H-B
Pulse-string input
Rated output
Without brake
R7D-BP01L
100 W
R88M-GP10030L
R88M-GP10030L-B
R7D-BP02L
200 W
R88M-GP20030L
R88M-GP20030L-B
R7D-BP01H
100 W
R88M-GP10030H
R88M-GP10030H-B
R7D-BP02HH
200 W
R88M-GP20030H
R88M-GP20030H-B
R7D-BP04H
400 W
R88M-GP40030H
R88M-GP40030H-B
R7D-BP01H
100 W
R88M-GP10030H
R88M-GP10030H-B
R7D-BP02H
200 W
R88M-GP20030H
R88M-GP20030H-B
R7D-BP04H
400 W
R88M-GP40030H
R88M-GP40030H-B
R7D-BP01H
Single-phase
200 VAC
R7D-BP01H
Three-phase
200 VAC
With brake
Flat Servomotor
Servomotors Combinations
Servo Drive
Voltage
Single-phase
100VAC
Single-phase
200 VAC
Three-phase
200 VAC
Servomotor
With brake

3,000-r/min Servomotors
Motor model
1/5
1/11
(1/9 for flange size No.11)
1/21
1/33
1/45
R88M-G05030@
R88G-HPG11A05100B@
(Also used with
R88M-G10030@)
R88G-HPG11A09050B@
(Gear ratio 1/9)
R88G-HPG14A21100B@
(Also used with
R88M-G10030@)
R88G-HPG14A33050B@
R88G-HPG14A45050B@
R88M-G10030@
R88G-HPG11A05100B@
R88G-HPG14A11100B@
R88G-HPG14A21100B@
R88G-HPG20A33100B@
R88G-HPG20A45100B@
R88M-G20030@
R88G-HPG14A05200B@
R88G-HPG14A11200B@
R88G-HPG20A21200B@
R88G-HPG20A33200B@
R88G-HPG20A45200B@
R88M-G40030@
R88G-HPG14A05400B@
R88G-HPG20A11400B@
R88G-HPG20A21400B@
R88G-HPG32A33400B@
R88G-HPG32A45400B@
1/11
1/21
1/33
1/45
3,000-r/min Flat Servomotors

Motor model
1/5
R88M-GP10030@
R88G-HPG11A05100PB@ R88G-HPG14A11100PB@ R88G-HPG14A21100PB@ R88G-HPG20A33100PB@ R88G-HPG20A45100PB@
R88M-GP20030@
R88M-GP40030@
16
R88M-G/R7D-BP

Select the Servo Relay Unit and Cable according to the model number of the Position Control Unit being used.
Position Control Unit
Position Control Unit Cable
Servo Relay Unit
Servo Drive Cable
CJ1W-NC133
XW2Z-@@@J-A18
XW2B-20J6-1B
CJ1W-NC233
XW2Z-@@@J-A19
XW2B-40J6-2B
CS1W-NC133
XW2Z-@@@J-A10
XW2B-20J6-1B
CS1W-NC233
XW2Z-@@@J-A11
XW2B-40J6-2B
CJ1W-NC113
XW2Z-@@@J-A14
XW2B-20J6-1B
CJ1W-NC213
XW2Z-@@@J-A15
XW2B-40J6-2B
XW2Z-@@@J-A6
XW2B-20J6-1B
XW2Z-@@@J-A7
XW2B-40J6-2B
XW2Z-@@@J-A33
XW2B-20J6-8A
XW2B-40J6-9A (for 2 axes)
XW2Z-@@@J-B32
XW2B-80J7-12A
XW2Z-@@@J-B30
XW2B-20J6-3B
XW2Z-@@@J-B29
CJ1W-NC433
CS1W-NC433
CJ1W-NC413
CS1W-NC113
C200HW-NC113
XW2Z-@@@J-B29
CS1W-NC213
CS1W-NC413
C200HW-NC213
C200HW-NC413
CJ1M-CPU21
CJ1M-CPU22
CJ1M-CPU23
FQM1-MMP22
CQM1H-PLB21
General-purpose I/O
XW2Z-@@@J-A28
Special I/O
XW2Z-@@@J-A30
XW2Z-@@@J-A3
Note: 1. Insert the cable length into the boxes in the model number (@@@). Position Control Unit cables come in two lengths: 0.5 m and 1 m (some are also available
in lengths of 2 m). Servo Drive Cables also come in two lengths: 1 m and 2 m. For information on cable lengths, refer to Accessories and Cables on page 15.
Note: 2. Two Servo Drive Cables are required if 2-axis control is performed using one Position Control Unit.
R88M-G/R7D-BP
17
Cable Combinations
Parameter Unit
Monitor Software for Windows
Servo Relay Units
HCP22
RUN
ERC
54
54
20
21
22
0
23
1
24
2
26
4
Position Control
Unit
X100
A1
B1
A2
B2
39
PERIHERAL
10
11
12
14
18
17
16
15
37
36
1
38
13
35
34
33
32
31
30
29
28
27
COMM
39
X101
OFF
87
25
39
TOOL ON
87
OPN
ERH
0 1 2 3
4 5 6 7
8 9 10 11
0 1 2 3
4 5 6 7
MACH
No.
IN
OUT
19
12
CN2
CN1
1
B
00906
20
A A
PLC
(Model with Pulse Output)
Connector-Terminal
Block Conversion Units
SYSMAC
CP1H
IN
AC100-240V 0CH
BATTERY
PERIPHERAL
PERIPHERAL
L1
POWER
ERR/ALM
BKUP
1CH
L2/N COM
01
03
05
07
09
00
11
02
01
04
03
06
05
08
07
10
RUN
09
00
11
02
04
06
08
INH
10
PRPHL
EXP
00
01
02
COM COM
DC24V 0.3A
OUTPUT
OUT
100CH
03
04
06
COM COM
00
01
03
05
07
04
COM
06
07
COM
05
07
101CH
Power Supply Cables (for CNA)

Model
Single-phase 100 V/Singlephase 200 V

R7D-BP
Power Supply Input

Cable for Three-Phase
Power (connectors
attached)
Three-Phase 200 V
R7D-BP
R7A-CLB002S3
External Regenerative
Resistor Connection
Cable
Using the Servo Drive with

External Regeneration
Resistor Connected
R88A-RR22047S
R88A-RR080100S
R88A-RR08050S
R7A-CLB002RG
Description
50
2000
[Servo Drive Connector]
50
Connector pins:
5556PBTL (Molex Japan Co., Ltd.)
Connector case:
5557-10R-210
(Molex Japan Co., Ltd.)
6.1 dia.
Connected to
R7A-CLB002S2
50
2000
50
2000
50

Connector pins:
Connector case:
5557-10R-210
6.4 dia.
Name
Power Supply Input
Cable for Single-Phase
Power (connectors
attached)
50
6.1 dia.
Symbol
Servomotor Power Cables (for CNB)

Connected to
Model
Standard Servomotor
Power Cables with
Connectors
R88M-G@@@30@-@
R88M-G@@@30@-@S2
R88M-GP@@@30@-@
R88M-GP@@@30@-@S2
R7A-CAB@@@S
The empty boxes in the
model number are for the
cable length.
The cable can be 3, 5,
10, 15, or 20 m long.
Robot Servomotor
Power Cables with
Connectors
R88M-G@@@30@-@
R88M-G@@@30@-@S2
R88M-GP@@@30@-@
R88M-GP@@@30@-@S2
R7A-CAB@@@SR
cable length.
10, 15, or 20 m long.
Description
Connector pins:
Connector case:
5557-06R-210

Connector pins:
Connector case:
5557-06R-210
50
50
50
6.2 dia.
Name
50
6.9 dia.
Symbol
Brake Cables
18
Model
Standard Brake Cables
R88M-G@@@30@-B
R88M-G@@@30@-BS2
R88M-GP@@@30@-B
R88M-GP@@@30@-BS2
R88A-CAGA@@@B
cable length.
10, 15, or 20 m long.
Robot Brake Cables
R88M-G@@@30@-B
R88M-G@@@30@-BS2
R88M-GP@@@30@-B
R88M-GP@@@30@-BS2
R88A-CAGA@@@BR
cable length.
10, 15, or 20 m long.
Description
50
50
50
5.4 dia.
Connected to
Name
6.1 dia.
Symbol
50
[Servomotor Connector]
Connector pins:
170366-1 or 170362-1
(Tyco Electronics AMP KK)
Connector case:
172157-1
Connector pins:
170366-1 or 170362-1
Connector case:
172157-1
R88M-G/R7D-BP
Connector pins:
170366-1 or 170362-1
Connector case:
172159-1
Connector pins:
170366-1 or 170362-1
Connector case:
172159-1
Encoder Cables (for CN2)

Connected to
Model
R88M-G@@@30@-@
Standard Encoder
R88M-G@@@30@-@S2
Cables with Connectors R88M-GP@@@30@-@
R88M-GP@@@30@-@S2
R88A-CRGB@@@C
cable length.
10, 15, or 20 m long.
R88M-@@@30@-@
R88M-G@@@30@-@S2
R88M-GP@@@30@-@
R88M-GP@@@30@-@S2
R88A-CRGB@@@CR
cable length.
10, 15, or 20 m long.
Robot Encoder Cables

with Connectors
Description

Connector pins:
50639-8028
Connector cace:
Crimped I/O connector:
L
6.5 dia.
Name
Connector pins:
50639-8028
Connector cace:
Crimped I/O connector:
Connector pins:
170365-1
Connector case:
172160-1

L
(7.5 dia.)
Symbol
Connector pins:
170365-1
Connector case:
172160-1
R88M-G/R7D-BP
19
Control Cables (for CN1)

Symbol
Name
Servo Relay Units
Connected to
XW2B-20J6-1B
CJ1W-NC213/NC233/NC413/NC433
CS1W-NC213/NC233/NC413/NC433
C200HW-NC213/NC413
XW2B-40J6-2B
CJ1M-CPU21/CPU22/CPU23 (one axis)
XW2B-20J6-8A
CJ1M-CPU21/CPU22/CPU23 (two axes)
XW2B-40J6-9A
FQM1-MMP22
XW2B-80J7-12A
CQM1H-PLB21
XW2B-20J6-3B
Position Control Unit/CQM1H

(XW2B-@J6-@B)
XW2Z-@@@J-B29
The empty boxes in the model number are for the cable length.
The cable can be 1, or 2 m long.
CJ1M
(XW2B-@J6-@A)
XW2Z-@@@J-B32
FQM1-MMP22
(XW2B-80J7-12A)
XW2Z-@@@J-B30
CJ1W-NC133
XW2Z-@@@J-A18
The cable can be 0.5, or 1 m long.
CJ1W-NC233/NC433
XW2Z-@@@J-A19
CS1W-NC133
XW2Z-@@@J-A10
CS1W-NC233/NC433
XW2Z-@@@J-A11
CJ1W-NC113
XW2Z-@@@J-A14
CJ1W-NC213/NC413
XW2Z-@@@J-A15
CS1W-NC113
C200HW-NC113
XW2Z-@@@J-A6
CS1W-NC213/NC413
C200HW-NC213/NC413
XW2Z-@@@J-A7
CJ1M-CPU21/CPU22/CPU23
XW2Z-@@@J-A33
FQM1-MMP22 (General-purpose I/O)
XW2Z-@@@J-A28
The cable can be 0.5, 1m, or 2 m long.
FQM1-MMP22 (Special I/O)
XW2Z-@@@J-A30
The cable can be 0.5, 1m, or 2 m long.
CQM1H-PLB21
XW2Z-@@@J-A3
General-purpose Control Cables
Cables for General-purpose Controllers
R7A-CPB@@@S
Connector Terminal Block Cables
Cables for General-purpose Controllers
XW2Z-@@@J-B28
Conversion Unit for General-purpose

Controllers (M3 screws)
XW2B-34G4

Controllers (M3.5 screws)
XW2B-34G5

Controllers (M3 screws)
XW2D-34G6
Servo Drive Cables
Position Control Units Cables
Connector-Terminal Block
Conversion Units
20
Model
CJ1W-NC113/NC133
CS1W-NC113/NC133
C200HW-NC113
R88M-G/R7D-BP
Communications Cables (for CN3)

Symbol
Name
Connected to
Length (m)
---
1.5 m
Windows
2m
Parameter Unit
Model
R88A-PR02G
R88A-CCG002P2
Connectors
Symbol
---
Name
Main Circuit Connector (CNA)
Connected to
Model
---
R7A-CNB01P
---
Servomotor Connector (CNB)
---
R7A-CNB01A
---
Control I/O Connector (CN1)
---
R88A-CNW01C
---
Encoder Input Connector (CN2)
---
R88A-CNW01R
---
Servomotor Connector for Encoder Cable
---
R88A-CNG02R
---
Servomotor Connector for Servomotor Power Cable
---
R88A-CNG01A
---
Brake Cable Connector
Windows
R88A-CNG01B
R88M-G/R7D-BP
21
Servo Drive Specifications (R7D-BP)

General Specifications
Item
Specifications
Ambient operating temperature

Ambient operating humidity
0 to 55C, 90% max. (with no condensation)
Ambient storage temperature

Ambient storage humidity
Storage and operating atmosphere
No corrosive gasses, no dust, no iron dust, no exposure to moisture or cutting oil
Vibration resistance
10 to 60 Hz; acceleration: 5.9 m/s2 (0.6 G) max.
Impact resistance
Acceleration of 19.6 m/s2 max. 3 times each in X, Y, and Z directions.
Insulation resistance
Between power supply/power line terminals and frame ground: 0.5 M. min. (at 500 VDC)
Dielectric strength
Between power supply/power line terminals and frame ground: 1,500 VAC for 1 min at 50/60 Hz
Between each control signal and frame ground: 500 VAC for 1 min
Altitude
1,000 m above sea level max. (860 hp min.)
Degree of protection
International
standards
Built into panel (IP10).
EC
Directives
EMC Directive
EN 55011 class A group 1

EN 61000-6-2
Low Voltage Directive
EN 50178
UL standards
UL 508C
cUL standards
cUL C22.2 No.14
Note: 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.
Note: 2. Depending on the operating conditions, some Servo Drive parts will require maintenance.
Note: 3. The service life of the Servo Drive is 50,000 hours at an average ambient temperature of 40C at 80% of the rated torque (excluding axial-flow fan).
Characteristics
100 VAC specification
Servo Drive model
Item
R7D-BPA5L
R7D-BP01L
R7D-BP02L
Continuous output current (rms)
1.0 A
1.6 A
2.5 A
Momentary maximum output current (rms)
3.3 A
5.1 A
7.5 A
0.16 KVA
0.25 KVA
0.42 KVA
Power supply capacity

Input power supply voltage (main circuit)
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
Input power supply current (rms) (main circuit)
1.4 A
2.2 A
3.7 A
Heat generated (main circuit)
12 W
16 W
22 W
Control method
All-digital servo
Inverter method
IGBT-driven PWM method
PWM frequency
12 kHz
Maximum response frequency (command pulses)
6 kHz
Line drive: 500 kpps, Open collector: 200 kpps
Weight
0.35 kg
Applicable motor capacity
0.42 kg
50 W
100 W
200 W

Item
Servo Drive model

R7D-BP01H
R7D-BP02HH
R7D-BP02H
R7D-BP04H
Continuous output current (rms)
1.0 A
1.6 A
1.6 A
2.5 A
Momentary maximum output current (rms)
3.3 A
4.9 A
4.9 A
7.8 A
0.42 KVA
0.69 KVA
(0.77 KVA) See note
Power supply capacity
0.27 KVA
(0.30 KVA) See note
Both single-phase and three-phase

200 to 240 VAC (170 to 264 V), 50/60 Hz
Input power supply voltage (main circuit)

Input power supply current (rms) (main circuit)
Heat generated (main circuit)
0.35 KVA
0.7 A
(1.5 A) See note
1.6 A
14 W
16 W
Control method
1.1 A
1.8 A
(3.5 A) See note
20 W
26W
All-digital servo
Inverter method
IGBT-driven PWM method
PWM frequency
12 kHz
Maximum response frequency (command pulses)
6 kHz
Line drive: 500 kpps, Open collector: 200 kpps
Weight
0.35 kg
0.42 kg
0.35 kg
0.42 kg
Applicable motor capacity
100 W
200 W
200 W
400 W
Note: Values inside parentheses ( ) are for single-phase 200-V use.
22
R88M-G/R7D-BP
Servomotor Specifications (R88M-G)

Item
Specifications
Ambient operating temperature

Ambient operating humidity
Ambient storage temperature

Ambient storage humidity
No corrosive gases
49 m/s2 max. in the X, Y, and Z directions
Impact resistance
Acceleration of 98 m/s2 max. 3 times each in the X, Y, and Z directions
Insulation resistance
20 M min. at 500 VDC between the power terminals and FG terminal
Dielectric strength
1,500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal
Operating position
Any direction
Insulation class
Type B
Construction
Totally-enclosed, self-cooling
Degree of protection
IP65 (excluding the through-shaft portion)
Vibration class
V-15
Mounting method
Flange-mounting
EC Directives
International standards
EMC Directive
EN 60034-1:2004
Low Voltage Directive IEC 60034-5:2001
UL standards
UL 1004 File No. E179189
cUL standards
cUL 22.2, No.100
R88M-G/R7D-BP
23
Characteristics
3,000-r/min Cylindrical Servomotors
Unit
R88M-G05030H
R88M-G10030L
Rated output *1
Item
50
100
200
Rated torque *1
Nm
0.16
0.32
0.64
Rated rotation speed
r/min
Max. rotation speed
r/min
Max. momentary torque *1
Nm
0.48
0.95
1.78
Rated current *1
A (rms)
1.1
1.7
2.5
Max. momentary current *1
A (rms)
3.4
5.1
7.6
kgm2
2.5 10-6
5.1 10-6
1.4 10-5
Rotor inertia
3000
5000
---
Applicable load inertia
R88M-G20030L
30 times rotor inertia max.
kW/s
10.4
20.1
30.3
Allowable radial load *2
68
68
245
Allowable thrust load *2
58
58
98
Without brake
kg
0.3
0.5
0.8
With brake
kg
0.5
Weight
Power rate *1
Radiation shield dimensions (material)
Brake specifications
2.0 10-7
kgm2
Brake inertia
0.7
1.3
100 80 t10 (Al)
---
130 120 t12 (Al)
2.0 10-7
1.8 10-6
24 VDC 10%
Excitation voltage *3
Power consumption (at 20C)
Current consumption (at 20C)
0.30
0.30
0.36
Static friction torque
Nm
0.29 min.
0.29 min.
1.27 min.
Attraction time *4
ms
35 max.
35 max.
50 max.
Release time *4
ms
20 max.
20 max.
15 max.
1 max.
Backlash
Allowable work per braking operation
39.2
39.2
137
Allowable total work
4.9 103
4.9 103
44.1 103
rad/s2
30,000 max.
(Speed of 2,800 r/min minimum must not be stopped in less than 10 ms)
Brake life
---
10,000,000 operations min.
Rating
---
Continuous
Allowable angular acceleration
* 1. These are the values when the Servomotor is combined with a Servo Drive at room temperature.
The momentary maximum torque shown above indicates the standard value.
* 2. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours
at normal operating temperatures. The values are also for the locations shown in the following
diagram.
* 3. The brakes operate when the circuit is open (i.e., they are released when voltage is applied).
* 4. The operation time is the measured value (reference value) with a varistor installed as a surge
suppressor.
Radial load
Thrust load
Center of shaft (LR/2)
Torque and Rotation Speed Characteristics

The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
R88M-G05030H
R88M-G10030L
(Nm)
(Nm)
0.5
0.48
0.4
0.95
1.0
R88M-G20030L
0.8
0.2
0.16
0.77
Repetitive usage
0.6
1.0
0.4
0.16
1.78
(3300)
1.5
Repetitive usage
Repetitive usage
0.3
(Nm)
2.0
1.78
0.95
(3000)
0.32
0.90
0.64
0.32
0.64
0.5
0.1
Continuous usage
0
24
0.09
1000 2000 3000 4000 5000 (r/min)
0.2
Continuous usage
0
0.20
1000 2000 3000 4000 5000 (r/min)
Continuous usage
0
0.36
1000 2000 3000 4000 5000
R88M-G/R7D-BP
(r/min)

Characteristics
Unit
R88M-G05030H
R88M-G10030H
R88M-G20030H
R88M-G40030H
Rated output *1
Item
50
100
200
400
Rated torque *1
Nm
0.16
0.32
0.64
1.3
r/min
3000
Max. rotation speed
r/min
NEm
0.48
0.95
1.78
3.60
Rated current *1
A (rms)
1.1
1.1
1.6
2.6
A (rms)
3.4
3.4
4.9
7.9
kgm2
2.5 10-6
5.1 10-6
1.4 10-5
2.6 10-5
kW/s
10.4
20.1
30.3
62.5
68
68
245
245
58
58
98
98
Without brake
kg
0.3
0.5
0.8
1.2
With brake
kg
0.5
0.7
1.3
Rotor inertia
---
Weight
Power rate *1
100 80 t10 (Al)
---
2.0 10-7
kgm2
Brake inertia
5000
1.7
130 120 t12 (Al)
2.0 10-7
1.8 10-6
7.5 10-6
24 VDC 10%
0.30
0.30
0.36
0.36
Nm
0.29 min.
0.29 min.
1.27 min.
1.27 min.
Attraction time *4
ms
35 max.
35 max.
50 max.
50 max.
Release time *4
ms
20 max.
20 max.
15 max.
15 max.
1 max.
Backlash
39.2
39.2
137
196
4.9 103
4.9 103
44.1 103
147 103
rad/s2
30,000 max.
(Speed of 2,800 r/min minimum must not be stopped in less than 10 ms)
Brake life
---
Rating
---
Continuous
diagram.
suppressor.
Radial load
Thrust load

R88M-G10030H
R88M-G20030H
(Nm)
1.0
0.95
R88M-G40030H
(Nm)
2.0
1.82
1.82 (4300)
(Nm)
4.0
3.60
3.60
(3200)
1.65
1.5
0.8
3.0
Repetitive usage
Repetitive usage
0.6
Repetitive usage
1.0
0.4
0.32
0.64
0.32
0.64
1.3
0.5
0.2
Continuous usage
0
1.3
1.0
0.19
1000 2000 3000 4000 5000 (r/min)
2.1
2.0
Continuous usage
0
0.36
1000 2000 3000 4000 5000 (r/min)
Continuous usage
0
0.88
1000 2000 3000 4000 5000 (r/min)
R88M-G/R7D-BP
25

Unit
R88M-GP10030L
Rated output *1
Item
100
200
Rated torque *1
Nm
0.32
0.64
r/min
Max. rotation speed
r/min
Nm
0.85
Rated current *1
A(rms)
1.6
2.5
A(0-p)
6.9
10.5
Rotor inertia
kgm2
9.0 10-6
R88M-GP20030L
3,000
5,000
1.86
3.4 10-5
---
Power rate *1

11.4
12.0
68
245
58
98
Without brake
kg
0.65
1.3
With brake
kg
0.90
2.0
---
130 120 t10 (Al)
170 160 t12 (Al)
kgm2
3.0 10-6
Weight
kW/s
Brake inertia
9.0 10-6
24 VDC 10%
10
0.29
0.41
Nm
0.29 min.
1.27 min.
Attraction time *4
ms
50 max.
60 max.
Release time *4
ms
15 max.
15 max.
1 max.
Backlash
137
196
44.1 103
147 103
rad/s2
10,000 max.
(Speed of 950 r/min minimum must not be stopped in less than 10 ms)
Brake life
---
Rating
---
Continuous
diagram.
suppressor.
Radial load
Thrust load

R88M-GP10030L
R88M-GP20030L
(Nm)
(Nm)
2.0
1.86
1.0
0.85
0.85 (4100)
0.8
0.75
1.5
Repetitive usage
Repetitive usage
0.6
1.86
(3400)
1.0
0.4
0.32
0.22
0.2
1000 2000 3000 4000 5000 (r/min)
0.64
0.7
0.5
Continuous usage
Continuous usage
0
26
0.64
0.32
0.32
1000 2000 3000 4000 5000 (r/min)
R88M-G/R7D-BP

Unit
R88M-GP10030H
R88M-GP20030H
R88M-GP40030H
Rated output *1
Item
100
200
400
Rated torque *1
Nm
0.32
0.64
1.3
r/min
Max. rotation speed
r/min
Nm
0.90
1.82
Rated current *1
A(rms)
1.0
1.6
4.4
A(0-p)
4.3
6.8
18.6
Rotor inertia
kgm2
9.0 10-6
3.4 10-5
6.4 10-5
3000
5000
---
Power rate *1
3.60

11.4
11.8
25.5
68
245
245
58
98
98
Without brake
kg
0.7
1.3
1.8
With brake
kg
0.9
2.0
---
130 120 t10 (Al)
kgm2
3.0 10-6
Weight
kW/s

Brake inertia
Excitation voltage
*3
2.5
170 160 t12 (Al)
9.0 10-6
9.0 10-6
24 VDC 10%
10
10
0.29
0.41
0.41
Nm
0.29 min.
1.27 min.
1.27 min.
Attraction time *4
ms
50 max.
60 max.
60 max.
Release time*4
ms
15 max.
15 max.
15 max.
1 max.
Backlash
137
196
196
44.1 103
147 103
147 103
rad/s2
10,000 max.
(Speed of 950 r/min minimum must not be stopped in less than 10 ms)
Brake life
---
Rating
---
Continuous
diagram.
suppressor.
Radial load
Thrust load

R88M-GP10030H
R88M-GP40030H
R88M-GP20030H
(Nm)
(Nm)
2.0
1.82
1.0
0.90
1.82 (4700)
0.90
0.8
3.0
Repetitive usage
Repetitive usage
Repetitive usage
2.0
1.0
0.4
0.32
0.64
0.32
Continuous usage
1.3
1.3
1.0
Continuous usage
0.16
1000 2000 3000 4000 5000 (r/min)
2.0
0.64
0.5
0.2
3.60
(3600)
1.75
1.5
0.6
(Nm)
4.0
3.60
Continuous usage
0.28
1000 2000 3000 4000 5000 (r/min)
0.64
1000 2000 3000 4000 5000
R88M-G/R7D-BP
(r/min)
27
Decelerator Specifications (R88G-HPG/VRSF)

Standard Models and Specifications
Model
(R88G-)
50 W
100 W
200 W
400 W
Note:
Note:
Note:
Note:
1.
2.
3.
4.
Rated
speed
Rated
torque
Ratio
Maximum
momentary
speed
Maximum
momentary
torque
Decelerator
inertia
r/min
Nm
r/min
Nm
kgm2
Allowable Allowable
radial load thrust load
Weight
kg
1/5
HPG11A05100B
600
0.60
75
1000
1.80
5.0010-7
135
538
0.29
1/9
HPG11A09050B
333
1.17
81
555
3.51
3.0010-7
161
642
0.29
1/21
HPG14A21100B
143
2.18
65
238
6.54
5.0010-6
340
1358
1.04
1/33
HPG14A33050B
91
3.73
71
151
11.2
4.4010-6
389
1555
1.04
1/45
HPG14A45050B
67
5.09
71
111
15.2
4.4010-6
427
1707
1.04
1/5
HPG11A05100B
600
1.37
86
1000
4.07
5.0010-7
135
538
0.29
1/11
HPG14A11100B
273
2.63
75
454
7.80
6.0010-6
280
1119
1.04
1/21
HPG14A21100B
143
5.40
80
238
16.0
5.0010-6
340
1358
1.04
1/33
HPG20A33100B
91
6.91
65
151
20.5
6.5010-5
916
3226
2.4
1/45
HPG20A45100B
67
9.42
65
111
27.9
6.5010-5
1006
3541
2.4
1/5
HPG14A05200B
600
2.49
78
1000
7.44
2.0710-5
221
883
1.02
1/11
HPG14A11200B
273
6.01
85
454
17.9
1.9310-5
280
1119
1.09
1/21
HPG20A21200B
143
10.2
76
238
30.6
4.9010-5
800
2817
2.9
1/33
HPG20A33200B
91
17.0
81
151
50.8
4.5010-5
916
3226
2.9
1/45
HPG20A45200B
67
23.2
81
111
69.3
4.5010-5
1006
3541
2.9
1/5
HPG14A05400B
600
5.66
87
1000
16.5
2.0710-5
221
883
1.09
1/11
HPG20A11400B
273
11.7
82
454
34.2
5.7010-5
659
2320
2.9
1/21
HPG20A21400B
143
23.5
86
238
68.8
4.9010-5
800
2547
2.9
1/33
HPG32A33400B
91
34.7
81
151
101.7
6.2010-5
1565
6240
7.5
1/45
HPG32A45400B
67
47.4
81
111
138.6
6.1010-5
1718
6848
7.5
The Decelerator inertia is the Servomotor shaft conversion value.

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

Model
(R88G-)
100 W
200 W
400 W
Note:
Note:
Note:
Note:
Rated
speed
Rated
torque
Ratio
Maximum
momentary
speed
Maximum
momentary
torque
Decelerator
inertia
Allowable Allowable
Weight
r/min
Nm
r/min
Nm
kgm2
kg
1/5
HPG11A05100PB
600
1.37
85
1000
3.84 (3.63)
5.0010-7
135
538
0.34
1/11
HPG14A11100PB
273
2.63
75
454
7.39 (6.98)
6.0010-6
280
1119
1.04
1/21
HPG14A21100PB
143
5.40
80
238
15.2 (14.6)
5.0010-6
340
1358
1.04
1/33
HPG20A33100PB
91
6.91
65
151
19.4 (18.3)
4.5010-5
916
3226
2.9
1/45
HPG20A45100PB
67
9.42
65
111
26.5 (25.0)
4.5010-5
1006
3541
2.9
1/5
HPG14A05200PB
600
2.49
78
1000
7.09
2.0710-5
221
883
0.99
1/11
HPG20A11200PB
273
4.75
68
454
13.5
5.8010-5
659
2320
3.1
1/21
HPG20A21200PB
143
10.2
76
238
29.2
4.9010-5
800
2817
3.1
1/33
HPG20A33200PB
91
17.0
81
151
48.5
4.5010-5
916
3226
3.1
1/45
HPG20A45200PB
67
23.2
81
111
66.1
4.5010-5
1006
3541
3.1
1/5
HPG20A05400PB
600
4.67
72
1000
12.9
7.1010-5
520
1832
3.1
1/11
HPG20A11400PB
273
11.7
82
454
32.4
5.8010-5
659
2320
3.1
1/21
HPG20A21400PB
143
23.5
86
238
65.2
4.9010-5
800
2817
3.1
1/33
HPG32A33400PB
91
34.7
81
151
96.2
2.8010-4
1565
6240
7.8
1/45
HPG32A45400PB
67
47.4
81
111
131.2
2.8010-4
1718
6848
7.8

The standard models have a straight shaft. To order a Servomotor with a straight shaft with a key, add a J to the end of the model number, in the place
indicated by the box.
Note: 5. The values inside parentheses ( ) are those when using a 100-V motor.
28
1.
2.
3.
4.
R88M-G/R7D-BP

Rated
speed
Model
(R88G-)
50
W
100
W
200
W
400
W
Note: 1.
Note: 2.
Note: 3.
Note: 4.
Rated
torque
Ratio
Maximum
momentary
speed
Maximum
momentary
torque
Decelerator
inertia
Allowable Allowable
Weight
r/min
Nm
r/min
Nm
kgm2
kg
1/5
VRSF05B100CJ
600
0.52
65
1000
1.55
4.0010-6
392
196
0.55
1/9
VRSF09B100CJ
333
0.93
65
556
2.79
3.5010-6
441
220
0.55
1/15
VRSF15B100CJ
200
1.67
70
333
5.01
3.5010-6
588
294
0.70
1/25
VRSF25B100CJ
120
2.78
70
200
8.34
3.2510-6
686
343
0.70
1/5
VRSF05B100CJ
600
1.19
75
1000
3.57
4.0010-6
392
196
0.55
1/9
VRSF09B100CJ
333
2.29
80
556
6.87
3.5010-6
441
220
0.55
1/15
VRSF15B100CJ
200
3.81
80
333
11.4
3.5010-6
588
294
0.70
1/25
VRSF25B100CJ
120
6.36
80
200
19.0
3.2510-6
686
343
0.70
1/5
VRSF05B200CJ
600
2.70
85
1000
8.10
1.1810-5
392
196
0.72
1/9
VRSF09C200CJ
333
3.77
66
556
11.3
2.7510-5
931
465
1.70
1/15
VRSF15C200CJ
200
6.29
66
333
18.8
3.0010-5
1176
588
2.10
1/25
VRSF25C200CJ
120
11.1
70
200
33.3
2.8810-5
1323
661
2.10
1/5
VRSF05C400CJ
600
5.40
85
1000
16.2
3.6310-5
784
392
1.70
1/9
VRSF09C400CJ
333
9.50
83
556
28.5
2.7510-5
931
465
1.70
1/15
VRSF15C400CJ
200
15.8
83
333
47.4
3.0010-5
1176
588
2.10
1/25
VRSF25C400CJ
120
26.4
83
200
79.2
2.8810-5
1323
661
2.10
Ratio
Maximum
momentary
speed
Maximum
momentary
torque
Decelerator
inertia

The standard models have a straight shaft.

Rated
speed
Model
(R88G-)
100 W
200 W
400 W
Note: 1.
Note: 2.
Note: 3.
Note: 4.
Note: 5.
Rated
torque
Allowable Allowable
Weight
r/min
Nm
r/min
Nm
kgm2
kg
1/5
VRSF05B100PCJ
600
1.19
75
1000
3.38 (3.19)
4.0010-6
392
196
0.72
1/9
VRSF09B100PCJ
333
2.29
80
556
6.48 (6.12)
3.5010-6
441
220
0.72
1/15
VRSF15B100PCJ
200
3.81
80
333
10.8 (10.2)
3.5010-6
588
294
0.87
1/25
VRSF25B100PCJ
120
6.36
80
200
18.0 (17.0)
3.2510-6
686
343
0.87
1/5
VRSF05B200PCJ
600
2.70
85
1000
7.74
1.1810-5
392
196
0.85
1/9
VRSF09C200PCJ
333
3.77
66
556
10.8
2.7510-5
931
465
1.80
1/15
VRSF15C200PCJ
200
6.29
66
333
18.0
3.0010-5
1176
588
2.20
1/25
VRSF25C200PCJ
120
11.1
70
200
31.8
2.8810-5
1323
661
2.20
1/5
VRSF05C400PCJ
600
5.40
85
1000
15.3
3.6310-5
784
392
1.80
1/9
VRSF09C400PCJ
333
9.50
83
556
26.9
2.7510-5
931
465
1.80
1/15
VRSF15C400PCJ
200
15.8
83
333
44.8
3.0010-5
1176
588
2.20
1/25
VRSF25C400PCJ
120
26.4
83
200
74.7
2.8810-5
1323
661
2.20

The standard models have a straight shaft.
The values inside parentheses ( ) are those when using a 100-V motor.
R88M-G/R7D-BP
29
Encoder, External Regeneration Resistors, Reactor and Parameter Unit Specifications

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

Duplex serial communications data
External Regeneration Resistors Specifications

Resistance
Nominal
capacity
Regeneration
absorption for 120C
temperature rise
Heat radiation
condition
R88A-RR08050S
50
80 W
20 W
Aluminum 250 250,

Thickness: 3.0
Operating temperature: 150C5%, NC contact,

Rated output: 30 VDC, 50 mA max.
R88A-RR080100S
100
80 W
20 W
Aluminum 250 250,

Thickness: 3.0

Rated output: 30 VDC, 50 mA max.
R88A-RR22047S
47
220 W
70 W
Aluminum 350 350,

Thickness: 3.0

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

Item
Specifications
Operating ambient temperature

Operating ambient humidity
0 to 55C
90% max. (with no condensation)
Storage ambient temperature

Storage ambient humidity
20 to 80C
90% max. (with no condensation)
No corrosive gases
5.9 m/s2 max.
Performance Specifications
Item
Specifications
Hand-held
Cable length
1.5 m
Connectors
Mini DIN 8-pin MD connector
Display
7-segment LED
External dimensions
62 114 15 mm (W H D)
Weight
Approx. 0.1 kg (including cable that is provided)
Communications
specifications
Type
30
Standard
RS-232
Communications method
Asynchronous (ASYNC)
Baud rate
9,600 bps
Start bits
1 bit
Data
8 bits
Parity
None
Stop bits
1 bit
R88M-G/R7D-BP
Connections
Peripheral Device Connection Examples
R7D-BPA5L/-BP01L/-BP02L/-BP04L/-BP01H/-BP02HH/-BP04H
R
Single-phase 100 to 115 VAC, 50/60 Hz: R7D-BP@@L

Single-phase 200 to 240 VAC, 50/60 Hz: R7D-BP01H/-BP02HH/-BP04H
NFB
Noise filter
1
E
Main-circuit contactor
Main-circuit
power supply
NF
4
OFF
ON
2MC
1MC
2MC
1MC
(Ground to
100 or less.)
1MC
2MC
Surge killer
Servo error display
PL
1MC
SMARTSTEP 2-Series
Servo Drive
2MC
Reactor
OMNUC G-Series
Servomotor
CNA
Brake Cable
XB
L1
B
L2
L3
External regeneration
resistor
CNB
24 VDC Servomotor Power Cable
U
V
P
(*2)
B1
CN1
1 +24VIN
24 VDC
M
W
(Ground to
100 or less.)
CN2
2 RUN
1MC
2MC
Encoder cable
CN1
9 /ALM
CN1
11 BKIR
XB
DC24V
(*1)
13 0GND
X
User
control
device
CN1
Control cable
* 1. Recommended Relay: OMRON G7T Relay (24-VDC model)
* 2. An External Regeneration Resistor can be connected.
Connect this resistor if the regenerative energy exceeds regeneration absorption capacity in the Servo Drive.
Note: 1. The dynamic brake will operate while the main circuit power supply or the control circuit power supply is OFF.
Note: 2. When turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN) at the same time.
R88M-G/R7D-BP
31
R7D-BP01H/-BP02H/-BP04H
R S T
Three-phase 200 to 240 VAC, 50/60 Hz: R7D-BP01H/-BP02H/-BP04H
NFB
1
E
2 3
Noise filter
Main-circuit contactor
Main-circuit
power supply
NF
OFF
5 6
ON
1MC
2MC
2MC
1MC
(Ground to
100 or less.)
1MC
2MC
Surge killer
PL
1MC
SMARTSTEP 2-Series
Servo Drive
2MC
Reactor
OMNUC G-Series
Servomotor
CNA
Brake Cable
XB
L1
Servo error display
B
L2
L3
External regeneration resistor
CNB
24 VDC Servomotor Power Cable
U
V
P
(*2)
B1
CN1
1 +24VIN
24 VDC
M
W
(Ground to
100 or less.)
CN2
2 RUN
1MC
2MC
Encoder cable
CN1
9 /ALM
CN1
11 BKIR
XB
(*1)
24 VDC
13 0GND
X
User
control
device
CN1
Control cable
*1. Recommended Relay: OMRON G7T Relay (24-VDC model)
*2. An External Regeneration Resistor can be connected.
Connect this resistor if the regenerative energy exceeds regeneration absorption capacity in the Servo Drive.
Note: 1. The dynamic brake operates when the main circuit power supply or the control circuit power supply is turned OFF.
Note: 2. When turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN) signal at the same time.
32
R88M-G/R7D-BP

Control I/O Specifications (CN1)
Control I/O Signal Connections and External Signal Processing
Reverse
pulse
+CW 22
Forward
pulse
+CCW 24
9 /ALM
Alarm Output
CW 23 220
CCW 25 220
12 to 24 VDC
24VIN 1
RUN Command
Input
10 INP
Positioning
Completed
Output
11 BKIR
Brake Interlock
4.7
. k
Maximum operating
voltage: 30 VDC
Maximum Output
Current: 50 mA DC
12 WARN
Warning Output
13
RUN 2
OGND
4.7 k
21
Alarm Reset
Input
14
RESET 3
Z-phase Output
(open collector output)
GND
4.7 k
Deviation Counter
Reset Input
ECRST 4
4.7 k
Gain Switch
Input
15 +A
Encoder A-phase
16 A Output
GSEL 5
4.7 k
18 +B
Electronic Gear
Switch Input
GESEL 6
Encoder B-phase
17 B Output
4.7 k
Reverse Drive
Prohibit Input
19 +Z
Line driver output

Conforms to
EIA RS-422A
(Load resistance:
220 min.)
Encoder Z-phase
20 Z Output
NOT 7
4.7 k
Forward Drive
Prohibit Input
POT 8
Shell, 26 FG
Frame ground
R88M-G/R7D-BP
33
Control Input Circuits

Position Command Pulse Inputs
Line Drive Input
Controller
Servo Drive
2.2 k
Input current: 6.8 mA, 3 V
220
Applicable line drive :
AM26LS31A or equivalent
Open-collector Input
Controller
Servo Drive
Vcc
R
2.2 k
Input current: 7 to 15 mA
220
Note: Select a value for resistance R so that the input current will be from 7 to 15 mA. Refer to the following table.
Vcc
24 V
2 k
12 V
1 k
Sequence Inputs
+24 VIN 1
External power supply:
12 VDC5% to
24 VDC5%
Power supply capacity:
50 mA min. (per Unit)
RUN 2
To other input circuit

ground commons
4.7 k
1.2 k
Photocoupler input
To other input circuits
Signal Levels
ON level: 10 V min.
OFF level: 3 V max.
34
R88M-G/R7D-BP
Control Output Circuits

Position Feedback Output
Servo Drive
Controller
R = 120 to 220
Phase A
Output line drive

AM26C31 or
Phase B
15 +A
+A
16 -A
-A
18 +B
+B
17 -B
-B
19 +Z
+Z
20 -Z
-Z
+5 V
Phase A
Phase B
Phase Z
equivalent
Phase Z
0V
Shell
0V
GND
14 GND
0V
FG
Applicable line receiver

AM26C32 or equivalent
FG
FG
Sequence and Alarm Outputs

Servo Drive
To other output
circuits
X
External power supply
24 VDC
Di
1V
Maximum operating voltage: 30 VDC

Maximum output current: 50 mA
X
Di
Di: Diode for preventing surge voltage
(Use high-speed diodes.)
Phase-Z Output (Open-collector Output)

Servo Drive
Controller
21 Z
Maximum operating voltage: 30 VDC
14 GND
FG
Maximum output current: 50 mA
R88M-G/R7D-BP
35

Servo Drive Nomenclature
CN1 Control Inputs

Alarm indicator (ALM)
Power supply indicator
PWR
ALM
C
N
3
Communications connector
(CN3)
C
N
1
Control I/O connector

(CN1)
C
N
2
Encoder input connector

(CN2)
C
N
B
Motor connector (CNB)
Pin No.
Signal name
+24VIN
RUN
RUN Command Input
RESET
Alarm Reset Input *1
ECRST/VSEL2
Deviation Counter Reset Input or Internally Set

Speed Selection 2 Input
GSEL/
VZERO/TLSEL
Gain Switch Input, Zero Speed Designation

Input, or Torque Limit Switch Input
GESEL/VSEL1
Electronic Gear Switch Input or Internally Set

Speed Selection 1 Input *2
NOT
POT
22
+CW/PULS/FA
C
N
A
FG terminals for
power supply and
Servomotor power
CW/PULS/FA
23
24
Main circuit connector

(CNA)
Function
DC power supply input for control
25
Reverse Drive Prohibit Input

Forward Drive Prohibit Input
Reverse Pulses Input, Feed Pulses Input, or
90 Phase Difference Pulses (Phase A)
+CCW/SIGN/FB Forward Pulses, Direction Signal, or 90 Phase

CCW/SIGN/FB Difference Pulses (Phase B)
* 1. Some alarms cannot be cleared using this input.

* 2. Do not input command pulses for 10 ms before or after switching the electronic gear.
CN1 Control Outputs

R7A-CNZ01P Main Circuit Connector (CNA)
Terminal
label
Pin No.
L1
10
L2
L3
B1
FG
3
1
Main circuits power supply input
External Regeneration Resistance Unit connection

terminal
Frame ground
Pin No.
6
3
Signal name
/ALM
10
INP/TGON
Name
R7A-CNB01A Servomotor Connector (CNB) Specifications

Terminal
label
Pin No.
Name
Servomotor connection Terminals
Function
Alarm Output *1
Positioning Completed Output or Servomotor
Rotation Amount Detection Output
11
BKIR
12
WARN
Brake Interlock Output

Warning Output
13
OGND
Output Ground Common
14
GND
Ground Common
15
+A
16
Encoder
Phase-A Output
17
18
+B
19
+Z
20
Encoder
Phase-Z Output
21
Phase-Z Output
Encoder
Phase-B Output
* 1. This is OFF for approximately 2 seconds after turning ON the power.

Note: This is OFF for approximately 2 seconds after turning ON the power.An
open-collector output interface is used for sequence outputs (maximum
operating voltage: 30 VDC; maximum output current: 50 mA).
Frame ground
Power Supply Indicator (PWR)

Indicator
Status
Lit green
Main power is ON.
Lit orange
Flashes at a 1-second intervals when there is a warning (i.e.,

overload, excessive regenerative energy, or fan speed error).
Lit red
An alarm has occurred.
Alarm Indicator (ALM)

This indicator lights when an alarm has occurred.
36
R88M-G/R7D-BP
R88A-PR02G Parameter Unit Nomenclature

Display (6 Digits)
Displays the parameters and settings.
Unit No. Display (2 Digits)
8.8.8.8.8.8.
8.8
Displays the Unit No. set in Unit No. Setting (Pn00).

In Parameter Setting Mode, displays the parameter
number.
Mode Key
Switches between the six modes.
Increment Key
Increases the parameters number or set value.
Decrement Key
Decreases the parameter number or set value.
Shift Key
Shifts the digit being changed to the left.
Data Key
Switches between the parameter and setting
displays, saves settings, etc.
Parameter name
Position Loop Gain *1
Speed Loop Gain *1
Speed Loop Integration
Constant *1
Speed Feedback Filter
Time Constant *1
Torque Command Filter
Time Constant *1
Feed-forward Amount *1
Feed-forward Command
Filter *1
Position Loop Gain 2 *1
Speed Loop Gain 2 *1
Speed Loop Integration
Constant 2 *1
Speed Feedback Filter
Time Constant 2 *1
Torque Command Filter
Time Constant 2 *1
Function Selection Parameters

Parameter name
Servo Gain Parameters
Explanation
Unit No. Setting
Set the unit number.
Default Display
Set the data to display on the Parameter Unit

when the power supply is turned ON.
Control Mode Selection
Set the control mode to be used.
Drive Prohibit Input

Selection
You can stop the Servomotor from rotating

beyond the device's travel range by connecting
limit inputs.
Zero Speed Designation/

Speed Command
Direction Switch
Set the function of the Zero Speed Designation

Input (VZERO) and Torque Limit Switch Input
(TLSEL).
Warning Output
Selection
Allocate the function of the Warning Output

(WARN).
Notch Filter 1 Frequency

Notch Filter 1 Width
Inertia Ratio
*1
Explanation
Set to adjust the position loop responsiveness.
Set to adjust the speed loop responsiveness.
Set the speed loop integral time constant.
Set the time constant for the low pass filter
through which the signal passes after the speed
signal from the encoder signal is converted.
Set the primary lag filter constant for the torque
command section.
Set the position control feed-forward
compensation value.
Set the position control feed-forward command
filter.
Set to adjust the position loop responsiveness.
Set to adjust the speed loop responsiveness.
Set the speed loop integral time constant.
Set the time constant for the low pass filter
through which the signal passes after the speed
signal from the encoder signal is converted.
Set the primary lag filter constant for the torque
command section.
Set the notch frequency of the resonance
suppression notch filter.
Set the width to one of five levels for the
resonance suppression notch filter. Normally, use
the default setting.
Set the ratio between the mechanical system
inertia and the Servomotor rotor inertia.
Realtime Autotuning
Mode Selection
Set the operating mode for realtime autotuning.
Realtime Autotuning
Machine Rigidity
Selection
Set the machine rigidity for executing realtime

autotuning to one of 16 levels.
The higher the machine rigidity, the greater the
setting needs to be. The higher the setting, the
higher the responsiveness.
Autotuning Operation
Setting
Set the operating pattern for autotuning.
Set the possible operating range for the

Servomotor. The overwrite limit function is
disabled if this parameter is set to 0.
Set the vibration frequency for dampening to
Vibration Frequency
suppress vibration at the end of the load.
Set vibration filter for dampening to suppress
Vibration Filter Setting
vibration at the end of the load.
Gives the table entry number corresponding to
the frequency of the adaptive filter. This
parameter is set automatically and cannot be
Adaptive Filter Table
changed if the adaptive filter is enabled (i.e., if the
Number *1
Realtime Autotuning Mode Selection (Pn21) is
set to 1 to 3 or 7).
Enable or disable gain switching.
Gain Switching Input
If switching is enabled, the setting of the Gain
Operating Mode Selection Switch Setting (Pn31) is used as the condition for
switching between gain 1 and gain 2.
Select the condition for switching between gain 1
and gain 2.
Gain Switch Setting
The Gain Switching Input Operating Mode (Pn30)
must be set to 1 (enabled).
This parameter is enabled when the Gain Switch
Setting (Pn31) is set to 3, or 5 to 10. Set the
delay time from the point at which status no
Gain Switch Time *1
longer meets the switching condition selected in
Pn31 until returning to gain 1.
This parameter is enabled when the Gain Switch
Setting (Pn31) is set to 3, 5, 6, 9, or 10. Set the
Gain Switch Level Setting
judgment level for switching between gain 1 and
*1
gain 2. The unit for the setting depends on the
condition set for the Gain Switch Setting (Pn31).
Set the hysteresis width above and below the
Gain Switch Hysteresis
judgment level set in the Gain Switch 1 Level
Setting *1
Setting (Pn33).
When switching between gain 1 and gain 2 is
Position Loop Gain
enabled, set the switching time to use for the
Switching Time *1
position loop gain to switch the gain stepwise.
Overrun Limit Setting
* 1. These parameters are automatically changed by executing realtime autotuning. To set them manually, set the Realtime Autotuning Mode Selection
(Pn21) to 0.
R88M-G/R7D-BP
37
Position Control Parameters

Parameter name
Command Pulse Input
Setting
Sequence Parameters
Explanation
The command pulses can be multiplied by a factor

of 2 or 4 when 90 phase differential signal inputs
is selected as the input format for the command
pulses in the Command Pulse Mode (Pn42).
Command Pulse
Rotation Direction
Switch
Set the Servomotor rotation direction for the

command pulse input.
Command Pulse Mode
Set the form of the pulse inputs sent as the

command to the Servo Drive from a position
controller.
Encoder Divider Rate

Setting
Set the number of encoder pulses to be output

from the Servo Drive for each rotation.
The setting can be made from 1 to 16,384 pulses/
rotation, but the setting will not be valid if it
exceeds 2,500 pulses/rotation.
Encoder Output
Direction Switch
Set to reverse the logic of encoder pulses output

from the Servo Drive.
Electronic Gear Ratio

Numerator 1
Set the pulse rate for command pulses and

Servomotor travel distance.
Electronic Gear Ratio Numerator 1 (Pn46)

Numerator 2
or
x2
Electronic Gear Ratio Numerator Exponent (Pn4A)
Parameter name
Set the range for the Positioning Completed

Output (INP).
Zero Speed Detection
Set the speed for the Warning Output for zero

speed detection.
Rotation Speed for Motor

Rotation Detection
Set the speed for the Servomotor Rotation

Amount Detection Output (TGON) for Internally
Set Speed Control.
Deviation Counter
Overflow Level
Set the detection level for the Deviation Counter

Overflow Alarm. The alarm level will be the
setting times 256 pulses.
Deviation Counter
Overflow Alarm
Disabled
Enable or disable the Deviation Counter

Overflow Alarm.
Stop Selection for Drive

Prohibition Input
Set the operation used to decelerate to a stop

after the Forward Drive Prohibit Input (POT) or
Reverse Drive Prohibit Input (NOT) has been
received.
Stop Selection for Alarm

Generation
Set the operation to use during deceleration and

after stopping when an error occurs for any
protective function of the Servo Drive. The
deviation counter will be cleared when an alarm
occurs.
Stop Selection with

Servo OFF
Set the operation to use during deceleration and

after stopping and set the deviation counter
status when the RUN Command Input (RUN) is
turned OFF.
Brake Timing when

Stopped
Set the brake timing when stopped.

When the Servomotor is stopped and the RUN
Command Input (RUN) is turned OFF, the Brake
Interlock Output (BKIR) will turn OFF, and the
Servomotor will turn OFF after waiting for the
time period set for this parameter (i.e., setting
2 ms).
Brake Timing during

Operation
Set the brake timing during operation.

When the Servomotor is operating and the RUN
Command Input (RUN) is turned OFF, the
Servomotor will decelerate to reduce speed, and
the Brake Interlock Output (BKIR) will turn OFF
after a set time (i.e., setting 2 ms) has elapsed.
BKIR will also turn OFF if the speed drops to
30 r/min or lower before the set time.
Regeneration Resistor
Selection
Set this parameter to 1 or 2 if an external

generation resistor is mounted.
Overspeed Detection
Level Setting
Set the No. 1 overspeed detection level if torque

limit switching is enabled by setting the Zerospeed Designation/Torque Limit Switch (Pn06).
No. 2 Torque Limit
Set the No. 2 torque limit if torque limit switching

is enabled by setting the Zero-speed
Designation/Torque Limit Switch (Pn06).
Set the No. 2 deviation counter overflow level if
torque limit switching is enabled by setting the
Zero-speed Designation/Torque Limit Switch
(Pn06).
Set the No. 2 overspeed detection level if torque
limit switching is enabled by setting the Zerospeed Designation/Torque Limit Switch (Pn06).
Electronic Gear Ratio Denominator (Pn4B)

Numerator Exponent
Set the pulse rate for command pulses and

Servomotor travel distance.

Denominator
or
x2
Electronic Gear Ratio Numerator Exponent (Pn4A)
Electronic Gear Ratio Denominator (Pn4B)
Position Command
Filter Time Constant
Setting
Set the time constant for the primary lag filter for
the command pulse input.
If the parameter is set to 0, the filter will not
function. The larger the setting, the larger the time
constant.
Smoothing Filter
Setting
Select the FIR filter time constant used for the

command pulse input.
The higher the setting, the smoother the command
pulses.
Internally Set Speed Control Parameters

Parameter name
Explanation
No. 1 Internal Speed

Setting
Set the No. 1 internal speed.

Setting

Setting

Setting
Jog Speed
Set the speed for jogging.
No. 2 Deviation Counter

Overflow Level
Soft Start Acceleration

Time
Set the acceleration time for internal speed

control. Set the time (setting 2 ms) until
1,000 r/min is reached.
No. 2 Overspeed
Detection Level Setting
Soft Start Deceleration

Time
Set the deceleration time for internal speed

control. Set the time (setting 2 ms) until
operation stops from 1000 r/min.
Torque Limit
Set the limit to the Servomotors maximum torque.
38
Explanation
Positioning Completion
Range
R88M-G/R7D-BP
Dimensions
(Unit: mm)
Servo Drives
50 W/100 W/200 W
35
Mounting Hole
Dimensions
15
20
5.2
dia
.
Two, M4
5
R7D-BPA5L
R7D-BP01L
R7D-BP01H
R7D-BP02H
PWR
ALM
C
N
3
C
N
2
1300.5
140
140
130
120
C
N
1
C
N
B
C
N
A
5.1
5.2
105
70
15
20
200 W/400 W
40
R7D-BP02L
R7D-BP02HH
R7D-BP04H
15
5 20
Two, M4
5
5.2
dia
.
Mounting Hole
Dimensions
PWR
ALM
C
N
3
C
N
2
1300.5
140
140
130
120
C
N
1
C
N
B
C
N
A
70
5.1
5.2
105
15
25
R88M-G/R7D-BP
39
Servomotors
50 W/100 W
R88M-G05030H (-S2)
R88M-G10030L (-S2)
R88M-G10030H (-S2)
Without brake
LL
LN
R88M-G05030H
Model
72
26.5
R88M-G05030H-B *1
102
26.5
R88M-G10030@ *2
92
46.5
R88M-G10030@-B *1, *2
122
46.5
With brake
R88M-G05030H (-S2)
R88M-G10030L (-S2)
R88M-G10030H (-S2)
* 1. This is the model number for the Servomotor with a brake.

* 2. Put L or H in the place indicated by the box.
Note: The standard models have a straight shaft. To order a Servomotor with a straight shaft with a key, add S2 to the end of the model number.
Brake Connector
Motor Connector
25
3
1.8
(Dimensions of shaft end

with key and tap)
12.5
3, height: 9
40 40
200
230
8 dia., height: 6
32
LL
30 dia., height: 7
Encoder
Connector
LN
46
dia
M3
(depth: 6)
Two, 4.3 dia.
200 W/400 W
R88M-G20030L (-S2)
R88M-G20030H (-S2)
R88M-G40030H (-S2)
Without brake
Model
LL
79
R88M-G20030@-B *1,*2
With brake
Dimensions for models with key and tap *3

QK
t1
11
18
4h9
2.5
M4
115.5
11
18
4h9
2.5
M4
R88M-G40030H
98.5
14
22.5
5h9
M5
10
R88M-G40030H-B *2
135
14
22.5
5h9
M5
10
R88M-G20030@ *1
R88M-G20030L-B (S2)
R88M-G20030H-B (S2)
R88M-G40030H-B (S2)
* 1. Put L or H in the place indicated by the box.

* 3. To order a Servomotor with a straight shaft with a key, add S2 to the end of the model number.
Note: The standard models have a straight shaft.
(Straight shaft with key)

QK
LL
6.5
t1
Encoder connector
Brake connector
Servomotor connector
30
3
40
43
S dia., height: 6
50 dia., height: 7
200
220
M (depth: L)
Four,
4.5 dia.
60 60
70 d
ia.
R88M-G/R7D-BP

100 W/200 W/400 W
Without brake
R88M-GP10030L (-S2)
R88M-GP10030H (-S2)
R88M-GP20030L (-S2)
R88M-GP20030H (-S2)
R88M-GP40030H (-S2)
Model
R88M-GP10030L-B (S2)
R88M-GP10030H-B (S2)
R88M-GP20030L-B (S2)
R88M-GP20030H-B (S2)
R88M-GP40030H-B (S2)
With brake
LL
LR
D1
D2
KL1
R88M-GP10030@ *1
60
25
70
50
60
43
R88M-GP10030@-B *1, *2
84
25
70
50
60
R88M-GP20030@ *1
67
30
11
90
70
80
99.5
30
11
90
70
80
82
30
14
90
70
114.5
30
14
90
70
R88M-GP20030@-B *1, *2
R88M-GP40030H
R88M-GP40030H-B *2
Dimensions for models with key and tap*3

QK
t1
4.5
12.5
3h9
1.8
M3
43
4.5
12.5
3h9
1.8
M3
53
5.5
18
4h9
2.5
M4
53
5.5
18
4h9
2.5
M4
80
53
5.5
22.5
5h9
M5
10
80
53
5.5
22.5
5h9
M5
10
* 1. Put "L" or "H" in the place indicated by the box.

* 3. To order a Servomotor with a straight shaft with a key, add "S2" to the end of the model number.
Note: The standard models have a straight shaft.
Encoder
connector
Servomotor connector
CxC
(Straight shaft with key)

QK
b
h
KL1
Four,
Z-dia.
.
dia
D1
t1
F
S dia., height: 6
(7)
Break connector
D dia., height: 7
(7)
LR
200
220
LL
M (depth: 6)
R88M-G/R7D-BP
41
Decelerators
Dimensions (mm)
Model
50 W
100 W
200 W
400 W
LM
LR
C1
C2
D1
D2
D3
D4
D5
F1
F2
1/5
R88G-HPG11A05100B
39.5
42
40
40 40
46
46
40.0
39.5
29
27
2.2
15
1/9
R88G-HPG11A09050B
39.5
42
40
40 40
46
46
40.0
39.5
29
27
2.2
15
1/21
R88G-HPG14A21100B
64.0
58
60
60 60
70
46
56.0
55.5
40
37
2.5
21
1/33
R88G-HPG14A33050B
64.0
58
60
60 60
70
46
56.0
55.5
40
37
2.5
21
1/45
R88G-HPG14A45050B
64.0
58
60
60 60
70
46
56.0
55.5
40
37
2.5
21
1/5
R88G-HPG11A05100B
39.5
42
40
40 40
46
46
40.0
39.5
29
27
2.2
15
1/11
R88G-HPG14A11100B
64.0
58
60
60 60
70
46
56.0
55.5
40
37
2.5
21
1/21
R88G-HPG14A21100B
64.0
58
60
60 60
70
46
56.0
55.5
40
37
2.5
21
1/33
R88G-HPG20A33100B
66.5
80
90
55 dia.
105
46
85.0
84.0
59
53
7.5
27
10
1/45
R88G-HPG20A45100B
66.5
80
90
55 dia.
105
46
85.0
84.0
59
53
7.5
27
10
1/5
R88G-HPG14A05200B
64.0
58
60
60 60
70
70
56.0
55.5
40
37
2.5
21
1/11
R88G-HPG14A11200B
64.0
58
60
60 60
70
70
56.0
55.5
40
37
2.5
21
1/21
R88G-HPG20A21200B
71.0
80
90
89 dia.
105
70
85.0
84.0
59
53
7.5
27
10
1/33
R88G-HPG20A33200B
71.0
80
90
89 dia.
105
70
85.0
84.0
59
53
7.5
27
10
1/45
R88G-HPG20A45200B
71.0
80
90
89 dia.
105
70
85.0
84.0
59
53
7.5
27
10
1/5
R88G-HPG14A05400B
64.0
58
60
60 60
70
70
56.0
55.5
40
37
2.5
21
1/11
R88G-HPG20A11400B
71.0
80
90
89 dia.
105
70
85.0
84.0
59
53
7.5
27
10
1/21
R88G-HPG20A21400B
71.0
80
90
89 dia.
105
70
85.0
84.0
59
53
7.5
27
10
1/33
R88G-HPG32A33400B
104.0
133
120
122 dia.
135
70
115.0
114.0
84
98
12.5
35
13
1/45
R88G-HPG32A45400B
104.0
133
120
122 dia.
135
70
115.0
114.0
84
98
12.5
35
13
Note: The standard models have a straight shaft. To order a Decelerator with a straight shaft with a key, add J to the end of the model number, in the place indicated
by the box.
* 1. This is the set bolt.
Outline Drawings
E
C1
Four,
Z2 dia.
Set bolt (AT)
F1
C2
Four, Z1 dia.
F2
LR
42
QK
G
LM
R88M-G/R7D-BP
t1
D2 dia.
D1 dia.
D3 dia.
D4 dia.
D5 dia.
S dia., height: 7
Key Dimensions
M (depth: L)
Dimensions (mm)
Key dimensions (mm)
Z1
Z2
AT*1
QK
t1
Weight
(kg)
20
3.4
M4
M3
15
1.8
M3
0.29
R88G-HPG11A05100B
20
3.4
M4
M3
15
1.8
M3
0.29
R88G-HPG11A09050B
1/9
16
28
5.5
M4
M3
25
M4
1.04
R88G-HPG14A21100B
1/21
16
28
5.5
M4
M3
25
M4
1.04
R88G-HPG14A33050B
1/33
1/45
Model
1/5
16
28
5.5
M4
M3
25
M4
1.04
R88G-HPG14A45050B
20
3.4
M4
M3
15
1.8
M3
0.29
R88G-HPG11A05100B
1/5
16
28
5.5
M4
M3
25
M4
1.04
R88G-HPG14A11100B
1/11
16
28
5.5
M4
M3
25
M4
1.04
R88G-HPG14A21100B
1/21
25
42
9.0
M4
M4
36
4.0
M6
12
2.4
R88G-HPG20A33100B
1/33
25
42
9.0
M4
M4
36
4.0
M6
12
2.4
R88G-HPG20A45100B
1/45
16
28
5.5
M4
M3
25
M4
1.02
R88G-HPG14A05200B
1/5
16
28
5.5
M4
M3
25
M4
1.09
R88G-HPG14A11200B
1/11
25
42
9.0
M4
M4
36
4.0
M6
12
2.9
R88G-HPG20A21200B
1/21
25
42
9.0
M4
M4
36
4.0
M6
12
2.9
R88G-HPG20A33200B
1/33
25
42
9.0
M4
M4
36
4.0
M6
12
2.9
R88G-HPG20A45200B
1/45
16
28
5.5
M4
M3
25
M4
1.09
R88G-HPG14A05400B
1/5
25
42
9.0
M4
M4
36
4.0
M6
12
2.9
R88G-HPG20A11400B
1/11
25
42
9.0
M4
M4
36
4.0
M6
12
2.9
R88G-HPG20A21400B
1/21
40
82
11.0
M4
M4
70
12
5.0
M10
20
7.5
R88G-HPG32A33400B
1/33
40
82
11.0
M4
M4
70
12
5.0
M10
20
7.5
R88G-HPG32A45400B
1/45
R88M-G/R7D-BP
50 W
100 W
200 W
400 W
43

Dimensions (mm)
Model
100 W
200 W
400 W
LM
LR
C1
C2
D1
D2
D3
D4
D5
F1
F2
1/5
R88G-HPG11A05100PB
39.5
42
40
60 60
46
70
40.0
39.5
29
27
2.2
15
G
5
1/11
R88G-HPG14A11100PB
64.0
58
60
60 60
70
70
56.0
55.5
40
37
2.5
21
1/21
R88G-HPG14A21100PB
64.0
58
60
60 60
70
70
56.0
55.5
40
37
2.5
21
1/33
R88G-HPG20A33100PB
71.0
80
90
89 dia.
105
70
85.0
84.0
59
53
7.5
27
10
1/45
R88G-HPG20A45100PB
71.0
80
90
89 dia.
105
70
85.0
84.0
59
53
7.5
27
10
1/5
R88G-HPG14A05200PB
65.0
58
60
80 80
70
90
56.0
55.5
40
37
2.5
21
1/11
R88G-HPG20A11200PB
78.0
80
90
80 80
105
90
85.0
84.0
59
53
7.5
27
10
1/21
R88G-HPG20A21200PB
78.0
80
90
80 80
105
90
85.0
84.0
59
53
7.5
27
10
1/33
R88G-HPG20A33200PB
78.0
80
90
80 80
105
90
85.0
84.0
59
53
7.5
27
10
1/45
R88G-HPG20A45200PB
78.0
80
90
80 80
105
90
85.0
84.0
59
53
7.5
27
10
1/5
R88G-HPG20A05400PB
78.0
80
90
80 80
105
90
85.0
84.0
59
53
7.5
27
10
1/11
R88G-HPG20A11400PB
78.0
80
90
80 80
105
90
85.0
84.0
59
53
7.5
27
10
1/21
R88G-HPG20A21400PB
78.0
80
90
80 80
105
90
85.0
84.0
59
53
7.5
27
10
1/33
R88G-HPG32A33400PB
104.0
133
120
122 dia.
135
90
115.0
114.0
84
98
12.5
35
13
1/45
R88G-HPG32A45400PB
104.0
133
120
122 dia.
135
90
115.0
114.0
84
98
12.5
35
13
Note: The standard models have a straight shaft. To order a Decelerator with a straight shaft with a key, add "J" to the end of the model number, in the place indicated
by the box.
Outline Drawings
E
C1
Four,
Z2 dia.
Set bolt (AT)
F1
C2
Four, Z1 dia.
F2
LR
44
QK
G
LM
R88M-G/R7D-BP
t1
D2 dia.
D1 dia.
D3 dia.
D4 dia.
D5 dia.
S dia., height: 7
Key Dimensions
M (depth: L)
Dimensions (mm)
Key dimensions (mm)
Z1
Z2
AT*1
QK
t1
Weight
(kg)
Model
20
3.4
M4
M3
15
1.8
M3
0.34
R88G-HPG11A05100PB
1/5
16
28
5.5
M4
M3
25
3.0
M4
1.04
R88G-HPG14A11100PB
1/11
16
28
5.5
M4
M3
25
3.0
M4
1.04
R88G-HPG14A21100PB
1/21
25
42
9.0
M4
M3
36
4.0
M6
12
2.9
R88G-HPG20A33100PB
1/33
25
42
9.0
M4
M3
36
4.0
M6
12
2.9
R88G-HPG20A45100PB
1/45
16
28
5.5
M4
M4
25
3.0
M4
0.99
R88G-HPG14A05200PB
1/5
25
42
9.0
M5
M4
36
4.0
M6
12
3.1
R88G-HPG20A11200PB
1/11
25
42
9.0
M5
M4
36
4.0
M6
12
3.1
R88G-HPG20A21200PB
1/21
25
42
9.0
M5
M4
36
4.0
M6
12
3.1
R88G-HPG20A33200PB
1/33
25
42
9.0
M5
M4
36
4.0
M6
12
3.1
R88G-HPG20A45200PB
1/45
25
42
9.0
M5
M4
36
4.0
M6
12
3.1
R88G-HPG20A05400PB
1/5
25
42
9.0
M5
M4
36
4.0
M6
12
3.1
R88G-HPG20A11400PB
1/11
25
42
9.0
M5
M4
36
4.0
M6
12
3.1
R88G-HPG20A21400PB
1/21
40
82
11.0
M5
M6
70
12
5.0
M10
20
7.8
R88G-HPG32A33400PB
1/33
40
82
11.0
M5
M6
70
12
5.0
M10
20
7.8
R88G-HPG32A45400PB
1/45
R88M-G/R7D-BP
100 W
200 W
400 W
45

50
W
100
W
200
W
400
W
Key dimensions
(mm)
Dimensions (mm)
Model
(R88G-)
*1
LM
LR
C1
C2
D1
D2
D3
D4
E3
Z1
Z2 AT
QK
t1
1/5
VRSF05B100CJ
67.5
32
52
40
46
60
50
45
10
12
20
M4
M5
M3
12
16
2.5
0.55
1/9
VRSF09B100CJ
67.5
32
52
40
46
60
50
45
10
12
20
M4
M5
M3
12
16
2.5
0.55
1/15 VRSF15B100CJ
78.0
32
52
40
46
60
50
45
10
12
20
M4
M5
M3
12
16
2.5
0.70
1/25 VRSF25B100CJ
78.0
32
52
40
46
60
50
45
10
12
20
M4
M5
M3
12
16
2.5
0.70
1/5
VRSF05B100CJ
67.5
32
52
40
46
60
50
45
10
12
20
M4
M5
M3
12
16
2.5
0.55
1/9
VRSF09B100CJ
67.5
32
52
40
46
60
50
45
10
12
20
M4
M5
M3
12
16
2.5
0.55
1/15 VRSF15B100CJ
78.0
32
52
40
46
60
50
45
10
12
20
M4
M5
M3
12
16
2.5
0.70
1/25 VRSF25B100CJ
78.0
32
52
40
46
60
50
45
10
12
20
M4
M5
M3
12
16
2.5
0.70
1/5
VRSF05B200CJ
72.5
32
52
60
70
60
50
45
10
10
12
20
M4
M5
M4
12
16
2.5
0.72
1/9
VRSF09C200CJ
89.5
50
78
60
70
90
70
62
17
19
30
M4
M6
M4
20
22
3.5
1.70
1/15 VRSF15C200CJ
100.0
50
78
60
70
90
70
62
17
19
30
M4
M6
M4
20
22
3.5
2.10
1/25 VRSF25C200CJ
100.0
50
78
60
70
90
70
62
17
19
30
M4
M6
M4
20
22
3.5
2.10
1/5
VRSF05C400CJ
89.5
50
78
60
70
90
70
62
17
19
30
M4
M6
M4
20
22
3.5
1.70
1/9
VRSF09C400CJ
89.5
50
78
60
70
90
70
62
17
19
30
M4
M6
M4
20
22
3.5
1.70
1/15 VRSF15C400CJ
100.0
50
78
60
70
90
70
62
17
19
30
M4
M6
M4
20
22
3.5
2.10
1/25 VRSF25C400CJ
100.0
50
78
60
70
90
70
62
17
19
30
M4
M6
M4
20
22
3.5
2.10

Note: The standard models have a straight shaft with a key.
Outline Drawings
E3
F
4-Z2 (effective depth: L)
@C2
D2 dia.
C1 C1
T
LM
LR
Key Dimensions
Set bolt (AT)
D4 dia.
S dia., height: 6
D1 dia.
D3 dia., height: 7
Four, Z1
QK
t1
h
46
Weight
(kg)
R88M-G/R7D-BP

Dimensions (mm)
Model
(R88G-)
100
W
200
W
400
W
Key dimensions
(mm)
Dimensions (mm)
Weight
(kg)
LM
LR
C1
C2
D1
D2
D3
D4
E3
Z1
Z2 AT *1
QK
t1
1/5
VRSF05B100PCJ
67.5
32
52
60
70
60
50
45
10
12
20
M4
M5
M3
12
16
2.5
0.72
1/9
VRSF09B100PCJ
67.5
32
52
60
70
60
50
45
10
12
20
M4
M5
M3
12
16
2.5
0.72
1/15 VRSF15B100PCJ
78.0
32
52
60
70
60
50
45
10
12
20
M4
M5
M3
12
16
2.5
0.87
1/25 VRSF25B100PCJ
78.0
32
52
60
70
60
50
45
10
12
20
M4
M5
M3
12
16
2.5
0.87
1/5
VRSF05B200PCJ
72.5
32
52
80
90
60
50
45
10
12
12
20
M5
M5
M4
12
16
2.5
0.85
1/9
VRSF09C200PCJ
89.5
50
78
80
90
90
70
62
17
12
19
30
M5
M6
M4
20
22
3.5
1.80
1/15 VRSF15C200PCJ 100.0
50
78
80
90
90
70
62
17
12
19
30
M5
M6
M4
20
22
3.5
2.20
1/25 VRSF25C200PCJ 100.0
50
78
80
90
90
70
62
17
12
19
30
M5
M6
M4
20
22
3.5
2.20
1/5
VRSF05C400PCJ
89.5
50
78
80
90
90
70
62
17
12
19
30
M5
M6
M4
20
22
3.5
1.80
1/9
VRSF09C400PCJ
89.5
50
78
80
90
90
70
62
17
12
19
30
M5
M6
M4
20
22
3.5
1.80
1/15 VRSF15C400PCJ 100.0
50
78
80
90
90
70
62
17
12
19
30
M5
M6
M4
20
22
3.5
2.20
1/25 VRSF25C400PCJ 100.0
50
78
80
90
90
70
62
17
12
19
30
M5
M6
M4
20
22
3.5
2.20

Note: The standard models have a straight shaft with a key.
Outline Drawings
E3
F
4-Z2 (effective depth: L)
@C2
D2 dia.
C1 C1
T
LM
LR
Key Dimensions
Set bolt (AT)
D4 dia.
S dia., height: 6
D1 dia.
D3 dia., height: 7
Four, Z1
QK
t1
h
R88M-G/R7D-BP
47
Parameter Unit
R88A-PR02G
(62)
(24)
(114)
(15)
M3, depth: 5
(15)
Mini DIN 8-pin

MD connector
(1500)

R7A-DIN01B
Two, M4
mounting holes *1
35
20
5
(6)
140
(7)
130.5
Mounting panel
* 1. Two mounting screws (M4, length: 8) are included.

* 2. When the rail stopper is extended, this dimension becomes 10 mm.
Rail stopper
*2
(6)
4.2
Thermal switch output
48
62
1.5 dia.
(0.3 mm2)
R88A-RR22047S
3 dia.
(0.75 mm2)
External Regeneration Resistor
6
t1.2
500
200
20
220
28
43.5
Thermal switch output
4.2
1.5 dia.
(0.3 mm2)
R88A-RR08050S
R88A-RR080100S
3 dia.
(0.75 mm2)
230
6
t1.2
20
500
104
122
130
48
R88M-G/R7D-BP
Reactor
3G3AX-DL2002
Model
3G3AX-DL2007
3G3AX-DL2002
85
3G3AX-DL2004
95
72
90
72
90
3G3AX-DL2004
Ground terminal
(M4)
Two, M4 screws
Two, M4 screws
56
66
Ground terminal
(M4)
Four,
5.2 8 holes
Four, 5.2 8 holes

105
98
98
56
66
3G3AX-AL2025
Ground terminal (M5)
Six, M4
terminal screws
60
Connections
40
92
150
Ro R So S To T
Four,
6 dia.
R So
S To
671
82
671
501
130
Ro
About Manuals
English Cat. No.
Japanese Cat. No.
Type
Name
I561
SBCE-348
R88M-G/R7D-BP
Users Manual
---
SBCE-053
R7D-BP/R88M-G
Moter Selection Program OMNUC G/W series

SMARTSTEP2/Junior/A series CD-ROM
R88M-G/R7D-BP
49
MEMO
50
Read and Understand this Catalog

Please read and understand this catalog before purchasing the product. Please consult your OMRON representative if you have
any questions or comments.
Warranty and Limitations of Liability

WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year
(or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON-INFRINGEMENT,
MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER
ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET
THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR
IMPLIED.
LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS
OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, 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 REGARDING THE
PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED, STORED,
INSTALLED, AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE
MODIFICATION OR REPAIR.
Application Considerations
SUITABILITY FOR USE
OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of the
product in the customer's application or use of the product.
Take all necessary steps to determine the suitability of the product for the systems, machines, and equipment with which it will
be used.
Know and observe all prohibitions of use applicable to this product.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT
ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON
PRODUCT IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR
SYSTEM.
PROGRAMMABLE PRODUCTS
OMRON shall not be responsible for the user's programming of a programmable product, or any consequence thereof.
Disclaimers
CHANGE IN SPECIFICATIONS
Product specifications and accessories may be changed at any time based on improvements and other reasons. Consult with
your OMRON representative at any time to confirm actual specifications of purchased product.
DIMENSIONS AND WEIGHTS

Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown.
PERFORMANCE DATA
Performance data given in this catalog 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.
Note: Do not use this document to operate the Unit.

OMRON Corporation
OMRON ELECTRONICS LLC
Shiokoji Horikawa, Shimogyo-ku,

Kyoto, 600-8530 Japan
Tel: (81) 75-344-7173/Fax: (81) 75-344-7149
2-2-1 Nishikusatsu, Kusatsu-shi,
Shiga, 525-0035 Japan
Tel: (81) 77-565-5223/Fax: (81) 77-565-5568
Regional Headquarters
OMRON ASIA PACIFIC PTE. LTD.
Industrial Automation Company

Control Devices Division H.Q.
Motion Control Department
OMRON EUROPE B.V.
Wegalaan 67-69-2132 JD Hoofddorp

The Netherlands
Tel: (31)2356-81-300/Fax: (31)2356-81-388
One Commerce Drive Schaumburg,

IL 60173-5302 U.S.A.
Tel: (1) 847-843-7900/Fax: (1) 847-843-7787
Authorized Distributor:
No. 438A Alexandra Road # 05-05/08 (Lobby 2),

Alexandra Technopark, Singapore 119967
Tel: (65) 6835-3011/Fax: (65) 6835-2711
OMRON (CHINA) CO., LTD.
Room 2211, Bank of China Tower,

200 Yin Cheng Zhong Road,
PuDong New Area, Shanghai, 200120, China
Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200
OMRON Industrial Automation Global: www.ia.omron.com
OMRON Corporation 2008 All Rights Reserved.

In the interest of product improvement,
specifications are subject to change without notice.
Printed in Japan
Cat. No. I813-E1-02
0708 (0208) (w)

R7D B Datasheet en 200809

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SMARTSTEP 2

Advanced Functionality in a Super Compact Design

Easy and Advanced Performance

Solve Your Equipment Problems

Integrated Development Environment

Setting & Programming

Maintain your Server Drives with the

Improve Tact Time

Operation & Maintenance

Interpreting Model Numbers

Servo Drive-Servomotor Combinations

Servomotor and Decelerator Combinations

Servo Relay Units and Cables

Servo Drive Specifications

Encoder, External Regeneration

I/O Circuit Diagrams

Nomenclature and Functions

Easy programming with the

Parameter Editing & Monitoring

Easy Parameter Settings

Easy monitoring of the NC

Mechanical vibration is controlled with a

Mount the Drive to the

Alarm & Maintenance

Simple Realtime Autotuning

Control from a PLC is made easy by using function blocks.

Maintenance with Integrated

Note: CX-Drive (version 1.61) support for

Simply download parameter settings

Reduce Design Work

Easy monitoring of Position Control Unit and Servo Drive errors

Easy and Advanced Performance

Solve Your Equipment Problems

Integrated Development Environment

Setting & Programming

Maintain your Server Drives with the

Improve Tact Time

Operation & Maintenance

Interpreting Model Numbers

Servo Drive-Servomotor Combinations

Servomotor and Decelerator Combinations

Servo Relay Units and Cables

Servo Drive Specifications

Encoder, External Regeneration

I/O Circuit Diagrams

Nomenclature and Functions

Easy programming with the

Parameter Editing & Monitoring

Easy Parameter Settings

Easy monitoring of the NC

Mechanical vibration is controlled with a

Mount the Drive to the

Alarm & Maintenance

Simple Realtime Autotuning

Control from a PLC is made easy by using function blocks.

Maintenance with Integrated

Note: CX-Drive (version 1.61) support for

Simply download parameter settings

Reduce Design Work

Easy monitoring of Position Control Unit and Servo Drive errors

Ball Screws, Belt Conveyers,and More: Ideal

for a Wide Range of Applications

for Precise Positioning with Ease