R7D-AP@

SmartStep servo drive

A new concept in servo systems
the smart alternative to stepper motors
• Easy to setup, easy to operate. SmartStep is as
easy to use as a stepper motor
• Front-panel switches make settings easy and
eliminate the need for time-consuming parameter
settings
• Auto-tuning on-line mode, dynamic brake setting,
alarm display, high torque performance
• Easy to wire with prebuilt cables
• Oscilloscope available via CX-Drive software
(CX-One)
• Windows based configuration and commissioning
software
Ratings
• 230 VAC single-phase 30 W to 750 W (2.39 Nm)

System configuration

(Refer to chapter SmartStep servo motors)

SmartStep
Servo Drive
SmartStep Personal computer
Servo Motor

Position control
unit

Connector terminal block

General purpose controller
(with pulse output)

SmartStep servo drive 153

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 Servo motor supported

Servo motor
Family Voltage Models rated torque Remarks
R7M-A (3000 min-1) 230 V 0.095 Nm to 2.39 Nm Refer to the SmartStep servo motors chapter for details

R7M-AP(3000 min-1) 230 V 0.318 Nm to 2.39 Nm Refer to the SmartStep servo motors chapter for details

Servo drive specifications

General specifications
Item Specification
Ambient operating temperature 0 to 55 °C
Ambient operating humidity 90% max. (with no condensation)
Ambient storage temperature -20 to 85 °C
Ambient storage humidity 90% max. (with no condensation)
Storage/operating atmosphere No corrosive gases.
Vibration resistance 10 to 55 Hz in X, Y, and Z directions with 0.1 mm double amplitude or acceleration of 4.9 m/s2 max.,
whichever is smaller
Impact resistance Acceleration 19.6 m/s2 max., in X, Y, and Z directions, three times
Insulation resistance Between power line terminals and case: 0.5 MΩ min. (at 500 VDC)
Dielectric strength Between power line terminals and case: 1,500 VAC for 1 min at 50/60 Hz
Between each control signal and case: 500 VAC for 1 min
Protective structure Built into panel (IP10).
International standards Approval obtained for UL, cUL, and EN (EMC directiveand low-voltage directive)

Performance specifications
Item 200 VAC input type
30 W 50 W 100 W 200 W 400 W 750 W
R7D-APA3H R7D-APA5H R7D-AP01H R7D-AP02H R7D-AP04H R7D-AP08H
Continuous output current (rms) 0.42 0.6 0.89 2.0 2.6 4.4
Momentary maximum output current (rms) 1.3 1.9 2.8 6.0 8.0 13.9
Control power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz
Main-circuit power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz
(three-phase 200/230 VAC can be used with the 750 W model.)
Control method All-digital servo
Speed feedback 2,000 pulses/revolution incremental encoder
Inverter method PWM method based on IGBT
PWM frequency 11.7 kHz
Weight 0.8 0.8 0.8 0.8 1.1 1.7
Compatible motor voltage 200 V
Compatible motor capacity 30 W 50 W 100 W 200 W 400 W 750 W
Command pulse response 250 kHz
Applicable servo motor A03030 A05030 A10030 A20030 A40030 A75030
(R7M-) AP10030 AP20030 AP40030 AP75030

I/O specifications
Terminal specifications
Symbol Name Function
L1 and L2 Main-circuit power supply These are the input terminals for the main-circuit power supply.
or terminals
L1, L2, and L3
DC reactor terminals Normally short-circuit between +1 and +2.
+1 If harmonic control measures are required, connect a DC reactor between +1 and +2.
+2

− Main-circuit DC output Do not connect anything to this terminal.

L1C Control circuit power These are the input terminals for the control power supply.
L2C supply terminals
B1 and B2 or External regeneration Connect an external regeneration resistor to these terminals if the regenerative capacity of the internal capacitor is
B1, B2, and B3 resistance terminals exceeded. (An external regeneration resistor cannot be connected to the 30 to 200 W models.)
U Servo motor Red These are the terminals for outputs to the servo motor.
V terminals White
W Blue
Frame ground This is the ground terminal.

154 AC servo systems

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 Control I/O (CN1) specifications
Pin Symbol Name Function
1 +PULS/CW/A Feed pulses, reverse pulses, Line-driver input: 7 mA at 3 V
2 −PULS/CW/A or 90° phase difference pulses (A phase) Open-collector input
3 +SIGN/CCW/B Direction signal, forward pulses, Input impedance: 200 Ω
Maximum response frequency: 250 kpps
4 −SIGN/CCW/B or 90° phase difference pulses (B phase)
Position control is performed based on the pulses that have been input.
5 +ECRST Deviation counter reset Line-driver input: 7 mA at 3 V
6 −ECRST Open-collector input: 16 mA at 5 V
Input impedance: 200 Ω
ON: resets deviation counter.
7 BKIR Brake interlock output Outputs holding brake timing signals.
8 INP Positioning completed output ON when the position error is within the positioning completed range.
10 OGND Output ground common Ground common for output signals (pins 7 and 8).
13 +24V +24 VDC power input for control Power supply input (+24 VDC) for pins 14 and 18.
14 RUN RUN command input ON: servo ON (starts power to servo motor)
18 RESET Alarm reset input ON: servo alarm status is reset.
19 GND RS-422A ground Ground for RS-422A
20 RXD+ RS-422A reception data Interface for RS-422A data transfers
21 RXD−
22 TXD+ RS-422A transmission data
23 TXD−
24 RT Termination resistance terminal Connect to RXD- (pin 21) in the unit at the end of the line.
32 Z Encoder phase-Z open-collector output Output goes ON when the encoder’s phase-Z signal (1 pulse/revolution)
33 ZCOM is detected.
Open-collector output: 20 mA max. at 30 VDC
34 ALM Alarm output Output goes OFF when alarm is detected.
35 ALMCOM Open-collector output: 50 mA max. at 30 VDC
Shell FG Cable shield ground Ground for cable's shield wire.

Encoder connector (CN2) specifications

Pin Symbol Name Function
1, 2, 3 E0V Encoder power supply GND Power supply output for encoder
4, 5, 6 E5V Encoder power supply +5 V
8 S+ Encoder + phase-S input Line driver input (conforms to EIA-RS422A)
9 S− Encoder − phase-S input (Input impedance: 220 Ω ± 5%)
10 A+ Encoder + phase-A input Line driver input (conforms to EIA-RS422A)
11 A− Encoder − phase-A input (Input impedance: 220 Ω ± 5%)
12 B+ Encoder + phase-B input Line driver input (conforms to EIA-RS422A)
13 B− Encoder − phase-B input (Input impedance: 220 Ω ± 5%)
Shell FG Cable shield ground Ground for cable's shield wire.

Communications connector (CN3) specifications

Pin Symbol Name Function
1 /TXD Transmission data Transmission data: RS-232C output
2 /RXD Reception data Reception data: RS-232C input
3 PRMU Unit switching Switching terminal for a parameter unit
7 +5V +5 V output This is the +5 V power supply output to the parameter unit.
8 GND Ground
Shell FG Cable shield ground Ground for cable's shield wire.

Monitor output (CN4) specifications

Pin Symbol Name Function
1 NM Speed monitor Speed monitor output: 1 V per 1,000 r/min
2 AM Current monitor Current monitor: 1 V / rated torque
3 GND Ground Grounds for monitor output
4 GND Ground

SmartStep servo drive 155

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 Digital operator specifications
General specifications
Item Specification
Ambient operating temperature 0 to 55 °C
Ambient operating humidity 90% max. (with no condensation) B.B INP
VCMP
TGON REF POWER

Ambient storage temperature -20 to 85 °C

Ambient storage humidity 90% max. (with no condensation)
Storage/operating atmosphere No corrosive gases.
Vibration resistance 10 to 55 Hz in X, Y, and Z directions with 0.1 mm double amplitude or
acceleration of 9.8 m/s2 max., whichever is smaller
Impact resistance Acceleration 19.6 m/s2 max., in X, Y, and Z directions, three times R7A–PR02A PARAMETER UNIT

SCROLL MODE/SET
RESET
Function specifications
JOG
JOG
Item Function RUN
RUN
DATA
Setting mode Display or change parameter settings.
Monitor mode Display monitor values.
Execute function mode Execute each function mode.
READ WRITE
Display alarms Display alarms that have occurred. DRIVER PR
DRIVER‫ޓ‬ PR DRIVER
PR‫ޓ‬
PR DRIVER

Copy parameters Read or save parameters from the servo drive.

Write parameters to the servo drive.
Compare parameters in the servo drive with parameters in the R7A-PR02A
parameter unit.

Mode change specifications

Power ON

Parameter/monitor mode BB -PRM/MON- BB -PRM/MON-

Un000 = 3000r/min Pn000 = 0000
Un002 = 40% Un002 = 40%
Un008 = 00100pulse Un008 = 00100pulse
MODE/SET
Un00D = 10000000 Un00D = 10000000

MODE/SET Function mode BB -FUNCTION- BB -FUNCTION-

Fn000 Fn001
Fn001 Fn002
Fn002 Fn003
MODE/SET
Fn003 Fn005

Copy parameters mode BB -COPY- BB -COPY-

1: DRIVER→PR 1: DRIVER→PR
2: PR→DRIVER 2: PR→DRIVER
3: Verify 3: Verify
4: LIST 4: LIST

A. 70 -ALARM- A. 70 -ALARM-
1: A.00 2: A.02
Display alarms mode 2: A.02 3: A.10
3: A.10 4: A.71
4: A.71 5: A.72

156 AC servo systems

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 Operation
Components

Unit number switch

Gain adjustment switch

DIP switch • Resolution setting

• Command pulse input setting
• Dynamic brake setting

Autotuning switch
Charge indicator
Alarm indicator
Power indicator
Main-circuit power terminals
Communications connector (CN3)

Monitor output connector (CN4)

DC reactor terminals

Control-circuit power terminals Control I/O connector (CN1)

External regeneration
Resistor terminals

Servo motor power terminals

Encoder input connector (CN2)

Ground terminals for

power supply and
servo motor power

Switch operations
Gain adjustment switch
Adjusts the motor’s responsiveness. Setting Position loop Speed loop Speed loop Torque
When this switch is set to 0, the unit will operate according to the set- gain gain integral command filter
constant time constant
tings in the internal parameters (Pn100, Pn101, Pn102, and Pn401).
0 Enables parameter settings
When this switch is set to 1 through F, the unit will operate according to (including settings other than gain settings).
the rotary switch’s setting. 1 15 15 4,000 250
2 20 20 3,500 200
F 0 1 3 30 30 3,000 150
2 4 40 40 2,000 100
5 60 60 1,500 70
6 85 85 1,000 50
7 120 120 800 30
8 160 160 600 20
Decrease the switch setting to lower the motor’s responsiveness 9 200 200 500 15
(i.e., so that it moves more smoothly). A 250 250 400 10
Increase the switch setting to raise the motor’s responsiveness B 250 250 400 10
(i.e., so that it moves faster). C 250 250 400 10
D 250 250 400 10
E 250 250 400 10
F 250 250 400 10

SmartStep servo drive 157

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 Enable switch/parameter setting Command pulse input setting
Pin 6 of the DIP switch selects whether the servo drive operates according to the Pin 3 selects the command pulse mode. Select “Forward pulse/reverse
DIP switch settings or parameter settings. pulse: positive logic” or “feed pulses/direction signal: positive logic.”
ON OFF ON OFF
Pin 6 Function
OFF Enables the DIP switch settings.
6 6
ON Enables the parameter settings.
5 5 Pin 3 Command pulse mode
4 4 OFF Forward pulse/reverse pulse:
positive logic
3 3 ON Feed pulses/direction signal:
2 2 positive logic

1 1

(Default setting) (Default setting)

Online autotuning setting Dynamic brake setting

The autotuning switch selects whether the gain will be adjusted auto- Pin 2 enables or disables dynamic brake operation. If the dynamic brake is ena-
matically during operation. bled, the motor can be brought to an emergency stop when the RUN command
goes OFF or an alarm occurs.
ON OFF
Perform online autotuning.
ON OFF
1
6
ON OFF Complete online autotuning. 5
The result is stored in the inertia ratio
4
1 parameter (Pn103) and the servo drive
runs. 3 Pin 2 Dynamic brake mode
OFF Dynamic brake disabled.
2
ON Dynamic brake enabled.
Resolution setting 1
Pins 4 and 5 select the positioning resolution.
(Default setting)
If the resolution is set to 1,000 (the default setting), the motor makes
one revolution for every 1,000 pulses input.
ON OFF Pins Resolution
5 4
6 OFF OFF 1,000 pulses/revolution
(0.36°/step)
5
OFF ON 10,000 pulses/revolution
4 (0.036°/step)
3 ON OFF 500 pulses/revolution
(0.72°/step)
2 ON ON 5,000 pulses/revolution
1 (0.072°/step)

(Default setting)

Alarm Table
Display ALM output Error detection function Display ALM output Error detection function

A.04* OFF Parameter setting error A.7A OFF Overheat

A.10* OFF Overcurrent [Link]* OFF System error

A.30 OFF Regeneration error A.C1 OFF Runaway detected

A.32 OFF Regeneration overload A.C2* OFF Phase not detected

A.40 OFF Overvoltage/undervoltage A.C3* OFF Encoder disconnect detected

A.51 OFF Overspeed A.d0 OFF Deviation counter overflow

A.70 OFF Overload CPF00 --- Parameter unit transmission error 1

A.73 OFF Dynamic brake overload CPF01 --- Parameter unit transmission error 2

A.74 OFF Inrush resistance overload A.91 --- Overload warning

A.92 --- Regeneration overload warning

Note: 1. These parameters are read when the power is turned 2. When using a regeneration resistor, set the resistor’s
ON. Parameter Pn110.2 is valid when online. capacity when the temperature has risen to 120 °C.
Set this parameter to 0 if a regeneration resistor is not
being used.

158 AC servo systems

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 Dimensions
Servo drives
R7D-APA3H/APA5H/AP01H/AP02H (230 V, 30 to 200 W) R7D-AP04H (230 V, 400 W)

Mounting dimensions Mounting dimensions

5 dia. hole

5.5 Two, M4 5.5 5.5 Two, M4

160 160 160

160
149.5±0.5 149.5 149.5±0.5

(5) 5 (5) 5 (5) 12

55 (75) 130 55 12 (63) (75) 130 75
75

17 17

R7D-AP08H (230 V, 750 W)

5 dia. hole Mounting dimensions

5.5 Two, M4

94
160
160
149.5±0.5

35 55 (5) 27
96 90 (75) 180 90

17

Filters
R88A-FIW104-SE R88A-FIW107-SE, R88A-FIW115-SE
Units: mm (in)
Model R88A-FIW107-SE R88A-FIW115-SE
32(1.26)

(0.04)

Dimensions A 75 90
1

in mm B 240+5 300+5
202(7.95)
C 50 60
11.5(0.45)

192(7.56)
28.25(1.11) 149.5(5.89)
D 12 15
E 1 1.2
M4
33(1.30)
56(2.20)

(0.20)
5

φ5 M4(2×)
(φ0.20)
Units: mm
φ10(φ0.39)
)

6(0.24)

5.5(0.22)
)
240 +50 (9.45 +0.20

wires AWG16
265 +50 (10.43 +0.20
0

32

14(0.55)
16

GNYE

M4
E

70(2.76) 202
19(0.75) 168(6.61) 15(0.59) 192
28 150
D
5

M4
C
A

φ5 M4(2×)

10 wires AWG16
5.5

14
B

GNYE
265 +50

M4

70
19 168 15

SmartStep servo drive 159

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 Installation
Single-phase 200 to 230 VAC +10%/-15% (50/60 Hz)
(the 750 W servo drives can input three-phase 200 to 230 VAC.)

1MCCB

Main-circuit
Noise filter Main-circuit
power supply
contactor
OFF ON
1MC
1MC X
Surge
suppressor

B1 B2

1MC
Servo motor
L1 U

L2 V M
SMARTSTEP A-series W
Servo drive
L1C
L2C
If necessary, connect a Encoder
+ 1
DC Reactor to these
terminals to suppress + 2 CN2 RE
high harmonics in the
power supply.

Always ground
CN1 Attach the shield wire to
this terminal.
the terminal securely.

Reverse +CW 1 200 Ω

22
Pulses −CW 2 TXD+ Transmission
23 RS-422 Interface
TXD− data
Compatible line drivers
Forward +CCW 3 200 Ω
Position Pulses 20
commands −CCW 4 RXD+ Reception Texas Inst. SN75174,
21
RXD− data MC3487 or equivalent
Deviation +ECRST 5 200 Ω 220 Ω Compatible Line Receivers
Counter −ECRST 6 24 Terminating
Reset RT resistor Texas Inst. SN75175,
MC3486 or equivalent

Positioning
8 completed
INP
output

Brake
Max. operating voltage: 30 VDC
+24VIN 13 7 Max. output current: 50 mA
RUN BKIR interlock
24 VDC output (Phase-z output is 20 mA max.)
command 10
RUN 14 OGND
3.3k 32
Alarm reset Z Phase Z
RESET 18
33
3.3k ZCOM

34 Alarm output
ALM
35
ALMCOM

Shell

FG (frame ground)
Connect the shield wire to the
connector shell.

Note: * A regeneration resistor can be connected across the B1 and B2 terminals with 400 W and 750 W servo drives.
When using an external regeneration resistor with a 400 W servo drive, just connect it across the B1 and B2 terminals.
When using an external regeneration resistor with a 750 W servo drive, remove the jumper bar from the B2 and B3 terminals and then
connect the regeneration resistor across the B1 and B2 terminals.

160 AC servo systems

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 Ordering information

(Refer to chapter SmartStep servo motors)

C SmartStep
Servo Drive

A SmartStep
Servo Motor
Personal computer
J

K I

E D F

G Position control
B unit
H
H

Connector terminal block

General purpose controller
(with pulse output)

Note: The symbols ABCDE... show the recommended sequence to select the components in a SmartStep servo system

Servo motors
Note: A Refer to the SmartStep servo motor chapter for detailed motor specifications and selection

Servo drives
Symbol Specifications SmartStep drive Compatible servo motors A
model Cylindrical type Flat type
C 200 VAC 30 W R7D-APA3H R7M-A03030-@ -
50 W R7D-APA5H R7M-A05030-@ -
100 W R7D-AP01H R7M-A10030-@ R7M-AP10030-@
200 W R7D-AP02H R7M-A20030-@ R7M-AP20030-@
400 W R7D-AP04H R7M-A40030-@ R7M-AP40030-@
750 W R7D-AP08H R7M-A75030-@ R7M-AP75030-@

Servo motor cables (for CN2)

Standard cable (power + encoder)
Symbol Drive Specifications Power cable model Encoder cable model Appearance
B SmartStep For servo motors
without brake
3m R7A-CEA003S-DE
5m R7A-CEA005S-DE
R7M-A(P)@@@30-S1-D 10 m R7A-CEA010S-DE
R7A-CEA0___-DE
15 m R7A-CEA015S-DE
20 m R7A-CEA020S-DE
For servo motors 3m R7A-CEA003B-DE
with brake 5m R7A-CEA005B-DE
R7M-A(P)@@@30-BS1-D 10 m R7A-CEA010B-DE
15 m R7A-CEA015B-DE
Only for brake
20 m R7A-CEA020B-DE models

Flexible cables (power + encoder)

Symbol Drive Specifications Power cable model Encoder cable model Appearance
B SmartStep For servo motors 3m R88A-CAWA003S-DE R7A-CRA003-FDE
R7A-CRA0___-FDE
without brake 5m R88A-CAWA005S-DE R7A-CRA005-FDE
R7M-A(P)@@@30-S1-D 10 m R88A-CAWA010S-DE R7A-CRA010-FDE
15 m R88A-CAWA015S-DE R7A-CRA015-FDE
20 m R88A-CAWA020S-DE R7A-CRA020-FDE R88A-CAWA0___-DE
For servo motors 3m R88A-CAWA003B-DE R7A-CRA003-FDE
with brake 5m R88A-CAWA005B-DE R7A-CRA005-FDE
R7M-A(P)@@@30-BS1-D 10 m R88A-CAWA010B-DE R7A-CRA010-FDE
15 m R88A-CAWA015B-DE R7A-CRA015-FDE
20 m R88A-CAWA020B-DE R7A-CRA020-FDE Only for brake
models

SmartStep servo drive 161

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 Control cables (for CN1)
Symbol Name Compatible units Model Available lengths
D Servo relay unit Use with position control units XW2B-20J6-1B ---
(doesn’t support communications functions.) (1 axis)
Units: CS1W-NC113/133, CJ1W-NC113/133, C200HW-NC113, and
C200H-NC112
Use with position control units XW2B-40J6-2B
(doesn’t support communications functions.) (2 axes)
Units: CS1W-NC213/233/413/433, CJ1W-NC213/233/413/433,
C200HW-NC213/413, C500-NC113/211, and C200H-NC211
Use with position control units XW2B-20J6-3B
(doesn’t support communications functions.) (1 axis)
Units: CQM1H-PLB21, and CQM1-CPU43-V1
Use with position control units (supports communications functions.) XW2B-40J6-4A
Units: CS1W-NC213/233/413/433, CJ1W-NC213/233/413/433 (2 axes)
Use with CJ1M-CPU22/23 XW2B-20J6-8A (1 axis)
(doesn’t support communications functions.) XW2B-40J6-9A (2 axes)
E Cable to servo drive Doesn’t support communications functions. (For the XW2B-@@J6-@B) XW2Z-@@@J-B5 1 m or 2 m
Supports communications functions. (For the XW2B-@@J6-4B) XW2Z-@@@J-B7 (the cable length goes in
the empty boxes.)
F Cable to position CQM1H-PLB21 and CQM1-CPU43-V1 XW2Z-@@@J-A3 0.5 m or 1 m
control unit C200H-NC112 XW2Z-@@@J-A4 (the cable length goes in
C200H-NC211 and C500-NC113/211 XW2Z-@@@J-A5 the empty boxes.)
CS1W-NC113 and C200HW-NC113 XW2Z-@@@J-A8
CS1W-NC213/413 and C200HW-NC213/413 XW2Z-@@@J-A9
CS1W-NC133 XW2Z-@@@J-A12
CS1W-NC233/433 XW2Z-@@@J-A13
CJ1W-NC113 XW2Z-@@@J-A16
CJ1W-NC213/413 XW2Z-@@@J-A17
CJ1W-NC133 XW2Z-@@@J-A20
CS1W-NC233/433 XW2Z-@@@J-A21
CJ1M-CPU22/23 XW2Z-@@@J-A26
G Control cable For general-purpose controllers R88A-CPU@@@S 1 m or 2 m
(the cable length goes in
H Connector terminal block For general-purpose controllers R88A-CTU@@@N the empty boxes.)
cable
Connector terminal block XW2B-40F5-P ---

Cable for CN3 Cable for CN4

Symbol Name Model Symbol Name Model
I Computer monitor cable R7A-CCA002P2
J Analog monitor cable R88A-CMW001S

Filters
Symbol Applicable servo drive Filter model Rated current Rated voltage
K R7D-APA3H, R7D-APA5H, R7D-AP01H, R7D-AP02H R88A-FIW104-E 4A 250 VAC single phase
R7D-AP04H R88A-FIW107-E 7A
R7D-AP08H R88A-FIW115-E 15A

Connectors
Specifications Model
Control I/O connector (for CN1) R88A-CNU01C
SmartStep connectors kit. Models included in kit R7A-CNA00K-DE
SmartStep encoder connector (for CN2) R7A-CNA01R
Hypertac power connector female SPOC-06K-FSDN169
Hypertac encoder connector female SPOC-17H-FRON169
Hypertac power connector male (used in the motor) SRUC-06J-MSCN236
Hypertac encoder connector male (used in the motor) SRUC-17G-MRWN087

External regeneration resistor

Specification Model
220 W, 47 Ω R88A-RR22047S

Parameter unit & computer software

Specifications Model
Parameter copy unit (with cable) R7A-PR02A
Configuration and monitoring software tool for servo drives and inverters. (CX-drive version 1.11 or higher) CX-drive
Complete OMRON software package including CX-drive. (CX-One version 1.1 or higher) CX-One

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. I46E-EN-01 In the interest of product improvement, specifications are subject to change without notice.

162 AC servo systems

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