Omron’s Solutions in Motion Complete Solutions

Omron’s new line of servomotors and

drives completes your Omron industrial
automation solution. The ’U’ series servo
system combines an ultra-small brushless
servomotor matched with a flexible,
rugged servo drive. Whether you require
100VAC or 200VAC, incremental or
absolute encoder feedback, pulse or analog
input, Omron has a servo system to meet
your requirements. The ‘U’ series is fully
complemented by Omron’s broad product
line which includes PLCs, power supplies,
operator interfaces, sensors, automatic
identification solutions, and temperature
and process controllers. Our ‘plug and
play’ connections to Omron PLC motion
control units give system designers and
machine builders a high performance,
flexible servo system that can be set up
quickly for a variety of applications.

Satisfying a Variety
of Applications
Material Handling

Precision Grinding

Indexing
Part Transfer

Lathes
Packaging

Winding

Cut to Length
Point to Point Positioning
Servo Selection Options Quick Adjustments
The ‘U’ series gives you the choice of digital or analog drives The auto-tuning function automatically adjusts the control
so you can choose the best product for your application. system gain according to machine characteristics, reducing
system start up time.
Small Sized and Lightweight
The use of small power modules and integration of electronic Quiet Operation
circuits, make a lightweight, small sized servo drive a reality. Using Insulated Gate Bi-Polar Transistors (IGBT) reduces
The small package size provides the designer an economical audible noises.
use of panel space.
Multi-Functional
Easy Operation Our servos are packed with several standard features, making
The drive parameters are divided into groups so that they them ideal for several different applications. Standard features
can be easily set and monitored. Make changes to the include: soft start, torque control, reverse mode, internal
parameters using either hand held or mounted parameter speed control settings, encoder resolution, electrical gears,
units or PC-based software. position lock, brake interlock and overtravel.
Easy Wiring PC Compatible Communications
We offer several special cables and plug-and-play capability, Use the dedicated software package for saving, reading and
facilitating quick connections to Omron PLC Position and writing parameters from a personal computer. Easily perform
Motion Control Units. system checks, make adjustments and evaluate operating
status using the electric current, speed and I/O signal
information graphically displayed on a PC.

APPROVED

Durable and Ultra Small Customize Your System

The ‘U’ series motors are the AC brushless type that are Available options include incremental or absolute encoders,
built for a long, trouble-free life. Using rare-earth magnets straight or keyed shafts and a brake for holding when power
and innovative magnetic circuits minimizes the motor’s size is off. Users can choose the motor that best suits their
and weight. application.
Smooth Rotation Low Inertia and High Power Rate
Cogging torque has been reduced, so the motor rotates smoothly The low rotor inertia design yields a very high power rate
at low speeds.The motor’s speed control range is 5,000:1. and makes the ‘U’ series well suited for high speed
positioning applications.
High-Speed Positioning
The maximum rotational speed of 4,500 r/min. shortens
positioning time and improves productivity.
 Functions 4
System Configuration 6

TABLE OF CONTENTS
Using Parameter Units 8
Servomotor Specifications 11
Torque and Rotation Speed Characteristics 14
Servo Driver Specifications 15
Options Specifications 18
External Dimensions 19
Terminal and Connector Functions (30 to 750 W) 23
Special Cables 27
Model Number Legend 28
Standard Models 29
Important Information 31

NOTE: Specifications to change without notice. The foregoing warning is the only warranty which
Omron Electronics, Inc., provides with respect to the
Warranty: Omron certifies all of its products either meet products listed herein. No other warranties, expressed,
or exceed stipulated specifications. Omron is not liable implied, or statutory shall apply, whether as to
for stenographic and/or clerical errors. merchantability, fitness for a particular purpose,
Omron's obligation under this warranty is limited solely description, or otherwise.
to repair or replacement at Omron's discretion. Omron Limitation of Liability: Notwithstanding any other
will not be liable for any design furnished by Buyer and statement herein, Omron Electronics, Inc., its
incorporated into equipment. contractors and suppliers, shall not be liable for any
This warranty is voided if the product is altered in any special, indirect, incidental or consequential damages.
way or suffers consequential damage due to negligence The remedies of the purchaser set forth herein are
or misuse. exclusive where so stated and the total cumulative
liability of Omron Electronics, Inc., its contractors and
Omron is not to suffer risk due to the suitability or suppliers, with respect to this contract or anything done
unsuitability or the results of the use of its products in connection therewith, shall not exceed replacement
used in combination with any electrical or electronic price reimbursement as to the product on which such
components, circuits, systems assemblies or any other liability is based.
materials or substances or environments.
Functions
All your Servomotor functional needs combined -- to make optimal operation a reality.
Soft Start Internal Speed Control Position Lock
Speed Control Position Control Speed Control Speed Control
This function stops and starts the Servo- With this function, the motor can be ro- When the Servomotor stops, this function
motor within the set acceleration and de- tated at the first through third speeds set sets off the position loop and activates the
celeration times. A positioning system in the user parameters, making it easy to position lock. It prevents drifts peculiar to
can be easily established, without the achieve positioning and speed switching analog input.
need for a positioner or host controller. operations. Motor U-series
External Speed Rotation Internal speed
speed direction setting
command command
Servo Driver Speed 1 Forward First speed
internal Speed 2 rotation
t ti Second speed
speed
command Speed 3 Third speed
Speed 4 Reverse First speed Electrical Gears
Speed 5 rotation
t ti Second speed Position Control
Speed 6 Third speed The degree of movement per pulse can
Stop Servolock engaged be set for each command.
1,000 pulses
Controller

Torque Control Electrical gears

Torque Control Servo
Driver
Controls the Servomotor using a torque
proportional to the analog input voltage. It
can be used for tension control and con- 8,192 pulses
trolled stopping.

Encoder Resolution
Position Control Speed Control One rotation Servomotor
Torque Control
The number of encoder pulses per motor
rotation can be set to match the response
Reverse Rotation Mode frequency of the host controller.
Position Control Speed Control Controller A
1,000
Torque Control pulses/rotation

The forward and reverse rotation com-

mands can be switched at the parameter
level, without changing the Servomotor or
encoder wiring. Controller B
720
pulses/rotation
Command Default Reverse
setting rotation
mode
Forward CCW CW
rotation Controller C
command
500
Reverse CW CCW pulses/rotation
rotation
command

Forward Forward
rotation rotation

Reverse rotation Reverse rotation

 Functions
Rich Command Pulse Mode
Position Control
Available for all types of command pulse.
Logic setting Command pulse mode Motor forward Motor reverse
command command
Positive logic setting Feed pulse and direction signal

“H” “L”
90
phase difference signals 90° 90°
A-, B-phase feed pulse
(Multiplication by 1, 2, & 4 possible)
Reverse pulse and forward pulse “L”
“L”

Negative logic setting Feed pulse and direction signal

“L” “H”
90
phase difference signals 90° 90°
A-, B-phase feed pulse
(Multiplication by 1, 2, & 4 possible)
Reverse pulse and forward pulse “H”

“H”

Alarm History Display Bias Function Feed-forward Function

Position Control Speed Control Position Control Position Control
Torque Control This function can be used to reduce the The stabilization period is reduced by
Stores the past ten errors, even if the position control time, according to the using the feed-forward function.
power supply is cut off, making accurate load conditions.
Speed command
troubleshooting possible. Without
Speed feed-forward
Speed

Display Description function

(Alarm history) Servomotor speed
with bias
: --
A40 Overvoltage detected Servomotor
speed
A51 Overspeed detected without bias Time
A71 Overload detected Time Reduced
Positioning Speed With feed forward
: -- Reduced time
completion command function
time

Torque Command Filter Brake Interlock Emergency Stop Torque

Position Control Speed Control Position Control Speed Control Position Control Speed Control
Torque Control Torque Control Torque Control
If the appropriate time constant is set, Outputs a special signal, making the The control torque for overtravel time can
resonance with the load can be pre- holding magnetic brake operating se- be set, preventing damage to machinery.
vented. quence easy.
Servomotor

U-Series
System Configuration
Our product synergy meets a variety of needs. When an OMRON Position Control Unit
is used, the system configuration remains the same.

Position Control Position Control

in a Mid-size System in a Large-rack System

SYSMAC α C200HX/HG/HE C200HW-NC113 C500-NC113 SYSMAC

Programmable Controller C200HW-NC213 C500-NC211 CVM1/CV/C1000H/C2000H
C200HW-NC413 Position Programmable Controller
Position Control Unit
Control Unit

Pulse train input

Pulse Train Input Models

AC Servo Driver AC Servomotor

with Incremental Encoder

R88M-U  HA
(30 to 750 W: 200 V)
R88M-U  LA
(30 to 300 W: 100 V)

R88D-UP  HA
(Single-phase 200 VAC)
R88D-UP  LA
(Single-phase 100 VAC)
 System Configuration

Multi-axis Control Using the G Language

CV500-MC421 C200H-MC221 SYSMAC α C200HX/HG/HE

CV500-MC221 Motion Control Programmable Controller
Motion Control Unit
Unit

Analog input
command

Analog Input Models

AC Servomotor
AC Servo Driver with Incremental Encoder

R88M-U  HA
(30 to 750 W: 200 V)
R88M-U  LA
(30 to 300 W: 100 V)

R88D-UA  HA
(Single-phase 200 VAC)
R88D-UA  LA
(Single-phase 100 VAC)
Using Parameter Units
Parameter Unit Keys and Functions Keys
PR02U PR03U Function
RESET
Alarm reset
+

Display Mode switching

Displays motor rotation Data memory
speed, speed commands,
torque command monitoring Servo ON/OFF during jog
SERVO DATA
values, user parameter set operations
values and the Servo Driver Switching between parameter
status. DATA DATA display and data display; data
memory
Increments parameter numbers
and data values.

Decrements parameter
numbers and data values.

Left shift for operation digits

Right shift for operation digits

Hand-held type Mounted-type
R88A-PR02U R88A-PR03U

Changing Modes
To change modes, press the MODE/SET Key.

Status display Alarm history

Power ON Settings mode Monitor mode
mode display mode

(Display example)    

 
   
  

Baseblock System check mode Speed feedback No alarm

Status Display Mode Symbol display Contents

Baseblock (no power to motor)

 In operation (running)
Baseblock

Speed conformity (for speed control)

 Forward rotation prohibited
In position (for position control)
 Reverse rotation prohibited
Rotation detected/Current limit detected
 Alarm display (Refer to alarm table.)
Inputting speed command (for speed control)
Inputting command pulse (for position control)

 
Main circuit power ON
Power ON/Control
circuit power ON Inputting torque command (for torque control)
Inputting deviation counter reset signal (for position
control)

Bit data display Symbol display

 Using Parameter Units
Mode Changes and Display Contents
Power ON Bit Displays
Power ON / Control circuit power ON
Baseblock (motor not receiving power)
Status display Speed conformity / In position
mode Inputting torque command
Inputting deviation counter reset signal
Inputting speed command / Inputting command pulse
Motor rotation detected / Current limit detected
Symbol Displays
Baseblock / In operation (running)
Forward rotation prohibited / Reverse rotation prohibited
Alarm display

Settings mode System check mode (Cn-00) Jog operation

Command offset automatic adjustment
Clear alarm history data
Command offset manual adjustment
Motor parameters check
Auto-tuning

Sequence input signal switch

Process selection following momentary stop reset
Setup parameter no. 1 (Cn-01) Abnormal stop selection / Control mode selection
Deviation counter processing / P control selection
P control switch conditions / Encoder selection
Torque feed-forward function selection
Pulse prohibit switch

Reverse mode / Origin error mask

Input command mode / Command pulse mode
Setup parameter no. 2 (Cn-02) Deviation counter clear
Command pulse logic return
Parameter Unit monitoring level switch
Torque command filter time constant (HA/LA Models)
Monitoring switch 1/2
Torque feed forward selection
TREF switch (HA/LA Models)

User parameters (Cn-03 onwards)

Speed feedback / Speed command / Torque command

Monitor mode Number of pulses from U-phase edge / Electrical angle
Internal status bit display 1 / Internal status bit display 2
Command pulse speed display / position deviation / input pulse counter

Alarm
history Error number 0: Error one time before
display
mode
Error number 9: Error ten times before

Note: Items which can be set and monitored differ according to the type of Servo Driver or Servomotor used. Refer to the User’s Manual for
details.
Using Parameter Units
Monitor Mode
Monitor no. Monitor contents Unit Explanation
Un-00 Speed feedback r/min Displays actual rotational speed of motor.
Un-01 Speed command r/min Displays commands to speed loop when controlling via internally set
speeds.
“0” will be displayed when controlling with pulse trains.
Un-02 Torque command % The command to the current loop is displayed as 100% of the rated
torque.
Un-03 Number of pulses from Pulses The number of pulses from the U-phase edge is displayed in units of
U-phase edge encoder resolution.
Un-04 Electrical angle Degrees Displays the electrical angle of the motor.
Un-05 Internal status bit display 1 --- Displays
y Servo Driver internal information as either lit or not lit.
Un-06 Internal status bit display 2 ---
Un-07 Command pulse speed display r/min Displays the command pulse counter converted to a frequency (r/min).
Un-08 Position deviation (deviation Command Displays the pulse count (position deviation) remaining on the deviation
counter) units counter in command units (based on input pulses).
Un-09 Input pulse counter Command Counts and displays the input pulses.
units

Alarm Table
Display
p y Alarm code Alarm Error detection Detection contents -- Remarks
ALM f
function
ti cause off error
ALO1 ALO2 ALO3
 OFF OFF OFF OFF Parameter corruption The checksum for the parameters read
from the EEPROM does not match.
 OFF OFF OFF OFF Parameter setting error Incorrect parameter setting.

 ON OFF OFF OFF Overcurrent Overcurrent or overheating detected.

ON ON OFF OFF Deviation counter The pulses remaining on the deviation For position
overflow counter exceed the deviation counter control only.
overflow level set in Cn-1E.
  OFF OFF ON OFF Overvoltage Main circuit DC voltage exceeded the
allowable value.

ON OFF ON OFF Over speed Detected at 4,950 r/min.
  ON ON ON OFF Overload Detected at reverse limit characteristics
when the output torque exceeds120% of
the rated torque.


OFF OFF OFF OFF Command input The final signal from the AC Convertor For speed and
reading error was not output within the fixed time. torque control
only.

ON OFF ON OFF Runaway detected Faulty power or encoder wiring.
 ON OFF ON OFF Phase error detected Connector not properly connected.
Encoder not properly wired.
 ON OFF ON OFF Encoder A or B phase Either Phase A or Phase B signal was
wire disconnection disconnected or short circuited.
 ON OFF ON OFF Encoder S phase wire Encoder S phase was disconnected or
disconnection short circuited.
 OFF ON OFF OFF Momentary power The power supply was re-started within
failure alarm the power retention period.
 OFF OFF OFF ON Alarm reset power This is history data only, and is not an
supply turned on alarm.
 OFF OFF OFF OFF Parameter Unit Data could not be transmitted after the
transmission error 1 power supply was turned on. (It no longer
exists in the alarm history.)

--- --- --- --- Parameter Unit Transmission timeout error (It no longer
transmission error 2 exists in the alarm history.)

Note: “---” means indefinite.

 Servomotor Specifications
Performance Specifications
200-VAC Servomotors
Item Symbol Unit With Incremental Encoder (R88M-)
IEC
U03030HA U05030HA U10030HA U20030HA U40030HA U75030HA
Rated output (see note 1) Pr W 30 50 100 200 400 750
Rated torque (see note 1) Tr kgf
cm 0.974 1.62 3.25 6.49 13.0 24.3
N
m 0.095 0.159 0.318 0.637 1.27 2.39
Rated rotational speed ωr r/min 3000
Momentary maximum rotational speed ωm r/min 4500
Momentary maximum torque (see note 1) Tm kgf
cm 2.92 4.87 9.75 19.5 39.0 72.9
N
m 0.29 0.48 0.96 1.91 3.82 7.10
Momentary maximum/rated current ratio I m/r % 310 317 322 300 308 316
Rated current (see note 1) Ir A (rms) 0.42 0.60 0.87 2.0 2.6 4.4
Momentary maximum current (see note 1) Im A (rms) 1.3 1.9 2.8 6.0 8.0 13.9
Rotor inertia Jr kgf
cm
s2 0.21 × 10--4 0.27 × 10--4 0.41 × 10--4 1.26 × 10--4 1.95 × 10--4 6.85 × 10--4
INC ((see note
t 4)
kg
m2 (GD2/4) 0.21 × 10--5 0.26 × 10--5 0.40 × 10--5 1.23 × 10--5 1.91 × 10--5 6.71 × 10--5
Torque constant (see note 1) Kt kgf
cm/A 2.60 2.92 4.16 3.62 5.44 6.01
N
m/A 0.255 0.286 0.408 0.355 0.533 0.590
Induced voltage constant (see note 1) Ki mV/ (r/min) 8.89 9.98 14.0 12.4 18.6 20.6
Power rate (see note 1) Qp kW/s 4.36 9.63 25.4 32.8 84.6 85.1
Mechanical time constant
m ms 1.5 0.9 0.5 0.4 0.3 0.3

Winding resistance Rw Ω 15.8 9.64 6.99 1.34 1.23 0.45

Winding inductance Lw mH 23.1 16.9 13.2 7.2 7.9 5.7
Electrical time constant
e ms 1.5 1.8 1.9 5.4 6.4 13

Momentary allowable radial load F mr kgf 19 19 19 50 50 75

INC ((see note
t 4)
N 186 186 186 490 490 735
Momentary allowable thrust load F mt kgf 13 13 13 18 18 40
INC ((see note
t 4)
N 127 127 127 176 176 392
Allowable radial load Fr kgf 7 7 8 25 25 40
INC ((see note
t 4)
N 68 68 78 245 245 392
Allowable thrust load Ft kgf 5.5 5.5 5.5 7.5 7.5 15
INC ((see note
t 4)
N 54 54 54 74 74 147
Weight Without brakes m kg Approx. 0.3 Approx. 0.4 Approx. 0.5 Approx. 1.1 Approx. 1.7 Approx. 3.4
INC ((see note
t 4)
With brakes kg Approx. 0.6 Approx. 0.7 Approx. 0.8 Approx. 1.6 Approx. 2.2 Approx. 4.3
Corresponding Analog output UA02HA UA03HA UA04HA UA08HA UA12HA UA20HA
Servo Driver
(R88D-) Pulse train output UP02HA UP03HA UP04HA UP08HA UP12HA UP20HA

Brake Brake inertia Jb kgf
cm
s2 0.09 × 10--4 0.59 × 10--4 1.43 × 10--4
specifications
ifi ti
(see note 2) kg
m2 (GD2/4) 0.09 × 10--5 0.58 × 10--5 1.40 × 10--5
Magnetized voltage Ub V 24 VDC
10% (no polarity)
Power consumption Pb W 6 6.5 6
(at 20°C)
Current consumption Ib A 0.25 0.27 0.25
(at 20°C)
Static friction torque Tb kgf
cm 2.0 min. 3.5 min. 15.0 min. 25.0 min.
N
m 0.2 min. 0.34 min. 1.5 min. 2.5 min.
Absorption time t ba ms 40 max. 60 max. 100 max. 200 max.
(see note 3)
Release time t br ms 20 max. 30 max. 40 max. 50 max.
(see note 3)
Backlash --- ± 1 (reference value)
Rating --- Continuous
Insulation grade --- Type F
Servomotor Specifications
100-VAC Servomotors
Item Symbol Unit With Incremental Encoder (R88M-)
IEC
U03030LA U05030LA U10030LA U20030LA U30030LA
Rated output (see note 1) Pr W 30 50 100 200 300
Rated torque (see note 1) Tr kgf
cm 0.974 1.62 3.25 6.49 9.74
N
m 0.095 0.159 0.318 0.637 0.954
Rated rotational speed ωr r/min 3000
Momentary maximum rotational speed ωm r/min 4500
Momentary maximum torque (see note 1) Tm kgf
cm 2.92 4.87 9.75 19.5 38.0
N
m 0.29 0.48 0.96 1.91 3.72
Momentary maximum/rated current ratio I m/r % 317 322 323 311 400
Rated current (see note 1) Ir A (rms) 0.63 0.9 2.2 2.7 3.7
Momentary maximum current (see note 1) Im A (rms) 2.0 2.9 7.1 8.4 14.8
Rotor inertia Jr kgf
cm
s2 0.21 × 10--4 0.27 × 10--4 0.41 × 10--4 1.26 × 10--4 1.95 × 10--4
INC ((see note
t 4)
kg
m2 (GD2/4) 0.21 × 10--5 0.26 × 10--5 0.40 × 10--5 1.23 × 10--5 1.91 × 10--5
Torque constant (see note 1) Kt kgf
cm/A 1.72 1.98 1.59 2.60 2.85
N
m/A 0.168 0.194 0.156 0.255 0.279
Induced voltage constant (see note 1) Ki mV/ (r/min) 5.87 6.79 5.43 8.9 9.74
Power rate (see note 1) Qp kW/s 4.36 9.63 25.4 32.8 47.3
Mechanical time constant
m ms 1.6 0.9 0.6 0.4 0.3

Winding resistance Rw Ω 7.22 4.34 1.22 0.706 0.435

Winding inductance Lw mH 9.7 6.9 2.0 4.0 2.3
Electrical time constant
e ms 1.3 1.6 1.6 5.7 5.3

Momentary allowable radial load F mr kgf 19 19 19 50 50

INC ((see note
t 4)
N 186 186 186 490 490
Momentary allowable thrust load F mt kgf 13 13 13 18 18
INC ((see note
t 4)
N 127 127 127 176 176
Allowable radial load Fr kgf 7 7 8 25 25
INC ((see note
t 4)
N 68 68 78 245 245
Allowable thrust load Ft kgf 5.5 5.5 5.5 7.5 7.5
INC (see
( note
t 4)
N 54 54 54 74 74
Weight Without brakes m kg Approx. 0.3 Approx. 0.4 Approx. 0.5 Approx. 1.1 Approx. 1.7
INC ((see note
t 4)
With brakes kg Approx. 0.6 Approx. 0.7 Approx. 0.8 Approx. 1.6 Approx. 2.2
Corres onding
Corresponding Analog output UA03LA UA04LA UA10LA UA12LA UA15LA
S
Servo Driver
Di (R88D-)
(R88D )
Pulse train output UP03LA UP04LA UP10LA UP12LA UP15LA
Brake sspecifications
ecifications Brake inertia Jb kgf
cm
s2 0.09 × 10--4 0.59 × 10--4
(
(see note
t 2)
kg
m2 (GD2/4) 0.09 × 10--5 0.58 × 10--5
Magnetized voltage Ub V 24 VDC
10% (no polarity)
Power consumption Pb W 6 6.5
(at 20°C)
Current consumption Ib A 0.25 0.27
(at 20°C)
Static friction torque Tb kgf
cm 2.0 min. 3.5 min. 15.0 min.
N
m 0.2 min. 0.34 min. 1.5 min.
Absorption time t ba ms 40 max. 60 max. 100 max.
(see note 3)
Release time t br ms 20 max. 30 max. 40 max.
(see note 3)
Backlash --- ± 1 (reference value)
Rating --- Continuous
Insulation grade --- Type F

Note: 1. Values for these items, as well as those for torque, the rotational speed characteristics, are the values at an armature winding tem-
perature of 100°C, combined with the Servo Driver. Other values are at normal conditions (20°C, 65%).The momentary maximum
torque value is the reference value.
2. The brakes installed in the Servomotors have non-magnetized operation. (The magnetic brake is released when a magnetic current
is applied.)
3. The operation time measurement is the measured value with a surge killer (CR50500, by Okaya Electric Industrial Co.) installed.
4. INC: Servomotor with Incremental Encoder attached.
5. The magnetic brakes installed in Servomotors with brakes are status-holding brakes. The magnetic brake is not meant to be used
for braking. Using it for braking will damage it. During Servomotor operation, be sure to release the magnetic brake by applying a
magnetic voltage.
6. Absolutely do not impact the Servomotor or the output shaft by striking with an implement such as a hammer. Doing so will damage
the Servomotor and encoder bearings.
 Servomotor Specifications
General Specifications
Item Specifications
Operating ambient temperature 0°C to 40°C
Operating ambient humidity 20% to 80% RH (with no condensation)
Storage ambient temperature --10°C to 75°C
Storage ambient humidity 20% to 80% RH (with no condensation)
Storage and operating atmosphere No corrosive gasses.
Vibration resistance 10 to 150 Hz in X, Y, and Z directions with 0.2-mm double amplitude; acceleration: 2.5G {24.5
m/s2} max.; time coefficient: 8 min; 4 sweeps (see note 1)
Impact resistance Acceleration 10G {98 m/s2} max., in X, Y, and Z directions, three times
Insulation resistance Between power line terminals and case: 10 MΩ min. (500 VDC megger)
Dielectric strength Between power line terminals and case: 1,500 VAC for 1 min (10 mA max.) at 50/60 Hz
(JEC2121)
Run position All directions
Insulation grade Type B (JIS C4004)
Structure Totally-enclosed self-cooling
Protective structure IP-42 (JEM1030) (Cannot be used in environment with water-soluble cutting fluids.) (See note
2)
Vibration grade V-15 (JEC2121)
Mounting method Flange-mounting

Note: 1. Vibration may be amplified due to sympathetic resonance of machinery, so use the Servomotor Driver under conditions which will
not exceed 2G {19.6 m/s2} over a long period of time.
2. The drip-proofing specifications are special specifications covered by IP-44. (Models with drip-proof specifications provide drip-
proofing on Servomotors with oil seals.)
3. The above items reflect individual evaluation testing. The results may differ under compounded conditions.
4. The Servomotor cannot be used in a misty atmosphere.

Servomotor Shaft Tolerance Load

Radial load

Thrust load

5 mm

• The allowable radial load is the value at a point 5 mm from the end of the shaft.
• The allowable radial and thrust loads are values determined with a service life of 20,000 hours taken as a criteria.

Radiant Heat Conditions

When the AC Servomotor is operated continuously at a rated current, a radiant heat board, as noted here, must be fitted to the Servomotor
flange. 30 to 750 W: t6

250 mm angle aluminium board or the above equivalent.
Torque and Rotation Speed Characteristics
R88M-U03030HA R88M-U05030HA R88M-U10030HA

Intermittent duty Intermittent duty Intermittent duty

Continuous duty Continuous duty Continuous duty

R88M-U20030HA R88M-U40030HA R88M-U75030HA

Intermittent duty Intermittent duty Intermittent duty

Continuous duty Continuous duty Continuous duty

100 VAC Specifications (With 3-m Standard Cable and 100-VAC Input)
R88M-U03030LA R88M-U05030LA R88M-U10030LA

Intermittent duty Intermittent duty Intermittent duty

Continuous duty Continuous duty Continuous duty

R88M-U20030LA R88M-U30030LA

Intermittent duty Intermittent duty

Continuous duty Continuous duty

 Servo Driver Specifications
General Specifications (For 30- to 750-W Models)
Item Specifications
Operating ambient temperature 0°C to 55°C
Operating ambient humidity 35% to 85% RH (with no condensation)
Storage ambient temperature --10°C to 75°C
Storage ambient humidity 35% to 85% RH (with no condensation)
Storage and operating atmosphere No corrosive gasses.
Vibration resistance 10 to 55 Hz in X, Y, and Z directions with 0.10-mm double amplitude; acceleration: 0.5 G {4.9 m/s2} max.; time coefficient: 8 min; 4 sweeps
(See note 1.)
Impact resistance Acceleration 2 G {19.6 m/s2} max., in X, Y, and Z directions, three times
Insulation resistance Between power line terminals and case: 5 MΩ min. (at 1,000 VDC)
Dielectric strength Between power line terminals and case: 1,000 VAC for 1 min (20 mA max.) at 50/60 Hz
Protective structure Built into panel.

Note: 1. Vibration may be amplified due to sympathetic resonance of machinery, so use the Servomotor under conditions which will not exceed 0.5 G {4.9 m/s2} over a long
period of time.
2. The above items reflect individual evaluation testing. The results may differ under compounded conditions.
3. Absolutely do not conduct a withstand voltage test or other Megger tester tests on the Servo driver. If such tests are conducted, internal elements may be damaged.
4. Depending on the operating conditions, some Servo Driver parts will require maintenance. Refer to the relevant operation manual for details.

Performance Specifications (30- to 750-W Analog Input Models)

Model 200 V 100 V
R88D R88D R88D R88D R88D R88D R88D R88D R88D R88D R88D
-UA02HA -UA03HA -UA04HA -UA08HA -UA12HA -UA20HA -UA03LA -UA04LA -UA10LA -UA12LA -UA15LA
Continuous output current 0.6 A 0.85 A 1.2 A 2.8 A 3.7 A 6.2 A 0.9 A 1.3 A 3.1 A 3.8 A 4.8 A
(0-P)
Momentary maximum 1.8 A 2.7 A 4.0 A 8.5 A 11.3 A 19.7 A 2.8 A 4.1 A 10 A 12 A 15 A
output current (0-P)
Input power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz
Control method All-digital servo
Speed feedback Incremental encoder (magnetic), 2,048 pulses/revolution
Applicable load inertia Maximum of 30 times motor’s rotor inertia Maximum of 20 times Maximum of 30 times motor’s rotor inertia Maximum
INC (see note) motor’s rotor inertia of 20
times mo-
tor’s rotor
inertia
Inverter method PWM method based on IGBT
PWM frequency 11 kHz 7.8 kHz 11 kHz 7.8 kHz
Applicable Servomotor R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M-
INC (see note) U03030H U05030HA U10030HA U20030HA U40030HA U75030HA U03030LA U05030LA U10030LA U20030LA U30030LA
A
Applicable Servomotor 30 W 50 W 100 W 200 W 400 W 750 W 30 W 50 W 100 W 200 W 300 W
wattage
Weight Approx. 0.9 kg Approx. Approx. Approx. 0.9 kg Approx. Approx.
1.2 kg 1.5 kg 1.2 kg 1.5 kg
Capacity Speed 1:5000
control range
Speed 0.01% at 0 to 100% (at rated rotation speed)
fluctuation
rate (load
character--
istic)
Speed 0% at input voltage of 170 to 253 VAC 0% at input voltage of 85 to 127 VAC
fluctuation
rate (voltage
character--
istic)
Speed ±0.2% max. at 0 to 50°C
fluctuation
rate
(tempera--
ture
character--
istic)
Frequency 250 Hz (at the same load as the rotor inertia)
character--
istics
Torque ±2.0%
control
reprodu-
cibility
Accelera-- 0 to 10 s (Acceleration and deceleration times are set separately)
tion time
setting

(This table continues on the next page.)

Servo Driver Specifications
Specifications Table -- continued from previous page
Input Speed ±2 to 10 VDC (motor rotation by +command) / rated rotation speed
signal command Input impedance: Approx. 30 kΩ; circuit time constant: Approx. 47 µs
voltage
Torque ±1 to 10 VDC / rated torque
command Input impedance: Approx. 30 kΩ; circuit time constant: Approx. 47 µs
voltage
Sequence Run command, gain deceleration, forward/reverse current limit, forward/reverse drive prohibit, alarm reset, 24-VDC, 5-mA photocoupler input, external
input power supply: 24±1 VDC, 50 mA min.
Output Position A-, B-, Z-phase line driver output (EIA RS-422A)
signal feedback A-phase and B-phase (dividing rate setting): 16 to N pulses/revolution, N=2,048 (incremental)
output Z-phase: 1 pulse/revolution
Speed 0.5 V/1000 r/min
monitor
output
Current 0.5 V/100%
monitor
output
Sequence Alarm output, alarm code output, motor rotation detection, brake interlock, speed conformity, open collector output, 30 VDC, 50 mA (except for alarm
output code output, which is 30 VDC, 20 mA)
Dynamic brake stopping Operates when the power supply turns off, a servo alarm is generated or an overrun occurs.
Protective functions Overcurrent, grounding, overload, overvoltage, overspeeding, A/D errors, transmission errors, encoder errors, overrun prevention
Note: INC: Servomotor with Incremental Encoder attached.

Performance Specifications (30- to 750-W Pulse Train Input Models)

Model 200 V 100 V
R88D R88D R88D R88D R88D R88D R88D R88D R88D R88D R88D
-UP02HA -UP03HA -UP04HA -UP08HA -UP12HA -UP20HA -UP03LA -UP04LA -UP10LA -UP12LA -UP15LA
Continuous output 0.6 A 0.85 A 1.2 A 2.8 A 3.7 A 6.2 A 0.9 A 1.3 A 3.1 A 3.8 A 4.8 A
current (0-P)
Momentary maximum 1.8 A 2.7 A 4.0 A 8.5 A 11.3 A 19.7 A 2.8 A 4.1 A 10 A 12 A 15 A
output current (0-P)
Input power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz
Control method All-digital servo
Speed feedback Incremental encoder (magnetic), 2,048 pulses/revolution
Applicable load inertia Maximum of 30 times motor’s rotor inertia Maximum of 20 times Maximum of 30 times motor’s rotor inertia Maximum
motor’s rotor inertia of 20
times
motor’s
rotor
inertia
Inverter method PWM method based on IGBT
PWM frequency 11 kHz 7.8 kHz 11 kHz 7.8 kHz
Applicable Servomotor R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M-
U03030HA U05030HA U10030HA U20030HA U40030HA U75030HA U03030LA U05030LA U10030LA U20030LA U30030LA
Applicable Servomotor 30 W 50 W 100 W 200 W 400 W 750 W 30 W 50 W 100 W 200 W 300 W
wattage
Weight Approx. 0.9 kg Approx. Approx. Approx. 0.9 kg Approx. Approx.
1.2 kg 1.5 kg 1.2 kg 1.5 kg
Capacity Maximum 200 kpps
response
pulse
frequency
Position 1 to 500 (1/s)
loop gain
Electrical Electrical gear ratio range: 0.01
(G1/G2)
100 (G1, G2 = 1 to 65, 535)
gear
function
Positioning 0 to 250 (command units)
completed
width
Feed 0 to 100% of the speed command (pulse frequency)
forward
compen-
sation
Bias 0 to 450 r/min
setting
Position 0 to 64 ms (acceleration and deceleration are set the same)
accel/
decel time
constant
setting

(This table continues on the next page.)

 Servo Driver Specifications
Specifications Table -- continued from previous page
Input signal Position TTL line driver input photo isolation input power supply 6 mA to 3 V. Feed pulse/forward, reverse signal, forward pulse/reverse pulse,
command 90 disparity (A-, B-phase) signal.
pulse input
(See note.)
Deviation TTL line driver input photo isolation input power supply 6 mA to 3 V.
counter
reset
Sequence Run command, gain deceleration, forward/reverse current limit, forward/reverse drive prohibit, alarm reset, 24-VDC, 5-mA photocoupler input,
input external power supply: 24±1 VDC, 50 mA min.
Output signal Position A-, B-, Z-phase line driver output (EIA RS-422A)
feedback A-phase and B-phase (dividing rate setting): 16 to 2,048 pulses/revolution
output Z-phase: 1 pulse/revolution
Speed 0.5 V/1000 r/min
monitor
output
Current 0.5 V/100%
monitor
output
Sequence Alarm output, alarm code output, motor rotation detection, brake interlock, positioning complete, open collector output, 30 VDC, 50 mA (except for
output alarm code output, which is 30 VDC, 20 mA)
Dynamic brake stopping Operates when the power supply turns off, a servo alarm is generated or an overrun occurs.
Protective functions Overcurrent, grounding, overload, overvoltage, overspeeding, overrun prevention, transmission errors, encoder errors, deviation counter overrun

Note: Ensure that the input pulse width meets the following conditions.

TIL, TIH ≥ 2.5 µs

U-Series Servomotors and Servo Drivers Are

UL and cUL Approved
Standard Model Applicable Standard File No.
UL AC Servo Driver UL508C E179149
AC Servomotor UL1004 E179189
cUL AC Servo Driver cUL C22.2 No. 14 E179149
AC Servomotor cUL C22.2 No. 100 E179189
Options Specifications
Regeneration Unit Specifications (For Parameter Unit Specifications
30- to 750-W Models)
General Specifications
General Specifications Item Specifications
Item Specifications Operating ambient 0°C to 55°C
temperature
Operating ambient 0°C to 55°C
temperature Storage ambient --10°C to 75°C
temperature
Storage ambient --10°C to 75°C
temperature Operating ambient 35% to 85% RH (with no condensation)
humidity
Operating ambient 35% to 85% RH (with no condensation)
humidity Storage ambient humidity 35% to 85% RH (with no condensation)
Storage ambient humidity 35% to 85% RH (with no condensation) Storage and operating No corrosive gasses.
atmosphere
Storage and operating No corrosive gasses.
atmosphere Vibration resistance 0.5 G {4.9 m/s2} max.
Vibration resistance 0.5 G {4.9 m/s2} max. Impact resistance Acceleration 2 G {19.6 m/s2} max.
Impact resistance Acceleration 2 G {19.6 m/s2} max.
Performance Specifications
Performance Specifications Item R88A-PR02U R88A-PR03U
Model R88A-RG08U Type Handy type Mounted type
Regeneration operating 380 VDC Accessory cable 1m (Connected by con-
voltage nectors.)
Regeneration processing 8 ADC Connectors 7910-7500SC (10 pins) D sub-connector
current (9 pins)
Average regeneration 12 W (internal resistance: 50 Ω, 60 W) Display 7-segment LED, 5 digits
power
Weight Approx. 0.18 kg Approx. 0.02 kg
Error detection function Regeneration resistance disconnection,
Co
Commu- u Standard RS-232C RS-422A
regeneration transistor damage, overvoltage
nications
i ti
Communica- Asynchronous (ASYNC)
Alarm output 1b contact (open contact at time of protective specifi-
tions method
function operation) cations
(200 VAC drive possible.) Baud rate 2,400 bps
Weight Approx. 1 kg Start bits 1 bit
Data 8 bits
Indicator LED Specifications Parity None
Stop bits 1 bit
Item Specifications
Errors detected by Dis- CPF00 Cannot transmit even after 5
POWER Lit while power flows through PN terminal. Parameter Unit play seconds have elapses since
REGEN Lit during regeneration operation. power supply was turned on.
ALARM-REGEN Lit for regeneration resistance disconnection or CPF01 A BCC error or faulty recep-
regeneration transistor damage. tion data has occurred for five
consecutive times, or a time
ALARM-OV Lit when overvoltage occurs. overrun (1 s) has occurred for
three consecutive times.
Note: 1. When the error detection function operates, an alarm is
output from the Unit.
2. Create a sequence so that the power supply (R--T) to
the Servo Driver is cut off when an alarm is generated.
3. When the error detection function operates and the Servo
Driver’s power supply is cut off, the Regeneration Unit
won’t be restored to its normal status until 2 to 3 seconds
have elapsed, even if the power supply is turned on
again. (Normal status is restored after the electrolytic
capacitor in the Servo Driver has been discharged and
the voltage between signals P and N drops.)
 External Dimensions
Unit: mm

AC Servomotors
Encoder plug
• 30 to 100 W INC
30 W R88M-U03030HA/U03030LA Motor plug
18
50 W R88M-U05030HA/U05030LA 14 dia.
100 W R88M-U10030HA/U10030LA
Radius at
Model L LL S Two, 4.3-mm dia. 4 corners: 3.7
holes
R88M-U03030HA 94.5 69.5 6 Sh6 dia.
46 dia.
R88M-U03030LA 30h7 dia.
R88M-U05030HA 102 77 6
R88M-U05030LA
R88M-U10030HA 119. 94.5 8
R88M-U10030LA 5

• 30 to 100 W INC With B

30 W R88M-U03030HA- Encoder plug
B/U03030LA-B
50 W R88M-U05030HA- Motor plug
B/U05030LA-B
100 W R88M-U10030HA- 14 dia.
B/U10030LA-B
Radius at
Model L LL LB S Two, 4.3-mm dia. 4 corners: 3.7
holes
R88M-U03030HA-B 126 101 31.5 6 Sh6 dia.
46 dia.
R88M-U03030LA-B 30h7 dia.
R88M-U05030HA-B 133.5 108.5 31.5 6
R88M-U05030LA-B
R88M-U10030HA-B 160 135 40.5 8
R88M-U10030LA-B

• 200 to 400 W INC Encoder plug

200 W R88M-U20030HA/U20030LA Motor plug

300 W R88M-U30030LA 14 dia.

400 W R88M-U40030HA
Radius at
Four, 5.5-mm dia. 4 corners: 5.3
Model L LL holes
14h6 dia.
R88M-U20030HA 126.5 96.5 70 dia.
R88M-U20030LA 50h7 dia.
R88M-U30030LA 154.5 124.5
R88M-U40030HA

Note: INC : Incremental Encoder Attached

With B : With brakes
External Dimensions
Unit: mm

• 200 to 400 W INC With B Encoder plug

200 W R88M-U20030HA-
B/U20030LA-B Motor plug

300 W R88M-U30030LA-B 14 dia.

400 W R88M-U40030HA-B Radius at
Four, 5.5-mm dia. 4 corners: 5.3
Model L LL holes
14h6 dia.
R88M-U20030HA-B 166 136
70 dia.
R88M-U20030LA-B
50h7 dia.
R88M-U30030LA-B 194 164
R88M-U40030HA-B

• 750 W INC
Encoder plug
R88M-U75030HA
Motor plug

14 dia.

Radius at
Four, 7-mm dia. 4 corners: 8.2
holes

16h6 dia. 90 dia.

70h7 dia.

• 750 W INC With B

Encoder plug
R88M-U75030HA-B
Motor plug

14 dia.

Radius at
Four, 7-mm dia. 4 corners: 8.2
holes
16h6 dia.
90 dia.

70h7 dia.

Note: INC : Incremental Encoder Attached With B : With brake

 External Dimensions
Unit: mm

AC Servo Drivers
• 200 VAC, 30 to 200 W
R88D-UA02HA/UA03HA/UA04HA/
UA08HA
R88D-UP02HA/UP03HA/UP04HA/
UP08HA
4

• 100 VAC, 30 to 100 W Two, 6-mm dia.

holes
R88D-UA03LA/UA04LA/UA10LA
R88D-UP03LA/UP04LA/UP10LA
160

• 200 VAC, 400 W

R88D-UA12HA
R88D-UP12HA

• 100 VAC, 200 W

R88D-UA12LA 4
R88D-UP12LA
Two, 6-mm dia.
holes

• 200 VAC, 750 W

R88D-UA20HA
R88D-UP20HA

• 100 VAC, 300 W

R88D-UA15LA
R88D-UP15LA

Two, 6-mm dia.

holes

Radius at
2 corners: 3
External Dimensions
Unit: mm

Regeneration Unit
• R88A-RG08UA
6 dia.

Parameter Units
• R88A-PR02U • R88A-PR03U
Two, 4.5-mm dia. 15 6.9
54
holes

57.5
 Terminal and Connector Functions (30 to 750 W)
Terminal Block Specifications
Signal Name Function Power supply
indicator
R Power supply Power input terminal for the main
T input circuit and control circuit. (The
voltage differs according to the
model type.)
P Main circuit DC These are the connection terminals Alarm indicator
N output for the Regeneration Unit
(R88A-RG08U).
CN3: Parameter
Connect these when the
Unit connector
regeneration energy is high.
U Servomotor Red These are the terminals for
U-phase output outputs to the Servomotor.
V Servomotor White
V-phase output
W Servomotor Blue
W-phase output
Frame ground Green This is the connection
terminal. Use a class-3 or CN1: Control I/O
higher ground. connector

It is used in common for

Servomotor output and
power supply input.
Terminal
block
Encoder Input CN2
(Incremental Encoder)
Pin Signal Name Interface CN2: Encoder
no. connector
1, 2, 3 E0V Encoder power Power supply outlet
supply GND for encoder: 5 V,
120 mA.
4, 5, 6 E5V Encoder power
supply +5 V
7 DIR Rotation direction Connects to GND
switch input when reverse
rotation is executed
by + input.
8, 9, NC Not used Do not connect.
10, 11,
12, 13
14 S+ Encoder + S-phase Line driver input
input ((conforming
g to EIA
RS 422A) (I
RS-422A) (Inputt
15 S-- Encoder -- S-phase
impedance: 220 Ω)
input
16 A+ Encoder + A-phase Line driver input
input ((conforming
g to EIA
RS 422A) (I
RS-422A) (Inputt
17 A-- Encoder -- A-phase
impedance: 220 Ω)
input
18 B+ Encoder + B-phase Line driver input
input ((conforming
g to EIA
RS 422A) (I
RS-422A) (Inputt
19 B-- Encoder -- B-phase
impedance: 220 Ω)
input
20 FG Shielded ground Cable shielded
ground.
Terminal and Connector Functions (30 to 750 W)
Control Input CN1 (Analog Input/Pulse Train Input)
Pin no. Signal Name Function, Interface Specified driver
type:
A: R88D-UA
P: R88D-UP
1 TREF Torque command ±1 to ±10 V / rated torque A
input g
Changeable byy means of user parameter Cn-13 torque
q
command d scale.
l
2 AGND Torque command
input ground
3 REF Speed command ±2 to ±10 V / rated torque
input g
Changeable byy means of user parameter Cn-03 speed
command d scale.
l
4 AGND Speed command
input ground
5 -- -- Do not connect.
6 -- --
1 +PULS/CW/A Feed pulse, reverse Line driver input 6 mA to 3 V. P
pulse,, or 90
phase
Setu parameter
Setup arameter Cn-02 bits 3, 4, and 5 allow feed
diff
difference pulse
l
2 --PULS/CW/A pulse/forward, reverse signal, forward pulse/reverse
(A-phase)
pulse,,
90
phase
h difference
diff pulse
l (A-,
(A B B-phase)
h ) signal
i l (X1,
(X1 X2,
X2
3 +SIGN/CCW/B Forward/reverse
X4) to be switched.
signal, forward
rotation pulse,
ulse, or Maximum response
res onse frequency: 200 kpps
k s
4 --SIGN/CCW/B 90
phase
difference pulse
(B-phase)
5 +ECRST + deviation counter Line driver input 6 mA to 3 V. Resets the deviation counter
reset when command input is prohibited.
6 --ECRST -- deviation counter
reset
11 PCL/SPD1 Forward rotation Forward/reverse rotation current limit (PCL/NCL) when A/P
current limit input / setup parameter Cn-02 bit no. 2 = 0.
Speed selection (ON: Current limit)
command 1 input
Internal setting speed (Cn-1F, 20, 21) selector switch
12 NCL/SPD2 Forward rotation when setup parameter Cn-02 bit no. 2 = 1.
current limit input /
Speed selection
command 2 input
13 +24VIN +24-V power supply Power supply for pin nos. 11, 12, 14, 15, 16, 17, 18; +24-V A/P
input for control DC input
14 RUN Run command input ON: Servo ON, when setup parameter Cn-01 bit no. 0 = 0. A/P
When setup parameter Cn-01 bit no. 0 = 1, this signal is
not used. (Automatically set to Servo ON.)
15 MING/PLOCK Gain deceleration ON: Decrease speed loop gain, when setup parameter A
((See TVSEL/RDIR input Cn-01 bit nos. b, A = 0, 0.
th
the
Position lock When setup parameter Cn-01 bit nos. b, A = 0, 1, then,
next
command input when this bit is ON, position lock goes in effect if the motor
page
rotation speed is no more than the position lock rotation
for
speed (Cn-0F).
more
info on Torque / Speed When setup parameter Cn-01 bit nos. b, A = 1, 1, then,
this Pin control switch input when this bit is ON, the mode changes from the torque
No.) command (TREF) mode to the speed command (REF)
mode. When in torque command mode, speed command
(REF) inputs become forward/reverse rotation speed
limits.
Rotation direction When setup parameter Cn-02 bit no. 2 = 1, this is the
command inputs rotation direction command for internal speed settings
1 to 3.

(This table continues on the next page.)

 Terminal and Connector Functions (30 to 750 W)
Specifications Table -- continued from previous page
Pin no. Signal Name Function, Interface Specified driver
type:
A: R88D-UA
P: R88D-UP
15 MING/IPG/RDIR Gain deceleration When setup parameter Cn-02 bit no. 2 = 0 and setup P
(Prior input parameter Cn-01 bit no. F = 0 then, when this bit is ON,
g
page speed loop gain decreases.
h
has
Pulse prohibit When setup parameter Cn-02 bit no. 2 = 0 and setup
other
parameter Cn-01 bit no. F = 1 then, when this bit is ON,
info on
input command pulse is prohibited.
this pin
no.) Rotation direction When setup parameter Cn-02 bit no. 2 = 1, this is the
command input rotation direction command for internal speed settings
1 to 3.
16 POT Forward drive Forward rotation overtravel input (OFF when prohibited). A/P
prohibit input When setup parameter Cn-01 bit no. 2 = 1, this signal is
not used.
17 NOT Reverse drive Reverse rotation overtravel input (OFF when prohibited). A/P
prohibit input When setup parameter Cn-01 bit no. 3 = 1, this signal is
not used.
18 RESET Alarm reset input ON: Servo alarm status is reset. A/P
28 -- -- Do not connect --
29 -- --

Note: Those input specifications which are not recorded in the above table are 5 mA for 24 V power supply input.

CN1: Control Output (Analog Input/Pulse Train Input)

Pin no. Signal Name Function, Interface Specified driver
type:
A: R88D-UA
P: R88D-UP
7 BKIR Brake interlock Outputs external brake interlock signal. (See Note.) A/P
output
8 VCMP Speed conformity Output when the Servomotor rotation speed conforms to A
output the speed command. (See Note.)
INP Positioning Turned ON when the pulse count remaining in the P
completed output deviation counter is equal to or less than the positioning
completed range set in user parameter Cn-1b. (See Note.)
9 TGON/CLIMT Servomotor rotation When setup parameter Cn-01 bit no. 4 = 0, this turns ON if A/P
detection output the Servomotor rotation speed exceeds the value set for
the Servomotor rotation detection speed (Cn-0b).
(See Note.)
Current limit When bit 4 of setup parameter Cn-01 is set to “1,” the
detection output CLIMT signal will turned ON in any of the following 3
cases:
The output torque reaches the value set for the torque
limit (Cn-08, -09)
The forward/reverse rotation current limit (PCL/NCL) is
ON and the output torque reaches the external current
limit set in Cn-18 or Cn-19.
When the forward/reverse rotation power supply limit is
OFF, and the output torque reaches the torque limit set in
Cn-08, -09. (See Note.)
10 OGND Output ground Output ground common for BKIR, VCMP, INP, A/P
common TGON/CLIMT
19 EGND Encoder signal This is the ground for encoder signal outputs. A/P
output GND
20 +A Encoder + A-phase Outputs encoder pulses divided according to user A/P
input parameter Cn-0A. Line driver output ((conforming
g to
RS 422A)
RS-422A).
21 --A Encoder -- A-phase
input

(This table continues on the next page.)

Terminal and Connector Functions (30 to 750 W)
Specifications Table -- continued from previous page
Pin no. Signal Name Function, Interface Specified driver
type:
A: R88D-UA
P: R88D-UP
22 --B Encoder -- B-phase Outputs encoder pulses divided according to user A/P
input parameter Cn-0A. Line driver output ((conforming
g to
RS 422A)
RS-422A).
23 +B Encoder + B-phase
input
24 +Z Encoder + Z-phase Encoder Z-phase output (1 pulse/revolution). Line driver A/P
input ( g to RS-422A).
output (conforming )
25 --Z Encoder + Z-phase
input
26 -- -- Do not connect. --
27 -- --
30 ALO1 Alarm code output 1 When an alarm is generated for the Servo Driver, the A/P
contents of the alarm are output in code. Open collector
output:
30 VDC, 20 mA max.
31 ALO2 Alarm code output 2 When an alarm is generated for the Servo Driver, the A/P
contents of the alarm are output in code. Open collector
output:
30 VDC, 20 mA max.
32 ALO3 Alarm code output 3 When an alarm is generated for the Servo Driver, the A/P
contents of the alarm are output in code. Open collector
output:
30 VDC, 20 mA max.
33 ALOCOM Alarm code output When an alarm is generated for the Servo Driver, the A/P
GND contents of the alarm are output in code. Open collector
output:
30 VDC, 20 mA max.
34 ALM Alarm output When an alarm is generated
g for the Servo Driver,, the A/P
35 ALMCOM Alarm output GND output
t t is
i OFF.
OFF Open
O collector
ll t output.
t t (See
(S Note.)
N t ) A/P
36 FG Frame ground Ground terminal for shield wire of cable and FG line. A/P

Note: These functions are open collector output 30 V/50 mA maximum.

 Special Cables
R88A-CRU


C Encoder Cables R88A-CPU


M
Connecting
For connection between a U-series AC Servomotor Encoder Cables for a CV500-MC221/421
Connector and a Servo Driver. C200H-MC221 Motion Control Unit
For connection between the Motion Control Unit and U-series AC
Servomotor.

R88D-U-series R88M-U-series
AC Servo Driver AC Servomotor

Model Specifications
R88A-CRU C For a Servomotor with 30- to 750-W
incremental encoder attached.
CV500-MC221/421 R88D-U-series
Note: The three blank squares in the model number are for the C200H-MC221 AC Servo Driver
cable length. The length will be 3, 5, 10, 15 or 20 m. For ex- Motion Control Unit
ample, for a 3-m cable it would be: R88A-CRU003C.

Model Specifications
R88A-CAU



Power Cables
For connection between a U-series Servomotor Power Connector
R88A-CPU M1 For 1 For a 30- to 750-W Servo
axis Driver.
and a Servo Driver.
R88A-CPU M2 For 2 For a 30- to 750-W Servo
axes Driver.

Note: The three blank squares in the model number are for the
cable length. The length will be 1 or 2 m. For example, for a
1-m cable it would be: R88A-CPU001M1.

R88A-CPU


S General-purpose
R88D-U-series R88M-U-series Control Cable
AC Servo Driver AC Servomotor For connection between a SYSMAC Position Control Unit or a
general controller and a U-series AC Servo Driver.
Model Specifications
R88A-CAU S For a Servomotor without brakes with
30 to 750 W capabilities.
R88A-CAU B For a Servomotor with brakes with 30
to 750 W capabilities.

Note: The three blank squares in the model number are for the
cable length. The length will be 3, 5, 10, 15 or 20 m. For ex-
ample, for a 3-m cable it would be: R88A-CAU003S. Position Control Unit R88D-U-series
or General Controller AC Servo Driver
R88A-CNU


Connector for the
Control Cable Model Specifications
Since the Connector for the Control Cable is not attached, be sure to R88A-CPU S For a 30 to 750 W Servo Driver.
purchase a connector kit, use a special control cable, or use a
general-purpose control cable. Note: The three blank squares in the model number are for the
cable length. The length will be 1 or 2 m. For example, for a
1-m cable it would be: R88A-CPU001S.
Sumitomo 3M

Model Specifications
R88A-CNU01C For a 30- to 750-W Servo Driver
(Half-pitch 36P)
Model Number Legend
AC Servomotors
R88M-U10030H
-



Motor shaft status
Blank: Thrust axis (standard)
S1: With Key
With or without brakes
Blank: Without brakes
B: With brakes
Design changes
A: Design changes log (latest version)
Servomotor power supply specifications,
Encoder specifications
H: 200 VAC, with Incremental Encoder
L: 100 VAC, with Incremental Encoder
T: 200 VAC, with an Absolute Encoder
Rated rotation speed
30: 3000 r/min
Servomotor capacity
(Example) 050: 50 W; 100: 100 W
U-series model
Servomotor code

AC Servo Drivers
R88D-UA02H

Design changes
A: Design changes log (latest version)
Servo Driver power supply specifications
H: 200-VAC power supply inputs
L: 100-VAC power supply inputs
Maximum output current
(Example) 02: 2 A; 12: 12A
Input command signal specifications
A: Analog inputs
P: Pulse train inputs
U-series model
Servo Driver code
 Standard Models
AC Servomotor AC Servo Driver
(Incremental Encoder Attached)
Specifications Model Specifications Model
S ag
Straight Se o
Servo- For
o 200
00 VAC
C 30 W R88M-U03030HA Analog
a og Input
u For
o 200
00 VAC
C 30 W R88D-UA02HA
axis
i with
ith motor
t M d l
Models
50 W R88M-U05030HA 50 W R88D-UA03HA
no key without (Incremental
brakes 100 W R88M-U10030HA Encoder) 100 W R88D-UA04HA
200 W R88M-U20030HA 200 W R88D-UA08HA
400 W R88M-U40030HA 400 W R88D-UA12HA
750 W R88M-U75030HA 750 W R88D-UA20HA
For
o 100
00 VAC
C 30 W R88M-U03030LA For
o 100
00 VAC
C 30 W R88D-UA03LA
50 W R88M-U05030LA 50 W R88D-UA04LA
100 W R88M-U10030LA 100 W R88D-UA10LA
200 W R88M-U20030LA 200 W R88D-UA12LA
300 W R88M-U30030LA 300 W R88D-UA15LA
Se o
Servo- For
o 200
00 VAC
C 30 W R88M-U03030HA-B Pulse
u se Train
a For
o 200
00 VAC
C 30 W R88D-UP02HA
motor
t I
Inputt Models
M d l
50 W R88M-U05030HA-B 50 W R88D-UP03HA
with (Incremental
brakes 100 W R88M-U10030HA-B Encoder) 100 W R88D-UP04HA
200 W R88M-U20030HA-B 200 W R88D-UP08HA
400 W R88M-U40030HA-B 400 W R88D-UP12HA
750 W R88M-U75030HA-B 750 W R88D-UP20HA
For
o 100
00 VAC
C 30 W R88M-U03030LA-B For
o 100
00 VAC
C 30 W R88D-UP03LA
50 W R88M-U05030LA-B 50 W R88D-UP04LA
100 W R88M-U10030LA-B 100 W R88D-UP10LA
200 W R88M-U20030LA-B 200 W R88D-UP12LA
300 W R88M-U30030LA-B 300 W R88D-UP15LA
S ag
Straight Se o
Servo- For
o 200
00 VAC
C 30 W R88M-U03030HA-S1
axis
i with
ith motor
t
key without
50 W R88M-U05030HA-S1 AC Servomotor
100 W R88M-U10030HA-S1
brakes
(Absolute Encoder Attached)
200 W R88M-U20030HA-S1
400 W R88M-U40030HA-S1 Specifications Model
750 W R88M-U75030HA-S1 S ag
Straight Se o o o
Servomotor For
o 30 W R88M-U03030TA
axis
i without
ith t 200
For
o 100
00 VAC
C 30 W R88M-U03030LA-S1 50 W R88M-U05030TA
with no brakes VAC
50 W R88M-U05030LA-S1 key 100 W R88M-U10030TA

100 W R88M-U10030LA-S1 200 W R88M-U20030TA

200 W R88M-U20030LA-S1 400 W R88M-U40030TA

300 W R88M-U30030LA-S1 750 W R88M-U75030TA

Se o
Servo- For
o 200
00 VAC
C 30 W R88M-U03030HA-BS1 Se o o o
Servomotor For
o 30 W R88M-U03030TA-B
motor
t with
ith brakes
b k 200
50 W R88M-U05030HA-BS1 50 W R88M-U05030TA-B
with VAC
brakes 100 W R88M-U10030HA-BS1 100 W R88M-U10030TA-B

200 W R88M-U20030HA-BS1 200 W R88M-U20030TA-B

400 W R88M-U40030HA-BS1 400 W R88M-U40030TA-B

750 W R88M-U75030HA-BS1 750 W R88M-U75030TA-B

For
o 100
00 VAC
C 30 W R88M-U03030LA-BS1
50 W R88M-U05030LA-BS1
100 W R88M-U10030LA-BS1
200 W R88M-U20030LA-BS1
300 W R88M-U30030LA-BS1
Standard Models
Parameter Units General-purpose Control Cables
Specifications Model Specifications Model
Hand-held type R88A-PR02U For 30 to For a general-purpose 1m R88A-CPU001S
750 W controller (Connector
Mounted type R88A-PR03U 2m R88A-CPU002S
on one side)

Regeneration Unit Connector for the Control Cable

Specifications Model Specifications Model
Regeneration processing current 8 ADC R88A-RG08UA
For 30 to 750 W (Sumitomo 3M: Half pitch R88A-CNU01C
36P)

Encoder Cables
Specifications Model
Connectors and Terminal Blocks (30-
For
o 30 to
o For
o Se
Servomotors
o oos 3m R88A-CRU003C
to 750-W Servo Drivers)
750 W with
ith an
Incremental
5m R88A-CRU005C Specifications Model
Encoder 10 m R88A-CRU010C Terminal Block Connector XW2B-40F5-P
(C
(Connectors on
15 m R88A-CRU015C Co e s o Cab
Conversion Cables
es for
o 1m R88A-CTU001N
each side)
20 m R88A-CRU020C C
Connector--Terminal
t T i lC Conversion
i U Unit
it
2m R88A-CTU002N
For
o SeServomotors
o oos 3m R88A-CSU003C
with
ith an Ab
Absolute
l t
Encoder
5m R88A-CSU005C
Front Panel Mounting Brackets
(Connectors on 10 m R88A-CSU010C
each h side)
id )
(30- to 750-W Servo Drivers)
15 m R88A-CSU015C
20 m R88A-CSU020C Specifications Model
200 VAC: 30 to 400 W For Servo Drivers R88A-TK01U
100 VAC: 30 to 200 W
Power Cables 200 VAC: 750 W For Servo Drivers R88A-TK02U
100 VAC: 300 W
Specifications Model
For
o 30 to
o For
o Se
Servomotors
o oos 3m R88A-CAU003S Note: For information on any products which are not listed here,
750 W without
ith t bbrakes
k contact your local sales office.
5m R88A-CAU005S
10 m R88A-CAU010S
15 m R88A-CAU015S
20 m R88A-CAU020S
For
o Se
Servomotors
o oos 3m R88A-CAU003B
with
ith brakes
b k
5m R88A-CAU005B
10 m R88A-CAU010B
15 m R88A-CAU015B
20 m R88A-CAU020B

Special Control Cables

Specifications Model
For 30 to For the F 1m R88A-CPU001M1
750 W CV500-MC221/ or
CV500-MC421/ 1
C200H-MC221 ax 2m R88A-CPU002M1
Motion Control Unit is
(Connectors on
each side) F 1m R88A-CPU001M2
or
2
ax 2m R88A-CPU002M2
es
 Important Information

NOTICE
Before using the product under the conditions listed below, consult your OMRON representative; make sure
that the ratings and performance characteristics of the product are appropriate for the systems machines, or
equipment; and, ensure that you have provided the systems, machines, or equipment with double safety
mechanisms.
1. Applications under conditions or environments not specified in the manual.
2. Applications for nuclear reactor control, train facilities, aviation facilities, motorized vehicles, furnaces, medical
equipment, amusement equipment, and safety equipment.
3. Applications strongly related to human life or property, particularly those requiring safety.

ATTENTION
You must read the relevant user’s manuals
carefully before attempting to operate any
of the equipment described in this catalog.

NOTE: DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters to inches divide by 25.4.

OMRON ELECTRONICS, INC. OMRON CANADA, INC.
One East Commerce Drive 885 Milner Avenue
Schaumburg, IL 60173 Scarborough, Ontario M1B 5V8
1-800-55-OMRON 416-286-6465

Cat. No. GCSMD1 10/98 Specifications subject to change without notice. Printed in U.S.A.