ACCURAX G5 Servo System

Extreme mechatronics meets -Stream Automation
Motion network and safety built-in

Double

Sub micron precision and ms settling time
registration and full closed loop

Extreme mechatronics.

At the heart of every great machine
Great machines are born from a perfect match between control and mechanics. Accurax G5 gives you the extra edge to build more accurate, faster, smaller and safer machines. You will benefit from an almost 25% reduction in motor weight, and gain 50% cabinet space. You will achieve sub micron precision and ms settling time. Some might call it perfection, we just call it tireless innovation to help you build great machines.
Panel operator functions Display shows user selected data
Keys for setting/monitoring parameters 2 configurable analog outputs for monitoring
Rugged and smart design IP67 motor and connectors
No flying leads 5G vibration resistance
40% reduction in motor cogging Use of 10 pole motors
Improved technology to minimize the encoder non-lineal errors
8 times higher resolution 20 bit encoder

Faster processor

25% lighter and 15% smaller Patented new stator PACK & CLAMP technology
40% reduction in iron losses 45% smaller encoder
Up to 50% cabinet size reduction Up to 40% smaller drive
Safety conformance PL-d according ISO13849-1:2008
Extra 10% saving thanks to side by side mounting
STO: IEC61800-5-2:2007 SIL2 according to EN61508:2001 Cat.3: EN954-1:1996
Fast & accurate 5 times faster settling time -0~2 ms 2 kHz speed response
Torque feed forward reduces following error

Settling time

Speed response

Torque feed forward

100,000 hr operation in rugged industrial conditions No fan below 1 kW

Long life capacitors

Load vibration suppression Up to 4 preset frequencies
Setting frequency from 1 to 200Hz

Vibration suppression

meets

- Stream Automation

Accurax G5 seamlessly integrates into Omrons ONE SOFTWARE - ONE CONNECTION automation architecture. It utilises Ethernet connectivity and is fully configured through the CX-Drive component of the CX-One software suite. Accurax G5 also simplifies your mechanical and electrical design by including double registration input, full closed loop and multi-drive safety functionality.
Built-in safety: multi-drives in a single safety relay circuit The two safety inputs and the external device monitoring (EDM) output can be linked from one servo drive to another without using additional safety relays. Up to 8 servo drives can be connected to a single safety relay, saving hardware and wiring costs.
Full closed loop Accurax G5 has a built-in external encoder input for full closed loop operation, for when additional accuracy is required. The external encoder input eliminates the errors caused by, for example, slip in the material.

Double registration input Accurax G5 increases application versatility by providing 2 independent registration inputs per axis, especially relevant for applications such as flow wrappers. By registering the product input position and the mark position on the film, the system can make relative corrections ensuring high accuracy with a simple mechanical design.

NS HMI

Trajexia machine

controller

Ethernet

Open connectivity

DeviceNet PROFIBUS CANopen MECHATROLINK II EtherCAT
One software - One connection
Full access to all devices from one connection One software for machine control programming and system setup
R88D-KN@@@-ML2, R88D-KT@, R88M-K@

Accurax G5 servo system

Accurate motion control in a compact size servo drive family. MECHATROLINK-II motion bus and safety built-in.
MECHATROLINK-II and Analog/ Pulse servo drive models Safety conforming ISO13849-1 Performance Level D High-response frequency of 2 kHz High accuracy provided by 20 bits encoder Full closed loop encoder built-in Real time auto-tuning Advanced tuning algorithms (Anti-vibration function, torque feedforward, disturbance observer) IP67 protection in all motor models

Ratings

230 VAC Single-phase 50 W to 1.5 kW (8.59 Nm) 400 VAC three-phase 400 W to 5 kW (28.7 Nm)

System configuration

MECHATROLINK-II control
Personal computer software: CX-One

TJ1-MC04/16

CJ1W-MCH72 CJ1W-NCF71 Accurax G5 ML-II Servo Drives Terminator

MECHATROLINK-II

R88D-KN

-ML2 R88D-KN -ML2

Power cable

Encoder cable

Open Analog/pulse control
Accurax G5 Analog/pulse Servo Drive
Servo Motor 3000 rpm (50 W-5 kW) Motion control unit
Personal computer: Software CX-One
Servo Motor 2000 rpm (400 W-5 kW) General purpose cable

Position control unit

R88D-KT
Servo Motor 1000 rpm (900 W-3 kW)
Terminal block for Servo drive I/O general purpose signals Unit

Performance Input signal Input signal

External encoder scaling

Position signal output Sequence input signal I/O signal

Input signal

Command pulse
Input pulse type Input pulse frequency Command pulse scaling (Electronic Gear)
Interface Communications standard Function Automatic load inertia detection Dynamic brake (DB) Regenerative processing Overtravel (OT) prevention function Encoder divider function Electronic gearing (Numerator/Denominator) Internal speed setting function Protective functions Analog monitor functions for supervision
Panel operator CHARGE lamp Safety terminal
Display functions Panel operator keys Functions Conformed standards
External encoder feedback Expansion connector
Personal computer/ Connector mini-USB Compliant with USB 2.0 standard Parameter setting and status monitoring Automatic motor parameter setting. One parameter rigidity setting. Built-in. Operates during main power OFF, servo alarm, servo OFF or overtravel. Internal resistor included in models from 600 W to 5 kW. Regenerative resistor externally mounted (option). DB stop, deceleration stop or coast to stop during P-OT, N-OT operation Optional division possible Up to 4 electronic gear numerators by combining with inputs. 8 speeds may be set internally Overcurrent, overvoltage, undervoltage, overspeed, overload, encoder error, overheat. Analog monitor of motor speed, speed reference, torque reference, command following error, analog input. The monitoring signals to output and their scaling can be specified by parameters. Number of channels: 2 (Output voltage: 10V DC) 6-digit 7-segment LED display shows the drive status, alarm codes, parameters. Used to set/monitor parameters and drive condition (5 key switches). Lits when the main circuit power supply is turned ON. Safety torque OFF function to cut off the motor current and stop the motor. Output signal for failure monitoring function. EN ISO13849-1:2008 (PL- d, Performance Level d), IEC61800-5 -2:2007 (function STO, Safe Torque OFF), EN61508:2001 (Safety Integrity Level 2, SIL2), EN954-1:1996 (CAT3). Serial signal and line-driver A-B-Z encoder for full-close control Serial bus for option board

Servo drive part names

Display area Monitor connector (CN5) Display area Monitor connector (CN5) Operation area MECHATROLINK-II connector (CN6) USB connector (CN7) Expansion connector (CN3) Main circuit power supply terminals (L1, L2, and L3) Control circuit power supply terminals (L1C and L2C) Charge lamp Control I/O connector (CN1) - 26 pinsMain circuit power supply terminals (L1, L2, and L3) Control circuit power supply terminals (L1C and L2C) Charge lamp Control I/O connector (CN1) - 50 pins -

Address number switches

USB connector (CN7) Safety connector (CN8)

Safety connector (CN8)

External Regeneration Resistor connection terminals (B1, B2 and B3) Motor connection terminals (U, V and W)
External encoder connector (CN4)
Protective ground terminals

Encoder connector (CN2)

MECHATROLINK-II servo drives
Analog/pulse servo drives
Note: the above pictures show 230V servo drives models only. The 400V servo drives have 24 VDC power input terminals for control circuit instead of L1C and L2C terminals.
Servo motor type designation

R88M-K05030H-BOS2

Accurax G5 Series Servomotor Capacity
900 1K0 1K5 2K0 3K0 4K0 5K50 W 100 W 200 W 400 W 600 W 750 W 900 W 1 kW 1.5 kW 2 kW 3 kW 4 kW 5 kW 3000

Shaft end specifications

Blank Straigth shaft, no key Straigth, key, tapped (standard) S2

Oil seal specifications

Blank No oil seal Oil seal O

Brake specifications

Blank No brake Brake B
Voltage and encoder specifications
H: 230 V and 20-bit incremental encoder T: 230 V and 17-bit absolute encoder F: 400 V and 20-bit incremental encoder C: 400 V and 17-bit absolute encoder

Rated Speed (r/min)

Servo motor specifications
Servo motors 3000 r/min, 230 V Ratings and specifications
20-bit incremental encoder 17-bit absolute encoder Rated output W Rated torque Nm Instantaneous peak torque Nm Rated current A (rms) Instantaneous max. current A (rms) Rated speed min-1 Max. speed min-1 Torque constant Nm/A (rms) Rotor moment of inertia (JM) kgm2x10-4 (without brake) kgm2x10-4 (with brake) Allowable load moment of inertia (JL) Multiple of (JM) Rated power rate kW/s (without brake) kW/s (with brake) Allowable radial load N Allowable thrust load N Approx. mass Kg (without brake) Kg (with brake) Rated voltage Holding brake moment of inertia J kgm2x10-4 Power consumption (at 20C) W Current consumption (at 20C) A Static friction torque N.m (minimum) Rise time for holding torque ms (max.) Release time ms (max) Time Rating Insulation class Ambient operating/ storage temperature Ambient operating/ storage humidity Vibration class Insulation resistance Enclosure Vibration resistance Mounting Voltage Servo motor model R88M-K@ 05030H-@ 05030T-@ 50 0.16 0.48 1.2 5.1 10030H-@ 10030T-@ 100 0.32 0.95 1.1 4.7 20030H-@ 20030T-@ 200 0.64 1.91 1.5 6.0.3110% 0.14 0.10.1 9.58 19.9 18.8 29.0 25.98 62.230 V 40030H-@ 40030T-@ 400 1.3 3.8 2.4 10.0.3910% 0.26 0.28 75030H-@ 75030T-@ 750 2.4 7.1 4.1 17.4 1K030H-@ 1K030T-@ 1000 3.18 9.55 6.1K530H-@ 1K530T-@ 1500 4.77 14.3 8.5000 0.4210% 0.87 0.65.6 58.8 0.37 2.03 2.49.3.5 4.5 80.1 71.8 0.45 2.84 3.17

Voltage Servo motor model R88M-K@ Rated output Rated torque Instantaneous peak torque Rated current Instantaneous max. current Rated speed Max. speed Torque constant Rotor moment of inertia (JM) 230 V 400 V
20-bit incremental encoder 1K020H-@ 1K520H-@ 40020F-@ 60020F-@ 1K020F-@ 1K520F-@ 2K020F-@ 3K020F-@ 4K020F-@ 5K020F-@ 17-bit absolute encoder 1K020T-@ 1K520T-@ 40020C-@ 60020C-@ 1K020C-@ 1K520C-@ 2K020C-@ 3K020C-@ 4K020C-@ 5K020C-@
W Nm Nm A (rms) A (rms) min-1 min-1 Nm/A (rms) kgm2x10-4 (without

brake)

1000 4.77 14.3 5.7 24

1500 7.16 21.5 9.4 40

400 1.91 5.73 1.2 4.9

600 2.86 8.59 1.5 6.5

1000 4.77 14.3 2.2000 3000

1500 7.16 21.5 4.7 20

2000 9.55 28.7 5.9 25

3000 14.8.7 37

4000 19.1 57.3 10.6 45

5000 23.9 71.55

0.63 4.60 5.90 49.5 38.6

0.58 6.70 7.99 76.5 64.2

1.27 1.61 1.90 22.7 19.2
1.38 2.03 2.35 40.3 34.196 3.5 4.5 1.35

1.27 4.60 5.49.5 38.6

1.16 6.70 7.99 76.5 64.2

1.27 8.105 91.2

1.18 12.9 14.144
1.40 37.6 38.6 97.1 94.343 15.5 18.7

1.48.117

kgm2x10-4 (with brake) Max. load moment of inertia (JL) Multiple of (JM) Rated power rate Allowable radial load Allowable thrust load Approx. mass Brake specifications Rated voltage
Holding brake moment inertia (J) kgm2x10-4 Power consumption (20C) W
kW/s (without brake) kW/s (with brake) N N Kg (without brake) Kg (with brake)
5.2 6.7 6.7 8.2 24VDC 10% 0.5910% 0.7910%

3.1 4.1

5.2 6.7

6.7 8.2

18.6 21.8

Current consumption

17 0.70 10%

14 0.5910%

19 0.79 10%
4.31 0.9010% 1.310% 1.3 -10% 16.24.25
Static friction torque N.m (minimum) Rise time for holding torque ms (max.) Release time ms (max) Time Rating Insulation class Ambient operating/ storage temperature Ambient operating/ storage humidity Vibration class Insulation resistance Enclosure Vibration resistance Mounting

Continuous Type F 0 to +40 C/ -20 to 65C 20% to 85% RH (non-condensing) V-M min. at 500 VDC between the power terminals and FG terminal Totally-enclosed, self-cooling, IP67 (excluding shaft opening) Vibration acceleration 49 m/s2 Flange-mounted

R88M-K90010H/T/F/C

(N-M) 20 19.3

(1600)

R88M-K2K010F/C

(N-M) 50 47.7

(1400)

R88M-K3K010F/C

19.3(1800) 14.0

8.0 4.3

47.7(1600)

71.7 70

71.7(1600)

18.0 9.6

40.0 20.0 14.0

Dimensions

Servo Drives R88D-KT01/02H, R88D-KN01/02H-ML2 (230 V, 100 - 200 W)
130 (for Analog/pulse model) 132 (for ML2 model) 5.2

280.5 (40)

R88D-KT04H, R88D-KN04H-ML2 (230 V, 400 W)

430.5 (55)

R88D-KT08H, R88D-KN08H-ML2 (230 V, 750 W)
170 (for Analog/pulse model) 172 (for ML2 model) 4 5.2

500.5 (65)

1400.5
R88D-KT10/15H, R88D-KN10/15H-ML2 (230 V, 1 - 1.5 kW)
85 (for Analog/pulse model) 86 (for ML2 model) (for Analog/pulse model) 172 (for ML2 model) 4 5.2

700.5 (85)

R88D-KT06/10/15F, R88D-KN06/10/15F-ML2 (400 V, 600 W - 1.5 kW)
91 (for Analog/pulse model) 92 (for ML2 model) 170 (for Analog/pulse model) 172 (for ML2 model)
R88D-KT20F, R88D-KN20F-ML2 (400 V, 2 kW)

17.5 42.5 5.5.2 5.2

193.5 (for Analog/pulse model) 195 (for ML2 model)

1.5 250.5 5.2

R2.6 5.2 17.R2.6 5.2 5.2 500.5 (94)

1880.5

R88D-KT30/50F, R88D-KN30/50F-ML2 (400 V, 3 - 5 kW)
5.212 (for Analog/pulse model) 213 (for ML2 model) 3 500.5 5.2

5.2 5.2

R2.6 5.5.2 5.2 R2.6

1000.5 (130)

Filters
Filter model R88A-FIK102-RE R88A-FIK104-RE R88A-FIK107-RE R88A-FIK114-RE R88A-FIK304-RE R88A-FIK306-RE R88A-FIK312-RE External dimensions H W D 45 Mount dimensions M1 M100

H M1 W M2 D

drive mounts

output flexes

2400.5
Servomotors Type 3000 r/min motors (230 V, 50 - 100 W)
Dimensions (mm) Model R88M-K05030(H/T)-@S2 R88M-K10030(H/T)-@S2 Without brake LL LM With brake LL LM LN Shaft End Dimensions Tap Depth M3 x 6L Approx. Mass (Kg) Without brake With brake 0.32 0.53 0.47 0.68
Encoder connector Brake connector Motor connector

LL LM LN 3 25

Encoder connector Motor connector

LL LM 3 R3.7 2

8h6 30h7

Shaft end

14 12.5

LN 1.5 min.

Tap x depth

46 0. 2

1.5 min.

Models with brake

Models without brake

R4.2 24.3

Type 3000 r/min motors (230 V, 200 - 750 W)

Dimensions (mm) Without brake Model LL LM R88M-K20030(H/T)-@S2 79.5 56.5 R88M-K40030(H/T)-@S76 R88M-K75030(H/T)-@S2 112.2 86.2

LL LM LG LE LR

With brake LR LL LM LB 30 50h7 135.5 112.5 148.2 122.70h7
Flange surface Shaft End Dimensions Approx. Mass Kg LC LD LE LG LZ S K QK H B T Tap Depth Without brake With brake 3 6.5 4.5 11h18 8.5 4hM4x8L 0.82 1.3 M5x10L 1.2 1.7 14h22.5h19h15.5 6h2.3 3.1
Encoder connector Motor connector LL

LM LG LE

4-LZ LR

K QK H

B T Tap x depth

Model with brake

Dimensions (mm) Voltage Model LL Without brake LM

Model without brake

With brake LL LM KB1 KB2 KL1 LR LA Flange surface LB LC LD LE LG S Shaft End Dimensions Tap x K QK H Depth B T Approx. Mass (Kg) Without brake 3.5 4.4 3.1 3.5 4.4 5.3 8.14 With brake 4.5 5.4 4.1 4.5 5.4 6.3 9.4 12.6 16
Type 3000 r/min motors (230 V, 1 - 1.5 kW/ 400V, 750 W - 5 kW)

KB1 KB2 KL1

R88M-K@ 230 1K030(H/T)-@S2 1K530(H/T)-@S75030(F/C)-@S2 1K030(F/C)-@S2 1K530(F/C)-@S2 2K030(F/C)-@S2 3K030(F/C)-@S2 4K030(F/C)-@S2 5K030(F/C)-@S2
141 159.5 131.159.5 178.208 243
97 115.5 87.115.5 134.164 199
66 84.5 56.84.5 103.127 162
135 95h10 19h6 137.5 186.5 142.5 84.5 164.5 109.5 158.5 114.5 53.5 136.146 137.5 186.5 142.5 81.5 164.5 156.5 205.5 161.5 100.5 183.22h162 110h24h162 246

0.2 LD

M5x 12L

15.5 6h9 6

M8x 20L
Motor and brake connector Encoder connector

LL LM KB2 KB1 LG

LCxLC LR LE K 4-9
QK B S H LB T Tap x depth
Type 2000 r/min motors (230 V, 1 - 1.5 kW / 400 V, 400W - 5 kW)
Dimensions (mm) Model LL Without brake LM KB1 KB2 KL1 LL With brake LM KB1 KB2 KL1 LR LA Flange surface LB LC LD LE LG LZ S Shaft End Dimensions K QK H B T Approx. Mass (Kg) Without brake With brake 6.7 8.2 4.1 4.5 6.7 8.2 9.5 12.6 Approx. Mass (Kg)

Without brake With brake

Voltage
R88M-K@ 230 1K020(H/T)-@S2 1K520(H/T)-@S40020(F/C)-@S2 60020(F/C)-@S2 1K020(F/C)-@S2 1K520(F/C)-@S2 2K020(F/C)-@S2 3K020(F/C)-@S2
138 155.5 131.138 155.208

94 111.5 87.94 111.164

60 77.5 56.60 77.127
116 133.5 109.116 133.186

180.158.180.118 233

119 136.5 114.119 136.189

60 77.5 53.57 74.127

110h12 158.5 136.135 95h165 110h12 158.211 65

8h5.2 6.7 19h15.5 6h3.1 3.5 22h18 8h5.2 6.11 24h6 M8x 20 18

12L 20L

22h6 M5x 45 41
4K020(F/C)-@S5K020(F/C)-@S2 196
114.3h200 3.13.5 35h6 M12x 25L 199

Tap x Depth

30 10h15.5 18.7 18.6 21.8

LCxLC LR LE K 4-LZ

Type 1000 r/min motors (230 V, 900W / 400 V, 900W - 3 kW)
Dimensions (mm) Model LL Without brake LM KB1 KB2 KL1 LL With brake LM KB1 KB2 KL1
Flange surface LA LB LC LD LE LG LZ S
Shaft End Dimensions K QK H
R88M-K@ 230 90010(H/T)-@S2 155.5 111.5 77.5 133.180.5 136.5 77.5 158.110h22h6 M5x12L 18 8h6.7 8.2 M5x10L 400 90010(F/C)-@S2 74.2K010(F/C)-@S2 163.5 119.5 82.5 141.188.5 144.5 82.5 166.114.3h200 3.13.5 35h6 M12x 30 10h14 17.5 25L 3K010(F/C)-@S2 209.5 165.5 128.5 187.5 234.5 190.5 128.5 212.23.5

Installation

Single-phase, 230 VAC (for MECHATROLINK-II servo drives)

L1 L2 L3 N B1

Thermal switch

*1 B3 B2 Servo motor

Contactor

Noise filter

Accurax G5 MECHATROLINK-II Servo drive

CNA CN2

Optical encoder
Single-Phase 200 to 230 VAC

L1C L2C

3 I-COM to 24 VDC Emergency stop E-STOP 5
BRK-OFF+ BRK-OFFS-RDY+ S-RDYALM+
Brake release signal output
External power supply 12 to 24 VDC Maximum service voltage: 30 VDC
Servo ready completed output
Maximum output current: 50 mADC

4.7k 1k 4.7k

Servo alarm output ALM-

Forward run prohibited

Reverse run prohibited

Origin proximity

External latch 3

EXT3 10

External latch 2

EXT2 11

External latch 1

EXT1 12

4.7k 1k
SI-MONGeneral-purpose monitor input 0
BTP-I 14 +24 V +24 V Backup battery (3.6 V) *2 BTN-I 15

+24 V +24 V

FG Connect shield to connector shell

T41 T42

16 GND Frame ground
A1 T11 T12 T21 T22 T31 T32 T33 Y1
SF1+ 4 +24 V G9SX safety unit *3 SF1- 3
A2 S14 S24 S34 S44 S54 L1 X1 X2
1kW EDM output: Monitor signal to detect a safety function failure (Maximum service voltage: 30 VDC or less Maximum output current: 50 mADC)

SF2+ 6

SF2- 5
*1 For servo drives from 750 W, B2 and B3 are short-circuited. If the internal regenerative resistor is insufficient, remove the wire between B2 and B3 and connect an external regenerative resistor between B1 and B2. *2 For use only with an absolute encoder. If a backup battery is connected to CN1 I/O connector, an encoder cable with a battery is not required. *3 Wiring diagram example using the G9SX safety unit. If a safety unit is not used, keep the factory safety bypass connector installed in the CN8. Note: The input function of pins 5 and 7 to 13, and output function of pins 1, 2, 25 and 26, can be changed via parameter settings.

Three-phase, 400 VAC (for analog/pulse servo drives)

24 V 0V

+24 VCW 1 2.2 k
Reverse pulse 500 kpps max.
+CW 3 -CW +24 VCCW 2 2.2 k External power supply 12 to 24 VDC Maximum service voltage: 30 VDC Maximum output current: 50 mADC
20 k 14 REF/TREF1/VLIM 15 AGND Speed/Torque command or Speed limit (10 V/rated speed or torque) 10 k 16 PCL/TREF2 3.83 k 17 AGND1 Forward torque limit/Torque command (12 V/rated speed or torque) 4.7 k 10 k 18 NCL 3.83 k *4 Reverse torque limit 50 FG Frame ground 4kW (12 V/rated speed or torque) *4 *4
*1 Normally B2 and B3 are short-circuited. If the internal regenerative resistor is insufficient, remove the wire between B2 and B3 and connect an external regenerative resistor between B1 and B2. *2 For use only with an absolute encoder. If a backup battery is connected to CN1 I/O connector, an encoder cable with a battery is not required. *3 Only available in Position control mode. *4 The input function depends on control mode used (Position, speed or torque control). *5 Wiring diagram example using the G9SX safety unit. If a safety unit is not used, keep the factory safety bypass connector installed in the CN8. Note: The input function of pins 8,9 and 26 to 33, and output function of pins 10, 11, 34, 35, 38 and 39, can be changed via parameter settings.

Ordering information

Accurax G5 series MECHATROLINK-II Reference configuration
C Accurax G5 series MECHATROLINK-II
Servo Drive A Servo Motor
3000 rpm (50 W-5 kW) CN6 CN5
J MECHATROLINK-II G Analog monitor cable H MECHATROLINK-II cables I USB mini connector cable
Personal computer: Software CX-One Motion controllers

Filter

A Servo Motor

2000 rpm (400 W-5 kW)

Cables

CN7 CN8

External regenerative resistor
Servo drive I/O signals connector

CJ1W-MCH72 CJ1W-NCF71

CN4 CN2
Terminal block for Servo drive I/O signals Unit

1000 rpm (900 W-3 kW)

Note: The symbols ABCDE. show the recommended sequence to select the components in Accurax G5 servo system
Servo motors, power & encoder cables Note: AB Refer to the Accurax G5 servo motor section for servomotor, motor cables or connectors selection Servo drives

Symbol

Specifications 1 phase 230 VAC
100 W 200 W 400 W 750 W 1.0 kW 1.5 kW
Servo drive model R88D-KN01H-ML2 R88D-KN02H-ML2 R88D-KN04H-ML2 R88D-KN08H-ML2 R88D-KN10H-ML2 R88D-KN15H-ML2

3 phase 400 VAC

600 W 1.0 kW 1.5 kW
R88D-KN06F-ML2 R88D-KN10F-ML2 R88D-KN15F-ML2

2.0 kW 3.0 kW

R88D-KN20F-ML2 R88D-KN30F-ML2

5.0 kW

R88D-KN50F-ML2
Compatible G5 series rotary servo motors R88M-K05030(H/T)-@ R88M-K10030(H/T)-@ R88M-K20030(H/T)-@ R88M-K40030(H/T)-@ R88M-K75030(H/T)-@ R88M-K1K020(H/T)-@ R88M-K1K030(H/T)-@ R88M-K1K530(H/T)-@ R88M-K1K520(H/T)-@ R88M-K90010(H/T)-@ R88M-K40020(F/C)-@ R88M-K60020(F/C)-@ R88M-K75030(F/C)-@ R88M-K1K020(F/C)-@ R88M-K1K030(F/C)-@ R88M-K1K530(F/C)-@ R88M-K1K520(F/C)-@ R88M-K90010(F/C)-@ R88M-K2K030(F/C)-@ R88M-K2K020(F/C)-@ R88M-K3K030(F/C)-@ R88M-K3K020(F/C)-@ R88M-K2K010(F/C)-@ R88M-K4K030(F/C)-@ R88M-K5K030(F/C)-@ R88M-K4K020(F/C)-@ R88M-K5K020(F/C)-@ R88M-K3K010(F/C)-@

Control cables (for CN1)

Description I/O connector kit (26 pins) Terminal block cable Terminal block (M3 screw and for pin terminals) Terminal block (M3.5 screw and for fork/round terminals) Terminal block (M3 screw and for fork/round terminals)
Connect to For I/O general purpose For I/O general purpose

1m 2m -

Model R88A-CNW01C XW2Z-100J-B34 XW2Z-200J-B34 XW2B-20G4 XW2B-20G5 XW2D-20G6

Analog monitor (for CN5)

MECHATROLINK-II Motion controllers
1m Model R88A-CMK001S Symbol
Name Analog monitor cable
MECHATROLINK-II cables (for CN6)
Specifications MECHATROLINK-II Terminator resistor MECHATROLINK-II cables
Length 0.5 m 1m 3m 5m 10 m 20 m 30 m
Model JEPMC-W6022-E JEPMC-W6003-A5-E JEPMC-W6003-01-E JEPMC-W6003-03-E JEPMC-W6003-05-E JEPMC-W6003-10-E JEPMC-W6003-20-E JEPMC-W6003-30-E
Name Model Trajexia stand-alone motion controller TJ1-MC04 (4 axes) TJ1-MC16 (16 axes) Trajexia-PLC motion controller CJ1W-MCH72 Position Controller Unit for CJ1 PLC CJ1W-NCF71 (16 axes) CJ1W-NC471 (4 axes) CJ1W-NC271 (2 axes) Position Controller Unit for CS1 PLC CS1W-NCF71 (16 axes) CS1W-NC471 (4 axes) CS1W-NC271 (2 axes)
USB personal computer cable (for CN7)
Name USB mini-connector cable

Model AX-CUSBM002-E

Regenerative resistor unit model R88A-RR08050S R88A-RR080100S R88A-RR22047S R88A-RR50020S
Specifications 50 , 80 W 100 , 80 W 47 , 220 W 20 , 500 W
Applicable servodrive R88D-KN01H-ML2, R88D-KN02H-ML2 R88D-KN04H-ML2 R88D-KN08H-ML2 R88D-KN10H-ML2, R88D-KN15H-ML2 R88D-KN06F-ML2, R88D-KN10F-ML2, R88D-KN15F-ML2 R88D-KN20F-ML2 R88D-KN30F-ML2, R88D-KN50F-ML2
Filter model R88A-FIK102-RE R88A-FIK104-RE R88A-FIK107-RE R88A-FIK114-RE R88A-FIK304-RE R88A-FIK306-RE R88A-FIK312-RE
Rated current 2.4 A 4.1 A 6.6 A 14.2 A 4A 6A 12.1 A
Leakage current 3.5 mA 3.5 mA 3.5 mA 3.5 mA 0.3 mA / 32 mA1 0.3 mA / 32 mA1 0.3 mA / 32 mA1
Rated voltage 250 VAC single-phase

400 VAC three-phase

1. Momentary peak leakage current for the filter at switch-on/off.

230 V (50 - 750 W)

With brake
Absolute encoder (17 bit) Straight shaft with key and tap 230 V (1000 - 1500 W) 400 V (750 - 5000 W)

Without brake

Incremental encoder (20 bit) Straight shaft with key and tap
Absolute encoder (17 bit) Straight shaft with key and tap
Servo motors 2000 r/min (1 - 5 kW)
Symbol Specifications Voltage Encoder and design 230 V Incremental encoder (20 bit) Straight shaft with key and tap Absolute encoder (17 bit) Straight shaft with key and tap Incremental encoder (20 bit) Straight shaft with key and tap Rated torque 4.77 Nm 7.16 Nm 4.77 Nm 7.16 Nm 4.77 Nm 7.16 Nm 4.77 Nm 7.16 Nm 1.91 Nm 2.86 Nm 4.77 Nm 7.16 Nm 9.55 Nm 14.3 Nm 19.1 Nm 23.9 Nm 1.91 Nm 2.86 Nm 4.77 Nm 7.16 Nm 9.55 Nm 14.3 Nm 19.1 Nm 23.9 Nm 1.91 Nm 2.86 Nm 4.77 Nm 7.16 Nm 9.55 Nm 14.3 Nm 19.1 Nm 23.9 Nm 1.91 Nm 2.86 Nm 4.77 Nm 7.16 Nm 9.55 Nm 14.3 Nm 19.1 Nm 23.9 Nm Capacity 1000 W 1500 W 1000 W 1500 W 1000 W 1500 W 1000 W 1500 W 400 W 600 W 1000 W 1500 W 2000 W 3000 W 4000 W 5000 W 400 W 600 W 1000 W 1500 W 2000 W 3000 W 4000 W 5000 W 400 W 600 W 1000 W 1500 W 2000 W 3000 W 4000 W 5000 W 400 W 600 W 1000 W 1500 W 2000 W 3000 W 4000 W 5000 W Servo motor model Compatible servo drives B G5 MECHATROLINK-II G5 Analog/Pulse R88M-K1K020H-S2 R88D-KN10H-ML2 R88D-KT10H R88M-K1K520H-S2 R88D-KN15H-ML2 R88D-KT15H R88M-K1K020H-BS2 R88D-KN10H-ML2 R88D-KT10H R88M-K1K520H-BS2 R88D-KN15H-ML2 R88D-KT15H R88M-K1K020T-S2 R88D-KN10H-ML2 R88D-KT10H R88M-K1K520T-S2 R88D-KN15H-ML2 R88D-KT15H R88M-K1K020T-BS2 R88D-KN10H-ML2 R88D-KT10H R88M-K1K520T-BS2 R88D-KN15H-ML2 R88D-KT15H R88M-K40020F-S2 R88D-KN06F-ML2 R88D-KT06F R88M-K60020F-S2 R88D-KN06F-ML2 R88D-KT06F R88M-K1K020F-S2 R88D-KN10F-ML2 R88D-KT10F R88M-K1K520F-S2 R88D-KN15F-ML2 R88D-KT15F R88M-K2K020F-S2 R88D-KN20F-ML2 R88D-KT20F R88M-K3K020F-S2 R88D-KN30F-ML2 R88D-KT30F R88M-K4K020F-S2 R88D-KN50F-ML2 R88D-KT50F R88M-K5K020F-S2 R88D-KN50F-ML2 R88D-KT50F R88M-K40020F-BS2 R88D-KN06F-ML2 R88D-KT06F R88M-K60020F-BS2 R88D-KN06F-ML2 R88D-KT06F R88M-K1K020F-BS2 R88D-KN10F-ML2 R88D-KT10F R88M-K1K520F-BS2 R88D-KN15F-ML2 R88D-KT15F R88M-K2K020F-BS2 R88D-KN20F-ML2 R88D-KT20F R88M-K3K020F-BS2 R88D-KN30F-ML2 R88D-KT30F R88M-K4K020F-BS2 R88D-KN50F-ML2 R88D-KT50F R88M-K5K020F-BS2 R88D-KN50F-ML2 R88D-KT50F R88M-K40020C-S2 R88D-KN06F-ML2 R88D-KT06F R88M-K60020C-S2 R88D-KN06F-ML2 R88D-KT06F R88M-K1K020C-S2 R88D-KN10F-ML2 R88D-KT10F R88M-K1K520C-S2 R88D-KN15F-ML2 R88D-KT15F R88M-K2K020C-S2 R88D-KN20F-ML2 R88D-KT20F R88M-K3K020C-S2 R88D-KN30F-ML2 R88D-KT30F R88M-K4K020C-S2 R88D-KN50F-ML2 R88D-KT50F R88M-K5K020C-S2 R88D-KN50F-ML2 R88D-KT50F R88M-K40020C-BS2 R88D-KN06F-ML2 R88D-KT06F R88M-K60020C-BS2 R88D-KN06F-ML2 R88D-KT06F R88M-K1K020C-BS2 R88D-KN10F-ML2 R88D-KT10F R88M-K1K520C-BS2 R88D-KN15F-ML2 R88D-KT15F R88M-K2K020C-BS2 R88D-KN20F-ML2 R88D-KT20F R88M-K3K020C-BS2 R88D-KN30F-ML2 R88D-KT30F R88M-K4K020C-BS2 R88D-KN50F-ML2 R88D-KT50F R88M-K5K020C-BS2 R88D-KN50F-ML2 R88D-KT50F

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CD_EN-01+Accurax-G5+Brochure
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Max. applicable motor capacity W Continuous output current Arms Input power Main circuit Supply Control circuit Control method Feedback Usage/storage temperature Usage/storage humidity Altitude Vibration/shock resistance (max.) Configuration Approx. weight Kg Conditions

Three-phase, 400 V

Servo drive type Applicable servo motor R88D-K@ R88M-K@ 15F-@ 20F-@ 30F-@ 1K030(F/C)-@ 2K030(F/C)-@ 3K030(F/C)-@ 1K530(F/C)-@ 2K020(F/C)-@ 3K020(F/C)-@ 1K520(F/C)-@ 2K010(F/C)-@ 90010(F/C)-@ 1.5 2.0 3.0 2.9 4.7 6.7 9.4 3-phase, 380 to 480 VAC + 10 to -15% (50/60Hz) 24 VDC 15% IGBT-driven PWM method, sinusoidal drive Serial encoder (incremental/absolute value) 0 to +55C / -20 to +65C 90% RH or less (non-condensing) 1000 m or less above sea level 5.88 m/s2 10-60 Hz (Continuous operation at resonance point is not allowed) / 19.6 m/s2 Base mounted 1.9 2.7 4.7 06F-@ 40020(F/C)-@ 60020(F/C)-@ 0.6 10F-@ 75030(F/C)-@ 1K020(F/C)-@ 1.0 50F-@ 4K030(F/C)-@ 5K030(F/C)-@ 4K020(F/C)-@ 5K020(F/C)-@ 3K010(F/C)-@ 5.0 16.5

Basic specifications

Max. applicable motor capacity kW Continuous output current Arms Input power Main circuit Supply Control circuit Control method Feedback Usage/storage temperature Usage/storage humidity Altitude Vibration/shock resistance Configuration Approx. weight Kg Conditions
General specifications (for MECHATROLINK-II servo drives)
Frequency characteristics Speed zero clamp soft start time setting Command input MECHATROLINK-II communication Sequence input signal I/O signal Sequence output signal Control mode Performance Position control, velocity control, torque control, full-closed control. 2 kHz Preset velocity command can be clamped to zero by the speed zero clamp input. 0 to 10 s (acceleration, deceleration can be set separately). MECHATROLINK-II commands (for sequence, motion, data setting/reference, monitor, adjustment and other commands) - Multi-function input x 8 by parameter setting (forward/reverse drive prohibition, emergency stop, external latch, origin proximity, forward/reverse torque limit, general purpose monitor input). It is possible to output three types of signal form incl.: brake release, servo ready, servo alarm, positioning complete, motor rotation speed detection, torque limit detection, zero speed detection, speed coincidence detection, warning, position command status, speed limit detection, alarm ouput, speed command status. Personal computer/ Connector mini-USB Compliant with USB 2.0 standard Parameter setting and status monitoring MECHATROLINK-II 41H to 51 FH (max. number of slaves: 30) 10 Mbps 1, 2 & 4 ms 32 bytes Automatic motor parameter setting. One parameter rigidity setting. Built-in. Operates during main power OFF, servo alarm, servo OFF or overtravel. Internal resistor included in models from 600 W to 5 kW. Regenerative resistor externally mounted (option). DB stop, deceleration stop or coast to stop during P-OT, N-OT operation Optional division possible Overcurrent, overvoltage, undervoltage, overspeed, overload, encoder error, overheat. Analog monitor of motor speed, speed reference, torque reference, command following error, analog input. The monitoring signals to output and their scaling can be specified with parameters. Number of channels: 2 (Output voltage: 10V DC) 2-digit 7-segment LED display shows the drive status, alarm codes, parameters. MECHATROLINK-II communications status LED indicator (COM) 2 x rotary switches for setting the MECHATROLINK-II node address Lits when the main circuit power supply is turned ON. Safety Torque OFF function to cut off the motor current and stop the motor. Output signal for failure monitoring function. EN ISO13849-1:2008 (PL- d, Performance Level d), IEC61800-5 -2:2007 (function STO, Safe Torque OFF), EN61508:2001 (Safety Integrity Level 2, SIL2), EN954-1:1996 (CAT3). Serial signal and line-driver A-B-Z encoder for full-close control

Integrated functions

Interface Communications standard Function MECHATROLINK- Communications protocol II communications Station address Tranmission speed Transmission cycle Data length Automatic load inertia detection Dynamic brake (DB) Regenerative processing Overtravel (OT) prevention function Encoder divider function Protective functions Analog monitor functions for supervision

USB communications

Panel operator
Display functions Switches
CHARGE lamp Safety terminal
Functions Conformed standards
External encoder feedback
General specifications (for analog/pulse servo drives)
Control mode Full-closed control Position control Speed/torque control Performance Frequency characteristics Speed zero clamp Soft start time setting Speed control Speed reference voltage Torque limit Preset speed control Torque control Torque reference voltage Speed limit Command Input pulse type pulse Input pulse frequency Command pulse scaling (Electronic Gear) 7 modes selectables by parameter: (1) position control, (2) velocity control, (3) torque control, (4) position/velocity control, (5) position/torque control, (6) velocity/torque control and (7) full-closed control. 2 kHz Preset velocity command can be clamped to zero by the speed zero clamp input. 0 to 10 s (acceleration, deceleration can be set separately). S-curve acceleration/deceleration is also available. 6 VDC at rated speed: set at delivery (the scale and polarity can be set by parameters) 3 VDC at rated torque (torque can be limited separately in positive/negative direction). Preset speed is selectable from 8 internal settings by digital inputs. 3 VDC at rated torque: set at delivery (the scale and polarity can be set by parameters). Speed limit can be set by parameter. Sign + pulse train, 90 phase displacement 2-phase pulse (A-phase+ B-phase) or CCW/CW pulse train 4 Mpps max. (200 Kpps max. at open collector). Applicable scaling ratio: 1/1000 - 1000 Any value of 1-230 can be set for numerator (encoder resolution) and denominator (command pulse resolution per motor revolution). The combination has to be within the range shown above. Sign + pulse train, 90 phase displacement 2-phase pulse (A-phase+ B-phase) or CCW/CW pulse train 4 Mpps max. (200 Kpps max. at open collector). Applicable scaling ratio: 1/1000 - 1000 Any value of 1-230 can be set for numerator (encoder resolution) and denominator (command pulse resolution). The combination has to be within the range shown above. Applicable scaling ratio: 1/20 - 160 Any value of 1-230 can be set for numerator (encoder resolution) and denominator (external encoder resolution per motor revolution). The combination has to be within the range shown above. A-phase, B.phase, Z-phase line driver output and Z-phase open-collector output. - Multi-function input x 10 by parameter setting (servo ON, control mode switching, forward/reverse drive prohibition, vibration filter switching, gain switching, electronic gear switching, error counter reset, pulse prohibition, alarm reset, internal speed selection, torque limit switching, zero speed, emergency stop, inertia ratio switching, velocity/torque command sign). - Dedicated input x 1 (SEN: sensor ON, ABS data request). It is possible to output four types of signal form incl.: brake release, servo ready, servo alarm, positioning complete, motor rotation speed detection, torque limit detection, zero speed detection, speed coincidence detection, warning, position command status, speed limit detection, speed command status.

Input signal

External encoder scaling
Position signal output Sequence input signal I/O signal

Sequence output signal

Command pulse
Input pulse type Input pulse frequency Command pulse scaling (Electronic Gear)
Panel operator CHARGE lamp Safety terminal
Display functions Panel operator keys Functions Conformed standards
External encoder feedback Expansion connector

Servo drive part names

Display area Monitor connector (CN5) Display area Monitor connector (CN5) Operation area MECHATROLINK-II connector (CN6) USB connector (CN7) Expansion connector (CN3) Main circuit power supply terminals (L1, L2, and L3) Control circuit power supply terminals (L1C and L2C) Charge lamp Control I/O connector (CN1) - 26 pinsMain circuit power supply terminals (L1, L2, and L3) Control circuit power supply terminals (L1C and L2C) Charge lamp Control I/O connector (CN1) - 50 pins -

Address number switches

USB connector (CN7) Safety connector (CN8)

Safety connector (CN8)

External Regeneration Resistor connection terminals (B1, B2 and B3) Motor connection terminals (U, V and W)
External encoder connector (CN4)
Protective ground terminals

Encoder connector (CN2)

MECHATROLINK-II servo drives
Analog/pulse servo drives
Note: the above pictures show 230 V servo drives models only. The 400 V servo drives have 24 VDC power input terminals for control circuit instead of L1C and L2C terminals.
Interface Communications standard Function Automatic load inertia detection Dynamic brake (DB) Regenerative processing Overtravel (OT) prevention function Encoder divider function Electronic gearing (Numerator/Denominator) Internal speed setting function Protective functions Analog monitor functions for supervision

USB Communications

Personal computer/ Connector mini-USB Compliant with USB 2.0 standard Parameter setting and status monitoring Automatic motor parameter setting. One parameter rigidity setting. Built-in. Operates during main power OFF, servo alarm, servo OFF or overtravel. Internal resistor included in models from 600 W to 5 kW. Regenerative resistor externally mounted (option). DB stop, deceleration stop or coast to stop during P-OT, N-OT operation Optional division possible Up to 4 electronic gear numerators by combining with inputs. 8 speeds may be set internally Overcurrent, overvoltage, undervoltage, overspeed, overload, encoder error, overheat. Analog monitor of motor speed, speed reference, torque reference, command following error, analog input. The monitoring signals to output and their scaling can be specified by parameters. Number of channels: 2 (Output voltage: 10V DC) 6-digit 7-segment LED display shows the drive status, alarm codes, parameters. Used to set/monitor parameters and drive condition (5 key switches). Lits when the main circuit power supply is turned ON. Safety torque OFF function to cut off the motor current and stop the motor. Output signal for failure monitoring function. EN ISO13849-1:2008 (PL- d, Performance Level d), IEC61800-5 -2:2007 (function STO, Safe Torque OFF), EN61508:2001 (Safety Integrity Level 2, SIL2), EN954-1:1996 (CAT3). Serial signal and line-driver A-B-Z encoder for full-close control Serial bus for option board

I/O signals (CN1) - Input signals (for analog/pulse servo drives)
Pin No. 14 Control mode Signal name Position/ +24 VCW Full close loop +CW -CW +24 VCW +CCW -CCW +CWLD -CWLD +CCWLD -CCWLD Speed REF Torque TREF1 VLIM AGND1 Torque TREF2 Position/Speed PCL Full close loop NCL AGND1 Common +24 VIN RUN Position/Full DFSEL1 close loop Common GSEL Position/Full GESEL1 close loop Speed VSEL3 Position/Full close loop Speed ECRST VSEL2 Function Reference pulse input for line driver and open collector according to parameter setting. Input mode: Sign + pulse string Reverse/forward pulse (CCW/CW pulse) Two-phase pulse (90 phase differential) Reference pulse input for line driver only. AC Servo systems Input mode: Reverse/forward pulse (CCW/CW pulse) Speed reference input: 10 V/rated motor speed (input gain can be modified using a parameter). Torque reference input: 10 V/rated motor torque (input gain can be modified using a parameter). Speed limit input: 10 V/rated motor speed (input gain can be modified using a parameter). Analog signal ground Torque reference input: 10 V/rated motor torque (input gain can be modified using a parameter). Forward torque limit input: 10 V/rated motor torque (input gain can be modified using a parameter). Reverse torque limit input: 10 V/rated motor torque (input gain can be modified using a parameter). Analog signal ground Control power supply input for sequence signals: users must provide the +24 V power supply (12 to 24 V). Servo ON: this turn ON the servo. Vibration filter switching 1 Enables vibration filter according parameter setting. Gain switching Electronic gear switching 1 Internal speed selection 3 Error counter reset input. Internal speed selection 2 Alarm reset input. Control mode switching Enables gain value according parameter setting. Switches the numerator fro electronic gear ratio. Input to select the desired speed setting during internally speed operation. The speed selecton is combining this input with VSEL1 and VSEL2 inputs. Resets the position error counter. Input to select the desired speed setting during internally speed operation. The speed selecton is combining this input with VSEL1 and VSEL3 inputs. Release the alarm status. The error counter is reset when the alarm is reset.
Common RESET Position/ TVSEL Speed/Torque
Position speed Position torque Torque speed Enables control mode switching

Position Speed Coomon

IPG VSEL1
NOT POT SEN Position/ Speed/Torque SENGND Common BAT (+) BATGND (-) FG Frame ground TLSEL Torque limit switch DFSEL2 Vibration filter switching 2 GESEL2 Electronic gear switching 2 VZERO Zero speed VSIGN Speed command signal TSIGN Torque command signal E-STOP Emergency stop JSEL Inertia ratio switching Terminals not used. Do not connect. -

Pulse prohibition input. Digital input to inhibit the position reference pulse. Internal speed selection 1 Input to select the desired speed setting during internally speed operation. The speed selecton is combining this input with VSEL2 and VSEL3 inputs. Reverse run prohibited Overtravel prohibited: stops servomotor when movable part travels beyond the allowable range of motion. Forward run prohibited Sensor ON input. Initial data request signal when using an absolute encoder. Sensor ON signal ground. Backup battery connection terminals when the absolute encoder power is interrupted. Do not connect when a absolute encoder battery cable for backup is used. The function of input signals allocated to pins 8,9 and 26 to 33 can be changed with these options by parameters settings
I/O signals (CN1) - output signals (for analog/pulse servo drives)
Pin No. 38 Control mode Position/ Full close loop Signal name +A -A +B -B +Z -Z Z ZCOM BKIR BKIRCOM READY READYCOM /ALM ALMCOM TGON INP1 INP1COM INP2 P-CMD ZSP WARN1 WARN2 ALM-ATB VCMP V-CMD V-LIMIT T-LIMIT Function Encoder phase A+ Encoder phase AEncoder phase B+ Encoder phase BEncoder phase Z+ Encoder phase ZEncoder phase-Z output Encoder phase-Z common Brake release signal output Encoder signals (or external scale signals during full closing control) are output according Encoder Dividing Numerator parameter. This is the line-driver output (equivalent to R422). The maximum output frequency is 4 Mbps. Phase Z is output for encoder signals (or external scale signals during full closing control). This is the line-driver output (equivalent to R422).
Phase Z is output for encoder signals (or external scale signals during full closing control). Open-collector output. Timing signal for operating the electromagnetic brake on a motor.

Common

Servo ready: ON if there is not servo alarm when the control/main circuit power supply is turned ON. Servo alarm: turns OFF when an error is detected. Motor rotation speed detection. This output turns ON when the motor rotation speed reaches the speed set in a parameter. Positioning complete output 1: turns ON when position error is equal to setting parameter. Position complete output 2 The function of output signals allocated to pins 11,10, 34 to 39 can be changed with these opPosition command status tions by parameters settings. Zero speed Warning 1 Warning 2 Alarm output Speed conformity output Speed command status Speed limit detection Torque limit detection
Speed/torque Position/ Full close loop -
Encoder connector (CN2) - (for all servo drives)
Pin No. Shell Signal name E5V E0V BAT+ BAT PS+ PS FG Function Encoder power supply + 5 V Encoder power supply ground Battery + (used only with absolute encoder) Battery (used only with absolute encoder) Encoder serial signal input (+phase) Encoder serial signal input (-phase) Shield ground

External encoder connector (CN4) - (for all servo drives)
Pin No. Shell Signal name E5V E0V PS /PS EXA /EXA EXB /EXB EXZ /EXZ FG Function External scale power supply output. Use at 5.2V +/-5% and at or below 250 mA. This is connected to the control circuit ground connected to connector CN1. External scale signal I/O (serial signal). External scale signal input (Phase A, B, and Z signals). Perfoms the input and output of phase A, B and Z signals.

Shield ground

Monitor connector (CN5) - (for all servo drives)
Pin No. 1 Signal name AM1 Function Analog monitor output 1. Outputs the analog signal for the monitor. Use the parameters setting to select the output to monitor. Default setting: Motor rotation speed 1 V/(1000 r/min). Analog monitor output 2. Outputs the analog signal for the monitor. Use the parameters setting to select the output to monitor. Default setting: Motor rotation speed 1 V/(1000 r/min). Ground for analog monitors 1,2. Terminals not used. Do not connect.
USB connector (CN7) - (all servo drives)
Pin No. 5 Signal name VBUS DD+ GND Function USB signal terminal for computer comunication. Ground for analog monitors 1,2. Not used. Do not connect. Signal ground.
Safety connector (CN8) - (all servo drives)
Pin No. Shell Signal name SF1SF1+ SF2SF2+ EDMEDM+ FG Function Not used. Do not connect. Safety input 1 & 2. This input turns OFF the power trransistor drive signals in the servo drive to cut off the current output to the motor.
A monitor signal is output to detect a safety function failure. Frame ground. AC Servo systems
130 (for Analog/pulse model) 132 (for ML2 model) 5.2

Dimensions

Servo drives R88D-KT01/02H, R88D-KN01/02H-ML2 (230 V, 100 - 200 W)

280.5 (40)

R88D-KT04H, R88D-KN04H-ML2 (230 V, 400 W)

430.5 (55)

R88D-KT08H, R88D-KN08H-ML2 (230 V, 750 W)
170 (for Analog/pulse model) 172 (for ML2 model) 4 5.2

500.5 (65)

1400.5
R88D-KT10/15H, R88D-KN10/15H-ML2 (230 V, 1 - 1.5 kW)
85 (for Analog/pulse model) 86 (for ML2 model) (for Analog/pulse model) 172 (for ML2 model) 4 5.2

700.5 (85)

R88D-KT06/10/15F, R88D-KN06/10/15F-ML2 (400 V, 600 W - 1.5 kW)
91 (for Analog/pulse model) 92 (for ML2 model) 170 (for Analog/pulse model) 172 (for ML2 model)
R88D-KT20F, R88D-KN20F-ML2 (400 V, 2 kW)

17.5 42.5 5.5.2 5.2

193.5 (for Analog/pulse model) 195 (for ML2 model)

1.5 250.5 5.2

R2.6 5.2 17.R2.6 5.2 5.2 500.5 (94)

1880.5

R88D-KT30/50F, R88D-KN30/50F-ML2 (400 V, 3 - 5 kW)
5.212 (for Analog/pulse model) 213 (for ML2 model) 3 500.5 5.2

5.2 5.2

2400.5

R2.6 5.5.2 5.2 R2.6

1000.5 (130)

Filters

Filter model R88A-FIK102-RE R88A-FIK104-RE R88A-FIK107-RE R88A-FIK114-RE R88A-FIK304-RE R88A-FIK306-RE R88A-FIK312-RE External dimensions H W D 45 Mount dimensions M1 M100

H M1 W M2 D

drive mounts

output flexes

Installation
Single-phase, 230 VAC (for MECHATROLINK-II servo drives)

L1 L2 L3 N B1

Thermal switch

*1 B3 B2 Servo motor

Contactor

Noise filter

Accurax G5 MECHATROLINK-II Servo drive

CNA CN2

Optical encoder
Single-Phase 200 to 230 VAC

L1C L2C

3 I-COM to 24 VDC Emergency stop E-STOP 5
BRK-OFF+ BRK-OFFS-RDY+ S-RDYALM+
Brake release signal output
External power supply 12 to 24 VDC Maximum service voltage: 30 VDC
Servo ready completed output
Maximum output current: 50 mADC

4.7k 1k 4.7k

Servo alarm output ALM-

Forward run prohibited

Reverse run prohibited

Origin proximity

External latch 3

EXT3 10

External latch 2

EXT2 11

External latch 1

EXT1 12

4.7k 1k
SI-MONGeneral-purpose monitor input 0
BTP-I 14 +24 V +24 V Backup battery (3.6 V) *2 BTN-I 15

+24 V +24 V

FG Connect shield to connector shell

T41 T42

16 GND Frame ground
A1 T11 T12 T21 T22 T31 T32 T33 Y1
SF1+ 4 +24 V G9SX safety unit *3 SF1- 3

Forward pulse Position reference *3
Reverse pulse 2 Mpps max. Forward pulse
+CCW 5 -CCW +CWLD k 43 k -CWLD
3k 43 k +CCWLD 46 3k 43 k -CCWLD 3 k 43 k

12 to 24 VDC

+24 VIN 7

Servo ON

RUN 29 4.7 k 21 +A
Vibration filter switching
Encoder phase-A output DFSEL4.7 k 49 +B 22 -A
Line-driver output corresponding with the EIA RS-422A communications method (load resistance 120 W min.)
Gain switching GSEL 27 4.7 k Electronic gear switching GESEL4.7 k Deviation counter reset ECRST 30 4.7 k Alarm reset RESET 31 4.7 k 43 Control mode switching TVSEL 32 4.7 k 3.83 k Pulse prohibition +24 V +24 V IPG 33 4.7 k Reverse run prohibited F 4.7 k -B 23 +Z

Encoder phase-B output

Encoder phase-Z output 24 -Z SEN Sensor ON

SENGND

BAT BATGND Backup battery (3.6 V) *2
20 k 14 REF/TREF1/VLIM 15 AGND Speed/Torque command or Speed limit (10 V/rated speed or torque) 10 k 16 PCL/TREF2 3.83 k 17 AGND1 Forward torque limit/Torque command (12 V/rated speed or torque) Reverse torque limit Reverse torque limit Frame ground 4kW *4 *4 *4
NOT 8 4.7 k 10 k 18 NCL 3.83 k POT FG
(12 V/rated speed or torque)
SF1+ 4 +24 V G9SX safety unit *5 SF1- 3
EDM+ EDM output: monitor signal to detect a safety function failure (Maximum service voltage: 30 VDC or less Maximum output current: 50 mADC)

4kW Shell

*1 For servo drives from 750 W, B2 and B3 are short-circuited. If the internal regenerative resistor is insufficient, remove the wire between B2 and B3 and connect an external regenerative resistor between B1 and B2. *2 For use only with an absolute encoder. If a backup battery is connected to CN1 I/O connector, an encoder cable with a battery is not required. *3 Only available in Position control mode. *4 The input function depends on control mode used (Position, speed or torque control). *5 Wiring diagram example using the G9SX safety unit. If a safety unit is not used, keep the factory safety bypass connector installed in the CN8. Note: The input function of pins 8,9 and 26 to 33, and output function of pins 10, 11, 34, 35, 38 and 39, can be changed via parameter settings.

Three-phase, 400 VAC (for analog/pulse servo drives)

24 V 0V

+24 VCW 1 2.2 k
Reverse pulse 500 kpps max.
+CW 3 -CW +24 VCCW 2 2.2 k External power supply 12 to 24 VDC Maximum service voltage: 30 VDC Maximum output current: 50 mADC
20 k 14 REF/TREF1/VLIM 15 AGND Speed/Torque command or Speed limit (10 V/rated speed or torque) 10 k 16 PCL/TREF2 3.83 k 17 AGND1 Forward torque limit/Torque command (12 V/rated speed or torque) 4.7 k 10 k 18 NCL 3.83 k *4 Reverse torque limit 50 FG Frame ground 4kW (12 V/rated speed or torque) *4 *4
*1 Normally B2 and B3 are short-circuited. If the internal regenerative resistor is insufficient, remove the wire between B2 and B3 and connect an external regenerative resistor between B1 and B2. *2 For use only with an absolute encoder. If a backup battery is connected to CN1 I/O connector, an encoder cable with a battery is not required. *3 Only available in Position control mode. *4 The input function depends on control mode used (Position, speed or torque control). *5 Wiring diagram example using the G9SX safety unit. If a safety unit is not used, keep the factory safety bypass connector installed in the CN8. Note: The input function of pins 8,9 and 26 to 33, and output function of pins 10, 11, 34, 35, 38 and 39, can be changed via parameter settings.

Ordering information

Accurax G5 series MECHATROLINK-II reference configuration
C Accurax G5 series MECHATROLINK-II
Servo Drive A Servo Motor
3000 rpm (50 W-5 kW) CN6 CN5
J MECHATROLINK-II G Analog monitor cable H MECHATROLINK-II cables I USB mini connector cable
Personal computer: Software CX-One Motion controllers

Filter

A Servo Motor

2000 rpm (400 W-5 kW)

Cables

CN7 CN8

External regenerative resistor
Servo drive I/O signals connector

CJ1W-MCH72 CJ1W-NCF71

CN4 CN2
Terminal block for Servo drive I/O signals Unit

1000 rpm (900 W-3 kW)

R88D-KN@@@-ML2
Note: The symbols ABCDE. show the recommended sequence to select the components in Accurax G5 servo system
Servo motors, power & encoder cables Note: AB Refer to the Accurax G5 servo motor chapter for servomotor, motor cables or connectors selection Servo drives

Symbol

Specifications 1 phase 230 VAC
100 W 200 W 400 W 750 W 1.0 kW 1.5 kW
Servo drive model R88D-KN01H-ML2 R88D-KN02H-ML2 R88D-KN04H-ML2 R88D-KN08H-ML2 R88D-KN10H-ML2 R88D-KN15H-ML2

3 phase 400 VAC

600 W 1.0 kW 1.5 kW
R88D-KN06F-ML2 R88D-KN10F-ML2 R88D-KN15F-ML2

2.0 kW 3.0 kW

R88D-KN20F-ML2 R88D-KN30F-ML2

5.0 kW

R88D-KN50F-ML2
Compatible G5 series rotary servo motors R88M-K05030(H/T)-@ R88M-K10030(H/T)-@ R88M-K20030(H/T)-@ R88M-K40030(H/T)-@ R88M-K75030(H/T)-@ R88M-K1K020(H/T)-@ R88M-K1K030(H/T)-@ R88M-K1K530(H/T)-@ R88M-K1K520(H/T)-@ R88M-K90010(H/T)-@ R88M-K40020(F/C)-@ R88M-K60020(F/C)-@ R88M-K75030(F/C)-@ R88M-K1K020(F/C)-@ R88M-K1K030(F/C)-@ R88M-K1K530(F/C)-@ R88M-K1K520(F/C)-@ R88M-K90010(F/C)-@ R88M-K2K030(F/C)-@ R88M-K2K020(F/C)-@ R88M-K3K030(F/C)-@ R88M-K3K020(F/C)-@ R88M-K2K010(F/C)-@ R88M-K4K030(F/C)-@ R88M-K5K030(F/C)-@ R88M-K4K020(F/C)-@ R88M-K5K020(F/C)-@ R88M-K3K010(F/C)-@

Control cables (for CN1)

Description I/O connector kit (26 pins) General purpose cable Terminal block cable Terminal block (M3 screw and for pin terminals) Terminal block (M3.5 screw and for fork/round terminals) Terminal block (M3 screw and for fork/round terminals)
Connect to For I/O general purpose For I/O general purpose

1m 1m 2m -

Model R88A-CNW01C R88A-CPKB001S-E XW2Z-100J-B34 XW2Z-200J-B34 XW2B-20G4 XW2B-20G5 XW2D-20G6 AC Servo systems

Analog monitor (for CN5)

MECHATROLINK-II Motion controllers
1m Model R88A-CMK001S Symbol
Name Analog monitor cable
MECHATROLINK-II cables (for CN6)
Specifications MECHATROLINK-II Terminator resistor MECHATROLINK-II cables
Length 0.5 m 1m 3m 5m 10 m 20 m 30 m
Model JEPMC-W6022-E JEPMC-W6003-A5-E JEPMC-W6003-01-E JEPMC-W6003-03-E JEPMC-W6003-05-E JEPMC-W6003-10-E JEPMC-W6003-20-E JEPMC-W6003-30-E
Name Model Trajexia stand-alone motion controller TJ1-MC04 (4 axes) TJ1-MC16 (16 axes) Trajexia-PLC motion controller CJ1W-MCH72 Position Controller Unit for CJ1 PLC CJ1W-NCF71 (16 axes) CJ1W-NC471 (4 axes) CJ1W-NC271 (2 axes) Position Controller Unit for CS1 PLC CS1W-NCF71 (16 axes) CS1W-NC471 (4 axes) CS1W-NC271 (2 axes)
USB personal computer cable (for CN7)
Name USB mini-connector cable

Model AX-CUSBM002-E

Regenerative resistor unit model R88A-RR08050S R88A-RR080100S R88A-RR22047S R88A-RR50020S
Specifications 50 , 80 W 100 , 80 W 47 , 220 W 20 , 500 W
Cable for Safety Functions (for CN8)
Symbol Description Safety connector with 3 m cable (with loose wires at one end) Model R88A-CSK003S-E
Applicable servodrive R88D-KN01H-ML2, R88D-KN02H-ML2 R88D-KN04H-ML2 R88D-KN08H-ML2 R88D-KN10H-ML2, R88D-KN15H-ML2 R88D-KN06F-ML2, R88D-KN10F-ML2, R88D-KN15F-ML2 R88D-KN20F-ML2 R88D-KN30F-ML2, R88D-KN50F-ML2
Filter model R88A-FIK102-RE R88A-FIK104-RE R88A-FIK107-RE R88A-FIK114-RE R88A-FIK304-RE R88A-FIK306-RE R88A-FIK312-RE
Rated current 2.4 A 4.1 A 6.6 A 14.2 A 4A 6A 12.1 A
Leakage current 3.5 mA 3.5 mA 3.5 mA 3.5 mA 0.3 mA / 32 mA1 0.3 mA / 32 mA1 0.3 mA / 32 mA1
Rated voltage 250 VAC single-phase

400 VAC three-phase

1. Momentary peak leakage current for the filter at switch-on/off.

Control cable (2 axis)

Control cable (line-driver output for 1 axis) Control cable (open-collector output for 1 axis) Control cable (line-driver output for 2 axis) Control cable (open-collector output for 2 axis)
Terminal block cable for external signals (for input common, forward/reverse run prohibited inputs, emergency stop input, origin proximity input and interrupt input)
Terminal block for external signals (M3 screw, pin terminals) Terminal block for ext. signals (M3.5 screw, fork/round terminals) Terminal block for ext. signals (M3 screw, fork/round terminals) Cable from servo relay unit to servo drive CS1W-NC1@3, CJ1W-NC1@3, C200HW-NC113, CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3, C200HW-NC213/413, CQM1H-PLB21 or CQM1-CPU43 CJ1M-CPU21/22/23 Servo relay unit Position control units CS1W-NC1@3, CJ1W-NC1@3 or C200HW-NC113 Position control units CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3 or C200HW-NC213/413 CQM1H-PLB21 or CQM1-CPU43 CJ1M-CPU21/22/23 CQM1H-PLB21 CS1W-NC113 or C200HW-NC113 CS1W-NC213/413 or C200HW-NC213/413 CS1W-NC133 CS1W-NC233/433 CJ1W-NC113 CJ1W-NC213/413 CJ1W-NC133 CJ1W-NC233/433 CJ1M-CPU21/22/23
0.5 m 1m 0.5 m 1m 0.5 m 1m 0.5 m 1m 0.5 m 1m 0.5 m 1m 0.5 m 1m 0.5 m 1m 0.5 m 1m 0.5 m 1m 1m 2m 1m 2m -
Position control unit connecting cable
General purpose cable Terminal block cable Terminal block (M3 screw and for pin terminals) Terminal block (M3.5 screw and for fork/round terminals) Terminal block (M3 screw and for fork/round terminals)
For general purpose controllers For general purpose controllers
XW2B-20J6-3B (1 axis) XW2B-20J6-8A (1 axis) XW2B-40J6-9A (2 axes) XW2Z-050J-A3 XW2Z-100J-A3 XW2Z-050J-A6 XW2Z-100J-A6 XW2Z-050J-A7 XW2Z-100J-A7 XW2Z-050J-A10 XW2Z-100J-A10 XW2Z-050J-A11 XW2Z-100J-A11 XW2Z-050J-A14 XW2Z-100J-A14 XW2Z-050J-A15 XW2Z-100J-A15 XW2Z-050J-A18 XW2Z-100J-A18 XW2Z-050J-A19 XW2Z-100J-A19 XW2Z-050J-A33 XW2Z-100J-A33 R88A-CPG001S R88A-CPG002S XW2Z-100J-B24 XW2Z-200J-B24 XW2B-50G4 XW2B-50G5 XW2D-50G6
1m Model R88A-CMK001S Symbol Regenerative resistor unit model R88A-RR08050S R88A-RR080100S R88A-RR22047S R88A-RR50020S Specifications 50 , 80 W 100 , 80 W 47 , 220 W 20 , 500 W
Symbol Applicable servodrive R88D-KT01H, R88D-KT02H R88D-KT04H R88D-KT08H R88D-KT10H, R88D-KT15H R88D-KT06F, R88D-KT10F, R88D-KT15F R88D-KT20F R88D-KT30F, R88D-KT50F Filter model R88A-FIK102-RE R88A-FIK104-RE R88A-FIK107-RE R88A-FIK114-RE R88A-FIK304-RE R88A-FIK306-RE R88A-FIK312-RE Rated current 2.4 A 4.1 A 6.6 A 14.2 A 4A 6A 12.1 A Leakage current 3.5 mA 3.5 mA 3.5 mA 3.5 mA 0.3 mA / 32 mA1 0.3 mA / 32 mA1 0.3 mA / 32 mA1 Rated voltage 250 VAC single-phase

Specifications I/O connector kit -50 pins-(for CN1) External encoder connector (for CN4) Safety I/O signal connector (for CN8) Model R88A-CNU11C R88A-CNK41L R88A-CNK81S
Specifications Configuration and monitoring software tool for servo drives and inverters. (CX-drive version 1.90 or higher) Model CX-drive
ALL DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527. Cat. No. I101E-EN-01A In the interest of product improvement, specifications are subject to change without notice.