182
AC servo systems
Note: 1. For servo motor and cable part numbers, refer to ordering information at the end of this chapter.
2. Refer to the servo drive chapter for drive options selection and detailed specifications.
General specifications
Performance specifications
Flat servo motors
Servo motor / servo drive combination
SmarStep servo motor
SmartStep servo drive
XtraDrive servo drive
Voltage
Rated torque
Capacity
Model
230 V (1-phase)
230 V (1-phase)
R7M-A (3000 min
-1
)
230 V
0.095 Nm
30 W
R7M-A03030-
@
R7D-APA3H
XD-P3-MN01
0.159 Nm
50 W
R7M-A05030-
@
R7D-APA5H
XD-P5-MN01
0.318 Nm
100 W
R7M-A10030-
@
R7D-AP01H
XD-01-MN01
0.637 Nm
200 W
R7M-A20030-
@
R7D-AP02H
XD-02-MN01
1.27 Nm
400 W
R7M-A40030-
@
R7D-AP04H
XD-04-MN01
2.39 Nm
750 W
R7M-A75030-
@
R7D-AP08H
XD-08-MN
R7M-AP(3000 min
-1
)
230 V
0.318 Nm
100 W
R7M-AP10030-
@
R7D-AP01H
XD-01-MN01
0.637 Nm
200 W
R7M-AP20030-
@
R7D-AP02H
XD-02-MN01
1.27 Nm
400 W
R7M-AP40030-
@
R7D-AP04H
XD-04-MN01
2.39 Nm
750 W
R7M-AP75030-
@
R7D-AP08H
XD-08-MN
Servo motor specifications
Item
Specification
Ambient operating temperature
0 to 40
°
C
Ambient operating humidity
20% to 80% (with no condensation)
Ambient storage temperature
-20 to 60
°
C
Ambient storage humidity
20% to 80% (with no condensation)
Storage/operating atmosphere
No corrosive gases.
Vibration resistance
10 to 2,500 Hz in X, Y, and Z directions with 0.2 mm double amplitude or acceleration of 24.5 m/s
2
max.,
whichever is smaller
Impact resistance
Acceleration 98 m/s
2
max., in a vertical direction, two times
Insulation resistance
Between power line terminals and FG: 10 M
Ω
min. (at 500 VDC)
Dielectric strength
Between power line terminals and FG: 1,500 VAC for 1 min at 50/60 Hz
Run position
Any direction
Insulation grade
Type B
Structure
Totally-enclosed self-cooling
Protective structure
IP55 for both the cylindrical and flat servo motors
Vibration grade
V-15
Mounting method
Flange-mounting
International standards
Approval obtained for UL, cUL, and EN (EMC directive and low-voltage directive)
Item
R7M-AP10030-
@
R7M-AP20030-
@
R7M-AP40030-
@
R7M-AP75030-
@
Rated output
100 W
200 W
400 W
750 W
Rated torque
0.318 N
⋅
m
0.637 N
⋅
m
1.27 N
⋅
m
2.39 N
⋅
m
Rated rotation speed
3,000 r/min
3,000 r/min
3,000 r/min
3,000 r/min
Momentary maximum rotation speed
4,500 r/min
4,500 r/min
4,500 r/min
4,500 r/min
Momentary maximum torque
0.96 N
⋅
m
1.91 N
⋅
m
3.82 N
⋅
m
7.1 N
⋅
m
Rated current
0.89 A (rms)
2.0 A (rms)
2.6 A (rms)
4.1 A (rms)
Momentary maximum current
2.8 A (rms)
6.0 A (rms)
8.0 A (rms)
13.9 A (rms)
Rotor inertia
6.5
×
10
-6
kg
⋅
m
2
2.09
×
10
-5
kg
⋅
m
2
3.47
×
10
-5
kg
⋅
m
2
2.11
×
10
-4
kg
⋅
m
2
Power rate
15.7 kW/s
19.4 kW/s
46.8 kW/s
26.9 kW/s
Allowable radial load
78 N
245 N
245 N
392 N
Allowable thrust load
49 N
68 N
68 N
147 N
Weight
Without brake
0.7 kg
1.4 kg
2.1 kg
4.2 kg
With brake
0.9 kg
1.9 kg
2.6 kg
5.7 kg
Encoder resolution
2,000 pulses/revolution for phase-A and phase-B, 1 pulse/revolution for phase-Z
Radiation shield dimensions
t6
×
250 mm square
t12
×
300 mm square
Brake
specifications
Brake inertia
3.1
×
10
-6
kg
⋅
m
2
1.52
×
10
-5
kg
⋅
m
2
1.52
×
10
-5
kg
⋅
m
2
8.75
×
10
-5
kg
⋅
m
2
Excitation voltage
24 VDC
±
10%
Power consumption (at 20
°
C)
7.5 W
7.6 W
8.2 W
7.5 W
Current consumption (at 20
°
C)
0.31 A
0.32 A
0.34 A
0.31 A
Static friction torque
0.4 N
⋅
m min.
0.9 N
⋅
m min.
1.9 N
⋅
m min.
3.5 N
⋅
m min.
Attraction time
60 ms max.
40 ms max.
60 ms max.
20 ms max.
Release time
20 ms max.
20 ms max.
20 ms max.
40 ms max.
Backlash
1
°
1
°
1
°
1
°
Rating
Continuous
Continuous
Continuous
Continuous
Insulation grade
Type F
Type F
Type F
Type F
Applicable servo driver (R7D-)
AP01H
AP02H
AP04H
AP08H
Y203-EN2-02-Katalog.book Seite 182 Mittwoch, 24. Mai 2006 2:22 14
