Omron R7M-A20030-BS1 Servo Motor Hauptasicht
10.07.2025 by Viktor Siebert
Tool Changer Malfunction – 24h Repair of an Omron R7M-A20030-BS1 Servo Motor

A service company specializing in machine tools contacted us with an urgent issue. They had refurbished a Gildemeister machine and sold it to a customer. A few months later, the buyer reported problems: the tool changer was unreliable and required frequent recalibration.

Initially, the SmartStep servo drive R7D-AP02H was suspected. It was replaced by a brand-new unit without success. The error persisted.

While searching for solutions online, the machine dealer found our company. We were immediately familiar with the issue. In most cases, the fault lies in the encoder the Yaskawa TRD-FY2000 – which is known to fail on this specific motor type. This encoder was developed by Yaskawa specifically for Omron, and although similar motors exist, none have a compatible encoder.

We’ve been repairing these motors for years and are fully aware of the specifics. We also stock new replacement encoders that are specially adapted for this model. This enables us to offer a reliable, long-term repair solution. Standard turnaround time is typically 4 to 7 working days.

However, due to the urgency of the case, the customer had the motor delivered to us by express courier. All spare parts were in stock, and we completed the overhaul within 24 hours. The repaired motor was sent back via express service, and the machine has been running smoothly ever since no further calibration needed.

Technical Repair Procedure for Omron R7M-A20030-BS1

Incoming Inspection:

  • Visual inspection for mechanical damage
  • Verification of model and serial number
  • Insulation resistance test

Disassembly and Diagnostics:

  • Full motor disassembly and opening of brake assembly
  • Bearing condition check for wear and axial play
  • Encoder diagnosis using oscilloscope and signal testing
  • Brake coil resistance and holding torque measurement

Repair Measures:

  • Replacement of the encoder with original TRD-FY2000 (customized for Omron)
  • Cleaning and resealing of housing parts
  • Replacement of bearings with premium industrial-grade brands (e.g. NSK/FAG)
  • Adjustment and testing of braking performance
  • Reassembly with precise torque settings

Functional Testing:

  • Connection to original Omron SmartStep Drive R7D-AP02H
  • Complete test run in our dynamic load test bench
  • Load testing across full speed range
  • Repeated positioning accuracy tests
  • Brake holding test under power-off conditions

Final Steps:

  • Full documentation of test results
  • Labelling with test date and internal tracking number
  • Packaging in shock-protected shipping container
  • Return shipment via express courier

Information about the mentioned Servopack and Servomotor:

More information about our Omron repairs can be found here.

📞 Feel free to contact us if you have any questions regarding your Omron drive technology. Our experienced team is always ready to assist you.

Technical Specifications – Omron R7M-A20030-BS1 Servo Motor

ParameterSpecification
ModelR7M-A20030-BS1
TypeCylindrical AC Servo Motor with Brake
Rated Output Power200 W
Rated Torque0.637 N·m
Rated Speed3,000 rpm
Rated Current2.0 A (rms)
Power Supply Voltage200 VAC (via SmartStep Driver R7D-AP02H)
Encoder TypeIncremental encoder (Yaskawa TRD-FY2000 or equivalent)
Encoder Resolution2,000 pulses/revolution (A/B phases) + 1 pulse/rev (Z phase)
Brake Type24 VDC holding brake
Brake Models UsedKYOWA SEIKO KS-50B-086 or OGURA CLUTCH MCNB-15Y-06
Brake Power Consumption7 W
Brake Holding Torque≥ 1.47 N·m
Insulation ClassClass B
EnclosureTotally enclosed, IP55 (excluding shaft end)
Cooling MethodSelf-cooling (natural air convection)
MountingFlange-mounted
Operating Temp. Range0 to 40 °C
Operating Humidity20–80 % RH (non-condensing)
Storage Temp. Range–20 to 60 °C
Weight (incl. brake)Approx. 1.6 kg

Alarm Table – Omron R7D-AP02H (SmartStep A)

CodeError TypeCause of Error
A.04Parameter Setting ErrorThe connected servomotor does not match the configured servo driver
A.10OvercurrentOvercurrent detected or temperature rise in the radiation shield
A.30Regeneration ErrorRegeneration circuit damaged due to excessive regenerative energy
A.32Regeneration OverloadRegenerative energy exceeded the capacity of the regeneration resistor
A.40Over-/UndervoltageMain circuit DC voltage outside the allowable range
A.51OverspeedServomotor exceeded the allowed rotation speed
A.70OverloadOutput torque exceeded 120% of the rated torque
A.73Dynamic Brake OverloadToo much energy dissipated during dynamic brake operation
A.74Inrush Resistance OverloadInrush current exceeded the limit of the inrush resistor during power-up
A.7AOverheatAbnormal temperature rise detected in the heat sink
A.bFSystem ErrorInternal control circuit failure detected
A.C1Runaway DetectedMotor rotated in the opposite direction than commanded
A.C2Phase Detection ErrorMotor’s electrical angle could not be correctly detected
A.C3Encoder DisconnectionEncoder phase A, B, or S is disconnected or shorted
A.d0Deviation Counter OverflowRemaining pulses exceeded the counter’s overflow level (set via Pn505)

We are happy to assist you with any questions and inquiries.

Feel free to contact us anytime through our social media channels.

Get in touch with us

Mandatory fields are marked with (*)