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G Servo Datasheet
G Servo Datasheet
G Servo Datasheet
R88M-G/R88D-GT@
High-speed Response The G-series AC Servomotors and Servo Drives have achieved high-speed response capabilities exceeding OMRONs W-series models, with a high-response frequency of 1 kHz (compared to 400 Hz for the W Series). Suppressing Vibration of Low-rigidity Mechanisms during Acceleration/Deceleration The damping control function suppresses vibration of low-rigidity mechanisms or devices whose ends tend to vibrate. Two damping filters are provided to enable switching the vibration frequency automatically according to the direction of rotation and also via an external signal. In
CSM_R88M-G_R88D-GT__DS_E_4_1
Support for a Wide Range of Applications with Position Control, Speed Control, Torque Control.
addition, the settings can be made easily merely by setting the vibration frequency and filter values, and you are assured of stable operation even if the settings are inappropriate. High-speed Positioning via Resonance Suppression Control The realtime autotuning function automatically estimates the load inertia of the machine in realtime and sets the optimal gain. The adaptive filter automatically suppresses vibration caused by resonance. Also, two independent notch filters make it possible to reduce vibration of a mechanism with multiple resonance frequencies.
System Configuration
Controllers Monitor Software
CX-Drive
Parameter Unit
R88A-PR02G
Available soon
FQM1-series PLC
CJ1W-NC113/213/413 CJ1W-NC133/233/433
CS1W-NC113/213/413 CS1W-NC133/233/433
FQM1-MMP22
HCP22
RUN ERC
IN OUT
OPN ERH
COMM
MACH No.
0 1 2 3 4 5 6 7 8 9 10 11 0 1 2 3 4 5 6 7
TOOL ON
X101
OFF
X100
A1 B1 A2 B2
1
PERIHER AL
12
CN2 CN1
1
00906
20
A A B
CJ1M-CPU21/22/23
Support Software
CX-One FA Integrated Tool Package
CX-Programmer CX-Position SYSMAC CP1H/CP1L
R88M-G/R88D-GT@
Command Control Mode Switching Operation can be performed by switching between two of the following control modes: Position control, speed control (including internal speed) and torque control. Therefore, a variety of applications can be supported by one Servo Drive. Simplified Speed Control with Internal Speed Settings Eight internal speed settings allow you to change the speed easily by using external signals.
AC Servo Drives
AC Servomotors
OMNUC G-series
AC Servo Drive R88D-GT
Power Cables *
Standard Cable Without brake
R88A-CAG@@@@S
With brake
R88A-CAG@@@@B
feedback signals
Encoder Cables *
Standard Cable 50 W to 750 W
R88A-CRGA@@@C R88A-CRGB@@@C
900 W to 7.5 kW
R88A-CRGC@@@N
Decelerators
Backlash: 3 Arcminutes Max.
R88G-HPG
R88M-G/R88D-GT@
R88D-GT01H
OMNUC G-series Servo Drive Drive Type T: Three-mode type Applicable Servomotor Capacity A5: 50 W 01: 100 W 02: 200 W 04: 400 W 08: 750 W 10: 1 kW 15: 1.5 kW 20: 2 kW 30: 3 kW Power Supply Voltage 50: 5 kW L : 100 VAC 75: 7.5 kW H: 200 VAC
R88M-GP10030H-BOS2
G-series Servomotor Motor Type
Blank: Cylinder type P: Flat type
Servomotor Capacity
050: 100: 200: 400: 750: 900: 1K0: 1K5: 2K0: 3K0: 4K0: 4K5: 5K0: 6K0: 7K5: 50 W 100 W 200 W 400 W 750 W 900 W 1 kW 1.5 kW 2 kW 3 kW 4 kW 4.5 kW 5 kW 6 kW 7.5 kW
Applied Voltage
H: L: T: S: 200 VAC with incremental encoder specifications 100 VAC with incremental encoder specifications 200 VAC with absolute encoder specifications 100 VAC with absolute encoder specifications
Option
Blank: Straight shaft B: With brake O: With oil seal S2: With key and tap
R88M-G/R88D-GT@
Ordering Information
Servo Drives
Specifications 50 W Single-phase 100 VAC 100 W 200 W 400 W 50 W Single-phase 200 VAC 100 W 200 W 400 W 750 W 1 kW Single-phase/three-phase 200 VAC 900 W 1 kW 1.5 kW 2 kW 2 kW 3 kW 3 kW Three-phase 200 VAC 4 kW 4.5 kW 5 kW 6 kW 7.5 kW R88D-GT75H R88D-GT50H R88D-GT20H R88D-GT30H R88D-GT15H Model R88D-GTA5L R88D-GT01L R88D-GT02L R88D-GT04L R88D-GT01H R88D-GT02H R88D-GT04H R88D-GT08H R88D-GT10H
Servomotors
INC 3,000-r/min Cylindrical Servomotors
Specifications 50 W 100 V Without brake 100 W 200 W 400 W 50 W 100 W 200 V 200 W 400 W 750 W 50 W 100 V With brake 100 W 200 W 400 W 50 W 100 W 200 V 200 W 400 W 750 W Note: Models with oil seals are also available. Model Straight shaft R88M-G05030H R88M-G10030L R88M-G20030L R88M-G40030L R88M-G05030H R88M-G10030H R88M-G20030H R88M-G40030H R88M-G75030H R88M-G05030H-B R88M-G10030L-B R88M-G20030L-B R88M-G40030L-B R88M-G05030H-B R88M-G10030H-B R88M-G20030H-B R88M-G40030H-B R88M-G75030H-B Straight shaft with key and tap R88M-G05030H-S2 R88M-G10030L-S2 R88M-G20030L-S2 R88M-G40030L-S2 R88M-G05030H-S2 R88M-G10030H-S2 R88M-G20030H-S2 R88M-G40030H-S2 R88M-G75030H-S2 R88M-G05030H-BS2 R88M-G10030L-BS2 R88M-G20030L-BS2 R88M-G40030L-BS2 R88M-G05030H-BS2 R88M-G10030H-BS2 R88M-G20030H-BS2 R88M-G40030H-BS2 R88M-G75030H-BS2
R88M-G/R88D-GT@
ABS/INC 3,000-r/min Cylindrical Servomotors
Specifications 50 W 100 V 100 W 200 W 400 W 50 W 100 W Without brake 200 W 400 W 200 V 750 W 1 kW 1.5 kW 2 kW 3 kW 4 kW 5 kW 50 W 100 V 100 W 200 W 400 W 50 W 100 W With brake 200 W 400 W 750 W 200 V 1 kW 1.5 kW 2 kW 3 kW 4 kW 5 kW Note: Models with oil seals are also available. Model Straight shaft R88M-G05030T R88M-G10030S R88M-G20030S R88M-G40030S R88M-G05030T R88M-G10030T R88M-G20030T R88M-G40030T R88M-G75030T R88M-G1K030T R88M-G1K530T R88M-G2K030T R88M-G3K030T R88M-G4K030T R88M-G5K030T R88M-G05030T-B R88M-G10030S-B R88M-G20030S-B R88M-G40030S-B R88M-G05030T-B R88M-G10030T-B R88M-G20030T-B R88M-G40030T-B R88M-G75030T-B R88M-G1K030T-B R88M-G1K530T-B R88M-G2K030T-B R88M-G3K030T-B R88M-G4K030T-B R88M-G5K030T-B Straight shaft with key and tap R88M-G05030T-S2 R88M-G10030S-S2 R88M-G20030S-S2 R88M-G40030S-S2 R88M-G05030T-S2 R88M-G10030T-S2 R88M-G20030T-S2 R88M-G40030T-S2 R88M-G75030T-S2 R88M-G1K030T-S2 R88M-G1K530T-S2 R88M-G2K030T-S2 R88M-G3K030T-S2 R88M-G4K030T-S2 R88M-G5K030T-S2 R88M-G05030T-BS2 R88M-G10030S-BS2 R88M-G20030S-BS2 R88M-G40030S-BS2 R88M-G05030T-BS2 R88M-G10030T-BS2 R88M-G20030T-BS2 R88M-G40030T-BS2 R88M-G75030T-BS2 R88M-G1K030T-BS2 R88M-G1K530T-BS2 R88M-G2K030T-BS2 R88M-G3K030T-BS2 R88M-G4K030T-BS2 R88M-G5K030T-BS2
R88M-G/R88D-GT@
ABS/INC 3,000-r/min Flat Servomotors
Specifications 100 W Without brake 100 V 200 W 400 W 100 W 200 V 200 W 400 W 100 W With brake 100 V 200 W 400 W 100 W 200 V 200 W 400 W Note: Models with oil seals are also available. Model Straight shaft R88M-GP10030S R88M-GP20030S R88M-GP40030S R88M-GP10030T R88M-GP20030T R88M-GP40030T R88M-GP10030S-B R88M-GP20030S-B R88M-GP40030S-B R88M-GP10030T-B R88M-GP20030T-B R88M-GP40030T-B Straight shaft with key and tap R88M-GP10030S-S2 R88M-GP20030S-S2 R88M-GP40030S-S2 R88M-GP10030T-S2 R88M-GP20030T-S2 R88M-GP40030T-S2 R88M-GP10030S-BS2 R88M-GP20030S-BS2 R88M-GP40030S-BS2 R88M-GP10030T-BS2 R88M-GP20030T-BS2 R88M-GP40030T-BS2
Note: 1. Models with oil seals are also available. Note: 2. The rated rotation speed for 7.5-kW Servomotors is 1,500 r/min. * UL:pending
R88M-G/R88D-GT@
Decelerators
Backlash: 3 Arcminutes Max. Decelerators for Cylindrical Servomotors
Specifications Motor capacity Gear ratio 1/5 1/9 50 W 1/21 1/33 1/45 1/5 1/11 100 W 1/21 1/33 1/45 1/5 1/11 200 W 1/21 1/33 1/45 1/5 1/11 400 W 1/21 1/33 1/45 1/5 1/11 750 W 1/21 1/33 1/45 Model R88G-HPG11A05100B R88G-HPG11A09050B R88G-HPG14A21100B R88G-HPG14A33050B R88G-HPG14A45050B R88G-HPG11A05100B R88G-HPG14A11100B R88G-HPG14A21100B R88G-HPG20A33100B R88G-HPG20A45100B R88G-HPG14A05200B R88G-HPG14A11200B R88G-HPG20A21200B R88G-HPG20A33200B R88G-HPG20A45200B R88G-HPG14A05400B R88G-HPG20A11400B R88G-HPG20A21400B R88G-HPG32A33400B R88G-HPG32A45400B R88G-HPG20A05750B R88G-HPG20A11750B R88G-HPG32A21750B R88G-HPG32A33750B R88G-HPG32A45750B 750 W 400 W 200 W 100 W 50 W
Note: 1. The standard models have a straight shaft. Note: 2. To order a Servomotor with a straight shaft with key, add J to the end of the model number, in the place indicated by the box. Example: R88G-HPG11A05100BJ
Note: 1. The standard models have a straight shaft. Note: 2. To order a Servomotor with a straight shaft with key, add J to the end of the model number, in the place indicated by the box. Example: R88G-HPG11A05100BJ
R88M-G/R88D-GT@
Accessories and Cables
Servomotor Power Cables (Standard Cables) For Servomotor without brake
Specifications 3m 5m 10 m 3,000-r/min Servomotors of 50 to 750 W, 3,000-r/min Flat Servomotors of 100 to 400 W 20 m 30 m 40 m 50 m 3m 5m 10 m 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, 1,000-r/min Servomotors of 900 W 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 3,000-r/min Servomotors of 2 kW, 2,000-r/min Servomotors of 2 kW 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min Servomotors of 2 to 4.5 kW 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 1,500-r/min Servomotors of 7.5 kW, 1,000-r/min Servomotors of 6 kW 15 m 20 m 30 m 40 m 50 m 15 m Model R88A-CAGA003S R88A-CAGA005S R88A-CAGA010S R88A-CAGA015S R88A-CAGA020S R88A-CAGA030S R88A-CAGA040S R88A-CAGA050S R88A-CAGB003S R88A-CAGB005S R88A-CAGB010S R88A-CAGB015S R88A-CAGB020S R88A-CAGB030S R88A-CAGB040S R88A-CAGB050S R88A-CAGC003S R88A-CAGC005S R88A-CAGC010S R88A-CAGC015S R88A-CAGC020S R88A-CAGC030S R88A-CAGC040S R88A-CAGC050S R88A-CAGD003S R88A-CAGD005S R88A-CAGD010S R88A-CAGD015S R88A-CAGD020S R88A-CAGD030S R88A-CAGD040S R88A-CAGD050S R88A-CAGE003S R88A-CAGE005S R88A-CAGE010S R88A-CAGE015S R88A-CAGE020S R88A-CAGE030S R88A-CAGE040S R88A-CAGE050S 1,500-r/min Servomotors of 7.5 kW, 1,000-r/min Servomotors of 6 kW 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min Servomotors of 2 to 4.5 kW 3,000-r/min Servomotors of 2 kW, 2,000-r/min Servomotors of 2 kW 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, 1,000-r/min Servomotors of 900 W
Note: There are separate connectors for power and brakes for 3,000-r/min Servomotors of 50 to 750 W, Flat Servomotors, and Servomotors of 6 kW or higher. When a Servomotor with a brake is used, it is necessary to use both a Power Cable for Servomotors without brakes and a Power Cable.
R88M-G/R88D-GT@
Encoder Cables (Standard Cables)
Specifications 3m 5m 10 m 3,000-r/min Servomotors of 50 to 750 W with an absolute encoder, 3,000-r/min Flat Servomotors of 100 to 400 W with an absolute encoder 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 3,000-r/min Servomotors of 50 to 750 W with an incremental encoder, 3,000-r/min Flat Servomotors of 100 to 400 W with an incremental encoder 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 3,000-r/min Servomotors of 1 to 5 kW, 2,000-r/min Servomotors of 1 to 5 kW, 1,500-r/min Servomotors of 7.5 kW, 1,000-r/min Servomotors of 900 W to 6 kW 15 m 20 m 30 m 40 m 50 m Model R88A-CRGA003C R88A-CRGA005C RS-485 Communications Cable R88A-CRGA010C R88A-CRGA015C R88A-CRGA020C R88A-CRGA030C R88A-CRGA040C R88A-CRGA050C R88A-CRGB003C R88A-CRGB005C R88A-CRGB010C R88A-CRGB015C R88A-CRGB020C R88A-CRGB030C R88A-CRGB040C R88A-CRGB050C R88A-CRGC003N R88A-CRGC005N R88A-CRGC010N R88A-CRGC015N R88A-CRGC020N R88A-CRGC030N R88A-CRGC040N R88A-CRGC050N 1m R88A-CCG001P4
Communications Cables
Specifications RS-232 Communications Cable 2m 0.5 m Model R88A-CCG002P2 R88A-CCG0R5P4
Connectors
Specifications Servomotor Connector for Encoder Cable Control I/O Connector (CN1) Encoder Connector (CN2) Absolute Encoder Incremental Encoder Model R88A-CNG01R R88A-CNG02R R88A-CNU11C R88A-CNW01R
R88M-G/R88D-GT@
Servo Relay Units (for CN1)
Specifications For CS1W-NC113/-NC133 For CJ1W-NC113/-NC133 For C200HW-NC113 For CS1W-NC213/-NC413/-NC233/-NC433 For CJ1W-NC213/-NC413/-NC233/-NC433 For C200HW-NC213/-NC413 For CJ1M-CPU21/-CPU22/-CPU23 (for 1 axis) For CJ1M-CPU21/-CPU22/-CPU23 (for 2 axis) For FQM1-MMA22 For FQM1-MMP22 For CQM1H-PLB21 Model XW2B-20J6-1B
0.5 m XW2Z-050J-A10
0.5 m XW2Z-050J-A28 General-purpose I/O Cables For FQM1-MMA22 (XW2B-80J7-12A) Special I/O Cables 1m 2m XW2Z-100J-A28 XW2Z-200J-A28
10
R88M-G/R88D-GT@
Control Cables
Specifications 1m Motion Control Unit Cables for 1 axis CS1W-MC221-V1/-MC421-V1 2m 3m 5m 1m Motion Control Unit Cables for 2 axes CS1W-MC221-V1/-MC421-V1 2m 3m 5m General-purpose Control Cables with Connector on One End Connector-Terminal Block Cables 2m M3 screw type Connector Terminal Block Conversion Unit M3.5 screw type M3 screw type XW2Z-200J-B24 XW2B-50G4 XW2B-50G5 XW2D-50G6 1m 2m 1m Model R88A-CPG001M1 R88A-CPG002M1 R88A-CPG003M1 R88A-CPG005M1 R88A-CPG001M2 R88A-CPG002M2 R88A-CPG003M2 R88A-CPG005M2 R88A-CPG001S R88A-CPG002S XW2Z-100J-B24 Parameter Unit 2,000 mAh 3.6 V
Parameter Unit
Specifications Model R88A-PR02G
Reactors
Specifications R88D-GTA5L/-GT01H R88D-GT01L/-GT02H R88D-GT02L/-GT04H R88D-GT04L/-GT08H/-GT10H R88D-GT15H R88D-GT08H/-GT10H/-GT15H R88D-GT20H/-GT30H R88D-GT50H R88D-GT75H Model 3G3AX-DL2002 3G3AX-DL2004 3G3AX-DL2007 3G3AX-DL2015 3G3AX-DL2022 3G3AX-AL2025 3G3AX-AL2055 3G3AX-AL2110 3G3AX-AL2220
11
R88M-G/R88D-GT@
12
R88M-G/R88D-GT@
Note: 1. Insert the cable length into the boxes in the model number (@@@). Position Control Unit cables come in two lengths: 0.5 m and 1 m (some are also available in lengths of 2 m). Servo Driver Cables also come in two lengths: 1 m and 2 m. Note: 2. Two Servo Driver Cables are required if 2-axis control is performed using one Position Control Unit.
13
R88M-G/R88D-GT@
Cable Combinations
Parameter Unit
20
21
0
22
1
23
2
24
3
25
4
26
5
27
6
28
7
29
8
30
9
31
10
32
11
33
12
34
13
35
14
36
15
37
16
38
17 18 19
Servo Relay Units * Brake Cable Combinations Using the following Servomotors, with brake: Cylindrical Servomotors, 3,000 r/min, 50 to 750 W Flat Servomotors, 3,000 r/min, 100 to 400 W Cylindrical Servomotors, 2,000 r/min, 7.5 kW Cylindrical Servomotors, 1,000 r/min,6 kW Other Servomotors:
39
Description
[Servomotor Connector] Connector: 172159-1 (Tyco Electronics AMP KK) Connector pins: 170362-1 (Tyco Electronics AMP KK) 170366-1 (Tyco Electronics AMP KK)
[Servomotor Connector] Straight plug: N/MS3106B20-4S (Japan Aviation Electronics Industry, Ltd.) Cable clamp: N/MS3057-12A (Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
Straight plug: N/MS3106B20-4S (Japan Aviation Electronics Industry, Ltd.) Cable clamp: N/MS3057-12A (Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector] Straight plug: N/MS3106B22-22S (Japan Aviation Electronics Industry, Ltd.) Cable clamp: N/MS3057-12A (Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector] Straight plug: N/MS3106B32-17S (Japan Aviation Electronics Industry, Ltd.) Cable clamp: N/MS3057-20A (Japan Aviation Electronics Industry, Ltd.)
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R88M-G/R88D-GT@
Symbol
Name
Connected to Cylindrical Servomotors, 3,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 2,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 1,000 r/min, 900 W
Model
(70) L (10.4 dia.)
Description
[Servomotor Connector] Straight plug: N/MS3106B20-18S (Japan Aviation Electronics Industry, Ltd.) Cable clamp: N/MS3057-12A (Japan Aviation Electronics Industry, Ltd.)
R88A-CAGB@@@B The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long.
(70)
(5.4 d
(70
ia.)
L
L (10.4 dia.)
[Servomotor Connector] Straight plug: N/MS3106B20-18S (Japan Aviation Electronics Industry, Ltd.) Cable clamp: N/MS3057-12A (Japan Aviation Electronics Industry, Ltd.)
R88A-CAGC@@@B The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long.
(5.4 d
ia.)
L
(70
(70)
Cylindrical Servomotors, 3,000 r/min, 3 to 5 kW Cylindrical Servomotors, 2,000 r/min, 3 to 5 kW Cylindrical Servomotors, 1,000 r/min, 2 to 4.5 kW Cylindrical Servomotors, 3,000 r/min, 50 to 750 W Flat Servomotors, 3,000 r/min, 100 to 400 W Cylindrical Servomotors, 3,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 2,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 1,000 r/min, 900 kW Cylindrical Servomotors, 3,000 r/min, 2 kW Cylindrical Servomotors, 2,000 r/min, 2 kW Cylindrical Servomotors, 3,000 r/min, 3 to 5 kW Cylindrical Servomotors, 2,000 r/min, 3 to 5 kW Cylindrical Servomotors, 1,000 r/min, 2 to 4.5 kW Cylindrical Servomotors, 3,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 2,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 1,000 r/min, 900 W Robot Servomotor Power Cables for Servomotors with Brakes Cylindrical Servomotors, 3,000 r/min, 2 kW Cylindrical Servomotors, 2,000 r/min, 2 kW Cylindrical Servomotors, 3,000 r/min, 3 to 5 kW Cylindrical Servomotors, 2,000 r/min, 3 to 5 kW Cylindrical Servomotors, 1,000 r/min, 2 to 4.5 kW
L (14.7 dia.)
[Servomotor Connector] Straight plug: N/MS3106B24-11S (Japan Aviation Electronics Industry, Ltd.) Cable clamp: N/MS3057-16A (Japan Aviation Electronics Industry, Ltd.)
R88A-CAGD@@@B The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long.
(5.4 d
ia.)
L
(70
Available soon
43.7 dia.
37.3 dia.
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Brake Cables
Symbol Name Connected to Cylindrical Servomotors, 3,000 r/min, 50 to 750 W Flat Servomotors, 3,000 r/min, 100 to 400 W Cylindrical Servomotors, 1,500 r/min, 7.5 kW Cylindrical Servomotors, 1,000 r/min, 6 kW Cylindrical Servomotors, 3,000 r/min, 50 to 750 W Flat Servomotors, 3,000 r/min, 100 to 400 W Model R88A-CAGA@@@B The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long. R88A-CAGE@@@B The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long.
(70) (5.4 dia.) L (40)
Description
[Servomotor Connector] Connector: 172157-1 (Tyco Electronics AMP KK) Connector pins: 170362-1 (Tyco Electronics AMP KK) 170366-1 (Tyco Electronics AMP KK) [Servomotor Connector]
Straight plug: N/MS3106B14-2S (Japan Aviation Electronics Industry, Ltd.) Cable clamp: N/MS3057-6A (Japan Aviation Electronics Industry, Ltd.)
Available soon
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R88M-G/R88D-GT@
Encoder Cables (for CN2)
Symbol Name Connected to Model R88A-CRGA@@@C The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long. R88A-CRGB@@@C The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long.
[Servo Driver Connector] Connector: 3 to 20 m: Crimped I/O connector: (Molex Japan Co., Ltd.) 30 to 50 m: 55100-0670 (Molex Japan Co., Ltd.) Connector pins: 50639-8028 (Molex Japan Co., Ltd.) [Servo Driver Connector] Connector: 3 to 20 m: Crimped I/O connector: (Molex Japan Co., Ltd.) 30 to 50 m: 55100-0670 (Molex Japan Co., Ltd.) Connector pins: 50639-8028 (Molex Japan Co., Ltd.)
Description
[Servomotor Connector] Connector: 172161-1 (Tyco Electronics AMP KK) Connector pins: 170365-1 (Tyco Electronics AMP KK) 171639-1 (Tyco Electronics AMP KK)
Cylindrical Servomotors, 3,000 r/min, 50 to 750 W, absolute encoder Flat Servomotors, 3,000 r/min, 100 to 400 W, absolute encoder
[Servomotor Connector] Connector: 172160-1 (Tyco Electronics AMP KK) Connector pins: 170365-1 (Tyco Electronics AMP KK) 171639-1 (Tyco Electronics AMP KK)
Cylindrical Servomotors, 3,000 r/min, 50 to 750 W, incremental encoder Flat Servomotors, 3,000 r/min, 100 to 400 W, incremental encoder Cylindrical Servomotors, 3,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 2,000 r/min, 1 to 5 kW Cylindrical Servomotors, 1,500 r/min, 7.5 kW Cylindrical Servomotors, 1,000 r/min, 900 W to 6 kW Cylindrical Servomotors, 3,000 r/min, 50 to 750 W, absolute encoder Flat Servomotors, 3,000 r/min, 100 to 400 W, absolute encoder Cylindrical Servomotors, 3,000 r/min, 50 to 750 W, incremental encoder Flat Servomotors, 3,000 r/min, 100 to 400 W, incremental encoder Cylindrical Servomotors, 3,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 2,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 2,000 r/min, 1.5 to 7.5 kW Cylindrical Servomotors, 1,000 r/min, 900 W to 6 kW
R88A-CRGC@@@N The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long.
[Servo Driver Connector] Connector: 3 to 20 m: Crimped I/O connector: (Molex Japan Co., Ltd.) 30 to 50 m: 55100-0670 (Molex Japan Co., Ltd.) Connector pins: 50639-8028 (Molex Japan Co., Ltd.)
[Servomotor Connector]
Straight plug: N/MS3106B20-29S (Japan Aviation Electronics Industry, Ltd.) Cable clamp: N/NS3057-12A (Japan Aviation Electronics Industry, Ltd.)
Available soon
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Available soon
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Available soon
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Control Cables
CJ1W-NC113/NC133 CS1W-NC113/NC133 (C200HW-NC113) CJ1W-NC213/NC233/NC413/NC433 CS1W-NC213/NC233/NC413/NC433 (C200HW-NC213/NC413) CJ1M-CPU21/CPU22/CPU23 (1 axis) CJ1M-CPU21/CPU22/CPU23 (2 axes) FQM1-MMA22 FQM1-MMP22 CQM1H-PLB21
16
R88M-G/R88D-GT@
Symbol
Name
Connected to NC Unit (XW2B-20J6-1B/XW2B-40J6-2B) CQM1H-PLB21 (XW2B-20J6-3B) CJ1M-CPU21/-CPU22/-CPU23 (XW2B-20J6-8A and XW2B-40J6-9A) FQM1-MMA22 (XW2B-80J7-12A) FQM1-MMP22 (XW2B-80J7-12A)
Model XW2Z-@@@J-B25 The empty boxes in the model number are for the cable length. The cable can be 1 or 2 m long. XW2Z-@@@J-B31 XW2Z-@@@J-B27 The empty boxes in the model number are for the cable length. The cable can be 1 or 2 m long. XW2Z-@@@J-B26 The empty boxes in the model number are for the cable length. The cable can be 1 or 2 m long. XW2Z-@@@J-A18 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. XW2Z-@@@J-A19 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. XW2Z-@@@J-A10 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. XW2Z-@@@J-A11 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. XW2Z-@@@J-A14 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. XW2Z-@@@J-A15 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. XW2Z-@@@J-A6 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. XW2Z-@@@J-A7 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. XW2Z-@@@J-A33 The empty boxes in the model number are for the cable length. The cable can be 0.5, 1, or 2 m long. XW2Z-@@@J-A28 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. XW2Z-@@@J-A31 The empty boxes in the model number are for the cable length. The cable can be 0.5, 1, or 2 m long. XW2Z-@@@J-A30 The empty boxes in the model number are for the cable length. The cable can be 0.5, 1, or 2 m long. XW2Z-@@@J-A3 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. R88A-CPG@@@S The empty boxes in the model number are for the cable length. The cable can be 1 or 2 m long. XW2Z-@@@J-B24 The empty boxes in the model number are for the cable length. The cable can be 1 or 2 m long. XW2B-50G4 XW2B-50G5 XW2D-50G6
CJ1W-NC133
CJ1W-NC233/NC433
CS1W-NC133
CS1W-NC233/NC433
CJ1W-NC113
CJ1M-CPU21/CPU22/CPU23 FQM1-MMA22 FQM1-MMP22 (General-purpose I/O Cable) FQM1-MMA22 (Special I/O Cable)
CQM1H-PLB21
Cables for General-purpose Controllers Conversion Unit for General-purpose Controllers (M3 screws)
Conversion Unit for General-purpose Controllers (M3.5 screws) Conversion Unit for General-purpose Controllers (M3 screws)
CN3 Options
Symbol Name RS485 Communications Cables Parameter Unit Personal Computer Monitor Cable (2 m) --Connected to Model R88A-CCG@@@P4 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. R88A-PR02G R88A-CCG002P2
--Windows
17
R88M-G/R88D-GT@
International standards
The above items reflect individual evaluation testing. The results may differ under compound conditions. Never perform withstand-voltage or other megameter tests on the Servo Drive. Doing so may damage the internal elements. Depending on the operating conditions, some Servo Drive parts will require maintenance. The service life of the Servo Drive is 28,000 hours at an average ambient temperature of 55C at 100% of the rated torque.
Characteristics
Servo Drives with 100-VAC Input Power
Item Continuous output current (rms) Momentary maximum output current (rms) Power supply capacity Main circuit Input power supply Control circuit Heat generated Main circuit Control circuit Power supply voltage Rated current Power supply voltage Rated current 0.09 A 10.1 W 4.4 W 1.4 A R88D-GTA5L 1.3 A 3.9 A 0.4 KVA R88D-GT01L 1.8 A 5.4 A 0.4 KVA R88D-GT02L 2.4 A 7.2 A 0.5 KVA R88D-GT04L 4.9 A 14.7 A 0.9 KVA
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz 2.2 A 3.7 A 6.6 A
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz 0.09 A 14.4 W 4.4 W All-digital servo IGBT-driven PWM method 12.0 kHz Approx. 0.8 kg 50 W Approx. 0.8 kg 100 W G10030L G10030S GP10030L GP10030S ----1: 5000 0.01% or less at 0% to 100% (at rated speed) 0% at 10% of rated voltage (at rated speed) 0.1% or less at 0 to 50C (at rated speed) 3% (at 20% to 100% of rated torque) Approx. 1.1 kg 200 W G20030L G20030S GP20030L GP20030S ----6.0 kHz Approx. 1.1 kg 400 W G40030L G40030S GP40030L GP40030S ----0.09 A 18.4 W 4.4 W 0.09 A 41.4 W 4.4 W
Control method Inverter method PWM frequency Weight Maximum applicable motor capacity
3,000-r/min Servomotors
Applicable Servomotors
2,000-r/min Servomotors 1,000-r/min Servomotors Speed control range Performance Speed variability: Load characteristic Speed variability: Voltage characteristic
18
R88M-G/R88D-GT@
Servo Drives with Single-phase 200-VAC Input Power
Item Continuous output current (rms) Momentary maximum output current (rms) Power supply capacity Main circuit Input power supply Control circuit Heat generated Weight Maximum applicable motor capacity Main circuit Control circuit Power supply voltage Rated current Power supply voltage Rated current 0.05 A 14.3 W 4.5 W 12.0 kHz Approx. 0.8 kg 100 W G05030H G10030H G05030T G10030T GP10030H GP10030T ----Approx. 0.8 kg 200 W G20030H G20030T GP20030H GP20030T ----Approx. 1.1 kg 400 W G40030H G40030T GP40030H GP40030T ----All-digital servo IGBT-driven PWM method 1:5000 0.01% or less at 0% to 100% (at rated speed) 0% at 10% of rated voltage (at rated speed) 0.1% or less at 0 to 50C (at rated speed) 3% (at 20% to 100% of rated torque) 750 W G75030H G75030T --------R88D-GT01H 1.16 A 3.5 A 0.5 KVA R88D-GT02H 1.6 A 5.3 A 0.5 KVA R88D-GT04H 2.7 A 7.1 A 0.9 KVA R88D-GT08H 4.0 A 14.1 A 1.3 KVA R88D-GT10H 5.9 A 21.2 A 1.8 KVA R88D-GT15H 9.8 A 28.3 A 2.3 KVA
Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz 1.3 A 2.0 A 0.05 A 14.8 W 4.5 W 3.7 A 0.05 A 23.6 W 4.5 W
Single-phase or three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz 5.0/3.3 *1 A 0.05 A 38.7 W 4.3 W 6.0 kHz Approx. 1.5 kg Approx. 1.7 kg 1kW --------G1K020T --Approx. 1.7 kg 1.5 kW --G1K030T G1K530T ----G1K520T G90010T 7.5/4.1 *1 A 0.07 A 52.9 W 6.1 W 11/8.0 *1 A 0.07 A 105.9 W 6.1 W
PWM frequency
INC
3,000-r/min Servomotors
ABS
Applicable Servomotors 3,000-r/min Flat Servomotors
2,000-r/min Servomotors 1,000-r/min Servomotors Control method Inverter method Performance Speed control range Speed variability: Load characteristic Speed variability: Voltage characteristic
*1. The left value is for single-phase input power and the right value is for three-phase input power.
Three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
PWM frequency
INC
3,000-r/min Servomotors
Applicable Servomotors
2,000-r/min Servomotors 1,000-r/min Servomotors Control method Inverter method Performance Speed control range Speed variability: Load characteristic Speed variability: Voltage characteristic Speed variability: Temperature characteristic Torque control reproducibility
19
R88M-G/R88D-GT@
0 to 40C, 85% RH max. (with no condensation) 20 to 80C, 85% RH max. (with no condensation) No corrosive gases 10 to 2,500 Hz and acceleration of 49 m/s2 max. in the X, Y, and Z directions Acceleration of 98 m/s2 max. 3 times each in the X, Y, and Z directions 10 to 2,500 Hz and acceleration of 24.5 m/s2 max. in the X, Y, and Z directions
Vibration resistance
*1
Impact resistance
Insulation resistance Dielectric strength Operating position Insulation grade Structure Protective structure Vibration grade Mounting method International standards EMC Directive EC Directives Low voltage Directive UL standards CSA standards Type B
20 M min. at 500 VDC between the power terminals and FG terminal 1,500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal All directions Type F Type B Totally enclosed, self-cooling IP65 (excluding the output shaft rotating section and lead wire ends) V-15 Flange-mounting EN 55011 Class A Group 1 EN 61000-6-2, IEC 61000-4-2/-3/-4/-5/-6/-11 IEC 60034-1/-5 UL 1004 CSA 22.2 No.100 UL: pending Type F
*1. The amplitude may be amplified by mechanical resonance. Do not exceed 80% of the specified value for extended periods of time. Note: 1. Do not use the cable when it is laying in oil or water. Note: 2. Do not expose the cable outlet or connections to stress due to bending or the weight of the cable itself.
20
R88M-G/R88D-GT@
Max. momentary current *1 Rotor inertia Applicable load inertia Torque constant *1 Power rate *1 Mechanical time constant Electrical time constant Allowable radial load *3 Allowable thrust load *3 Weight Without brake With brake
30 times the rotor inertia max. *2 0.14 10.4 1.56 0.7 68 58 Approx. 0.3 Approx. 0.5 0.19 20.1 1.11 0.8 68 58 Approx. 0.5 Approx. 0.7 0.26 30.3 0.72 2.5 245 98 Approx. 0.8 Approx. 1.3 0.28 62.5 0.55 2.9 245 98 Approx. 1.2 Approx. 1.7
Radiation shield dimensions (material) Applicable Servo Drives (R88D-) Brake inertia Excitation voltage *4 Power consumption (at 20C) Current consumption (at 20C) Brake specifications Static friction torque Attraction time *5 Release time *5 Backlash Allowable work per braking Allowable total work Allowable angular acceleration Brake life Rating Insulation grade J J rad/s2 ------39.2 4.9 103 kgm2 (GD2/4) V W A Nm ms ms 7 0.3 0.29 min. 35 max. 20 max. GTA5L 2 10-7
100 80 t10 (AI) GT01L 2 10-7 24 VDC 5% 7 0.3 0.29 min. 35 max. 20 max. 1 (reference value) 39.2 4.9 103 137 9 0.36 GT02L
1.8 10-6
44.1 103
30,000 max. (Speed of 2,800 r/min or more must not be changed in less than 10 ms) 10,000,000 operations min. Continuous Type B
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20C, 65%). The maximum momentary torque shown above indicates the standard value. *2. Applicable Load Inertia: The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible. If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled. *3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are applied as shown in the following diagram.
21
R88M-G/R88D-GT@
R88M-G05030H/T (50 W)
(Nm) 0.5 0.48 0.48
R88M-G10030L/S (100 W)
(Nm)
R88M-G20030L/S (200 W)
(Nm)
1.0 0.83
0.83 (3600)
0.75
Repetitive usage
0.25 0.16 0.16 0.1
Repetitive usage
0.5 0.32 0.32 0.28 0
Repetitive usage
0.64 0.64 Continuous usage
Continuous usage
0
Continuous usage
0
R88M-G40030L/S (400 W)
(Nm)
4.0 3.6
3.6 (3000)
1.3 0.6
22
R88M-G/R88D-GT@
G05030T G10030T G20030T G40030T G75030T G1K030T G1K530T G2K030T G3K030T G4K030T G5K030T 50 0.16 100 0.32 200 0.64 3000 5000 0.45 1.1 3.4 2.5 106 0.90 1.1 3.4 5.1 106 1.78 1.6 4.9 1.4 105 3.67 2.6 7.9 2.6 105 7.05 4 12.1 8.7 105 20 times the rotor inertia max. *2 0.64 66 0.45 4.6 392 147 Approx. 2.3 Approx. 3.1 170 160 t12 (AI) GT08H 7.5 106 0.44 60 0.78 6.7 392 147 Approx. 4.5 Approx. 5.1 170 160 t12 (AI) GT15H 2.5 105 9.1 7.2 21.4 1.69 104 12.8 9.4 28.5 2.59 104 5000 18.4 13 40 3.46 104 27.0 18.6 57.1 6.77 104 36.3 24.7 75 1.27 103 400 1.3 750 2.4 1000 3.18 1500 4.77 2000 6.36 3000 4500 45.1 28.5 85.7 1.78 103 3000 9.54 4000 12.6 5000 15.8
---
Torque constant *1 Power rate *1 Mechanical time constant Electrical time constant Allowable radial load *3 Allowable thrust load *3 Without brake Weight With brake
Nm/A kW/s ms ms N N kg kg
0.51 88 0.54 10 490 196 Approx. 5.1 Approx. 6.5 320 300 t30 (AI) GT15H 3.3 105
0.48 117 0.53 10.8 490 196 Approx. 6.5 Approx. 7.9 320 300 t20 (AI) GH20H 3.3 105
Radiation shield dimensions (material) Applicable Servo Drives (R88D-) Brake inertia Excitation voltage *4 Power consumption (at 20C) Current consumption (at 20C) Static friction torque Brake specifications Attraction time *5 Release time *5 Backlash Allowable work per braking Allowable total work J J
130 120 t12 (AI) GT02H 1.8 106 24 VDC 5% GT04H 1.8 106
380 350 t30 (AI) GT30H 3.3 105 GT50H 1.35 104 GT50H 1.35 104
24 VDC 10% 9 0.36 1.27 min. 50 max. 15 max. 10 0.42 2.45 min. 70 max. 20 max. 18 0.74 4.9 min. 50 max. 15 max. 19 0.81 7.8 min. 50 max. 15 max. 19 0.81 7.8 min. 50 max. 15 max. 19 0.81 11.8 min. 80 max. 15 max. 22 0.9 16.1 min. 110 max. 50 max. 22 0.9 16.1 min. 110 max. 50 max.
1 (reference value) 39.2 4.9 103 39.2 4.9 103 137 44.1 103 137 44.1 103 196 147 103 392 2.0 105 392 4.9 105 392 4.9 105 392 4.9 105 1470 2.2 106 1470 2.2 106
rad/s2 -------
30,000 max. (Speed of 2,800 r/min or more must not be changed in less than 10 ms)
10,000 max. (Speed of 900 r/min or more must not be changed in less than 10 ms)
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20C, 65%). The maximum momentary torque shown above indicates the standard value. *2. Applicable Load Inertia: The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible. If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled. *3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are applied as shown in the following Radial load diagram. *4. This is an OFF brake. (It is reset when excitation voltage is applied). Thrust load *5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.). Center of shaft (LR/2)
23
R88M-G/R88D-GT@
R88M-G05030H/T (50 W)
(Nm) 0.5 0.45 0.45
R88M-G10030H/T (100 W)
(Nm)
R88M-G20030H/T (200 W)
(Nm)
1.0 0.93
0.93
2.0 1.78
1.78 (4500)
1.5
Repetitive usage
0.5 0.32 0.32 0.28
Repetitive usage
1.0 0.64 0.64
Continuous usage
0
Continuous usage
0
0.38
R88M-G40030H/T (400 W)
(Nm)
R88M-G75030H/T (750 W)
(Nm)
R88M-G1K030T (1 kW)
(Nm)
4.0 3.6
3.6 (3800)
8.0 7.05
7.05 (3600)
10 9.1
9.1 (3600)
1.7 0.78
4.0 1.0
4.8
R88M-G2K030T (2 kW)
(Nm)
R88M-G3K030T (3 kW)
(Nm)
15 12.9
12.9 (3500)
20 18.4
18.4 (3600)
30 27.0
27.0 (3400)
5.5
Continuous usage
0 1000 2000 3000 4000 5000 (r/min)
1000 2000 3000 4000 5000 (r/min)
R88M-G4K030T (4 kW)
(Nm)
R88M-G5K030T (5 kW)
(Nm)
50 45.1
47.6
40 36.3
37.9
15.0
10.0
24
R88M-G/R88D-GT@
100 VAC GP20030L GP20030S 200 0.64 GP40030L GP40030S 400 1.3 3000 5000 0.84 1.6 4.9 1.0 105 1.8 2.5 7.5 3.5 105 4500 3.6 4.4 13.3 6.5 105 0.86 1 3.1 1.0 105 GP10030H GP10030T 100 0.32
200 VAC GP20030H GP20030T 200 0.64 GP40030H GP40030T 400 1.3
5000 1.8 1.6 4.9 3.5 105 3.65 2.5 7.5 6.4 105
20 times the rotor inertia max.*2 0.21 10.2 0.87 3.4 68 58 Approx. 0.7 Approx. 0.9 130 120 t10 (AI) GT01L 0.27 11.7 0.75 6.7 245 98 Approx. 1.3 Approx. 2 0.3 26.0 0.55 6.7 245 98 Approx. 1.8 Approx. 2.5 0.34 10.2 1.05 2.9 68 58 Approx. 0.7 Approx. 0.9 130 120 t10 (AI) GT01H 3 106 24 VDC 10% 7 0.29 0.29 min. 50 max. 15 max. 1 (reference value) 10 0.41 7 0.29 0.29 min. 50 max. 10 0.41 1.27 min. 60 max. 0.42 11.5 0.81 5.6 245 98 Approx. 1.3 Approx. 2 0.54 25.5 0.59 6.6 245 98 Approx. 1.8 Approx. 2.5
Radiation shield dimensions (material) Applicable Servo Drives (R88D-) Brake inertia Excitation voltage *4 Power consumption (at 20C) Current consumption (at 20C) Brake specifications Static friction torque Attraction time *5 Release time *5 Backlash Allowable work per braking Allowable total work Allowable angular acceleration Brake life Rating Insulation grade J J rad/s2 ------kgm2 (GD2/4) V W A Nm ms ms
3 106
137 44.1 10
3
196 147 10
3
137 44.1 10
3
10,000 max. (Speed of 900 r/min or more must not be changed in less than 10 ms) 10,000,000 operations min. Continuous Type B Continuous Type B
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20C, 65%). The maximum momentary torque shown above indicates the standard value. *2. Applicable Load Inertia: The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible. If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled. *3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are applied as shown in the following diagram.
25
R88M-G/R88D-GT@
R88M-GP10030L/S (100 W)
(Nm)
R88M-GP20030L/S (200 W)
(Nm)
R88M-GP40030L/S (400 W)
(Nm)
1.0 0.84
0.84 (3500)
2.0 1.8
1.8 (3400)
3.6 (3300)
0.32 0.19
1.5 0.78
R88M-GP10030H/T (100W)
(Nm)
R88M-GP20030H/T (200v)
(Nm)
R88M-GP40030H/T (400v)
(Nm)
1.0 0.86
0.86
2.0 1.8
1.8 (4500)
4.0 3.65
26
R88M-G/R88D-GT@
Max. momentary current *1 Rotor inertia Applicable load inertia Torque constant *1 Power rate *1 Mechanical time constant Electrical time constant Allowable radial load *3 Allowable thrust load *3 Weight Without brake With brake
10 times the rotor inertia max. *2 0.88 37.3 0.7 18 490 196 Approx. 6.8 Approx. 8.7 0.76 45.8 0.81 19 490 196 Approx. 8.5 Approx. 10.1 0.78 60 0.75 21 490 196 Approx. 10.6 Approx. 12.5 0.81 91.6 0.72 20 784 343 Approx. 14.6 Approx. 16.5 380 350 t30 (AI) GT20H GT30H GT50H 4.25 104 24 VDC 10% 14 0.59 4.9 min. 80 max. 70 max. 19 0.79 13.7 min. 100 max. 50 max. 19 0.79 13.7 min. 100 max. 50 max. 22 0.9 16.1 min. 110 max. 50 max. 1 (reference value) 26 1.1 21.5 min. 90 max. 35 min. 31 1.3 24.5 min. 80 max. 25 min. 34 1.4 58.8 min. 150 max. 50 max. 0.81 83.2 1 24 784 343 Approx. 18.8 Approx. 21.3 0.85 93.5 0.9 32 784 343 Approx. 25 Approx. 28.5 1.03 230 0.71 34 1176 490 Approx. 41 Approx. 45
Radiation shield dimensions (material) Applicable Servo Drives (R88D-) Brake inertia Excitation voltage *4 Power consumption (at 20C) Current consumption (at 20C) Brake specifications Static friction torque Attraction time *5 Release time *5 Backlash Allowable work per braking Allowable total work Allowable angular acceleration Brake life Rating Insulation grade J J rad/s2 ------588 7.8 105 kgm (GD2/4) V W A Nm ms ms
2
470 440 t30 (AI) GT50H 4.7 104 GT75H 4.7 104
1.35 104
10,000 max. (Speed of 900 r/min or more must not be changed in less than 10 ms) 10,000,000 operations min. Continuous Type F
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20C, 65%). The maximum momentary torque shown above indicates the standard value. *2. Applicable Load Inertia: The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible. If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled. *3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are applied as shown in the following diagram.
27
R88M-G/R88D-GT@
R88M-G1K020T (1 kW)
(Nm)
R88M-G2K020T (2 kW)
(Nm)
15 13.5 10 5 4.8 0
13.5 (2200)
18.5
20
18.5 (2200)
30 26.5
26.5 (2200)
Repetitive usage
Repetitive usage
10 7.15
7.15
Continuous usage
1000
2000
1000
2000
R88M-G3K020T (3 kW)
(Nm)
R88M-G4K020T (4 kW)
(Nm)
R88M-G5K020T (5 kW)
(Nm)
50 41.2
41.2 (2200)
54.9 (2000)
70
70.6
70.6 (2000)
Repetitive usage
Repetitive usage
35 23.8
Continuous usage
(r/min)
23.8
Continuous usage
1000
2000
1000
2000
100 50
111
Repetitive usage
111 100
48 48 Continuous usage
1000 1500
36 2000 (r/min)
28
R88M-G/R88D-GT@
Rated rotation speed Max. momentary rotation speed Max. momentary torque *1 Rated current
*1
Max. momentary current Rotor inertia Applicable load inertia Torque constant *1 Power rate
*1
1.13 66.3 0.88 20 686 196 Approx. 8.5 Approx. 10 275 260 t15 (AI) GT15H
Mechanical time constant Electrical time constant Allowable radial load *3 Allowable thrust load Weight With brake Radiation shield dimensions (material) Applicable Servo Drives (R88D-) Brake inertia Excitation voltage *4 Power consumption (at 20C) Current consumption (at 20C) Brake specifications Static friction torque Attraction time Release time Backlash Allowable work per braking Allowable total work Allowable angular acceleration Brake life Rating Insulation grade
*5 *5 *3
Without brake
470 440 t30 (AI) GT30H 4.7 104 GT50H 4.7 104 24 VDC 10% GT50H 4.7 104 GT75H 4.7 104
kgm2 (GD2/4) V W A Nm ms ms
1.35 104
J J rad/s2 -------
1372 2.9 106 10,000 max. (Speed of 900 r/min or more must not be changed in less than 10 ms) 10,000,000 operations min. Continuous Type F
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20C, 65%). The maximum momentary torque shown above indicates the standard value. *2. Applicable Load Inertia: The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible. If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled. *3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are applied as shown in the following Radial load diagram. *4. This is an OFF brake. (It is reset when excitation voltage is applied). Thrust load *5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.). Center of shaft (LR/2)
29
R88M-G/R88D-GT@
R88M-G90010T (900 W)
(Nm)
R88M-G2K010T (2 kW)
(Nm)
R88M-G3K010T (3 kW)
(Nm)
20 18.4 10 8.62
18.4 (1600)
50 41.5 25 19.1
70 60 35 28.4
60 (1350)
Repetitive usage
Repetitive usage
Repetitive usage
8.62
10.0 4.31
38 14.2
28.4
Continuous usage
Continuous usage
Continuous usage
1000
2000 (r/min)
1000
2000 (r/min)
1000
2000 (r/min)
R88M-G6K010T (6 kW)
130
(Nm)
101 (1300)
130 (1500)
100
Repetitive usage
100 50
Repetitive usage
50 42.9
42.9
40 21.5
57.2
57.2
71 28.6
Continuous usage
Continuous usage
1000
2000 (r/min)
1000
2000 (r/min)
30
R88M-G/R88D-GT@
Decelerator Specifications
Backlash: 3 Arcminutes Max.
Decelerators for Cylindrical Servomotors
Model Rated rotation speed r/min 1/5 1/9 50 W 1/21 1/33 1/45 1/5 1/11 100 W 1/21 1/33 1/45 1/5 1/11 200 W 1/21 1/33 1/45 1/5 1/11 400 W 1/21 1/33 1/45 1/5 1/11 750 W 1/21 1/33 1/45 R88G-HPG11A05100B R88G-HPG11A09050B R88G-HPG14A21100B R88G-HPG14A33050B R88G-HPG14A45050B R88G-HPG11A05100B R88G-HPG14A11100B R88G-HPG14A21100B R88G-HPG20A33100B R88G-HPG20A45100B R88G-HPG14A05200B R88G-HPG14A11200B R88G-HPG20A21200B R88G-HPG20A33200B R88G-HPG20A45200B R88G-HPG14A05400B R88G-HPG20A11400B R88G-HPG20A21400B R88G-HPG32A33400B R88G-HPG32A45400B R88G-HPG20A05750B R88G-HPG20A11750B R88G-HPG32A21750B R88G-HPG32A33750B R88G-HPG32A45750B 600 333 143 91 67 600 273 143 91 67 600 273 143 91 67 600 273 143 91 67 600 273 143 91 67 Rated Efficiency torque Nm 0.60 1.17 2.18 3.73 5.09 1.37 2.63 5.40 6.91 9.42 2.49 6.01 10.2 17.0 23.2 5.66 11.73 23.56 34.79 47.44 9.94 23.23 42.34 69.70 95.04 % 75 81 65 71 71 86 75 80 65 65 78 85 76 81 81 87 82 86 81 81 83 88 84 88 88 Maximum momentary rotation speed r/min 1000 555 238 151 111 1000 454 238 151 111 1000 454 238 151 111 1000 454 238 151 111 1000 454 238 151 111 Maximum momentary torque Nm 1.68 3.29 6.13 10.5 14.3 3.8 7.39 15.2 19.4 26.5 6.93 16.7 28.5 47.4 64.6 16.0 (15.7) 33.1 (32.5) 66.5 (65.2) 98.2 (96.3) 133.9 (131.4) 29.2 68.1 124.3 204.7 279.2 Decelerator inertia kgm2 5.00 10
7
Allowable radial load N 135 161 340 389 427 135 280 340 916 1006 221 280 800 916 1006 221 659 800 1565 1718 520 659 1367 1565 1718
Allowable Weight thrust load N 538 642 1358 1555 1707 538 1119 1358 3226 3541 883 1119 2817 3226 3541 883 2320 2547 6240 6848 1832 2320 5448 6240 6848 kg 0.29 0.29 1.04 1.04 1.04 0.29 1.04 1.04 2.4 2.4 1.02 1.09 2.9 2.9 2.9 1.09 2.9 2.9 7.5 7.5 2.9 3.1 7.8 7.8 7.8
3.00 107 5.00 106 4.40 106 4.40 106 5.00 107 6.00 106 5.00 106 6.50 10
5
6.50 105 2.07 105 1.93 105 4.90 105 4.50 105 4.50 105 2.07 105 5.70 105 4.90 105 6.20 105 6.10 105 6.80 105 6.00 105 3.00 104 2.70 104 2.70 10
4
Note: 1. The values inside parentheses ( ) are for 100-V Servomotors. Note: 2. The Decelerator inertia is the Servomotor shaft conversion value. Note: 3. The protective structure for Servomotors with Decelerators satisfies IP44.
Note: 4. The allowable radial load is the value at the LR/2 position. Note: 5. The standard models have a straight shaft. Models with a key and tap are indicated by adding "J" to the end of the model number (the suffix in the box).
Allowable radial load N 135 280 340 916 1006 221 659 800 916 1006 520 659 800 1565 1718
Allowable Weight thrust load N 538 1119 1358 3226 3541 883 2320 2817 3226 3541 1832 2320 2817 6240 6848 kg 0.34 1.04 1.04 2.9 2.9 0.99 3.1 3.1 3.1 3.1 3.1 3.1 3.1 7.8 7.8
4.50 105 4.50 105 2.07 105 5.80 105 4.90 105 4.50 105 4.50 105 7.10 10
5
Note: 1. The values inside parentheses ( ) are for 100-V Servomotors. Note: 2. The Decelerator inertia is the Servomotor shaft conversion value. Note: 3. The protective structure for Servomotors with Decelerators satisfies IP44.
Note: 4. The allowable radial load is the value at the LR/2 position. Note: 5. The standard models have a straight shaft. Models with a key and tap are indicated by adding "J" to the end of the model number (the suffix in the box).
31
R88M-G/R88D-GT@
Backlash: 15 Arcminutes Max.
Decelerators for Cylindrical Servomotors
Rated rotation speed r/min 1/5 1/9 50 W 1/15 1/25 1/5 1/9 100 W 1/15 1/25 1/5 1/9 200 W 1/15 1/25 1/5 1/9 400 W 1/15 1/25 1/5 1/9 750 W 1/15 1/25 Note: 1. Note: 2. Note: 3. Note: 4. Note: 5. R88G-VRSF15D750CJ R88G-VRSF25D750CJ 200 120 30.4 50.7 85 85 333 200 89.9 149.8 R88G-VRSF15C400CJ R88G-VRSF25C400CJ R88G-VRSF05C750CJ R88G-VRSF09D750CJ 200 120 600 333 15.8 26.4 10.7 18.2 83 83 90 85 333 200 1000 556 45.7 (44.8) 76.1 (74.7) 31.7 53.9 R88G-VRSF15C200CJ R88G-VRSF25C200CJ R88G-VRSF05C400CJ R88G-VRSF09C400CJ 200 120 600 333 6.29 11.1 5.40 9.50 66 70 85 83 333 200 1000 556 17.6 31.2 15.6 (15.3) 27.4 (26.8) R88G-VRSF15B100CJ R88G-VRSF25B100CJ R88G-VRSF05B200CJ R88G-VRSF09C200CJ 200 120 600 333 3.81 6.36 2.70 3.77 80 80 85 66 333 200 1000 556 10.8 18.0 7.57 10.6 R88G-VRSF15B100CJ R88G-VRSF25B100CJ R88G-VRSF05B100CJ R88G-VRSF09B100CJ 200 120 600 333 1.67 2.78 1.19 2.29 70 70 75 80 333 200 1000 556 4.73 7.88 3.38 6.48 R88G-VRSF05B100CJ R88G-VRSF09B100CJ 600 333 Rated Efficiency torque Nm 0.52 0.93 % 65 65 Maximum momentary rotation speed r/min 1000 556 Maximum momentary torque Nm 1.46 2.63 Decelerator inertia kgm2 4.00 106 3.50 106 3.50 106 3.25 106 4.00 10
6
Model
Allowable radial load N 392 441 588 686 392 441 588 686 392 931 1176 1323 784 931 1176 1323 784 1176 1372 1617
Allowable thrust load N 196 220 294 343 196 220 294 343 196 465 588 661 392 465 588 661 392 588 686 808
Weight kg 0.55 0.55 0.70 0.70 0.55 0.55 0.70 0.70 0.72 1.70 2.10 2.10 1.70 1.70 2.10 2.10 2.10 3.40 3.80 3.80
The values inside parentheses ( ) are for 100-V Servomotors. The Decelerator inertia is the Servomotor shaft conversion value. The protective structure for Servomotors with Decelerators satisfies IP44. The allowable radial load is the value at the LR/2 position. The standard models have a straight shaft with a key.
Model
Allowable radial load N 392 441 588 686 392 931 1176 1323 784 931 1176 1323
Allowable thrust load N 196 220 294 343 196 465 588 661 392 465 588 661
Weight kg 0.72 0.72 0.87 0.87 0.85 1.80 2.20 2.20 1.80 1.80 2.20 2.20
The values inside parentheses ( ) are for 100-V Servomotors. The Decelerator inertia is the Servomotor shaft conversion value. The protective structure for Servomotors with Decelerators satisfies IP44. The allowable radial load is the value at the LR/2 position. The standard models have a straight shaft with a key.
32
R88M-G/R88D-GT@
Absolute Encoders
Item Encoder system No. of output pulses Maximum rotations Power supply voltage Power supply current Applicable battery voltage Current consumption of battery Output signals Output interface Optical encoder 17 bits Phases A and B: 32,768 pulses/rotation, Phase Z: 1 pulse/rotation 32,768 to +32,767 rotations or 0 to 65,534 rotations 5 VDC 5% 110 mA (max.) 3.6 VDC 180 A for a maximum of 5 s right after power interruption 100 A for operation during power interruption 3.6 A when power is supplied to Servo Drive +S, S RS-485 compliance Specifications
Reactor Specifications
Servo Drive R88D-GTA5L R88D-GT01H R88D-GT01L R88D-GT02H R88D-GT02L R88D-GT04H R88D-GT04L R88D-GT08H R88D-GT10H R88D-GT15H R88D-GT08H R88D-GT10H R88D-GT15H R88D-GT20H R88D-GT30H R88D-GT50H R88D-GT75H Reactor Model 3G3AX-DL2002 3G3AX-DL2004 3G3AX-DL2007 Rated current 1.6 A 3.2 A 6.1 A Inductance 21.4 mH 10.7 mH 6.75 mH Weight Approx. 0.8 kg Approx. 1.0 kg Approx. 1.3 kg Reactor type Single-phase Single-phase Single-phase
33
R88M-G/R88D-GT@
R88A-PR02G Parameter Unit Specifications
General Specifications
Item Operating ambient temperature Operating ambient humidity Storage ambient temperature Storage ambient humidity Storage and operating atmosphere Vibration resistance 0 to 55C 90% max. (with no condensation) 20 to 80C 90% max. (with no condensation) No corrosive gases 5.9 m/s2 max. Specifications
Performance Specifications
Item Type Cable length Connectors Display External dimensions Weight Standard Communications specifications Communications method Baud rate Start bits Data Parity Stop bits Hand-held 1.5 m Mini DIN 8-pin MD connector 7-segment LED 62 114 15 mm (W H D) Approx. 0.1 kg (including cable that is provided) RS-232 Asynchronous (ASYNC) 9,600 bps 1 bit 8 bits None 1 bit Specifications
34
R88M-G/R88D-GT@
Connections
Control I/O Connector Specifications (CN1)
Control I/O Signal Connections and External Signal Processing for Position Control
Reverse pulse 500 kpps max. Forward pulse Brake Interlock Maximum operating voltage: 30 VDC Maximum output current: 50 mA DC
Alarm Output
General-purpose Output 1
General-purpose Output 2
Control Mode Switch Input Forward Torque Limit Input Pulse Prohibit Input Reverse Torque Limit Input Reverse Drive Prohibit Input
35
R88M-G/R88D-GT@
Control I/O Signal Connections and External Signal Processing for Speed Control
Speed Command Input REF 14 AGND 15 Forward Torque Limit Input PCL 16 AGND 17 Reverse Torque Limit Input NCL 18
11 BKIR
Brake Interlock
10 BKIRCOM 35 READY
Alarm Output
36 ALMCOM
Sensor ON Input
SEN 20
SENGND 13 12 to 24 VDC
7
General-purpose Output 1
40 OUTM2
RUN Command Input RUN 29 Zero Speed Designation Input VZERO 26 Gain Switch Input
General-purpose Output 2
41 COM 19 Z Phase-Z Output
GSEL 27
21
Internally Set Speed Selection 3 VSEL3 28 Internally Set Speed Selection 2 VSEL2 30 Alarm Reset Input RESET 31 Control Mode Switch Input TVSEL 32 Internally Set Speed Selection 1 VSEL1 33 Reverse Drive Prohibit Input NOT 8 Forward Drive Prohibit Input
22 49 48 23 24
Line driver output Conforms to EIA RS-422A (Load resistance: 120 min.)
42 BAT
43 BATCOM
POT 9
50 FG
Frame ground
36
R88M-G/R88D-GT@
Control I/O Signal Connections and External Signal Processing for Torque Control
Torque Command Input or Speed Limit Input TREF/VLIM 14 AGND 15 Torque Command Input TREF 16 AGND 17
11 BKIR
Brake Interlock
10 BKIRCOM
Alarm Output
36 ALMCOM 39 TGON Servomotor Rotation Speed Detection Output 38 TGONCOM 12 OUTM1
12 to 24 VDC
General-purpose Output 1
40 OUTM2
RUN Command Input RUN 29 Zero Speed Designation Input VZERO 26 Gain Switch Input
General-purpose Output 2
41 COM 19 Z Phase-Z Output
GSEL 27
21 22
Alarm Reset Input RESET 31 Control Mode Switch Input TVSEL 32 Reverse Drive Prohibit Input NOT 8 Forward Drive Prohibit Input
49 48 23 24
Line driver output Conforms to EIA RS-422A (Load resistance: 120 min.)
13 SENGND
Frame ground
37
R88M-G/R88D-GT@
Peripheral Device Connection Examples
R88D-GTA5L/-GT01L/-GT02L/-GT04L R88D-GT01H/-GT02H/-GT04H/-GT08H/-GT10H/-GT15H
R T Single-phase 100 to 115 VAC, 50/60 Hz: R88D-GT@@L Single-phase 200 to 240 VAC, 50/60 Hz: R88D-GT@@H
NFB
NF
4
B
CNB
1MC
CNA L1 L2 CNB
24 VDC
U V
Reactor
M
W
B1
(*3)
CN1
E
Encoder Cable
X
24 VDC
XB (*1)
24 VDC
*1. Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 Relay's rated inductive load is 2 A at 24 VDC and applicable to all G-series Motors with Brakes. *2. The brake is not affected by the polarity of the power supply. *3. Connect B2-B3 for the models with a built-in regeneration resistor (GT04L, GT08H, GT10H, and GT15H). *4. If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2. *5. Models GTA5L to GT02L and GT01H to *6. GT04H do not have a built-in regeneration resistor. If the amount of regeneration is large, an External Regeneration Resistor must be connected to B1-B2.
38
R88M-G/R88D-GT@
R88D-GT08H/-GT10H/-GT15H/-GT20H/-GT30H/-GT50H/-GT75H
R S T Three-phase 200 to 240 VAC, 50/60 Hz
NFB
NF
5 6
B
24 VDC
1MC Reactor
B1
CN2
(*3)
B3 B2 CN1
E
Encoder Cable
X
24 VDC
37 /ALM 36 ALMCOM
CN1 BKIR 11
XB (*1)
24 VDC
CN1
BKIRCOM 10
*1. Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 Relay's rated inductive load is 2 A at 24 VDC and applicable to all G-series Motors with Brakes. *2. The brake is not affected by the polarity of the power supply. *3. Connect B2 and B3 for the models with a built-in regeneration resistor (GT08H to GT50H). If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2. *4. The GT75H does not have a built-in regeneration resistor. If the amount of regeneration is large, an External Regeneration Resistor must be connected to B1-B2.
39
R88M-G/R88D-GT@
REF/TREF/VLIM 14
ADC 1 +3.3 V
15 AGND
+
PCL/TREF 16
17 AGND
+
+3.3 V
ADC 2
NCL 18
The maximum allowable input voltage is 10 V for each input. The VR must be 2 k with B characteristics and 1/2 W minimum. R must be 200 and 1/2 W minimum.
Position Command Pulse Input (Photocoupler Input) Line Driver Input (500 kpps Maximum) (+CW:3, CW:4, +CCW:5, CCW:6)
Controller Servo Drive Input current: 9 mA, 3 V Applicable line driver: AM26LS31A or the equivalent
Open-collector Input
External 24-V power supply without a current-limiting resistor (200 kpps maximum) (+24VCW: 1, CW: 4, +24VCCW: 2, CCW: 6)
Controller Vcc 24 V
Servo Drive
External control power supply (200 kpps maximum) (+CW: 3, CW: 4, +CCW: 5, CCW: 6)
Controller Vcc R
Servo Drive
Input current: 7 to 15 mA
Select a resistance R value so that the input current will be from 7 to 15 mA. Refer to the following table.
VCC 24 V 12 V R 2 k (1/2 W) 1 k (1/2 W)
40
R88M-G/R88D-GT@
Sequence Input
External power supply: 12 VDC 5% to 24 VDC 5% Power supply capacity: 50 mA min. (per Unit) +24VIN 7 Photocoupler input RUN 29
Minimum ON time: 40 ms To other input circuit ground commons Signal Levels ON level: 10 V min. OFF level: 3 V max.
ABS
Servo Drive SEN 20 When at high level: 4.7 k Approx. 1 mA SENGND 13 Input voltage: 1 mA to 5 A DC
7406 or the equivalent 0V Signal Levels High level: 4 V min. Low level: 0.8 V max.
Sequence Output
Servo Drive To other output circuits X Di External power supply 24 VDC 1 V Maximum operating voltage: 30 VDC Maximum output current: 50 mA
41
R88M-G/R88D-GT@
Name 24-V Open-collector Input for Command Pulse 24-V Open-collector Input for Command Pulse Reverse Pulses Input/ Feed Pulses Input, or 90 Phase Difference Pulse Input (Phase A)
Main-circuit power terminals (L1, L2, L3) Control-circuit power terminals (L1C, L2C)
+CCW/SIGN/FB Forward Pulse Input/ Direction Signal, CCW/SIGN/FB or 90 Phase Difference Pulse Input (Phase B) +24VIN NOT POT REF 12 to 24-VDC Power Supply Input Reverse Drive Prohibit Input Forward Drive Prohibit Input Speed Command Input Torque Command Input Speed Limit Input Analog Input Ground Forward Torque Limit Input Torque Command Input Analog Input Ground Reverse Torque Limit Input Sensor ON Input Zero Speed Designation Input Vibration Filter Switch Speed Command Rotation Direction Switch Gain Switch Torque Limit Switch Electronic Gear Switch Internally Set Speed Selection 3 RUN Command Deviation Counter Reset Input Internally Set Speed Selection 2 Alarm Reset Input Control Mode Switch Input Pulse Prohibit Input Internally Set Speed Selection 1 Backup Battery Input Reverse Pulse (input for line driver only) Forward Pulse (input for line driver only)
External Regeneration Resistor connection terminals (B1, B2, B3) Servomotor connection terminals (U, V, W) Encoder connector (CN2)
14
TREF VLIM
15 16
17 18
20 13
26
DFSEL PNSEL
GSEL TLSEL GESEL VSEL3 RUN ECRST VSEL2 RESET TVSEL IPG VSEL1 BAT BATGND +CWLD CWLD +CCWLD CCWLD
29 30 31 32 33 42 43 44
Frame ground
45 46
Display Area
A 6-digit 7-segment LED display shows the Servo Drive status, alarm codes, parameters, and other information.
47
42
R88M-G/R88D-GT@
CN1 Control Outputs
Pin No. 10 11 12 19 25 21 22 48 49 23 24 35 34 37 36 39 38 39 38 40 41 Shell Symbol BKIRCOM BKIR OUTM1 Z ZCOM +A A B +B +Z Z READY READYCOM /ALM ALMCOM INP INPCOM TGON TGONCOM OUTM2 COM FG Name Brake Interlock Output General-purpose Output 1 Phase-Z Output (open collector) Phase-Z Output (open collector) common Encoder Phase-A + Output Encoder Phase-A Output Encoder Phase-B Output Encoder Phase-B + Output Encoder Phase-Z + Output Encoder Phase-Z Output Servo Ready Output
Protective Functions
Error detection Control power supply undervoltage Overvoltage Undervoltage Overcurrent Overheating Overload Regeneration overload Encoder communications error Encoder communications data error Position deviation exceeded Overspeed Command pulse multiplying error Overrun limit error EEPROM parameter error EEPROM check code error Drive prohibit input Excessive analog input Absolute encoder system down error Absolute encoder counter overflow error
Alarm Output
Servomotor Rotation Speed Detection Output General-purpose Output 2 General-purpose Output Common Frame Ground
Absolute encoder overspeed error Absolute encoder one-turn counter error Absolute encoder multi-turn counter error Absolute encoder status error Encoder phase Z error Encoder PS signal error PCL input exceeded NCL input exceeded Motor automatic recognition error CPU error Encoder error
43
R88M-G/R88D-GT@
Parameter
R88A-RP02G : Parameter Unit Part Names
LED Display (6 Digits) If an error occurs, all digits will flash and the display will switch to the error display. Unit No. Display (2 Digits) Displays the selected Servo Drive's unit number set in the Unit No. Setting (Pn00). In Parameter Setting Mode, displays the 2digit parameter number. Mode Key Switches between the following six modes. Monitor Mode Autotuning Mode Parameter Setting Mode Auxiliary Function Mode Parameter Write Mode Copy Mode Increment/Decrement Key Increases or decreases parameter numbers or set values. Shift Key Shifts the digit being changed to the left. Data Key Switches between the parameter and setting displays, saves settings, etc.
Gain Parameters
Parameter name Position Loop Gain Speed Loop Gain Speed Loop Integration Time Constant Speed Feedback Filter Time Constant Torque Command Filter Time Constant Feed-forward Amount Feed-forward Command Filter Position Loop Gain 2 Speed Loop Gain 2 Speed Loop Integration Time Constant 2 Speed Feedback Filter Time Constant 2 Torque Command Filter Time Constant 2 Notch Filter 1 Frequency Explanation Set to adjust position control system responsiveness. Set to adjust speed loop responsiveness. Set to adjust the speed loop integration time constant. The encoder signal is converted to the speed signal via the low pass filter. Set to adjust the primary lag filter time constant for the torque command section. Set the position control feed-forward compensation value. Set the time constant of the primary lag filter used in the speed feed-forward section. Set to adjust position control system responsiveness. Set to adjust speed loop responsiveness. Set to adjust the speed loop integration time constant. The encoder signal is converted to the speed signal via the low pass filter. Set to adjust the primary lag filter time constant for the torque command section. Set the notch frequency of the resonance suppression notch filter. Set the width to one of five levels for the resonance suppression notch filter. Normally, use the default setting. Set the ratio between the mechanical system inertia and the Servomotor rotor inertia. Set the operating mode for realtime autotuning. Set the machine rigidity to one of 16 levels during realtime autotuning. The higher the machine rigidity, the greater the setting needs to be. The higher the setting, the higher the responsiveness. When the Parameter Unit is used, 0 cannot be set. Enable or disable the adaptive filter. Vibration filters 1 and 2 can be switched. Set the operating pattern for autotuning. Set the allowable operating range for the Servomotor. The overrun limit function is disabled if the parameter is set to 0. Set the instantaneous speed observer. Set the notch frequency of the resonance suppression notch filter. Set the notch filter width to one of five levels for the resonance suppression notch filter. Normally, use the default setting. Set the depth of the resonance suppression notch filter. Set vibration frequency 1to suppress vibration at the end of the load in dampening control. Set vibration filter 1 to suppress vibration at the end of the load in dampening control. Set vibration frequency 2 to suppress vibration at the end of the load in dampening control. Set vibration filter 2 to suppress vibration at the end of the load in dampening control.
Adaptive Filter Selection Vibration Filter Selection Autotuning Operation Setting Overrun Limit Setting Instantaneous Speed Observer Setting Notch Filter 2 Frequency
Select the baud rate for RS-485 communications. Front panel key operation can be limited to Monitor Mode. Notch Filter 2 Width
Notch Filter 2 Depth Vibration Frequency 1 Vibration Filter 1 Setting Vibration Frequency 2 Vibration Filter 2 Setting
44
R88M-G/R88D-GT@
Position Control Parameters
Parameter name Explanation Displays the table entry number corresponding to the frequency for the adaptive filter. This parameter is set automatically and cannot be changed if the adaptive filter is enabled (i.e., if Realtime Autotuning Mode Selection (Pn21) is 1 to 3 or 7). Enable or disable gain switching. If gain switching is enabled, the setting of the Gain Switch Setting (Pn31) is used as the condition for switching between gain 1 and gain 2. Select the condition for switching between gain 1 and gain 2. The details depend on the control mode. This parameter is enabled when the control Gain Switch 1 Setting (Pn31) is 3 to 10. Set the delay time from the moment the condition set in the Gain Switch 1 Setting (Pn31) is not met until returning to gain 1. This parameter is enabled when the control Gain Switch 1 Setting (Pn31) is 3 to 6, 9, or 10. Set the judgment level for switching between gain 1 and gain 2. The unit for the setting depends on the condition set in the control Gain Switch 1 Setting (Pn31). Set the hysteresis width above and below the judgment level set in the Gain Switch 1 Level Setting (Pn33). When switching between gain 1 and gain 2 is enabled, set the phased switching time only for the position loop gain at gain switching. Select the condition for switching between gain 1 and gain 2 when the Mode 2 is selected in composite modes. The Gain Switching Input Operating Mode Selection (Pn30) must be set to 1 (enabled). This parameter is enabled when control Gain Switch 2 Setting (Pn36) is 3 to 5. Set the delay time for returning from gain 2 to gain 1. This parameter is enabled when control Gain Switch 2 Setting (Pn36) is 3 to 5. Set the judgment level for switching between gain 1 and gain 2. The unit depends on the setting of control Gain Switch 2 Setting (Pn36). Set the hysteresis width above and below the judgment level set in the Gain Switch 2 Level Setting (Pn38). The unit depends on the setting of the control Gain Switch 2 Setting (Pn36). Set the speed for jogging. Parameter name Command Pulse Input Selection Explanation Selects whether to use photocoupler or linedriver-only input for the command pulse input.
Command Pulse Set the Servomotor rotation direction for the Rotation Direction Switch command pulse input. Command Pulse Mode Command Pulse Prohibited Input Setting Encoder Divider Numerator Setting Encoder Divider Denominator Setting Encoder Output Direction Switch Electronic Gear Ratio Numerator 1 Electronic Gear Ratio Numerator 2 Electronic Gear Ratio Numerator Exponent Electronic Gear Ratio Denominator Set the form of the pulse inputs sent as command to the Servo Drive from a position controller. Enable or disable the pulse disable input (IPG). Set the number of encoder pulses (+A, A, B, +B) output from the Servo Drive for each Servomotor rotation. Set the B-phase logic for pulse output (B, +B).
Set the pulse rate for command pulses and Servomotor travel distance. If Pn48 or Pn49 is 0, the encoder resolution is set to a numerator.
Electronic Gear Ratio Electronic Gear Ratio Numerator 1 (Pn48) or 2 Numerator Exponent (Pn4A) Electronic Gear Ratio Numerator 2 (Pn49)
Set the time constant for the primary lag filter for the command pulse input. If the parameter is set to 0, the filter will not function. The larger the setting, the larger the time constant. Select the FIR filter time constant used for the command pulse input. The higher the setting, the smoother the command pulses. Set the deviation counter reset conditions.
45
R88M-G/R88D-GT@
Speed and Torque Control Parameters
Parameter name Speed Command Scale Explanation Set the relation between the voltage applied to the Speed Command Input (REF) and the Servomotor speed.
Sequence Parameters
Parameter name Positioning Completion Range Zero Speed Detection Rotation Speed for Motor Rotation Detection Positioning Completion Condition Setting Undervoltage Alarm Selection Explanation Set the range for the Positioning Completed Output (INP). Set the rotation speed for the Warning Output for zero speed detection. Set the rotation speed for the Servomotor Rotation Detection Output (TGON) for Internally Set Speed Control. Set the operation for positioning completion output (INP). Select whether to activate the main power supply undervoltage function (alarm code 13) if the main power supply is interrupted for the Momentary Hold Time (Pn6D) during Servo ON. Set the operation used to decelerate to a stop after the Forward Drive Prohibit Input (POT) or Reverse Drive Prohibit Input (NOT) has been received. Set one of the following operations for after the main power supply is cut off if the Undervoltage Alarm Selection (Pn65) is set to 0. Operation during deceleration and after stopping Clearing the deviation counter Set the operation to be performed after stopping or during deceleration when any protective function of the Servo Drive operates and an error occurs. Set the operation to be performed after the Servomotor turns OFF (i.e., RUN ON to OFF). The relation between set values, operation, and deviation counter processing for this parameter is the same as for the Stop Selection with Main Power OFF (Pn67). When the Servomotor is stopped and the RUN Command Input (RUN) is turned OFF, the Brake Interlock Signal (BKIR) will turn OFF, and the Servomotor will turn OFF after waiting for the time period set for this parameter (i.e., setting 2 ms). When the Servomotor is stopped and the RUN Command Input (RUN) is turned OFF, the Servomotor will decelerate to reduce rotation speed, and the Brake Interlock Signal (BKIR) will turn OFF after the set time for the parameter (i.e., setting 2 ms) has elapsed. BKIR will also turn OFF if the speed drops to 30 r/min or lower before the set time elapses. Set whether to use a built-in resistor or to add an External Regeneration Resistor. Set the amount of time required until shutoff is detected if the main power supply continues to shut off. Set the torque limit for the following cases. Drive prohibit deceleration with Stop Selection for Drive Prohibit Input (Pn66) set to 2. Deceleration with Stop Selection with Main Power OFF (Pn67) set to 8 or 9. Deceleration with Stop Selection with Servo OFF (Pn69) set to 8 or 9. Set the deviation counter overflow level. Set the overflow level for Speed Command Input (REF) or Torque Command Input (TREF) using voltage after offset adjustment. Set the overload detection level. Set the overspeed detection level.
Command Speed Set to reverse the polarity of the speed Rotation Direction Switch command input (REF). Speed Command Offset Adjustment No. 1 Internally Set Speed No. 2 Internally Set Speed No. 3 Internally Set Speed No. 4 Internally Set Speed No. 5 Internally Set Speed No. 6 Internally Set Speed No. 7 Internally Set Speed No. 8 Internally Set Speed Speed Command Filter Time Constant Soft Start Acceleration Time Soft Start Deceleration Time S-curve Acceleration/ Deceleration Time Setting Torque Command/Speed Limit Selection Torque Command Scale Torque Output Direction Switch No. 1 Torque Limit No. 2 Torque Limit Set to adjust the offset of the Speed Command Input (REF). Set the No. 1 internally set rotation speed. Set the No. 2 internally set rotation speed. Set the No. 3 internally set rotation speed. Set the No. 4 internally set rotation speed. For torque control (when Pn5B = 0), set the speed limit. Set the No. 5 internally set rotation speed. Set the No. 6 internally set rotation speed. Set the No. 7 internally set rotation speed. Set the No. 8 internally set rotation speed. Set the primary lag filter time constant in the Speed Command Input (REF: CN1 pin 14). Set the acceleration time for the speed command. Set the deceleration time for the speed command. Set the pseudo-S-curve acceleration/ deceleration value to add to the speed command to enable smooth operation. Select the input for the torque command and speed limit. Set the relation between the voltage applied to the Torque Command Input (TREF) and the Servomotor torque. Set to reverse the polarity of the Torque Command Input (REF/TREF or PCL/TREF). Set the limit to the Servomotor's maximum torque. Set the limit to the Servomotor's maximum torque.
Deviation Counter Overflow Level Speed Command/Torque Command Input Overflow Level Setting Overload Detection Level Setting Overspeed Detection Level Setting
46
R88M-G/R88D-GT@
Dimensions
Servo Drives
Single-phase 100 VAC (50 to 100 W) R88D-GTA5L R88D-GT01L Single-phase 200 VAC (50 to 200 W) R88D-GT01H R88D-GT02H 40
(Unit: mm)
130 4
AC SERVO DRIVE
UNIT No.
DATA
IM
SP
280.5 (42)
Single-phase 100 VAC (200 W) R88D-GT02L Single-phase 200 VAC (400 W) R88D-GT04H
55 130 4 Two, M4
AC SERVO DRIVE
UNIT No.
DATA
IM
SP
430.5 57
1400.5
150
(150)
1400.5
150
(150)
47
R88M-G/R88D-GT@
Single-phase 100 VAC (400 W) R88D-GT04L Single-phase/Three-phase 200 VAC (750 W) R88D-GT08H
65 170 4
AC SERVO DRIVE
UNIT No.
DATA
IM
SP
(150)
8.5
500.5 (67)
AC SERVO DRIVE
UNIT No.
DATA
IM
SP
150 150
48
R88M-G/R88D-GT@
Three-phase 200 VAC (2 kW) R88D-GT20H
85 17.5 50 42.5 5.2 R2.6
5.2 dia.
200
3.5
AC SERVO DRIVE
UNIT No.
DATA
IM
SP
168
R2.6 5.2
5.2 dia.
188
198
R2.6 5.2
18.5 3.5
500.5 (87)
42.5 17.5 50
R2.6
AC SERVO DRIVE
UNIT No.
DATA
IM
SP
R2.6
5.2 dia.
5.2 65 15
(220)
220
240
250
(168)
49
R88M-G/R88D-GT@
Three-phase 200 VAC (7.5 kW) R88D-GT75H Front Panel Mounting (Using Mounting Brackets)
248 37.5 82.5 5.2 90 90 5.2 90 5.2 45.1 (2.3) 339.3 (4)
Six, M4
(4)
Square hole
5.2
5.2
38.5
900.5 250
900.5
85
2400.5
229
50
R88M-G/R88D-GT@
Servomotors
3,000-r/min Cylindrical Servomotors 50W/100W
INC
R88M-G05030H (-S2) R88M-G10030L (-S2) R88M-G10030H (-S2) R88M-05030H-B (S2) R88M-G10030L-B (S2) R88M-G10030H-B (S2)
Model R88M-G05030@ R88M-G10030@ R88M-G05030@-B R88M-G10030@-B LL 72 92 102 122 LN 26.5 46.5
ABS
R88M-G05030T (-S2) R88M-G10030S (-S2) R88M-G10030T (-S2) R88M-G05030T-B (S2) R88M-G10030S-B (S2) R88M-G10030T-B (S2)
Encoder connector Brake connector Servomotor connector 25 6 3
LL
230
26.5 46.5
40 40
ia.
14 12.5
3h9 3 1.8
30 dia., height: 7
LN
32
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding S2 to the end of the model
46 d
M3 (depth: 6)
200W/400W/750W
INC
R88M-G20030L (-S2) R88M-G40030L (-S2) R88M-G20030H (-S2) R88M-G40030H (-S2) R88M-G75030H (-S2) R88M-G20030L-B (S2) R88M-G40030L-B (S2) R88M-G20030H-B (S2) R88M-G40030H-B (S2) R88M-G75030H-B (S2)
Model R88M-G20030@ R88M-G40030@ R88M-G75030@ R88M-G20030@-B R88M-G40030@-B R88M-G75030@-B LL 79.5 99 112.2 116 135.5 149.2 LR 30 35 30 35
ABS
R88M-G20030S (-S2) R88M-G40030S (-S2) R88M-G20030T (-S2) R88M-G40030T (-S2) R88M-G75030T (-S2) R88M-G20030S-B (S2) R88M-G40030S-B (S2) R88M-G20030T-B (S2) R88M-G40030T-B (S2) R88M-G75030T-B (S2)
S 11 14 19 11 14 19 D1 70 90 70 90 D2 50 70 50 70 C 60 80 60 80 G 6.5 8 6.5 8 Z 4.5 6 4.5 6 KL1 43 53 43 53 QK 18 22.5 22 18 22.5 22 b 4h9 5h9 6h9 4h9 5h9 6h9 h 4 5 6 4 5 6 M M4 M5 M4 M5 t1 2.5 3 3.5 2.5 3 3.5 L 8 10 8 10
220
CC
QK b t1
D1 dia.
50 dia., height : 7
13
M4 (effective depth: L)
51
R88M-G/R88D-GT@
1kW/1.5kW/2kW
ABS
R88M-G1K030T (-S2) R88M-G1K530T (-S2) R88M-G2K030T (-S2) R88M-G1K030T-B (S2) R88M-G1K530T-B (S2) R88M-G2K030T-B (S2)
Servomotor canon plug Encoder canon plug
84 LL G 55 3
19 dia., h: 6
CC
KL1
45 42 6
6h9 3.5
D2 dia., height: 7
D3
dia
D1
dia
M5 (depth: 12)
D2 80 95 80 95
C 90 100 90 100
G 7 10 7 10
Z 6.6 9 6.6 9
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding S2 to the end of the model number.
3kW
ABS
R88M-G3K030T (-S2) R88M-G3K030T-B (S2)
LL 12
55 3
22 dia., h: 6
LL 217 242
165
dia
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding S2 to the end of the model number.
M5 (depth: 12)
4kW/5kW
ABS
R88M-G4K030T (-S2) R88M-G5K030T (-S2) R88M-G4K030T-B (S2) R88M-G5K030T-B (S2)
Model R88M-G4K030T R88M-G5K030T R88M-G4K030T-B R88M-G5K030T-B LL 240 280 265 305
LL 12
65 6
24 dia., h: 6
dia. 165
M8 (depth: 20)
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding S2 to the end of the model number.
52
R88M-G/R88D-GT@
3,000-r/min Flat Servomotors 100W/200W/400W
INC
R88M-GP10030L (-S2) R88M-GP20030L (-S2) R88M-GP40030L (-S2) R88M-GP10030H (-S2) R88M-GP20030H (-S2) R88M-GP40030H (-S2) R88M-GP10030L-B (S2) R88M-GP20030L-B (S2) R88M-GP40030L-B (S2) R88M-GP10030H-B (S2) R88M-GP20030H-B (S2) R88M-GP40030H-B (S2)
ABS
R88M-GP10030S (-S2) R88M-GP20030S (-S2) R88M-GP40030S (-S2) R88M-GP10030T (-S2) R88M-GP20030T (-S2) R88M-GP40030T (-S2) R88M-GP10030S-B (S2) R88M-GP20030S-B (S2) R88M-GP40030S-B (S2) R88M-GP10030T-B (S2) R88M-GP20030T-B (S2) R88M-GP40030T-B (S2)
Model R88M-GP10030L R88M-GP10030H R88M-GP10030S R88M-GP10030T R88M-GP20030L R88M-GP20030H R88M-GP20030S R88M-GP20030T R88M-GP40030L R88M-GP40030H R88M-GP40030S R88M-GP40030T R88M-GP10030L-B R88M-GP10030H-B R88M-GP10030S-B R88M-GP10030T-B R88M-GP20030L-B R88M-GP20030H-B R88M-GP20030S-B R88M-GP20030T-B R88M-GP40030L-B R88M-GP40030H-B R88M-GP40030S-B R88M-GP40030T-B
LL 60.5
LR
D1
D2
KL1
QK
t1
25 87.5 67.5
70
50
60
43
4.5
12.5
3h9
1.8
M3
11 94.5 30 82.5 14 109.5 84.5 25 111.5 100 11 127 30 115 14 142 90 70 80 5 8 53 5.5 8 70 50 60 3 7 43 4.5 90 70 80 5 8 53 5.5
18
4h9
2.5
M4
22.5
5h9
3.0
M5
10
12.5
3h9
1.8
M3
18
4h9
2.5
M4
22.5
5h9
3.0
M5
10
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding S2 to the end of the model number.
Encoder connector
LL
Motor connector
LR
Brake connector
220
(7)
(7) 200
G F Four, Z dia.
CC
D2 dia., height: 7
S dia., h: 6
KL1
D1
dia
M (depth: L)
53
R88M-G/R88D-GT@
2,000-r/min Cylindrical Servomotors AC200V: 1kW/1.5kW
ABS
R88M-G1K020T (-S2) R88M-G1K520T (-S2) R88M-G1K020T-B (S2) R88M-G1K520T-B (S2)
Model R88M-G1K020T R88M-G1K520T R88M-G1K020T-B R88M-G1K520T-B
LL 12
55 6
22 dia., h: 6 110 dia., height: 7
130 130
Four, 9 dia.
118
165
dia.
145
dia
M5 (depth: 12)
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding S2 to the end of the model number.
AC200V: 2kW/3kW
ABS
R88M-G2K020T (-S2) R88M-G3K020T (-S2) R88M-G2K020T-B (S2) R88M-G3K020T-B (S2)
LL 12
LR 6 118
S dia., h: 6 110 dia., height: 7
165
dia.
145
dia .
M (depth: L)
LR 55 65 55 65
S 22 24 22 24
LW 45 55 45 55
QK 41 51 41 51
M M5 M8 M5 M8
L 12 20 12 20
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding S2 to the end of the model number.
AC200V :4kW/5kW
ABS
R88M-G4K020T (-S2) R88M-G5K020T (-S2) R88M-G4K020T-B (S2) R88M-G5K020T-B (S2)
LL 18
LR 3.2
S dia.,h: 6 D2 dia., height: 7
D3
dia.
D1
dia
M (depth: L)
LR 65 70 65 70
S 28 35 28 35
Z 11 13.5 11 13.5
QK 51 50 51 50
h 7 8 7 8
t1 4 5 4 5
M M8 M12 M8 M12
L 20 25 20 25
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding S2 to the end of the model number.
54
R88M-G/R88D-GT@
1,500-r/min Cylindrical Servomotors 7.5kW
ABS
R88M-G7K515T (-S2) R88M-G7K515T-B (S2)
Motor connector
LL
113
176 176
183
Encoder connector
84
24 3.2
12h9 8
LL 340.5 380.5
233
dia
200
dia
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding S2 to the end of the model number.
ABS
R88M-G90010T (-S2) R88M-G2K010T (-S2) R88M-G90010T-B (S2) R88M-G2K010T-B (S2)
G F 84
QK
b h t1
D2 dia., height: 7
KL1
D3
dia
D1
dia
M (depth: L)
LR 70 80 70 80
S 22 35 22 35
F 6 3.2 6 3.2
G 12 18 12 18
Z 9 13.5 9 13.5
QK 41 50 41 50
h 7 8 7 8
t1 4 5 4 5
M M5 M12 M5 M12
L 12 25 12 25
3kW
ABS
R88M-G3K010T (-S2) R88M-G3K010T-B (S2)
LL
b 8 5
LL 222 271
QK 50 50
b 10h9 10h9
233
dia
200
dia
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding S2 to the end of the model number.
55
R88M-G/R88D-GT@
4.5kW
ABS
R88M-G4K510T (-S2) R88M-G4K510T-B (S2)
LL Eye-bolt
Nominal diameter: 10
113 24 3.2
42 dia.
QK b 8 5
233
dia
200
dia
LL 300.5 337.5
QK 90 90
b 12h9 12h9
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding S2 to the end of the model number.
6kW
ABS
R88M-G6K010T (-S2) R88M-G6K010T-B (S2)
Motor connector
42 dia. h:6
Encoder connector
LL 340.5 380.5
200
dia
233
. dia
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding S2 to the end of the model number.
56
R88M-G/R88D-GT@
Decelerators
Decelerators for Cylindrical Servomotors Backlash: 3 Arcminutes Max.
Dimensions (mm) Model LM 1/5 1/9 50 W 1/21 1/33 1/45 1/5 1/11 100 W 1/21 1/33 1/45 1/5 1/11 200 W 1/21 1/33 1/45 1/5 1/11 400 W 1/21 1/33 1/45 1/5 1/11 750 W 1/21 1/33 1/45 R88G-HPG11A05100B R88G-HPG11A09050B R88G-HPG14A21100B R88G-HPG14A33050B R88G-HPG14A45050B R88G-HPG11A05100B R88G-HPG14A11100B R88G-HPG14A21100B R88G-HPG20A33100B R88G-HPG20A45100B R88G-HPG14A05200B R88G-HPG14A11200B R88G-HPG20A21200B R88G-HPG20A33200B R88G-HPG20A45200B R88G-HPG14A05400B R88G-HPG20A11400B R88G-HPG20A21400B R88G-HPG32A33400B R88G-HPG32A45400B R88G-HPG20A05750B R88G-HPG20A11750B R88G-HPG32A21750B R88G-HPG32A33750B R88G-HPG32A45750B 39.5 39.5 64.0 64.0 64.0 39.5 64.0 64.0 66.5 66.5 64.0 64.0 71.0 71.0 71.0 64.0 71.0 71.0 104.0 104.0 78.0 78.0 104.0 104.0 104.0 LR 42 42 58 58 58 42 58 58 80 80 58 58 80 80 80 58 80 80 133 133 80 80 133 133 133 C1 40 40 60 60 60 40 60 60 90 90 60 60 90 90 90 60 90 90 120 120 90 90 120 120 120 C2 4040 4040 6060 6060 6060 4040 6060 6060 55 dia. 55 dia. 6060 6060 89 dia. 89 dia. 89 dia. 6060 89 dia. 89 dia. 122 dia. 122 dia. 8080 8080 122 dia. 122 dia. 122 dia. D1 46 46 70 70 70 46 70 70 105 105 70 70 105 105 105 70 105 105 135 135 105 105 135 135 135 D2 46 46 46 46 46 46 46 46 46 46 70 46 70 70 70 70 70 70 70 70 90 90 90 90 90 D3 40.0 40.0 56.0 56.0 56.0 40.0 56.0 56.0 85.0 85.0 56.0 56.0 85.0 85.0 85.0 56.0 85.0 85.0 115.0 115.0 85.0 85.0 115.0 115.0 115.0 D4 39.5 39.5 55.5 55.5 55.5 39.5 55.5 55.5 84.0 84.0 55.5 55.5 84.0 84.0 84.0 55.5 84.0 84.0 114.0 114.0 84.0 84.0 114.0 114.0 114.0 D5 29 29 40 40 40 29 40 40 59 59 40 40 59 59 59 40 59 59 84 84 59 59 84 84 84 E 27 27 37 37 37 27 37 37 53 53 37 37 53 53 53 37 53 53 98 98 53 53 98 98 98 F1 2.2 2.2 2.5 2.5 2.5 2.2 2.5 2.5 7.5 7.5 2.5 2.5 7.5 7.5 7.5 2.5 7.5 7.5 12.5 12.5 7.5 7.5 12.5 12.5 12.5 F2 15 15 21 21 21 15 21 21 27 27 21 21 27 27 27 21 27 27 35 35 27 27 35 35 35
Note: 1. The standard models have a straight shaft. Note: 2. A model with a key and tap is indicated by adding J to the end of the model number (the suffix shown in the box). (Example: R88G-HPG11A05100BJ)
C1
Four, Z2 dia.
D1 dia.
D2 dia.
T Four, Z1 dia.
F1 F2 LR G LM
C2
57
R88M-G/R88D-GT@
Dimensions (mm) G 5 5 8 8 8 5 8 8 10 10 8 8 10 10 10 8 10 10 13 13 10 10 13 13 13 S 8 8 16 16 16 8 16 16 25 25 16 16 25 25 25 16 25 25 40 40 25 25 40 40 40 T 20 20 28 28 28 20 28 28 42 42 28 28 42 42 42 28 42 42 82 82 42 42 82 82 82 Z1 3.4 3.4 5.5 5.5 5.5 3.4 5.5 5.5 9.0 9.0 5.5 5.5 9.0 9.0 9.0 5.5 9.0 9.0 11.0 11.0 9.0 9.0 11.0 11.0 11.0 Z2 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M5 M5 M5 M5 M5 AT*1 QK M3 M3 M3 M3 M3 M3 M3 M3 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M6 M6 M6 15 15 25 25 25 15 25 25 36 36 25 25 36 36 36 25 36 36 70 70 36 36 70 70 70 Key dimensions b 3 3 5 5 5 3 5 5 8 8 5 5 8 8 8 5 8 8 12 12 8 8 12 12 12 h 3 3 5 5 5 3 5 5 7 7 5 5 7 7 7 5 7 7 8 8 7 7 8 8 8 t1 1.8 1.8 3 3 3 1.8 3 3 4.0 4.0 3 3 4.0 4.0 4.0 3 4.0 4.0 5.0 5.0 4.0 4.0 5.0 5.0 5.0 Tap dimensions M M3 M3 M4 M4 M4 M3 M4 M4 M6 M6 M4 M4 M6 M6 M6 M4 M6 M6 M10 M10 M6 M6 M10 M10 M10 L 6 6 8 8 8 6 8 8 12 12 8 8 12 12 12 8 12 12 20 20 12 12 20 20 20 R88G-HPG11A05100B R88G-HPG11A09050B R88G-HPG14A21100B R88G-HPG14A33050B R88G-HPG14A45050B R88G-HPG11A05100B R88G-HPG14A11100B R88G-HPG14A21100B R88G-HPG20A33100B R88G-HPG20A45100B R88G-HPG14A05200B R88G-HPG14A11200B R88G-HPG20A21200B R88G-HPG20A33200B R88G-HPG20A45200B R88G-HPG14A05400B R88G-HPG20A11400B R88G-HPG20A21400B R88G-HPG32A33400B R88G-HPG32A45400B R88G-HPG20A05750B R88G-HPG20A11750B R88G-HPG32A21750B R88G-HPG32A33750B R88G-HPG32A45750B 1/5 1/9 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 750 W 400 W 200 W 100 W 50 W Model
b t1 M (depth: L)
58
R88M-G/R88D-GT@
Decelerators for Flat Servomotors Backlash: 3 Arcminutes Max.
Dimensions (mm) Model LM 1/5 1/11 100 W 1/21 1/33 1/45 1/5 1/11 200 W 1/21 1/33 1/45 1/5 1/11 400 W 1/21 1/33 1/45 R88G-HPG11A05100PB R88G-HPG14A11100PB R88G-HPG14A21100PB R88G-HPG20A33100PB R88G-HPG20A45100PB R88G-HPG14A05200PB R88G-HPG20A11200PB R88G-HPG20A21200PB R88G-HPG20A33200PB R88G-HPG20A45200PB R88G-HPG20A05400PB R88G-HPG20A11400PB R88G-HPG20A21400PB R88G-HPG32A33400PB R88G-HPG32A45400PB 39.5 64.0 64.0 71.0 71.0 65.0 78.0 78.0 78.0 78.0 78.0 78.0 78.0 104.0 104.0 LR 42 58 58 80 80 58 80 80 80 80 80 80 80 133 133 C1 40 60 60 90 90 60 90 90 90 90 90 90 90 120 120 C2 6060 6060 6060 89 dia. 89 dia. 8080 8080 8080 8080 8080 8080 8080 8080 122 dia. 122 dia. D1 46 70 70 105 105 70 105 105 105 105 105 105 105 135 135 D2 70 70 70 70 70 90 90 90 90 90 90 90 90 90 90 D3 40.0 56.0 56.0 85.0 85.0 56.0 85.0 85.0 85.0 85.0 85.0 85.0 85.0 115.0 115.0 D4 39.5 55.5 55.5 84.0 84.0 55.5 84.0 84.0 84.0 84.0 84.0 84.0 84.0 114.0 114.0 D5 29 40 40 59 59 40 59 59 59 59 59 59 59 84 84 E 27 37 37 53 53 37 53 53 53 53 53 53 53 98 98 F1 2.2 2.5 2.5 7.5 7.5 2.5 7.5 7.5 7.5 7.5 7.5 7.5 7.5 12.5 12.5 F2 15 21 21 27 27 21 27 27 27 27 27 27 27 35 35
Note: 1. The standard models have a straight shaft. Note: 2. A model with a key and tap is indicated by adding J to the end of the model number (the suffix shown in the box). (Example: R88G-HPG11A05100PBJ)
C1
Four, Z2 dia.
D1 dia.
D2 dia.
T Four, Z1 dia.
F1 F2 LR G LM
C2
59
R88M-G/R88D-GT@
Dimensions (mm) G 5 8 8 10 10 8 10 10 10 10 10 10 10 13 13 S 8 16 16 25 25 16 25 25 25 25 25 25 25 40 40 T 20 28 28 42 42 28 42 42 42 42 42 42 42 82 82 Z1 3.4 5.5 5.5 9.0 9.0 5.5 9.0 9.0 9.0 9.0 9.0 9.0 9.0 11.0 11.0 Z2 M4 M4 M4 M4 M4 M5 M5 M5 M5 M5 M5 M5 M5 M5 M5 AT*1 QK M3 M3 M3 M3 M3 M4 M4 M4 M4 M4 M4 M4 M4 M6 M6 15 25 25 36 36 25 36 36 36 36 36 36 36 70 70 Key dimensions b 3 5 5 8 8 5 8 8 8 8 8 8 8 12 12 h 3 5 5 7 7 5 7 7 7 7 7 7 7 8 8 t1 1.8 3.0 3.0 4.0 4.0 3.0 4.0 4.0 4.0 4.0 4.0 4.0 4.0 5.0 5.0 Tap dimensions M M3 M4 M4 M6 M6 M4 M6 M6 M6 M6 M6 M6 M6 M10 M10 L 6 8 8 12 12 8 12 12 12 12 12 12 12 20 20 R88G-HPG11A05100PB R88G-HPG14A11100PB R88G-HPG14A21100PB R88G-HPG20A33100PB R88G-HPG20A45100PB R88G-HPG14A05200PB R88G-HPG20A11200PB R88G-HPG20A21200PB R88G-HPG20A33200PB R88G-HPG20A45200PB R88G-HPG20A05400PB R88G-HPG20A11400PB R88G-HPG20A21400PB R88G-HPG32A33400PB R88G-HPG32A45400PB 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 400 W 200 W 100 W Model
b t1 M (depth: L)
60
R88M-G/R88D-GT@
Decelerators for Cylindrical Servomotors Backlash: 15 Arcminutes Max.
Dimensions (mm) Model LM 1/5 1/9 50 W 1/15 1/25 1/5 1/9 100 W 1/15 1/25 1/5 1/9 200 W 1/15 1/25 1/5 1/9 400 W 1/15 1/25 1/5 1/9 750 W 1/15 1/25 R88G-VRSF15D750CJ R88G-VRSF25D750CJ 110.0 110.0 61 61 98 98 80 80 90 90 115 115 90 90 75 75 18 18 5 5 10 10 R88G-VRSF15C400CJ R88G-VRSF25C400CJ R88G-VRSF05C750CJ R88G-VRSF09D750CJ 100.0 100.0 93.5 97.5 50 50 50 61 78 78 78 98 60 60 80 80 70 70 90 90 90 90 90 115 70 70 70 90 62 62 62 75 17 17 17 18 3 3 3 5 8 8 10 10 R88G-VRSF15C200CJ R88G-VRSF25C200CJ R88G-VRSF05C400CJ R88G-VRSF09C400CJ 100.0 100.0 89.5 89.5 50 50 50 50 78 78 78 78 60 60 60 60 70 70 70 70 90 90 90 90 70 70 70 70 62 62 62 62 17 17 17 17 3 3 3 3 8 8 8 8 R88G-VRSF15B100CJ R88G-VRSF25B100CJ R88G-VRSF05B200CJ R88G-VRSF09C200CJ 78.0 78.0 72.5 89.5 32 32 32 50 52 52 52 78 40 40 60 60 46 46 70 70 60 60 60 90 50 50 50 70 45 45 45 62 10 10 10 17 3 3 3 3 6 6 10 8 R88G-VRSF15B100CJ R88G-VRSF25B050CJ R88G-VRSF05B100CJ R88G-VRSF09B100CJ 78.0 78.0 67.5 67.5 32 32 32 32 52 52 52 52 40 40 40 40 46 46 46 46 60 60 60 60 50 50 50 50 45 45 45 45 10 10 10 10 3 3 3 3 6 6 6 6 R88G-VRSF05B100CJ R88G-VRSF09B100CJ 67.5 67.5 LR 32 32 C1 52 52 C2 40 40 D1 46 46 D2 60 60 D3 50 50 D4 45 45 E3 10 10 F 3 3 G 6 6
S dia., h: 6
C2 C2
D4 dia.
ia.
G LM LR
C1 C1
61
R88M-G/R88D-GT@
Dimensions (mm) Key dimensions S 12 12 12 12 12 12 12 12 12 19 19 19 19 19 19 19 19 24 24 24 T 20 20 20 20 20 20 20 20 20 30 30 30 30 30 30 30 30 40 40 40 Z1 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M5 M5 M5 M5 Z2 M5 M5 M5 M5 M5 M5 M5 M5 M5 M6 M6 M6 M6 M6 M6 M6 M6 M8 M8 M8 AT M3 M3 M3 M3 M3 M3 M3 M3 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 L QK 12 12 12 12 12 12 12 12 12 20 20 20 20 20 20 20 20 20 20 20 16 16 16 16 16 16 16 16 16 22 22 22 22 22 22 22 22 30 30 30 b 4 4 4 4 4 4 4 4 4 6 6 6 6 6 6 6 6 8 8 8 h 4 4 4 4 4 4 4 4 4 6 6 6 6 6 6 6 6 7 7 7 t1 2.5 2.5 2.5 2.5 2.5 2.5 2.5 2.5 2.5 3.5 3.5 3.5 3.5 3.5 3.5 3.5 3.5 4 4 4 R88G-VRSF05B100CJ R88G-VRSF09B100CJ R88G-VRSF15B100CJ R88G-VRSF25B050CJ R88G-VRSF05B100CJ R88G-VRSF09B100CJ R88G-VRSF15B100CJ R88G-VRSF25B100CJ R88G-VRSF05B200CJ R88G-VRSF09C200CJ R88G-VRSF15C200CJ R88G-VRSF25C200CJ R88G-VRSF05C400CJ R88G-VRSF09C400CJ R88G-VRSF15C400CJ R88G-VRSF25C400CJ R88G-VRSF05C750CJ R88G-VRSF09D750CJ R88G-VRSF15D750CJ R88G-VRSF25D750CJ 1/5 1/9 50 W 1/15 1/25 1/5 1/9 100 W 1/15 1/25 1/5 1/9 200 W 1/15 1/25 1/5 1/9 400 W 1/15 1/25 1/5 1/9 750 W 1/15 1/25 Model
Key Dimensions
QK
t1 h
62
R88M-G/R88D-GT@
Decelerators for Flat Servomotors Backlash: 15 Arcminutes Max.
Dimensions (mm) Model LM 1/5 1/9 100 W 1/15 1/25 1/5 1/9 200 W 1/15 1/25 1/5 1/9 400 W 1/15 1/25 R88G-VRSF15C400PCJ R88G-VRSF25C400PCJ 100.0 100.0 50 50 78 78 80 80 90 90 90 90 70 70 62 62 17 17 3 3 12 12 R88G-VRSF15C200PCJ R88G-VRSF25C200PCJ R88G-VRSF05C400PCJ R88G-VRSF09C400PCJ 100.0 100.0 89.5 89.5 50 50 50 50 78 78 78 78 80 80 80 80 90 90 90 90 90 90 90 90 70 70 70 70 62 62 62 62 17 17 17 17 3 3 3 3 12 12 12 12 R88G-VRSF15B100PCJ R88G-VRSF25B100PCJ R88G-VRSF05B200PCJ R88G-VRSF09C200PCJ 78.0 78.0 72.5 89.5 32 32 32 50 52 52 52 78 60 60 80 80 70 70 90 90 60 60 60 90 50 50 50 70 45 45 45 62 10 10 10 17 3 3 3 3 8 8 12 12 R88G-VRSF05B100PCJ R88G-VRSF09B100PCJ 67.5 67.5 LR 32 32 C1 52 52 C2 60 60 D1 70 70 D2 60 60 D3 50 50 D4 45 45 E3 10 10 F 3 3 G 8 8
D1 d
ia.
D2 d
ia.
D4 dia.
S dia., h: 6
C1 C1 C2 C2 G LM LR T
63
R88M-G/R88D-GT@
Dimensions (mm) Key dimensions S 12 12 12 12 12 19 19 19 19 19 19 19 T 20 20 20 20 20 30 30 30 30 30 30 30 Z1 M4 M4 M4 M4 M5 M5 M5 M5 M5 M5 M5 M5 Z2 M5 M5 M5 M5 M5 M6 M6 M6 M6 M6 M6 M6 AT M3 M3 M3 M3 M4 M4 M4 M4 M4 M4 M4 M4 L QK 12 12 12 12 12 20 20 20 20 20 20 20 16 16 16 16 16 22 22 22 22 22 22 22 b 4 4 4 4 4 6 6 6 6 6 6 6 h 4 4 4 4 4 6 6 6 6 6 6 6 t1 2.5 2.5 2.5 2.5 2.5 3.5 3.5 3.5 3.5 3.5 3.5 3.5 R88G-VRSF05B100PCJ R88G-VRSF09B100PCJ R88G-VRSF15B100PCJ R88G-VRSF25B100PCJ R88G-VRSF05B200PCJ R88G-VRSF09C200PCJ R88G-VRSF15C200PCJ R88G-VRSF25C200PCJ R88G-VRSF05C400PCJ R88G-VRSF09C400PCJ R88G-VRSF15C400PCJ R88G-VRSF25C400PCJ 1/5 1/9 100 W 1/15 1/25 1/5 1/9 200 W 1/15 1/25 1/5 1/9 400 W 1/15 1/25 Model
Key Dimensions
QK
t1 h
64
R88M-G/R88D-GT@
Parameter Unit
R88A-PR02G
(62) (24) M3 (depth: 5) (15) (15) (1500) Mini DIN 8-pin MD connector
(114)
4.2 48
R88A-RR08050S/-RR080100S
1.5 dia. (0.3mm2) 3 dia. (0.75mm2) Thermal switch output
4.2
43.5
28
62
65
R88M-G/R88D-GT@
Reactor
3G3AX-DL2002 3G3AX-DL2004
Model 3G3AX-DL2002 3G3AX-DL2004
72 90
3G3AX-AL2025 3G3AX-AL2055
L 85 95
Ground terminal (M5) Six, M4 terminal screws Terminal block
A 130 140
C 82 98
Y 67 75
Two, M4
Ro R So S To T
150
56 66
4-5.2 8
L 92 Ro R So S To
Y1 C 9.5
(Notch)
3G3AX-DL2007 3G3AX-DL2015
L 105
3G3AX-AL2110 3G3AX-AL2220
A
115
Ro R So S To T
55
X1
Four, 6 dia.
W W=Terminal width
98
(Notch)
A 160 180
C 103 113
D 70 75
H 170 190
H1 106 136
X 60 90
Y 80 90
K 5.3 8.4
W 12 16.5
3G3AX-DL2022
66