SmartStep
Servos
Servos
SmartStep
Cost-Effective Servo Capability with
Stepper Simplicity
Easily migrate from steppers to the higher precision of servos
in minutes with Omron's SmartStep servo drivers and ultra-
compact 3-phase servo motors. They accept pulse-train input
that can be configured quickly via simple DIP switches and
have an on-line auto-tuning function. SmartStep offers all the
simplicity and cost-effectiveness of a stepper with the added
advantages of the servo drive capability.
K091
Motor Features
• Sizes 30 W to 750 W, rated speed 3,000 rpm
• Accepts incremental encoder input at 2,000 p/r
• Cylindrical and flat type servo motors available
• Peak torque up to three times continuous torque during 3
seconds
• Easy to install with pre-built cables
• Motors with brake are available
Driver Features
• Output range from 30 W to 750 W
• 300% peak current over nominal
• Control via pulse train (speed and position)
• Four position resolution settings:
• 500 pulses/rotation (0.72° /step)
• 1,000 pulses/rotation (0.36° /step)
• 5,000 pulses/rotation (0.072° /step)
• 10,000 pulses/rotation (0.036° /step)
• SmartStep does not require the use of PC configuration
software, making setup as easy as using a stepper motor for
basic capabilities
• To optimize performance, use PC software for on-line auto-
tuning of values and monitoring
Ordering Information
SMARTSTEP
Servo Drive
Analog Monitor
Cable
Computer Monitor
Software for Windows
SMARTSTEP
Servo Motor
Servo Relay Unit
Position
Control
Module,
Customizable
Counter
Module, or
DeviceNet
one-axis
Connector
Terminal Block
Position
Control
Module (with
pulse output)
Add cable length to the part number in place of
@@@:
003 for 3 m cable, 005 for 5 m, 010 for 10 m, 015 for 15 m and 020 for 20 m.
I-8
For complete specifications and additional models:
U.S.
www.omron.com/oei
Canada
www.omron.ca
SmartStep
Servos
Note:
Circled numbers refer to the configuration diagram on page I-8.
SmartStep Servos
Wattage
Servo motor model
Servo drive model
APower
cable/Encoder cable model
(Add cable length for
@@@)
R7A-CEA@@@S
R7A-CEA@@@S
R7A-CEA@@@S
R7A-CEA@@@S
R7A-CEA@@@S
R7A-CEA@@@B
R7A-CEA@@@B
R7A-CEA@@@B
R7A-CEA@@@B
R7A-CEA@@@B
R7A-CEA@@@S
R7A-CEA@@@S
R7A-CEA@@@S
R7A-CEA@@@S
R7A-CEA@@@S
R7A-CEA@@@S
R7A-CEA@@@B
R7A-CEA@@@B
R7A-CEA@@@B
R7A-CEA@@@B
R7A-CEA@@@B
R7A-CEA@@@B
R7A-CEA@@@S
R7A-CEA@@@S
R7A-CEA@@@S
R7A-CEA@@@B
R7A-CEA@@@B
R7A-CEA@@@B
R7A-CEA@@@S
R7A-CEA@@@S
R7A-CEA@@@S
R7A-CEA@@@S
R7A-CEA@@@B
R7A-CEA@@@B
R7A-CEA@@@B
R7A-CEA@@@B
Cylindrical Servo Motors 100 VAC Without Brake, Shaft Without Keyway
30 W
R7M-A03030-S1
R7D-APA3L
50 W
R7M-A05030-S1
R7D-APA5L
100 W
R7M-A10030-S1
R7D-AP01L
200 W
R7M-A20030-S1
R7D-AP02L
400 W
R7M-A40030-S1
R7D-AP04L
Cylindrical Servo Motors 100 VAC With Brake, Shaft With Keyway
30 W
R7M-A03030-BS1
R7D-APA3L
50 W
R7M-A05030-BS1
R7D-APA5L
100 W
R7M-A10030-BS1
R7D-AP01L
200 W
R7M-A20030-BS1
R7D-AP02L
400 W
R7M-A40030-BS1
R7D-AP04L
Cylindrical Servo Motors 200 VAC Without Brake, Shaft With Keyway
30 W
R7M-A03030-S1
R7D-APA3H
50 W
R7M-A05030-S1
R7D-APA5H
100 W
R7M-A10030-S1
R7D-AP01H
200 W
R7M-A20030-S1
R7D-AP02H
400 W
R7M-A40030-S1
R7D-AP04H
750 W
R7M-A75030-S1
R7D-AP08H
Cylindrical Servo Motors 200 VAC With Brake, Shaft With Keyway
30 W
R7M-A03030-BS1
R7D-APA3H
50 W
R7M-A05030-BS1
R7D-APA5H
100 W
R7M-A10030-BS1
R7D-AP01H
200 W
R7M-A20030-BS1
R7D-AP02H
400 W
R7M-A40030-BS1
R7D-AP04H
750 W
R7M-A75030-BS1
R7D-AP08H
Flat Servo Motors 100 VAC Without Brake, Shaft With Keyway
100 W
R7M-AP10030-S1
R7D-AP01L
200 W
R7M-AP20030-S1
R7D-AP02L
400 W
R7M-AP40030-S1
R7D-AP04L
Flat Servo Motors 100 VAC With Brake, Shaft With Keyway
100 W
R7M-AP10030-BS1
R7D-AP01L
200 W
R7M-AP20030-BS1
R7D-AP02L
400 W
R7M-AP40030-BS1
R7D-AP04L
Flat Servo Motors 200 VAC Without Brake, Shaft With Keyway
100 W
R7M-AP10030-S1
R7D-AP01H
200 W
R7M-AP20030-S1
R7D-AP02H
400 W
R7M-AP40030-S1
R7D-AP04H
750 W
R7M-AP75030-S1
R7D-AP08H
Flat Servo Motors 200 VAC With Brake, Shaft With Keyway
100 W
R7M-AP10030-BS1
R7D-AP01H
200 W
R7M-AP20030-BS1
R7D-AP02H
400 W
R7M-AP40030-BS1
R7D-AP04H
750 W
R7M-AP75030-BS1
R7D-AP08H
For complete specifications and additional models:
U.S.
www.omron.com/oei
Canada
www.omron.ca
I-9
SmartStep
Servos
Cables and Accessories
Description
B
Servo relay units
connect cables from PLC
position controller and
servo drive
Devices connected
CS1W-NC113/133, CJ1W-NC113/133; 1 axis; does not support
communications functions
CS1W-NC213/233/413/433, CJ1W-NC213/233/413/433; 2 axes; does not
support communications functions
CQM1H-PLB21 and CQM1-CPU43-V1; 1 axis; does not support
communications functions
CS1W-NC213/233/413/433, CJ1W-NC213/233/ 413/433; 2 axes; supports
communications functions
CJ1M-CPU22/23; 1 axis; does not support communications functions
CJ1M-CPU22/23; 2 axes; does not support communications functions
C
Universal terminal
Doesn’t support communications functions.
block cable to servo drive (For the XW2B-@@J6-@B)
Specification
—
—
—
—
Model
XW2B-20J6-1B
XW2B-40J6-2B
XW2B-20J6-3B
XW2B-40J6-4A
XW2B-20J6-8A
XW2B-40J6-9A
XW2Z-100J-B5
XW2Z-200J-B5
XW2Z-100J-A3
XW2Z-100J-A16
XW2Z-100J-A17
XW2Z-100J-A20
XW2Z-100J-A21
XW2Z-100J-A26
XW2Z-100J-A8
XW2Z-100J-A9
XW2Z-100J-A12
XW2Z-100J-A13
R88A-CPU001S
R88A-CPU002S
XW2B-40F5-P
R88A-CTU001N
R88A-CTU002N
R88A-CMW001S
R7A-CCA002P2
R88A-FIW104-E
R88A-FIW107-E
R88A-FIW115-E
R88A-CNU01C
R7A-CNA01R
R88A-RR22047S
R7A-PR02A
CX-DRIVE
CX-ONE
—
—
1 m length
2 m length
D
Position controller
CQM1H-PLB21 and CQM1-CPU43-V1 to XW2B-20J6-3B servo relay unit
1 m length
PLC module cable
CJ1W-NC113 to XW2B-20J6-1B servo relay unit
1 m length
CJ1W-NC213 or CJ1W-NC413 to XW2B-20J6-2B servo relay unit
1 m length
CJ1W-NC133 to XW2B-20J6-1B servo relay unit
1 m length
CJ1W-NC233 or CJ1W-NC433 to XW2B-40J6-2B servo relay unit
1 m length
CJ1M-CPU22 or CJ1M-CPU23 to XW2B-20J6-8A (1 axis) or XW2B-40J6-9A (2 1 m length
axes) servo relay unit
CS1W-NC113 to XW2B-20J6-1B servo relay unit
1 m length
CS1W-NC213 or CS1W-NC413 to XW2B-40J6-2B servo relay unit
1 m length
CS1W-NC133 to XW2B-20J6-B1 servo relay unit
1 m length
CS1W-NC233 or CS1W-NC433 to XW2B-40J6-2B servo relay unit
1 m length
E
Control cable
For general-purpose Controllers (mating connector for CJ1 on one end, open 1 m length
ended on the other end)
2 m length
F
Universal terminal
For position control modules with pulse output and general-purpose controllers —
block
Connector cable between terminal block and servo driver
1 m length
2 m length
G
Analog monitor cable Servo drive to PC
1 m length
(port CN4)
H
Computer monitor
Servo drive to PC
2 m length
cable (port CN3)
Filters
For servo drive R7D-APA3H, APA5H, AP01H, AP02H; R7D-APA3L, APA5L,
4 A, 250 VAC
AP01L, AP02L
single phase
For servo drive R7D-AP04H, AP04L
7 A, 250 VAC
single phase
For servo drive R7D-AP08H
15 A, 250 VAC
single phase
Control I/O connector
—
—
(CN1)
SmartStep encoder
—
—
connector (CN2)
External regeneration
—
200 W, 47
Ω
resistor
Parameter copy unit with —
—
cable
Configuration and
For servo drives and inverters
Version 1.11 or
monitoring software
higher
Complete OMRON
Includes CX-Drive
—
software suite
I-10
For complete specifications and additional models:
U.S.
www.omron.com/oei
Canada
www.omron.ca
SmartStep
Servos
Specifications
Servo Drives General Specifications
Item
Operating ambient
Storage ambient
Storage/operating atmosphere
Vibration resistance
Impact resistance
Insulation resistance
Dielectric strength
Protective structure
International standards
Specification
0° to 55° C (32° F to 131° F), 90% RH max. (with no condensation)
-20° to 85° C (-4° F to 185° F), 90% RH max. (with no condensation)
No corrosive gases.
10 to 55 Hz in X, Y, and Z directions with 0.1-mm double amplitude or acceleration of 4.9 m/s
2
max.,
whichever is smaller
Acceleration 19.6 m/s
2
max., in X, Y, and Z directions, three times
Between power line terminals and case: 0.5 MΩ min. (at 500 VDC)
Between power line terminals and case: 1,500 VAC for 1 min. at 50/60 Hz between each control signal and
case: 500 VAC for 1 min.
Built into panel (IP10).
Approval obtained for UL, cUL, and EN (EMC directive and low-voltage directive)
Servo Drives Performance Specifications
100 VAC Input Models
Item
Model
Rated output
Momentary maximum output
current (rms)
Control power supply
Main-circuit power supply
Control method
Speed feedback
Inverter method
PWM frequency
Weight [kg (lb)]
Compatible motor voltage
Compatible motor capacity
Command pulse response
Applicable servo motor (R7M-)
Specification
R7D-APA3L
30 W
1.3
R7D-APA5L
50 W
0.6
1.9
R7D-AP01L
100 W
0.89
2.8
R7D-AP02L
200 W
2.0
6.0
R7D-AP04L
400 W
2.6
8.0
Continuous output current (rms)
0.42
Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz
Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz (Voltage doubler method)
All-digital servo
2,000 pulses/revolution Incremental Encoder
PWM method based on IGBT
11.7 kHz
0.8 (1.76)
200 V
30 W
250 kHz
A03030_
—
A05030_
—
A10030_
AP10030_
A20030_
AP20030_
A40030_
AP40030_
50 W
100 W
200 W
400 W
0.8 (1.76)
0.8 (1.76)
0.8 (1.76)
1.1 (2.43)
200 VAC Input Models
Item
Model
Rated output
Momentary maximum output
current (rms)
Control power supply
Main-circuit power supply
Control method
Speed feedback
Inverter method
PWM frequency
Weight [kg (lb)]
Servo motor voltage
Servo motor capacity
Command pulse response
Applicable servo motor (R7M-)
Specification
R7D-APA3H
30 W
1.3
R7D-APA5H
50 W
0.6
1.9
R7D-AP01H
100 W
0.89
2.8
R7D-AP02H
200 W
2.0
6.0
R7D-AP04H
400 W
2.6
8.0
R7D-AP08H
750 W
4.4
13.9
Continuous output current (rms)
0.42
Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz
Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz
(Three-phase 200/230 VAC can be used with the 750 W model)
All-digital servo
2,000 pulses/revolution incremental encoder
PWM method based on IGBT
11.7 kHz
0.8 (1.76)
200 V
30 W
250 kHz
A03030
—
A05030
—
A10030
AP10030
A20030
AP20030
A40030
AP40030
A75030
AP75030
50 W
100 W
200 W
400 W
750 W
0.8 (1.76)
0.8 (1.76)
0.8 (1.76)
1.1 (2.43)
1.7 (3.75)
For complete specifications and additional models:
U.S.
www.omron.com/oei
Canada
www.omron.ca
I-11
SmartStep
Servos
Servo Motor General Specifications
Item
Operating ambient
Storage ambient
Storage/operating atmosphere
Vibration resistance
Impact resistance
Insulation resistance
Dielectric strength
Run position
Insulation grade
Structure
Protective structure
Vibration grade
Mounting method
International standards
Specification
0° C to 40° C (32° F to 104° F), 20% to 80% RH (with no condensation)
-20° C to 60° C (-4° F to 140° F), 20% to 80% RH (with no condensation)
No corrosive gases
10 to 2,500 Hz in X, Y, and Z directions with 0.2 mm double amplitude or acceleration of 24.5 m/s
2
max., whichever is smaller
Acceleration 98 m/s
2
max., in a vertical direction, two times
Between power line terminals and FG: 10 MΩ min. (at 500 VDC)
Between power line terminals and FG: 1,500 V AC for 1 min at 50/60 Hz
Any direction
Type B
Totally-enclosed self-cooling
IP55 for both the cylindrical and flat servo motors
V-15
Flange-mounting
Approval obtained for UL, cUL, and EN (EMC directive and low-voltage directive)
Servo Motor Performance Specifications
Flat Servo Motors without Brakes
Item
Rated output
Rated torque
Rated rotation speed
Momentary maximum rotation speed
Momentary maximum torque
Rated current
Momentary maximum current
Rotor inertia
Power rate
Allowable radial load
Allowable thrust load
Weight (without brake -S1)
Applicable servo driver
Encoder resolution
Radiation shield dimensions
Flat Servo Motors with Brakes
Item
Rated output
Rated torque
Rated rotation speed
Momentary maximum rotation speed
Momentary maximum torque
Rated current
Momentary maximum current
Rotor inertia
Power rate
Allowable radial load
Allowable thrust load
Weight (with brake -BS1)
Applicable servo driver
Encoder resolution
Radiation shield dimensions
Brake
Brake inertia
specifications Excitation voltage
Power consumption (at 20° C)
Current consumption (at 20° C)
Static friction torque
Attraction time
Release time
Backlash
Rating
Insulation grade
R7M-AP10030-BS1 R7M-AP20030-BS1 R7M-AP40030-BS1 R7M-AP75030-BS1
100 W
200 W
400 W
750 W
0.318 N•m
0.637 N•m
1.27 N•m
2.39 N•m
3,000 r/min.
3,000 r/min.
3,000 r/min.
3,000 r/min.
4,500 r/min.
4,500 r/min.
4,500 r/min.
4,500 r/min.
0.96 N•m
1.91 N•m
3.82 N•m
7.1 N•m
0.89 A (rms)
2.0 A (rms)
2.6 A (rms)
4.1 A (rms)
2.8 A (rms)
6.0 A (rms)
8.0 A (rms)
13.9 A (rms)
6.5 ×10
-6
kg•m
2
2.09 ×10
-5
kg•m
2
3.47 ×10
-5
kg•m
2
2.11 ×10
-4
kg•m
2
15.7 kW/s
19.4 kW/s
46.8 kW/s
26.9 kW/s
78 N
245 N
245 N
392 N
49 N
68 N
68 N
147 N
0.9 kg
1.9 kg
2.6 kg
5.7 kg
R7D-AP01H/L
R7D-AP02H/L
R7D-AP04H/L
R7D-AP08H
2,000 pulses/revolution for phase-A and phase-B, 1 pulse/revolution for phase-Z
t6 ×250 mm square
t12 ×300 mm square
3.1 ×10
-6
kg•m
2
1.52 ×10
-5
kg•m
2
1.52 ×10
-5
kg•m
2
8.75 ×10
-5
kg•m
2
24 V DC ±10%
6W
5W
7.6 W
7.5 W
0.25 A
0.21 A
0.32 A
0.31 A
0.4 N•m min.
0.9 N•m min.
1.9 N•m min.
3.5 N•m min.
40 ms max.
40 ms max.
40 ms max.
40 ms max.
20 ms max.
20 ms max.
20 ms max.
20 ms max.
1°
1°
1°
1°
Continuous
Continuous
Continuous
Continuous
Type F
Type F
Type F
Type F
R7M-AP10030-S1
R7M-AP20030-S1
R7M-AP40030-S1
R7M-AP75030-S1
100 W
200 W
400 W
750 W
0.318 N•m
0.637 N•m
1.27 N•m
2.39 N•m
3,000 r/min.
3,000 r/min.
3,000 r/min.
3,000 r/min.
4,500 r/min.
4,500 r/min.
4,500 r/min.
4,500 r/min.
0.96 N•m
1.91 N•m
3.82 N•m
7.1 N•m
0.89 A (rms)
2.0 A (rms)
2.6 A (rms)
4.1 A (rms)
2.8 A (rms)
6.0 A (rms)
8.0 A (rms)
13.9 A (rms)
6.5 ×10
-6
kg•m
2
2.09 ×10
-5
kg•m
2
3.47 ×10
-5
kg•m
2
2.11 ×10
-4
kg•m
2
15.7 kW/s
19.4 kW/s
46.8 kW/s
26.9 kW/s
78 N
245 N
245 N
392 N
49 N
68 N
68 N
147 N
0.7 kg
1.4 kg
2.1 kg
4.2 kg
R7D-AP01H/L
R7D-AP02H/L
R7D-AP04H/L
R7D-AP08H
2,000 pulses/revolution for phase-A and phase-B, 1 pulse/revolution for phase-Z
t6 ×250 mm square
t12 ×300 mm square
I-12
For complete specifications and additional models:
U.S.
www.omron.com/oei
Canada
www.omron.ca
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