R88D-GT15H [OMRON]
SERVO DRIVER 9.8A 240V LOAD;型号: | R88D-GT15H |
厂家: | OMRON ELECTRONICS LLC |
描述: | SERVO DRIVER 9.8A 240V LOAD 驱动 |
文件: | 总168页 (文件大小:20395K) |
中文: | 中文翻译 | 下载: | 下载PDF数据表文档文件 |
AC Servomotors/ Servo Drives
G Series
A Wide Variation of Models with the Functions and Performance
Demanded in Servo Systems
Series
»
Easy adjustment
»
Quickly suppress vibration
»
Built-in MECHATROLINK communications interface
Complete Reinforcement of Functions
and Performance Demanded
in Servo Systems
Many
Variations
Suitable for various
Let the G Series solve
your equipment problems.
applications
Easy host
connections
Connectability
Increase Productivity!
The many variations provided by G-series Servo
Systems features high-precision positioning with
improved response and vibration control, making it
suitable for a variety of applications.
Easy adjustments
Easy
High Speed
&
Improved
performance
High Precision
2
G Series: Features
Features
2
6
Selection Guide
G-series Servomotors and Servo
Drives with General-purpose Inputs
System Configuration
8
10
12
21
22
23
23
24
29
31
42
Interpreting Model Numbers
Ordering Information
Integrated Development Environment
Cut Your TCO from Design to Maintenance.
Servo Drive-Servomotor Combinations
Servomotor and Decelerator Combinations
Servo Relay Units and Cables
Motion Control Unit Cables
Cable Combinations
MECHATROLINK-II-compatible AC Servomotors/Servo Drives
One Cable Enables Setting and Monitoring Parameters
Servo Drive Specifications
Servomotor Specifications
Decelerator Specifications
Connect the PLC and Servo Drive with a single cable to reduce
wiring. What's more, the parameters for many Servo Drives can
be set and monitored at the same time between a personal
computer and the Controller.
Encoder, External Regeneration
Resistors, Reactor and Parameter
Unit Specifications
46
Connections
48
55
57
59
62
87
I/O Circuit Diagrams
Components and Functions
Parameter
PLC
MECHATROLINK-II
PC
Dimensions
About Manuals
G-series Servomotors and Servo Drives
with MECHATROLINK-II Communications
G Series
System Configuration
88
90
Interpreting Model Numbers
Ordering Information
Note: MECHATROLINK-II is a registered trademark of the
MECHATROLINK Members Association.
92
Servo Drive-Servomotor Combinations
Servomotor and Decelerator Combinations
Cable Combinations
102
103
104
108
111
122
CX-OOnnee
Easily Program Positioning and Communications
Servo Drive Specifications
Servomotor Specifications
Decelerator Specifications
With the CX-One FA Integrated Tool Package, parameters settings,
program design, debugging, operation monitoring, alarms, error monitoring,
and maintenance of the Servo System can be handled with ease.
Encoder, External Regeneration
Resistors, Reactor and Parameter
Unit Specifications
126
FB
Setting & Programming
Easy programming with the
Smart FB Library
Setting Parameters
Connections
128
133
134
136
138
163
Programming
Unit Configuration
I/O Circuit Diagrams
Components and Functions
Parameter
Integrated Debugging
Parameter Editing & Monitoring
The Servomotor
parameters can be
edited, monitored, and
saved with the CX-Drive.
System Design
Dimensions
Operation & Maintenance
About Manuals
PC
Note: CX-Drive (version 1.61) support for G-series
Servo Drives can be obtained by using the
CX-One V2 auto-update function from May
30, 2008.
Alarm & Maintenance
Easy monitoring of the NC
Unit & Drive errors
PLC
Note: CX-Drive (version 1.62) support for G-series
Servo Drivers with MECHATROLINK-II
Communications can be obtained by using
the CX-One V2/V3 auto-update function from
July 31, 2008.
PT
G Series
OMRON, for Easy Setup, Easy Operation, Easy Connections, and Easy Monitoring
G Series: Features
3
Wider Range of Compact Servomotors and
Compatibility, Plus Fast Positioning with
Easy!
Advanced Performance!
Easy Adjustment
Reduce Tact Time
Realtime autotuning sets the optimum gain.
Significantly better speed response frequency.
An autotuning function calculates the device load in
realtime and automatically sets the optimum gain,
simplifying the adjustment procedure.
The speed response frequency has been improved by a factor of 2.5
compared to previous OMRON models. The stabilization time has been
reduced, increasing machine speed and response performance.
2.5 times better
than previous
OMRON models
Automatic
Load signal
Gain
Speed Response
Frequency
1000 Hz
Setting
Select the Optimum Motor
Reduce Tact Time
A wide range of Servomotors is available to
meet application needs.
Fast positioning with improved command
pulse frequency performance.
You can select a suitable Servomotor from a wide range
of Servomotor capacities to cater to various applications.
The command pulse frequency is 4 times faster than previous
OMRON models. This enables fast, accurate control.
4 times faster
3000
2000
1000
Command Pulse
Frequency
2,000,000 pps
than previous
OMRON models
50W
300W
900W
1kW
3kW
5kW
6kW
7.5kW
The rated speed is 1,500 r/min for 7.5 kW Servomotors only
(Motor capacity)
Improve Processing Accuracy
Reduce Control Panel Installation Space
All Servomotors contain a 17-bit encoder*1
for greater accuracy.
Even Smaller Servo Drives.
The footprint of the Servo Drives has been reduced by 32% compared to
previous OMRON models, helping to reduce control panel size.
Positioning is twice as accurate as previous OMRON models*2 for
submicron accuracy. This enables stable control in the low speed range.
55
1 m
0.5 m
130
40
Previous OMRON
Models 16 bits
132
Resolution
17 bits
Footprint
Reduced
by 32 %
160
150
*1 For Servomotors with absolute encoders.
*2 Compared to previous OMRON models. (Servomotors with absolute encoders, 750 W max.)
4
G Series: Features
Servo Drives with Increased Machine
Improved Response and Vibration Control
Achieve Maximum Machine Performance with the
Series
Advanced Functionality!
Reduce Mechanical Vibration
Flexible Application
Quick suppression of vibration with an adaptive filter.
Change the command control mode as
required by the application.
Select from position control, speed control, and torque
control for use in applications such as the pressing,
tension, and injection.
Even if the resonant frequency changes, realtime evaluation
automatically follows the changes to reduce the effect of vibration
due to low mechanical rigidity, such as for conveyer belts.
Automatically adjusts filter
to vibration frequency.
Application Examples
Attaching Parts, Pressing, and Tightening Screws
CJ-series Programmable
Controller
Programmable
Terminal
Plus two notch filters
Vibration
Vibration is Quickly
suppresses vibration
Reduce Tact Time
CJ1W-NCF71
Position Control Unit
MECHATROLINK-II
Reduce mechanical vibration with the
vibration control function.
By removing the vibration frequency components between the stop position
and the intermediate position, vibration that occurs due to low mechanical
rigidity can be suppressed. (Control for two vibration frequencies)
Pressure applied with
constant torque.
Stop position
Feed
Previous Models
Travel
Vibration
Rollers and Conveyers
Continuous
feed
Intermittent
feed
Intermittent operation
with Inverter
Heating sheet
Intermediate position
Continuous
feed
Control for two vibration
frequencies
Encoder
Change
in position
Dancer
roller 2
Dancer
roller 1
Travel
No vibration!
Servo 2:
Tension
Control
Servo 3:
Tension Control
Servo 1:
Tension
Analog input
Analog output
Control
Analog output
Analog input
Stop position
Analog output
Pulse input
Travel
FQM1-series Controller
No vibration!
G Series: Features
5
Selection Guide
The optimum combination can be found from
to handle various applications.
Servo Drive Variations
G Series
Servo Drives with General-purpose Inputs
R88D-GT
MECHATROLINK-II* Compatible Servo Drives
R88D-GN -ML2
AC100V
AC200V
AC100V
Single-phase
Single-phase
Single/
Single-phase
Single/
Three-phase
Three-phase
Single-phase
Three-phase
Three-phase
50
W
100
W
200
W
400
W
50
W
100
W
200
W
400
W
50
W
100
W
200
W
400
W
50
W
100
W
200
W
400
W
Single-phase
Single/
Three-phase
750
W
900
W
1
kW
1.5
kW
750
W
900
W
1
kW
1.5
kW
AC200V
2
kW
3
kW
4
kW
4.5
kW
5
kW
6
kW
7.5
kW
2
kW
3
kW
4
kW
4.5
kW
5
kW
6
kW
7.5
kW
Three-phase
Pulse
train
Interface
Analog
Command type
Control modes
ML2
Position
control
Speed
control
Torque
control
Position
control
Speed
control
Torque
control
Mode
Mode
Control mode switching
Vibration control
Autotuning
switching
switching
*1
*1
Vibration
control
Vibration
control
AUTO
AUTO
*2
*2
*1
FIT
GAIN
Adaptive
filter
Adaptive
filter
Realtime autotuning
Torque limits
*1
Torque
limit
Torque
limit
Encoder output
Internal set speeds
ABS
INC
ABS
INC
8
speeds
*1. Two limits. *2. One adaptive filter and two notch filters.
Functions
Pulse train:
Analog:
ML2: MECHATROLINK-II
high-speed Servo
communications motion
network. (See note.)
Position control: Control is
applied to move to the target
position and then stop at the
target position.
Speed control: Control is applied to change the linear
or rotational speed. For example, speed control is used
for applications such as turning grindstones, controlling
welding speeds, and controlling feeding speeds.
Pulse
train
Position
control
Speed
control
Analog
The speed and travel
distance are input to the
Servo as pulse trains.
The speed and torque
are input to the Servo
as analog signals.
ML2
Torque control: Control is applied to
adjust the rotational force. Torque control
is suitable for applications such as parts
insertion, pressing, and screw tightening.
Command control mode switchin:g
Switching is possible between any two of
the three control modes: position control,
speed control, and torque control.
Vibration control function:
Vibration is suppressed by
automatically setting a filter for
the vibration frequency.
Autotuning: The motor is moved according to a
command pattern automatically generated by the Servo
Drive, then estimates the load inertia from the torque
required at that time to automatically set the optimum
Torque
control
Mode
switching
Vibration
control
AUTO
Fit gain: The rigidity for the realtime
autotuning for position control is set
automatically. By repeatedly inputting
a specific operation pattern, the
Absolute output: When the Controller
power supply is turned ON, the Controller
reads the Servo absolute position data to
restore the absolute position.
Incremental output: When
the Controller power supply is
turned ON, operation is always
started from the origin point.
Adaptive filter: The machine
load inertia is calculated in
realtime and the result is used to
automatically set the optimum gain.
Torque limit: Switching is
FIT
GAIN
Adaptive
filter
Torque
limit
possible between the first torque
limit and the second torque limit to
limit the Servomotor output torque.
ABS
INC
optimum rigidity is set automatically.
6
G Series: Features
a variety of functions and model variations
Servomotor Variations
G Series
Servomotors with General-purpose Inputs and MECHATROLINK-II* Compatible Servomotors
R88M-G
Motor type
Rated speed
Cylinder type
Cylinder type
Flat type
1000r/min
2000r/min
3000r/min
INC
ABS
50W
100W
200W
400W
750W
900W
1kW
INC
INC
ABS
INC
ABS
INC
INC
INC
INC
INC
INC
INC
INC
ABS
INC
ABS
INC
ABS
INC
ABS
INC
ABS
INC
ABS
INC
ABS
INC
ABS
INC
ABS
INC
ABS
1.5kW
2kW
INC
ABS
INC
ABS
INC
ABS
INC
ABS
INC
ABS
INC
ABS
3kW
INC
ABS
INC
ABS
4kW
INC
ABS
4.5kW
5kW
INC
ABS
INC
ABS
INC
ABS
6kW
*4
INC
ABS
7.5kW
*4. The rated speed is 1,500 r/min for 7.5 kW Servomotors only
Functions
Incremental/absolute output: The Servomotor can be switched between an incremental
output and an absolute output. When an absolute output is selected and the Controller power
supply is turned ON, the Controller reads the Servo absolute position data to restore the absolute
position.
Incremental output: When the Controller power supply is
turned ON, operation is always started from the origin point.
INC
ABS
INC
*MECHATROLINK-II is a registered trademark of the MECHATROLINK Members Association
G Series: Features
7
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Support for a Wide Range of Applications with Position Control,
Speed Control, Torque Control.
• High-speed Response
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.
The G-series AC Servomotors and Servo Drives have
achieved high-speed response capabilities, with a high-
response frequency of 1 kHz.
•
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.
• 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 addition, the
Note: CX-Drive (version 1.61) support for G-series Servo Drives can be obtained by using the CX-One V2
auto-update function from May 30, 2008.
System Configuration
Monitor Software
Parameter Unit
Controllers
R88A-PR02G
CX-Drive
See Note
CJ-series PLC
FQM1-series PLC
CS-series PLC
Personal Computer Monitor Cable
R88A-CCG002P2
•
Position Control Unit (High-speed type)
NC21
4
CN1
RUN
SYNC
ERC
1
A1
B1
ERH
2
A2
B2
AS
BS
MACH
No.
Pulse Train Commands
x10
1
AXIS1
x10
0
CN2
PMG
AXIS2
XASI1
2
Direct Connection cable for CJ1W-NC@@4
XW2Z-@@@J-G@
CJ1W-NC214/-NC414
CJ1W-NC234/-NC434
•
Flexible Motion Controller
with Analog I/O
•
Position Control Unit
Analog Commands
feedback signals
Pulse Train Commands
CS1W-MC221-V1/-MC421-V1
Motion Control Unit
FQM1-MMA22
Position Control
Unit Cables
Servo Relay
Servo Drive
Cables
Units
•
Flexible Motion Controller
with Pulse I/O
•
XW2Z-@@@J-B@@
XW2Z-@@@J-A@
XW2B-@@J@-@@@
CJ1W-NC113/213/413
CJ1W-NC133/233/433
CS1W-NC113/213/413
CS1W-NC133/233/433
FQM1-MMP22
Pulse Train Commands
HCP
22
RUN
OPN
ERH
COMM
ERC
IN
OUT
0
1
9
1
2
3
4
4
5
5
6
6
7
7
8
Connector-Terminal Block Conversion Units and Cable
XW2@-50G@
10 11
2
0
3
MACH
No.
X101
OFF
TOO
X100
L
ON
A1
B1
A2
B2
1
XW2Z-@@@J-B24
PERIHE
RAL
12
CN2
CN1
1
20
B
00
A
906
A
B
CJ1M-CPU21/22/23
Customizable Counter Unit
CS1W-HCP22-V1
Support Software
•
CX-One FA Integrated Tool Package
CX-Programmer
CX-Position
CP1H/CP1L
8
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs 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 Servomotors
AC Servo Drives
Motor power signals
Power Cables
•
Standard Cables
Without Brake
R88A-CAG@@@@S
With Brake
R88A-CAG@@@@B
•
Robot Cable
•
Model without Decelerators
R88M-G
•
G-series
AC Servo Drive
R88D-GT
Without Brakes
R88A-CAG@@@@SR
With Brake
R88A-CAG@@@@BR
feedback signals
Encoder Cables
•
•
Standard Cables
50 W to 750 W
R88A-CRG@@@@C
900 W to 7.5 kW
R88A-CRGC@@@N
Robot Cables
50 W to 750 W
R88A-CRG@@@@CR
900 W to 7.5 kW
R88A-CRGC@@@NR
Decelerators
Absolute Encoder Battery Cable
R88A-CRGD0R3C (-BS)
•
Backlash: 3 Arcminutes Max.
R88G-HPG
Peripheral Devices
One Battery is included with Servo Drivers
with model numbers ending in “BS.”
Backlash: 15 Arcminutes Max.
R88G-VRSF
•
•
Reactors
3G3AX-DL
3G3AX-AL
External Regeneration Resistors
R88A-RR
(
)
*Not required if a battery is connected to the
control connector (CN1).
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
9
Interpreting Model Numbers
● Servo Drive Model Numbers
The model number provides information such as the Servo Drive type, the applicable Servomotor capacity, and the power supply voltage.
R88D-GT01H
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
L: 100 VAC
H: 200 VAC
:
50 5 kW
:
75 7.5 kW
● Servomotor Model Numbers
R88M-GP10030H-BOS2
G-series
Servomotor
Motor Type
Blank: Cylinder type
P:
Flat type
Servomotor Capacity
050: 50 W
100: 100 W
200: 200 W
400: 400 W
750: 750 W
900: 900 W
1K0: 1 kW
1K5: 1.5 kW
2K0: 2 kW
3K0: 3 kW
4K0: 4 kW
4K5: 4.5 kW
5K0: 5 kW
Rated Rotation Speed
10: 1,000 r/min
15: 1,500 r/min
20: 2,000 r/min
6K0: 6 kW
30: 3,000 r/min
7K5: 7.5 kW
Applied Voltage
H: 200 VAC with incremental encoder specifications
L: 100 VAC with incremental encoder specifications
T: 200 VAC with absolute encoder specifications
S: 100 VAC with absolute encoder specifications
Option
Blank: Straight shaft
B:
With brake
O:
S2:
With oil seal
With key and tap
10
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
● Understanding Decelerator Model Numbers
Backlash = 3' Max.
R88G-HPG14A05100PBJ
Decelerator for
G-Series Servomotors
Backlash = 3’ Max.
Flange Size Number
:
11A: @40
14A: @60
20A: @90
32A: @120
50A: @170
65A: @230
Gear Ratio
05: 1/5
09: 1/9 (only frame number 11A)
11: 1/11 (except frame number 65A)
12: 1/12 (only frame number 65A)
20: 1/20 (only frame number 65A)
21: 1/21 (except frame number 65A)
25: 1/25 (only frame number 65A)
33: 1/33
45: 1/45
Applicable Servomotor Capacity
050: 50 W
100: 100 W
200: 200 W
400: 400 W
750: 750 W
900: 900 W
1K0: 1 kW
Motor Type
Blank: 3,000-r/min cylindrical servomotors
P:
S:
T:
flat servomotors
2,000-r/min servomotors
1,000-r/min servomotors
1K5: 1.5 kW
2K0: 2 kW
3K0: 3 kW
Backlash
B: 3’ max.
4K0: 4 kW
4K5: 4.5 kW
5K0: 5 kW
Option
Blank: Straight shaft
6K0: 6 kW
J:
With key and tap
7K5: 7 kW
Backlash = 15' Max.
R88G-VRSF09B100PCJ
Decelerator for
G-Series Servomotors
Backlash = 15’ Max.
Gear Ratio
05: 1/5
09: 1/9
15: 1/15
25: 1/25
Flange Size Number
B: @52
C: @78
D: @98
Applicable Servomotor Capacity
050: 50 W
100: 100 W
Motor Type
Blank: 3,000-r/min cylindrical servomotors
200: 200 W
P: flat servomotors
400: 400 W
750: 750 W
Backlash
C: 15’ max.
Option
J: With key and tap
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
11
Ordering Information
● Servo Drives
Specifications
Model
50 W
R88D-GTA5L
R88D-GT01L
R88D-GT02L
R88D-GT04L
100 W
200 W
400 W
50 W
Single-phase 100 VAC
Single-phase 200 VAC
R88D-GT01H
100 W
200 W
400 W
750 W
1 kW
R88D-GT02H
R88D-GT04H
R88D-GT08H
R88D-GT10H
Single-phase/three-phase 200
VAC
900 W
1 kW
R88D-GT15H
1.5 kW
2 kW
R88D-GT20H
R88D-GT30H
2 kW
3 kW
3 kW
Three-phase 200 VAC
4 kW
R88D-GT50H
R88D-GT75H
4.5 kW
5 kW
6 kW
7.5 kW
● Servomotors
3,000-r/min Cylindrical Servomotors
INC
Model
Straight shaft with key and tap
Specifications
Straight shaft
50 W
100 W
200 W
400 W
50 W
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
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
100 V
200 V
100 V
200 V
100 W
200 W
400 W
750 W
50 W
100 W
200 W
400 W
50 W
100 W
200 W
400 W
750 W
Note: Models with oil seals are also available.
12
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
3,000-r/min Cylindrical Servomotors
ABS/INC
Model
Straight shaft with key and tap
Specifications
Straight shaft
50 W
100 W
200 W
400 W
50 W
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
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
100 V
100 W
200 W
400 W
750 W
1 kW
200 V
1.5 kW
2 kW
3 kW
4 kW
5 kW
50 W
100 W
200 W
400 W
50 W
100 V
100 W
200 W
400 W
750 W
1 kW
200 V
1.5 kW
2 kW
3 kW
4 kW
5 kW
Note: Models with oil seals are also available.
3,000-r/min Flat Servomotors
INC
Model
Specifications
Straight shaft
R88M-GP10030L
R88M-GP20030L
R88M-GP40030L
R88M-GP10030H
R88M-GP20030H
R88M-GP40030H
R88M-GP10030L-B
R88M-GP20030L-B
R88M-GP40030L-B
R88M-GP10030H-B
R88M-GP20030H-B
R88M-GP40030H-B
Straight shaft with key and tap
R88M-GP10030L-S2
R88M-GP20030L-S2
R88M-GP40030L-S2
R88M-GP10030H-S2
R88M-GP20030H-S2
R88M-GP40030H-S2
R88M-GP10030L-BS2
R88M-GP20030L-BS2
R88M-GP40030L-BS2
R88M-GP10030H-BS2
R88M-GP20030H-BS2
R88M-GP40030H-BS2
100 W
100 V
200 V
100 V
200 V
200 W
400 W
100 W
200 W
400 W
100 W
200 W
400 W
100 W
200 W
400 W
Note: Models with oil seals are also available.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
13
3,000-r/min Flat Servomotors
ABS/INC
Model
Straight shaft with key and tap
Specifications
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
100 W
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
100 V
200 V
100 V
200 V
200 W
400 W
100 W
200 W
400 W
100 W
200 W
400 W
100 W
200 W
400 W
Note: Models with oil seals are also available.
2,000-r/min Cylindrical Servomotors
ABS/INC
Model
Specifications
Straight shaft
R88M-G1K020T
R88M-G1K520T
R88M-G2K020T
R88M-G3K020T
R88M-G4K020T
R88M-G5K020T
R88M-G7K515T
R88M-G1K020T-B
R88M-G1K520T-B
R88M-G2K020T-B
R88M-G3K020T-B
R88M-G4K020T-B
R88M-G5K020T-B
R88M-G7K515T-B
Straight shaft with key and tap
R88M-G1K020T-S2
R88M-G1K520T-S2
R88M-G2K020T-S2
R88M-G3K020T-S2
R88M-G4K020T-S2
R88M-G5K020T-S2
R88M-G7K515T-S2
R88M-G1K020T-BS2
R88M-G1K520T-BS2
R88M-G2K020T-BS2
R88M-G3K020T-BS2
R88M-G4K020T-BS2
R88M-G5K020T-BS2
R88M-G7K515T-BS2
1 kW
1.5 kW
2 kW
200 V
3 kW
4 kW
5 kW
7.5 kW
1 kW
1.5 kW
2 kW
200 V
3 kW
4 kW
5 kW
7.5 kW
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.
1,000-r/min Cylindrical Servomotors
ABS/INC
Model
Specifications
Straight shaft
Straight shaft with key and tap
R88M-G90010T-S2
900 W
2 kW
R88M-G90010T
R88M-G2K010T
R88M-G3K010T
R88M-G4K510T
R88M-G6K010T
R88M-G90010T-B
R88M-G2K010T-B
R88M-G3K010T-B
R88M-G4K510T-B
R88M-G6K010T-B
R88M-G2K010T-S2
R88M-G3K010T-S2
R88M-G4K510T-S2
R88M-G6K010T-S2
R88M-G90010T-BS2
R88M-G2K010T-BS2
R88M-G3K010T-BS2
R88M-G4K510T-BS2
R88M-G6K010T-BS2
200 V
3 kW
4.5 kW
6 kW
900 W
2 kW
200 V
3 kW
4.5 kW
6 kW
Note: Models with oil seals are also available.
14
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
● Decelerators
Backlash: 3 Arcminutes Max.
Decelerators for 3,000-r/min Cylindrical Servomotors
Straight shaft
Backlash: 3 Arcminutes Max.
Decelerators for 3,000-r/min Flat Servomotors
Straight shaft
Specifications
Model
Specifications
Model
Motor capacity
Gear ratio
1/5
Motor capacity
Gear ratio
1/5
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
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
1/9
1/11
1/21
1/33
1/45
1/5
50 W
1/21
1/33
1/45
1/5
100 W
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
100 W
200 W
400 W
750 W
200 W
400 W
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
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.
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
R88G-HPG32A051K0B
R88G-HPG32A111K0B
R88G-HPG32A211K0B
R88G-HPG32A331K0B
R88G-HPG50A451K0B
R88G-HPG32A052K0B
R88G-HPG32A112K0B
R88G-HPG32A211K5B
R88G-HPG50A332K0B
R88G-HPG50A451K5B
R88G-HPG32A052K0B
R88G-HPG32A112K0B
R88G-HPG50A212K0B
R88G-HPG50A332K0B
R88G-HPG32A053K0B
R88G-HPG50A113K0B
R88G-HPG50A213K0B
R88G-HPG32A054K0B
R88G-HPG50A115K0B
R88G-HPG50A055K0B
R88G-HPG50A115K0B
1 kW
1/11
1/21
1/33
1/45
1/5
1.5 kW
1/11
1/21
1/33
1/5
2 kW
3 kW
1/11
1/21
1/5
4 kW
5 kW
1/11
1/5
1/11
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-HPG11B05100BJ
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
15
Backlash: 3 Arcminutes Max.
Decelerators for 2,000-r/min Cylindrical Servomotors
Straight shaft
Backlash: 3 Arcminutes Max.
Decelerators for 1,000-r/min Cylindrical Servomotors
Straight shaft
Specifications
Model
Specifications
Model
Motor capacity
Gear ratio
1/5
Motor capacity
Gear ratio
1/5
R88G-HPG32A053K0B
R88G-HPG32A112K0SB
R88G-HPG32A211K0SB
R88G-HPG50A332K0SB
R88G-HPG50A451K0SB
R88G-HPG32A053K0B
R88G-HPG32A112K0SB
R88G-HPG50A213K0B
R88G-HPG50A332K0SB
R88G-HPG32A053K0B
R88G-HPG32A112K0SB
R88G-HPG50A213K0B
R88G-HPG50A332K0SB
R88G-HPG32A054K0B
R88G-HPG50A115K0B
R88G-HPG50A213K0SB
R88G-HPG65A253K0SB
R88G-HPG50A054K0SB
R88G-HPG50A114K0SB
R88G-HPG65A204K0SB
R88G-HPG65A254K0SB
R88G-HPG50A055K0SB
R88G-HPG50A115K0SB
R88G-HPG65A205K0SB
R88G-HPG65A255K0SB
R88G-HPG65A057K5SB
R88G-HPG65A127K5SB
R88G-HPG32A05900TB
R88G-HPG32A11900TB
R88G-HPG50A21900TB
R88G-HPG50A33900TB
R88G-HPG32A052K0TB
R88G-HPG50A112K0TB
R88G-HPG50A212K0TB
R88G-HPG65A255K0SB
R88G-HPG50A055K0SB
R88G-HPG50A115K0SB
R88G-HPG65A205K0SB
R88G-HPG65A255K0SB
R88G-HPG50A054K5TB
R88G-HPG65A127K5SB
R88G-HPG65A204K5TB
R88G-HPG65A057K5SB
R88G-HPG65A127K5SB
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/5
900 W
1 kW
1/11
1/21
1/25
1/5
2 kW
3 kW
1/11
1/21
1/33
1/5
1.5 kW
2 kW
3 kW
4 kW
1/11
1/20
1/25
1/5
1/11
1/21
1/33
1/5
4.5 kW
6 kW
1/12
1/20
1/5
1/11
1/21
1/25
1/5
1/12
Note: 1. The standard models have a straight shaft.
Note: 2. Models with a key and tap are indicated with "J" at the end of the model
number.
1/11
1/20
1/25
1/5
1/11
1/20
1/25
1/5
5 kW
7.5 kW
1/12
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.
Backlash: 15 Arcminutes Max.
Backlash: 15 Arcminutes Max.
Decelerators for 3,000-r/min Cylindrical Servomotors
Straight shaft with key and tap
Decelerators for 3,000-r/min Flat Servomotors
Straight shaft with key and tap
Specifications
Model
Specifications
Model
Motor capacity
Gear ratio
1/5
Motor capacity
Gear ratio
1/5
R88G-VRSF05B100CJ
R88G-VRSF09B100CJ
R88G-VRSF15B100CJ
R88G-VRSF25B100CJ
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
R88G-VRSF05B100PCJ
R88G-VRSF09B100PCJ
R88G-VRSF15B100PCJ
R88G-VRSF25B100PCJ
R88G-VRSF05B200PCJ
R88G-VRSF09C200PCJ
R88G-VRSF15C200PCJ
R88G-VRSF25C200PCJ
R88G-VRSF05C400PCJ
R88G-VRSF09C400PCJ
R88G-VRSF15C400PCJ
R88G-VRSF25C400PCJ
1/9
1/9
50 W
100 W
1/15
1/25
1/5
1/15
1/25
1/5
1/9
1/9
100 W
200 W
400 W
750 W
200 W
400 W
1/15
1/25
1/5
1/15
1/25
1/5
1/9
1/9
1/15
1/25
1/5
1/15
1/25
1/9
1/15
1/25
1/5
1/9
1/15
1/25
16
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
● Accessories and Cables
• Servomotor Power Cables (Standard Cables)
• Servomotor Power Cables (Standard Cables)
For Servomotor without brake
For Servomotor with brake
Specifications
Model
Specifications
Model
3 m
5 m
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
3 m
5 m
R88A-CAGB003B
R88A-CAGB005B
R88A-CAGB010B
R88A-CAGB015B
R88A-CAGB020B
R88A-CAGB030B
R88A-CAGB040B
R88A-CAGB050B
R88A-CAGC003B
R88A-CAGC005B
R88A-CAGC010B
R88A-CAGC015B
R88A-CAGC020B
R88A-CAGC030B
R88A-CAGC040B
R88A-CAGC050B
R88A-CAGD003B
R88A-CAGD005B
R88A-CAGD010B
R88A-CAGD015B
R88A-CAGD020B
R88A-CAGD030B
R88A-CAGD040B
R88A-CAGD050B
10 m
15 m
20 m
30 m
40 m
50 m
3 m
10 m
15 m
20 m
30 m
40 m
50 m
3 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
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of 100 to 400 W
5 m
5 m
10 m
15 m
20 m
30 m
40 m
50 m
3 m
10 m
15 m
20 m
30 m
40 m
50 m
3 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
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
5 m
5 m
10 m
15 m
20 m
30 m
40 m
50 m
3 m
10 m
15 m
20 m
30 m
40 m
50 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
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
• Brake Cables (Standard Cables)
5 m
Specifications
Model
10 m
15 m
20 m
30 m
40 m
50 m
3 m
3 m
5 m
R88A-CAGA003B
R88A-CAGA005B
R88A-CAGA010B
R88A-CAGA015B
R88A-CAGA020B
R88A-CAGA030B
R88A-CAGA040B
R88A-CAGA050B
R88A-CAGE003B
R88A-CAGE005B
R88A-CAGE010B
R88A-CAGE015B
R88A-CAGE020B
R88A-CAGE030B
R88A-CAGE040B
R88A-CAGE050B
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
10 m
15 m
20 m
30 m
40 m
50 m
3 m
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of 100 to 400 W
5 m
10 m
15 m
20 m
30 m
40 m
50 m
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 6 kW
5 m
10 m
15 m
20 m
30 m
40 m
50 m
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 6 kW
Note: There are separate connectors for power and brakes for 3,000-r/min Ser-
vomotors 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 Brake Cable.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
17
• Encoder Cables (Standard Cables)
• Servomotor Power Cables (Robot Cables)
For Servomotor without brake
Specifications
Model
Specifications
Model
3 m
R88A-CRGA003C
R88A-CRGA005C
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
3 m
5 m
R88A-CAGA003SR
R88A-CAGA005SR
5 m
10 m
15 m
20 m
30 m
40 m
50 m
3 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
10 m R88A-CAGA010SR
15 m R88A-CAGA015SR
20 m R88A-CAGA020SR
30 m R88A-CAGA030SR
40 m R88A-CAGA040SR
50 m R88A-CAGA050SR
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of
100 to 400 W
3 m
5 m
R88A-CAGB003SR
R88A-CAGB005SR
5 m
10 m
15 m
20 m
30 m
40 m
50 m
3 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
10 m R88A-CAGB010SR
15 m R88A-CAGB015SR
20 m R88A-CAGB020SR
30 m R88A-CAGB030SR
40 m R88A-CAGB040SR
50 m R88A-CAGB050SR
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
3 m
5 m
R88A-CAGC003SR
R88A-CAGC005SR
5 m
10 m
15 m
20 m
30 m
40 m
50 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
10 m R88A-CAGC010SR
15 m R88A-CAGC015SR
20 m R88A-CAGC020SR
30 m R88A-CAGC030SR
40 m R88A-CAGC040SR
50 m R88A-CAGC050SR
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
• Absolute Encoder Battery Cable
Specifications
3 m
5 m
R88A-CAGD003SR
R88A-CAGD005SR
Model
Absolute Encoder Battery Cable
(Battery not included.)
10 m R88A-CAGD010SR
15 m R88A-CAGD015SR
20 m R88A-CAGD020SR
30 m R88A-CAGD030SR
40 m R88A-CAGD040SR
50 m R88A-CAGD050SR
0.3 m
0.3 m
R88A-CRGD0R3C
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
Absolute Encoder Battery Cable
(One R88A-BAT01G Battery included.)
R88A-CRGD0R3C-BS
• Absolute Encoder Backup Battery
Specifications
Model
2,000 mA·h 3.6 V
R88A-BAT01G
18
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
• Servomotor Power Cables (Robot Cables)
• Encoder Cables (Robot Cables)
For Servomotor with brake
Specifications
Model
Specifications
Model
3 m
5 m
R88A-CRGA003CR
R88A-CRGA005CR
3 m
5 m
R88A-CAGB003BR
R88A-CAGB005BR
10 m R88A-CRGA010CR
15 m R88A-CRGA015CR
20 m R88A-CRGA020CR
30 m R88A-CRGA030CR
40 m R88A-CRGA040CR
50 m R88A-CRGA050CR
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
10 m R88A-CAGB010BR
15 m R88A-CAGB015BR
20 m R88A-CAGB020BR
30 m R88A-CAGB030BR
40 m R88A-CAGB040BR
50 m R88A-CAGB050BR
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
3 m
5 m
R88A-CRGB003CR
R88A-CRGB005CR
3 m
5 m
R88A-CAGC003BR
R88A-CAGC005BR
10 m R88A-CRGB010CR
15 m R88A-CRGB015CR
20 m R88A-CRGB020CR
30 m R88A-CRGB030CR
40 m R88A-CRGB040CR
50 m R88A-CRGB050CR
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
10 m R88A-CAGC010BR
15 m R88A-CAGC015BR
20 m R88A-CAGC020BR
30 m R88A-CAGC030BR
40 m R88A-CAGC040BR
50 m R88A-CAGC050BR
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
3 m
5 m
R88A-CRGC003NR
R88A-CRGC005NR
3 m
5 m
R88A-CAGD003BR
R88A-CAGD005BR
10 m R88A-CRGC010NR
15 m R88A-CRGC015NR
20 m R88A-CRGC020NR
30 m R88A-CRGC030NR
40 m R88A-CRGC040NR
50 m R88A-CRGC050NR
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
10 m R88A-CAGD010BR
15 m R88A-CAGD015BR
20 m R88A-CAGD020BR
30 m R88A-CAGD030BR
40 m R88A-CAGD040BR
50 m R88A-CAGD050BR
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
• Communications Cables
• Brake Cables (Robot Cables)
Specifications
Model
Specifications
Model
Personal Computer Monitor Cable
RS-232 Communications
2 m
R88A-CCG002P2
3 m
5 m
R88A-CAGA003BR
R88A-CAGA005BR
0.5 m
1 m
R88A-CCG0R5P4
R88A-CCG001P4
RS-485 Communications Cable
10 m R88A-CAGA010BR
15 m R88A-CAGA015BR
20 m R88A-CAGA020BR
30 m R88A-CAGA030BR
40 m R88A-CAGA040BR
50 m R88A-CAGA050BR
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of 100 to 400 W
• Connectors
Specifications
Model
Absolute Encoder
R88A-CNG01R
R88A-CNG02R
R88A-CNU01C
R88A-CNW01R
R88A-CNG01A
R88A-CNG01B
Servomotor Connector for
Encoder Cable
Incremental Encoder
Control I/O Connector (CN1)
Encoder Connector (CN2)
Power Cable Connector (750 W max.)
Brake Cable Connector (750 W max.)
• Servo Relay Units (for CN1)
Specifications
Model
For CS1W-NC113/-NC133
For CJ1W-NC113/-NC133
For C200HW-NC113
XW2B-20J6-1B
For CS1W-NC213/-NC413/-NC233/-NC433
For CJ1W-NC213/-NC413/-NC233/-NC433
For C200HW-NC213/-NC413
XW2B-40J6-2B
For CJ1M-CPU21/-CPU22/-CPU23 (for 1 axis)
For CJ1M-CPU21/-CPU22/-CPU23 (for 2 axis)
XW2B-20J6-8A
XW2B-40J6-9A
For FQM1-MMA22
For FQM1-MMP22
XW2B-80J7-12A
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
19
• Servo Relay Unit Cables (for Servo Drives)
• Control Cables
Specifications
Model
Specifications
Model
1 m XW2Z-100J-B31
2 m XW2Z-200J-B31
1 m XW2Z-100J-B27
2 m XW2Z-200J-B27
1 m XW2Z-100J-B26
2 m XW2Z-200J-B26
1 m
2 m
3 m
5 m
1 m
2 m
3 m
5 m
1 m
2 m
1 m
2 m
R88A-CPG001M1
R88A-CPG002M1
R88A-CPG003M1
R88A-CPG005M1
R88A-CPG001M2
R88A-CPG002M2
R88A-CPG003M2
R88A-CPG005M2
R88A-CPG001S
R88A-CPG002S
XW2Z-100J-B24
XW2Z-200J-B24
XW2B-50G4
For CJ1M-CPU21/-CPU22/-CPU23
(XW2B-20J6-8A/XW2B-40J6-9A)
Motion Control Unit Cables for 1 axis
CS1W-MC221-V1/-MC421-V1
For FQM1-MMA22 (XW2B-80J7-12A)
For FQM1-MMP22 (XW2B-80J7-12A)
Motion Control Unit Cables for 2 axes
CS1W-MC221-V1/-MC421-V1
Note: You cannot use a Servo Relay Unit Cable for line-receiver inputs
(+CWLD: CN1 pin 44, -CWLD: CN1 pin 45, +CCWLD: CN1 pin 46,
-CCWLD: CN1 pin 47).
Use a General-purpose Control Cable and wire the connector to match
the controller.
General-purpose Control Cables with
Connector on One End
• Servo Relay Unit Cables (for Position Control Units)
Connector-Terminal Block Cables
Specifications
Model
M3 screw type
M3.5 screw type XW2B-50G5
0.5 m XW2Z-050J-A6
1 m XW2Z-100J-A6
0.5 m XW2Z-050J-A7
1 m XW2Z-100J-A7
0.5 m XW2Z-050J-A10
1 m XW2Z-100J-A10
0.5 m XW2Z-050J-A11
1 m XW2Z-100J-A11
0.5 m XW2Z-050J-A14
1 m XW2Z-100J-A14
0.5 m XW2Z-050J-A15
1 m XW2Z-100J-A15
0.5 m XW2Z-050J-A18
1 m XW2Z-100J-A18
0.5 m XW2Z-050J-A19
1 m XW2Z-100J-A19
0.5 m XW2Z-050J-A33
1 m XW2Z-100J-A33
0.5 m XW2Z-050J-A28
1 m XW2Z-100J-A28
2 m XW2Z-200J-A28
0.5 m XW2Z-050J-A31
1 m XW2Z-100J-A31
2 m XW2Z-200J-A31
0.5 m XW2Z-050J-A28
1 m XW2Z-100J-A28
2 m XW2Z-200J-A28
0.5 m XW2Z-050J-A30
1 m XW2Z-100J-A30
2 m XW2Z-200J-A30
For CS1W-NC113, C200HW-NC113
(XW2B-20J6-1B)
Connector Terminal Block
Conversion Unit
M3 screw type
XW2D-50G6
For CS1W-NC213/-NC413, C200HW-NC213/
-NC413 (XW2B-20J6-2B)
• External Regeneration Resistors
For CS1W-NC133 (XW2B-20J6-1B)
Specifications
Model
R88A-RR08050S
R88A-RR080100S
R88A-RR22047S
R88A-RR50020S
20 W, 50 Ω
For CS1W-NC233/-NC433 (XW2B-20J6-2B)
For CJ1W-NC113 (XW2B-20J6-1B)
20 W, 100 Ω
70 W, 47 Ω
500 W, 20 Ω
• Reactors
For CJ1W-NC213/-NC413 (XW2B-20J6-2B)
For CJ1W-NC133 (XW2B-20J6-1B)
Specifications
R88D-GTA5L/-GT01H
R88D-GT01L/-GT02H
R88D-GT02L/-GT04H
R88D-GT04L/-GT08H/-GT10H
R88D-GT15H
Model
3G3AX-DL2002
3G3AX-DL2004
3G3AX-DL2007
3G3AX-DL2015
3G3AX-DL2022
3G3AX-AL2025
3G3AX-AL2055
3G3AX-AL2110
3G3AX-AL2220
For CJ1W-NC233/-NC433 (XW2B-20J6-2B)
For CJ1M-CPU21/-CPU22/-CPU23
(XW2B-20J6-8A/XW2B-40J6-9A)
R88D-GT08H/-GT10H/-GT15H
R88D-GT20H/-GT30H
R88D-GT50H
General-purpose I/O
For FQM1-MMA22
(XW2B-80J7-12A)
R88D-GT75H
Special I/O
• Mounting Brackets (L Brackets for Rack Mounting)
Specifications
R88D-GTA5L/-GT01L/-GT01H/-GT02H
R88D-GT02L/-GT04H
Model
R88A-TK01G
R88A-TK02G
R88A-TK03G
R88A-TK04G
General-purpose I/O
For FQM1-MMP22
(XW2B-80J7-12A)
R88D-GT04L/-GT08H
R88D-GT10H/-GT15H
Special I/O
• Parameter Unit
Specifications
Model
Parameter Unit
R88A-PR02G
20
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Servo Drive-Servomotor Combinations
Only the Servomotor and Servo Drive combinations listed here can be used. Do not use other combinations.
● 3,000-r/min Sylindrical Servomotors and Servo Drives
Servomotor
Voltage
Servo Drive
Rated output
50 W
With incremental encoder
With absolute encoder
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-@
R88D-GTA5L
R88D-GT01L
R88D-GT02L
R88D-GT04L
R88D-GT01H
R88D-GT01H
R88D-GT02H
R88D-GT04H
R88D-GT08H
R88D-GT15H
R88D-GT15H
R88D-GT20H
R88D-GT30H
R88D-GT50H
R88D-GT50H
R88M-G05030H-@
100 W
200 W
400 W
50 W
R88M-G10030L-@
100 V
R88M-G20030L-@
R88M-G40030L-@
R88M-G05030H-@
100 W
200 W
400 W
750 W
1 kW
R88M-G10030H-@
Single-phase 200 V
R88M-G20030H-@
R88M-G40030H-@
R88M-G75030H-@
Single-phase/
three-phase 200 V
---
---
---
---
---
---
1.5 kW
2 kW
3 kW
Three-phase 200 V
4 kW
5 kW
● 3,000-r/min Flat Servomotors and Servo Drives
Servomotor
Voltage
Servo Drive
Rated output
100 W
With incremental encoder
R88M-GP10030L-@
R88M-GP20030L-@
R88M-GP40030L-@
R88M-GP10030H-@
R88M-GP20030H-@
R88M-GP40030H-@
With absolute encoder
R88M-GP10030S-@
R88M-GP20030S-@
R88M-GP40030S-@
R88M-GP10030T-@
R88M-GP20030T-@
R88M-GP40030T-@
R88D-GT01L
R88D-GT02L
R88D-GT04L
R88D-GT01H
R88D-GT02H
R88D-GT04H
100 V
200 W
400 W
100 W
Single-phase 200 V
200 W
400 W
● 2,000-r/min Sylindrical Servomotors and Servo Drives
Servomotor
Voltage
Servo Drive
Rated output
1 kW
With absolute encoder
R88M-G1K020T-@
R88M-G1K520T-@
R88M-G2K020T-@
R88M-G3K020T-@
R88M-G4K020T-@
R88M-G5K020T-@
R88M-G7K515T-@
R88D-GT10H
R88D-GT15H
R88D-GT20H
R88D-GT30H
R88D-GT50H
R88D-GT50H
R88D-GT75H
Single-phase/
three-phase 200 V
1.5 kW
2 kW
3 kW
Three-phase 200 V
4 kW
5 kW
7.5 kW
● 1,000-r/min Sylindrical Servomotors and Servo Drives
Servomotor
Voltage
Servo Drive
Rated output
With absolute encoder
Single-phase/
three-phase 200 V
R88D-GT15H
900 W
R88M-G90010T-@
R88D-GT30H
R88D-GT50H
R88D-GT50H
R88D-GT75H
2 kW
3 kW
R88M-G2K010T-@
R88M-G3K010T-@
R88M-G4K510T-@
R88M-G6K010T-@
Three-phase 200 V
4.5 kW
6 kW
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
21
Servomotor and Decelerator Combinations
● 3,000-r/min Cylindrical Servomotors
1/11
Motor model
1/5
1/21
1/33
1/45
(1/9 for flange size No.11)
R88G-HPG11A05100B@
(Also used with
R88G-HPG14A21100B@
(Also used with
R88G-HPG11A09050B@
R88M-G05030@
R88G-HPG14A33050B@
R88G-HPG14A45050B@
(Gear ratio 1/9)
R88M-G10030@)
R88M-G10030@)
R88M-G10030@
R88M-G20030@
R88M-G40030@
R88M-G75030@
R88M-G1K030T
R88G-HPG11A05100B@
R88G-HPG14A05200B@
R88G-HPG14A05400B@
R88G-HPG20A05750B@
R88G-HPG32A051K0B@
R88G-HPG14A11100B@
R88G-HPG14A11200B@
R88G-HPG20A11400B@
R88G-HPG20A11750B@
R88G-HPG32A111K0B@
R88G-HPG14A21100B@
R88G-HPG20A21200B@
R88G-HPG20A21400B@
R88G-HPG32A21750B@
R88G-HPG32A211K0B@
R88G-HPG20A33100B@
R88G-HPG20A33200B@
R88G-HPG32A33400B@
R88G-HPG32A33750B@
R88G-HPG32A331K0B@
R88G-HPG20A45100B@
R88G-HPG20A45200B@
R88G-HPG32A45400B@
R88G-HPG32A45750B@
R88G-HPG50A451K0B@
R88G-HPG32A052K0B@
(Also used with
R88G-HPG32A112K0B@
(Also used with
R88G-HPG50A332K0B@
(Also used with
R88M-G1K530T
R88G-HPG32A211K5B@
R88G-HPG50A451K5B@
R88M-G2K030T)
R88M-G2K030T)
R88M-G2K030T)
R88M-G2K030T
R88M-G3K030T
R88G-HPG32A052K0B@
R88G-HPG32A053K0B@
R88G-HPG32A112K0B@
R88G-HPG50A113K0B@
R88G-HPG50A212K0B@
R88G-HPG50A213K0B@
R88G-HPG50A332K0B@
---
---
---
R88G-HPG50A115K0B@
(Also used with
R88M-G4K030T
R88M-G5K030T
R88G-HPG32A054K0B@
R88G-HPG50A055K0B@
---
---
---
---
---
---
R88M-G5K030T)
R88G-HPG50A115K0B@
● 3,000-r/min Flat Servomotors
Motor model
1/5
1/11
1/21
1/33
1/45
R88M-GP10030@ R88G-HPG11A05100PB@ R88G-HPG14A11100PB@ R88G-HPG14A21100PB@ R88G-HPG20A33100PB@ R88G-HPG20A45100PB@
R88M-GP20030@ R88G-HPG14A05200PB@ R88G-HPG20A11200PB@ R88G-HPG20A21200PB@ R88G-HPG20A33200PB@ R88G-HPG20A45200PB@
R88M-GP40030@ R88G-HPG20A05400PB@ R88G-HPG20A11400PB@ R88G-HPG20A21400PB@ R88G-HPG32A33400PB@ R88G-HPG32A45400PB@
● 2,000-r/min Cylindrical Servomotors
1/11
1/21
1/33
Motor model
1/5
1/45
(1/12 for flange size No.65)(1/20 for flange size No.65)(1/25 for flange size No.65)
R88G-HPG32A053K0B@ R88G-HPG32A112K0SB@
R88G-HPG50A332K0SB@
(Also used with
R88M-G1K020T
(Also used with
(Also used with
R88G-HPG32A211K0SB@
R88G-HPG50A451K0SB@
R88M-G3K030T)
R88M-G2K020T)
R88M-G2K020T)
R88G-HPG32A053K0B@ R88G-HPG32A112K0SB@ R88G-HPG50A213K0B@ R88G-HPG50A332K0SB@
R88M-G1K520T
R88M-G2K020T
R88M-G3K020T
(Also used with
(Also used with
(Also used with
(Also used with
---
---
---
R88M-G3K030T)
R88M-G2K020T)
R88M-G3K030T)
R88M-G2K020T)
R88G-HPG32A053K0B@
(Also used with
R88G-HPG50A213K0B@
(Also used with
R88G-HPG32A112K0SB@
R88G-HPG50A332K0SB@
R88M-G3K030T)
R88M-G3K030T)
R88G-HPG32A054K0B@
(Also used with
R88G-HPG50A115K0B@
(Also used with
R88G-HPG50A213K0SB@ R88G-HPG65A253K0SB@
R88M-G4K030T)
R88M-G5K030T)
R88M-G4K020T R88G-HPG50A054K0SB@ R88G-HPG50A114K0SB@ R88G-HPG65A204K0SB@ R88G-HPG65A254K0SB@
R88M-G5K020T R88G-HPG50A055K0SB@ R88G-HPG50A115K0SB@ R88G-HPG65A205K0SB@ R88G-HPG65A255K0SB@
---
---
---
R88M-G7K515T R88G-HPG65A057K5SB@ R88G-HPG65A127K5SB@
---
---
● 1,000-r/min Cylindrical Servomotors
1/11
1/21
1/33
Motor model
R88M-G90010T
R88M-G2K010T
1/5
(1/12 for flange size No.65)
(1/20 for flange size No.65)
(1/25 for flange size No.65)
R88G-HPG32A05900TB@
R88G-HPG32A052K0TB@
R88G-HPG50A055K0SB@
R88G-HPG32A11900TB@
R88G-HPG50A21900TB@
R88G-HPG50A33900TB@
R88G-HPG65A255K0SB@
(Also used with R88M-G5K020T)
R88G-HPG50A112K0TB@
R88G-HPG50A212K0TB@
R88G-HPG50A115K0SB@
R88G-HPG65A205K0SB@
R88G-HPG65A255K0SB@
R88M-G3K010T
R88M-G4K510T
R88M-G6K010T
(Also used with R88M-G5K020T) (Also used with R88M-G5K020T) (Also used with R88M-G5K020T) (Also used with R88M-G5K020T)
R88G-HPG65A127K5SB@
(Also used with R88M-G7K515T)
R88G-HPG50A054K5TB@
R88G-HPG65A057K5SB@
R88G-HPG65A204K5TB@
---
---
R88G-HPG65A127K5SB@
(Also used with R88M-G7K515T) (Also used with R88M-G7K515T)
---
22
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Servo Relay Units and Cables
● Servo Relay Units and Cables
Select the Servo Relay Unit and Cable according to the model number of the Position Control Unit being used.
Position Control Unit
CS1W-NC113
C200HW-NC113
CS1W-NC213
CS1W-NC413
C200HW-NC213
C200HW-NC413
CS1W-NC133
CS1W-NC233
CS1W-NC433
CJ1W-NC113
CJ1W-NC213
CJ1W-NC413
CJ1W-NC133
CJ1W-NC233
CJ1W-NC433
Position Control Unit Cable
Servo Relay Unit
Servo Drive Cable
XW2Z-@@@J-A6
XW2B-20J6-1B
XW2Z-@@@J-A7
XW2B-40J6-2B
XW2Z-@@@J-A10
XW2Z-@@@J-A11
XW2Z-@@@J-A14
XW2Z-@@@J-A15
XW2Z-@@@J-A18
XW2Z-@@@J-A19
XW2B-20J6-1B
XW2B-40J6-2B
XW2B-20J6-1B
XW2B-40J6-2B
XW2B-20J6-1B
W2B-40J6-2B
XW2Z-@@@J-B25
CJ1M-CPU21
CJ1M-CPU22
CJ1M-CPU23
XW2B-20J6-8A (for 1 axes)
XW2B-40J6-9A (for 2 axes)
XW2Z-@@@J-B31
XW2Z-@@@J-A33
General-purpose I/O
XW2Z-@@@J-A28
XW2Z-@@@J-A30
XW2Z-@@@J-A28
XW2Z-@@@J-A31
FQM1-MMP22
FQM1-MMA22
XW2Z-@@@J-B26
XW2Z-@@@J-B27
Special I/O
XW2B-80J7-12A
General-purpose I/O
Special I/O
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.
Note: 3. Direct cable is available for CJ1W-NC@@4 Position Control Unit (High-Speed type).
Specifications
The number of axes
Model
For CJ1W-NC214/-NC414 (open collector output type)
For CJ1W-NC214/-NC414 (open collector output type)
For CJ1W-NC234/-NC434 (line-driver output type)
For CJ1W-NC234/-NC434 (line-driver output type)
1 axis
2 axis
1 axis
2 axis
XW2Z-@@@J-G13
XW2Z-@@@J-G5
XW2Z-@@@J-G9
XW2Z-@@@J-G1
Motion Control Unit Cables
● Motion Control Unit Cable
There are special cables for 1-axis and 2-axis Motion Control Unit operation. Select the appropriate cable for the number of axes to be connected.
Motion Control Unit
Cable
Remarks
The @@@ digits in the model number indicate the cable length.
Motion Control Unit Cables come in four lengths: 1 m, 2 m, 3 m, and 5 m.
Example model number for 2-m 1-axis cable: R88A-CPG002M1
For 1 axis R88A-CPG@@@M1
CS1W-MC221-V1/421-V1
For 2 axes R88A-CPG@@@M2
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
23
Cable Combinations
Parameter Unit
Monitor Software for Windows
Motion Control Unit
Position Control Unit
(High-speed type)
NC414
CN1
CN2
RUN
SYNC
ERC
1
A1
B1
ERH
4
2
A2
B2
3
A3
B3
A4
B4
AS
BS
MACH
No.
x10
1
I
1
X
A
CN
x10
0
3
CN
4
A
XASI1
XASI2
20
21
2
2
0
23
1
24
2
5
2
5
3
26
4
27
8
2
6
29
7
30
0
8
31
1
9
32
2
1
33
13
1
34
14
1
35
15
36
16
37
8
3
39
17
8
1
19
Servo Relay Units
Position Control Unit
* 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:
PLC
(Model with Pulse Outpu
Relay terminal block
● Power Supply Cables (for CNB) (SR Connection Cables)
Symbol
Name
Connected to
Model
Description
Cylindrical Servomotors, R88A-CAGA@@@S
[Servomotor Connector]
(50)
(50)
L
Connector:
172159-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
3,000 r/min, 50 to 750 W The empty boxes in the model
Flat Servomotors,
number are for the cable length.
3,000 r/min, 100 to 400 The cable can be 3, 5, 10, 15, 20,
W
30, 40, or 50 m long.
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
R88A-CAGB@@@S
[Servomotor Connector]
(70)
L
Straight plug:
N/MS3106B20-4S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
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.
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
R88A-CAGC@@@S
Cylindrical Servomotors,
3,000 r/min, 2 kW
Cylindrical Servomotors,
2,000 r/min, 2 kW
(70)
L
Straight plug:
N/MS3106B20-4S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
Standard Servomotor
Power Cables for
Servomotors without
Brakes
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.
(Japan Aviation Electronics Industry, Ltd.)
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
[Servomotor Connector]
R88A-CAGD@@@S
(70)
L
Straight plug:
N/MS3106B22-22S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
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.
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
R88A-CAGE@@@S
Cylindrical Servomotors,
1,500 r/min, 7.5 kW
Cylindrical Servomotors,
1,000 r/min, 6 kW
L
Straight plug:
N/MS3106B32-17S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-20A
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.
(120)
(Japan Aviation Electronics Industry, Ltd.)
24
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Symbol
Name
Connected to
Model
Description
(70)
L
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
[Servomotor Connector]
R88A-CAGB@@@B
Straight plug:
N/MS3106B20-18S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
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.
(Japan Aviation Electronics Industry, Ltd.)
(70)
L
[Servomotor Connector]
R88A-CAGC@@@B
Cylindrical Servomotors,
3,000 r/min, 2 kW
Cylindrical Servomotors,
2,000 r/min, 2 kW
Standard Servomotor
Power Cables for
Servomotors with
Brakes
Straight plug:
N/MS3106B20-18S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
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.
(Japan Aviation Electronics Industry, Ltd.)
(70)
L
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
[Servomotor Connector]
R88A-CAGD@@@B
Straight plug:
N/MS3106B24-11S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-16A
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.
(Japan Aviation Electronics Industry, Ltd.)
R88A-CAGA@@@SR
[Servomotor Connector]
Cylindrical Servomotors,
3,000 r/min, 50 to 750 W
Flat Servomotors,
(50)
(50)
L
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.
Connector:
172159-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
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 W
[Servomotor Connector]
R88A-CAGB@@@SR
(70)
L
Straight plug:
N/MS3106B20-4S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
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.
Robot Servomotor
Power Cables for
Servomotors without
Brakes
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
R88A-CAGC@@@SR
Cylindrical Servomotors,
3,000 r/min, 2 kW
Cylindrical Servomotors,
2,000 r/min, 2 kW
(70)
L
Straight plug:
N/MS3106B20-4S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
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.
(Japan Aviation Electronics Industry, Ltd.)
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
[Servomotor Connector]
R88A-CAGD@@@SR
(70)
L
Straight plug:
N/MS3106B22-22S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
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.
(Japan Aviation Electronics Industry, Ltd.)
(70)
L
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
[Servomotor Connector]
R88A-CAGB@@@BR
Straight plug:
N/MS3106B20-18S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
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.
(Japan Aviation Electronics Industry, Ltd.)
(70)
L
[Servomotor Connector]
R88A-CAGC@@@BR
Robot Servomotor
Power Cables for
Servomotors with
Brakes
Cylindrical Servomotors,
3,000 r/min, 2 kW
Cylindrical Servomotors,
2,000 r/min, 2 kW
Straight plug:
N/MS3106B20-18S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
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.
(Japan Aviation Electronics Industry, Ltd.)
(70)
L
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
[Servomotor Connector]
R88A-CAGD@@@BR
Straight plug:
N/MS3106B24-11S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-16A
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.
(Japan Aviation Electronics Industry, Ltd.)
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
25
● Brake Cables
Symbol
Name
Connected to
Model
Description
R88A-CAGA@@@B
[Servomotor Connector]
Cylindrical Servomotors,
3,000 r/min, 50 to 750 W
Flat Servomotors,
(50)
(70)
(50)
L
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.
Connector:
172157-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
3,000 r/min, 100 to 400 W
Standard Brake
Cables
[Servomotor Connector]
R88A-CAGE@@@B
Cylindrical Servomotors,
1,500 r/min, 7.5 kW
Cylindrical Servomotors,
1,000 r/min, 6 kW
L
Straight plug:
N/MS3106B14-2S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-6A
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.
(Japan Aviation Electronics Industry, Ltd.)
R88A-CAGA@@@BR
[Servomotor Connector]
Cylindrical Servomotors,
3,000 r/min, 50 to 750 W
Flat Servomotors,
(50)
(50)
L
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.
Connector:
172157-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
Robot Brake Cables
3,000 r/min, 100 to 400 W
● Encoder Cables (for CN2)
Symbol
Name
Connected to
Model
Description
[Servomotor Connector]
[Servo Drive Connector]
Cylindrical Servomotors,
3,000 r/min, 50 to 750 W,
absolute encoder
Flat Servomotors, 3,000 r/min,
100 to 400 W, absolute
encoder
Connector:
3 to 20 m:
Connector:
172161-1
(Tyco Electronics AMP KK)
Connector pins:
170365-1
(Tyco Electronics AMP KK)
171639-1
(Tyco Electronics AMP KK)
R88A-CRGA@@@C
L
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.
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]
[Servo Drive Connector]
Cylindrical Servomotors,
3,000 r/min, 50 to 750 W,
incremental encoder
Flat Servomotors, 3,000 r/min,
100 to 400 W, incremental
encoder
Connector:
3 to 20 m:
Connector:
172160-1
(Tyco Electronics AMP KK)
Connector pins:
170365-1
(Tyco Electronics AMP KK)
171639-1
(Tyco Electronics AMP KK)
R88A-CRGB@@@C
L
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.
Crimped I/O connector:
(Molex Japan Co., Ltd.)
30 to 50 m: 55100-0670
(Molex Japan Co., Ltd.)
Connector pins:
StandardEncoder
Cables with
Connectors
(6.5 dia./6.8 dia.)
50639-8028
(Molex Japan Co., Ltd.)
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
[Servomotor Connector]
[Servo Drive Connector]
Connector:
3 to 20 m:
Straight plug:
N/MS3106B20-29S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
R88A-CRGC@@@N
L
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.
Crimped I/O connector:
(Molex Japan Co., Ltd.)
30 to 50 m: 55100-0670
(Molex Japan Co., Ltd.)
Connector pins:
(6.5 dia./6.8 dia.)
(Japan Aviation Electronics Industry, Ltd.)
50639-8028
(Molex Japan Co., Ltd.)
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
[Servomotor Connector]
[Servo Drive Connector]
R88A-CRGA@@@CR
L
Connector:
Connector:
172161-1
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.
Crimped I/O connector:
(Molex Japan Co., Ltd.)
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
(Tyco Electronics AMP KK)
Connector pins:
170365-1
(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
[Servomotor Connector]
[Servo Drive Connector]
R88A-CRGB@@@CR
L
Connector:
Connector:
172160-1
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.
Crimped I/O connector:
(Molex Japan Co., Ltd.)
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
Robot Encoder
Cables with
Connectors
(Tyco Electronics AMP KK)
Connector pins:
170365-1
(Tyco Electronics AMP KK)
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
[Servomotor Connector]
[Servo Drive Connector]
R88A-CRGC@@@NR
Connector:
L
Straight plug:
N/MS3106B20-29S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
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.
Crimped I/O connector:
(Molex Japan Co., Ltd.)
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
(Japan Aviation Electronics Industry, Ltd.)
Cylindrical Servomotors,
1,000 r/min, 900 W to 6 kW
● Absolute Encoder Backup Battery and Absolute Encoder Battery Cable
Symbol
Name
Contents
Length (m)
Model
Description
43.5
300
43.5
Battery not included.
0.3 m
R88A-CRGD0R3C
Absolute Encoder Battery Cable
Absolute Encoder Backup Battery
One R88A-BAT01G Battery
included.
0.3 m
---
R88A-CRGD0R3C-BS
R88A-BAT01G
Battery holder
t=12
t=12
---
---
26
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
● Control Cables (for CN1)
Symbol
Name
Connected to
Model
R88A-CPG@@@M♦
The empty boxes in the model number are for the cable length.
The cable can be 1, 2, 3, or 5 m long.
The empty diamond in the model number is for the number of axes.
One axis: 1, Two axes: 2
Motion Control Units
(for all CS1/C200H)
Control Cables
XW2Z-@@@J-G9
The empty boxes in the model number are for the cable length.
The cable can be 1, 5, or 10 m long.
Line-driver output type (High-speed type)
for CJ1W-NC234/434
For 1 axis
For 2 axis
For 1 axis
For 2 axis
XW2Z-@@@J-G1
The empty boxes in the model number are for the cable length.
The cable can be 1, 5, or 10 m long.
Line-driver output type (High-speed type)
for CJ1W-NC234/434
Direct connection cable
for Position Control Unit
(High-speed type)
XW2Z-@@@J-G13
The empty boxes in the model number are for the cable length.
The cable can be 1, or 3 m long.
Open collector output type (High-speed type)
for CJ1W-NC214/NC414
XW2Z-@@@J-G5
The empty boxes in the model number are for the cable length.
The cable can be 1, or 3 m long.
Open collector output type (High-speed type)
for CJ1W-NC214/NC414
CJ1W-NC113/NC133
CS1W-NC113/NC133
(C200HW-NC113)
CJ1W-NC213/NC233/NC413/NC433
CS1W-NC213/NC233/NC413/NC433
(C200HW-NC213/NC413)
XW2B-20J6-1B
XW2B-40J6-2B
Servo Relay Units
CJ1M-CPU21/CPU22/CPU23 (1 axis)
CJ1M-CPU21/CPU22/CPU23 (2 axes)
XW2B-20J6-8A
XW2B-40J6-9A
FQM1-MMA22
FQM1-MMP22
XW2B-80J7-12A
CJ1M-CPU21/-CPU22/-CPU23
(XW2B-20J6-8A and XW2B-40J6-9A)
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.
Servo Relay Unit Cables FQM1-MMA22
for
(XW2B-80J7-12A)
Servo Drives
XW2Z-@@@J-B26
The empty boxes in the model number are for the cable length.
The cable can be 1 or 2 m long.
FQM1-MMP22
(XW2B-80J7-12A)
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.
CJ1W-NC133
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.
CJ1W-NC233/NC433
CS1W-NC133
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.
CS1W-NC233/NC433
CJ1W-NC113
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.
CJ1W-NC213/NC413
Servo Relay Unit Cables
for
Position Control Units
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.
CS1W-NC113
C200HW-NC113
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.
CS1W-NC213/NC413
C200HW-NC213/NC413
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.
CJ1M-CPU21/CPU22/CPU23
FQM1-MMA22
FQM1-MMP22
(General-purpose I/O)
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.
FQM1-MMA22 (Special I/O)
FQM1-MMP22 (Special I/O)
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.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
27
Symbol
Name
Connected to
Model
R88A-CPG@@@S
The empty boxes in the model number are for the cable length.
The cable can be 1 or 2 m long.
General-purpose Control
Cables
Cables for General-purpose Controllers
XW2Z-@@@J-B24
The empty boxes in the model number are for the cable length.
The cable can be 1 or 2 m long.
Connector Terminal Block
Cables
Cables for General-purpose Controllers
Conversion Unit for General-purpose Controllers
(M3 screws)
Connector-Terminal Block Conversion Unit for General-purpose Controllers
XW2B-50G4
XW2B-50G5
XW2D-50G6
Conversion Units
(M3.5 screws)
Conversion Unit for General-purpose Controllers
(M3 screws)
Note: Use the following codes in @@@ for the cable length: 0.5 m: 050, 1 m: 100, 2 m: 200, 3 m: 300, 5 m: 500, and 10 m:10M.
However, for General-purpose Control Cables, use “001” for a 1-m cable.
● Communications Connector (for CN3)
Symbol
Name
Contents
Length (m)
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.
RS485 Communications Cables
---
---
Parameter Unit
---
1.5 m
2 m
R88A-PR02G
for Windows
RS232 Communications
Personal Computer Monitor Cable
R88A-CCG002P2
● Control Cables
Symbol
Name
Connected to
Model
Servomoteor Connector for Encoder
Cable, absolute Encoder
for moter
R88A-CNG01R
---
---
Servomoteor Connector for Encoder
Cable, Incremental Encoder
for moter
R88A-CNG02R
for drive
R88A-CNU01C
R88A-CNW01R
R88A-CNG01A
R88A-CNG01B
Control I/O Connector (CN1)
---
---
---
---
---
---
---
Encoder Connector (CN2)
Power Cable Connector (750 W max.)
Brake Cable Connector (750 W max.)
28
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Servo Drive Specifications (R88D-GT)
● General Specifications
Item
Specifications
Ambient operating temperature and operating humidity 0 to 55°C, 90% RH max. (with no condensation)
Ambient storage temperature and storage humidity
Storage and operating atmosphere
−20 to 65°C, 90% RH max. (with no condensation)
No corrosive gasses
Smaller of either 10 to 60 Hz with double amplitude of 0.1 mm or acceleration of 5.88 m/s2 max. in X,
Y, and Z directions.
Vibration resistance
Impact resistance
Acceleration of 19.6 m/s2 max. 2 times each in X, Y, and Z directions
Insulation resistance
Between power supply/power line terminals and frame ground: 0.5 MΩ. min. (at 500 VDC)
Between power supply/power line terminals and frame ground: 1,500 VAC for 1 min at 50/60 Hz
Between each control signal and frame ground: 500 VAC for 1 min
Dielectric strength
Protective structure
EMC
Built into panel (IP10).
EN 55011 class A group 1
EC
Directive
EN 61000-6-2, IEC 61000-4-2/-3/-4/-5/-6/-11
Directives
Low voltage Directive EN 50178
International
standards
UL standards
UL 508C
CSA standards
CSA C22.2 No.14
Certified
Korean Radio Regulations (KC)
Note: 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.
Note: 2. Always disconnect all connections to the Servo Drive before you perform insulation resistance tests on it. If you perform an insulation resistance test while the
Servo Drive is connected, the Servo Drive may be damaged.
Never perform dielectric strength tests on the Servo Drive. Failure to follow this precaution may result in damaging internal elements.
Note: 3. Depending on the operating conditions, some Servo Drive parts will require maintenance.
Note: 4. The service life of the Servo Drive is 28,000 hours at an average ambient temperature of 55°C at 100% of the rated torque.
● Characteristics
Servo Drives with 100-VAC Input Power
Item
R88D-GTA5L
1.3 A
R88D-GT01L
1.8 A
R88D-GT02L
2.4 A
R88D-GT04L
4.9 A
Continuous output current (rms)
Momentary maximum output current (rms)
3.9 A
5.4 A
7.2 A
14.7 A
Power supply capacity
0.4 KVA
0.4 KVA
0.5 KVA
0.9 KVA
Main circuit
Power supply voltage
Rated current
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
2.2 A 3.7 A
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
Input power
supply
1.4 A
6.6 A
Power supply voltage
Rated current
Control circuit
0.09 A
10.1 W
4.4 W
0.09 A
14.4 W
4.4 W
0.09 A
18.4 W
4.4 W
0.09 A
41.4 W
4.4 W
Main circuit
Heat
generated
Control circuit
Control method
Inverter method
PWM frequency
Weight
All-digital servo
IGBT-driven PWM method
12.0 kHz
6.0 kHz
Approx. 0.8 kg
50 W
Approx. 0.8 kg
Approx. 1.1 kg
200 W
Approx. 1.5 kg
400 W
Maximum applicable motor capacity
100 W
G05030H
G10030L
G20030L
G20030S
GP20030L
GP20030S
---
G40030L
G40030S
GP40030L
GP40030S
---
INC
ABS
INC
3,000-r/min Servomotors
G05030T
G10030S
GP10030L
GP10030S
---
---
---
---
---
Applicable
Servomotors 3,000-r/min Flat Servomotors
(R88M-)
ABS
ABS
ABS
2,000-r/min Servomotors
1,000-r/min Servomotors
---
---
---
Speed control range
1: 5000
Speed variability: Load characteristic
Speed variability: Voltage characteristic
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 50°C (at rated speed)
3%
Speed variability: Temperature characteristic
Torque control reproducibility
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
29
Servo Drives with Single-phase 200-VAC Input Power
Item
R88D-GT01H R88D-GT02H R88D-GT04H R88D-GT08H R88D-GT10H R88D-GT15H
Continuous output current (rms)
Momentary maximum output current (rms)
1.16 A
3.5 A
1.6 A
5.3 A
2.7 A
7.1 A
4.0 A
14.1 A
1.3 KVA
5.9 A
21.2 A
1.8 KVA
9.8 A
28.3 A
2.3 KVA
Power supply capacity
0.5 KVA
0.5 KVA
0.9 KVA
Single-phase 200 to 240 VAC
(170 to 264 V), 50/60 Hz
Single-phase or three-phase 200 to 240 VAC
(170 to 264 V), 50/60 Hz
Main circuit
Power supply voltage
Input power
supply
Rated current
1.3 A
2.0 A
Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
3.7 A
5.0/3.3 *1
A
7.5/4.1 *1
A
11/8.0 *1
A
Power supply voltage
Rated current
Control circuit
0.05 A
14.3 W
4.5 W
0.05 A
14.8 W
4.5 W
0.05 A
23.6 W
4.5 W
0.05 A
38.7 W
4.3 W
0.07 A
52.9 W
6.1 W
0.07 A
Main circuit
105.9 W
6.1 W
Heat
generated
Control circuit
PWM frequency
Weight
12.0 kHz
6.0 kHz
Approx. 0.8 kg Approx. 0.8 kg Approx. 1.1 kg Approx. 1.5 kg Approx. 1.7 kg Approx. 1.7 kg
Maximum applicable motor capacity
3,000-r/min Servomotors
Applicable
100 W
200 W
400 W
750 W
1 k W
---
1.5 kW
---
G05030H
G10030H
G20030H
G40030H
G75030H
INC
G05030T
G10030T
G1K030T
G1K530T
G20030T
G40030T
G75030T
---
ABS
GP10030H
GP20030H
GP40030H
---
---
---
---
---
---
INC
ABS
ABS
ABS
Servomotors
(R88M-)
3,000-r/min Flat Servomotors
GP10030T
GP20030T
GP40030T
---
G1K020T
---
---
2,000-r/min Servomotors
1,000-r/min Servomotors
---
---
---
---
---
---
G1K520T
G90010T
Control method
All-digital servo
Inverter method
IGBT-driven PWM method
1:5000
Speed control range
Speed variability: Load characteristic
Speed variability: Voltage characteristic
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 50°C (at rated speed)
3%
Speed variability: Temperature characteristic
Torque control reproducibility
*1. The left value is for single-phase input power and the right value is for three-phase input power.
Servo Drives with Three-phase 200-VAC Input Power
Item
R88D-GT20H
14.3 A
R88D-GT30H
17.4 A
R88D-GT50H
31.0 A
R88D-GT75H
45.4 A
Continuous output current (rms)
Momentary maximum output current (rms)
45.3 A
63.6 A
84.8 A
170.0 A
Power supply capacity
3.3 KVA
4.5 KVA
7.5 KVA
11 KVA
Main circuit
Power supply voltage
Rated current
Three-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
15.2 A 23.7 A
Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
Input power
supply
10.2 A
35.0 A
Power supply voltage
Rated current
Control circuit
0.1 A
112.3 W
10.7 W
0.12 A
219.6 W
13.3 W
0.12 A
391.7 W
13.3 W
0.14 A
376.2 W
13.8 W
Main circuit
Heat
generated
Control circuit
PWM frequency
Weight
6.0 kHz
Approx. 3.2 kg
2 kW
Approx. 6.0 kg
3 kW
Approx. 6.0 kg
5 kW
Approx. 16.4 kg
7.5 kW
Maximum applicable motor capacity
---
---
---
---
---
INC
3,000-r/min Servomotors
G4K030T
G5K030T
G2K030T
G3K030T
ABS
---
---
---
---
---
---
---
---
Applicable
Servomotors
(R88M-)
INC
3,000-r/min Flat Servomotors
ABS
G4K020T
G5K020T
2,000-r/min Servomotors
1,000-r/min Servomotors
G2K020T
---
G3K020T
G2K010T
G7K515T
G6K010T
ABS
ABS
G3K010T
G4K510T
Control method
Inverter method
All-digital servo
IGBT-driven PWM method
1:5000
Speed control range
Speed variability: Load characteristic
Speed variability: Voltage characteristic
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 50°C (at rated speed)
3%
Speed variability: Temperature characteristic
Torque control reproducibility
30
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Servomotor Specifications (R88M-G)
● General Specifications
1,000-r/min Servomotors
2,000-r/min Servomotors
3,000-r/min Servomotors
3,000-r/min Flat
Servomotors
Item
50 to 750 W
1 to 5 kW
900 W to 5 kW
6 to 7.5 kW
Ambient operating temperature
and humidity
0 to 40°C, 85% RH max. (with no condensation)
−20 to 65°C, 85% RH
max. (with no
Ambient storage temperature and
humidity
−20 to 80°C, 85% RH max. (with no condensation)
condensation)
Storage and operating atmosphere
Vibration resistance *1
No corrosive gases
10 to 2,500 Hz and
acceleration of
49 m/s2 max. 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
10 to 2,500 Hz and
acceleration of
49 m/s2 max. 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
Acceleration of
98 m/s2 max. 3 times
Acceleration of
98 m/s2 max. 3 times
Acceleration of
98 m/s2 max. 3 times
Impact resistance
Acceleration of 98 m/s2 max. 2 times vertically
each in the X, Y, and Z each in the X, Y, and Z each in the X, Y, and Z
directions
directions
directions
Insulation resistance
Dielectric strength
Operating position
Insulation grade
Structure
20 MΩ 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 B
Type F
Type B
Type F
Totally enclosed, self-cooling
Protective structure
Vibration grade
IP65 (excluding the output shaft rotating section and lead wire ends)
V-15
Mounting method
Flange-mounting
Low voltage
EC Directives
IEC 60034-1/-5
UL1004-1
Directive
UL standards
−
CSA standards
CSA 22.2 No.100
*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.
Note: 3. Always disconnect all connections to the Servo Drive before you perform insulation resistance tests on it. If you perform an insulation resistance test while the
Servo Drive is connected, the Servo Drive may be damaged.
Never perform dielectric strength tests on the Servo Drive. Failure to follow this precaution may result in damaging internal elements.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
31
Servomoter Specifications (R88M-G)
● Characteristics
3,000-r/min Cylindrical Servomotors
100-VAC Input Power
Model (R88M-)
G05030H
G05030T
50
G10030L
G10030S
100
G20030L
G20030S
200
G40030L
G40030S
400
Item
Unit
W
Rated output *1
Rated torque *1
Rated rotation speed
N·m
r/min
0.16
0.32
0.64
1.3
3000
5000
Max. momentary rotation speed
Max. momentary torque *1
Rated current *1
r/min
N·m
0.45
1.1
0.93
1.7
1.78
2.5
3.6
4.6
A (rms)
A (rms)
Max. momentary current *1
3.4
5.1
7.6
13.9
kg·m2
(GD2/4)
Rotor inertia
2.5 × 10−6
5.1 × 10−6
1.4 × 10−5
2.6 × 10−5
Applicable load inertia
Torque constant *1
---
N·m/A
kW/s
ms
ms
N
30 times the rotor inertia max. *2
0.14
10.4
0.19
20.1
0.26
30.3
0.28
62.5
*1
Power rate
Mechanical time constant
Electrical time constant
Allowable radial load *3
Allowable thrust load *3
1.56
1.11
0.72
0.55
0.7
0.8
2.5
2.9
68
68
245
245
N
58
58
98
98
Without brake
Weight
kg
Approx. 0.3
Approx. 0.5
Approx. 0.5
Approx. 0.7
Approx. 0.8
Approx. 1.3
Approx. 1.2
Approx. 1.7
With brake
kg
Radiation shield dimensions (material)
Applicable Servo Drives (R88D-)
100 × 80 × t10 (AI)
130 × 120 × t12 (AI)
GTA5L
GT01L
GT02L
GT04L
kg·m2
(GD2/4)
Brake inertia
2 × 10-7
2 × 10-7
1.8 × 10-6
1.8 × 10-6
Excitation voltage *4
Power consumption (at 20°C)
Current consumption (at 20°C)
Static friction torque
Attraction time *5
V
24 VDC 5%
W
7
7
9
9
A
0.3
0.3
0.36
0.36
N·m
ms
ms
0.29 min.
35 max.
20 max.
0.29 min.
35 max.
20 max.
1.27 min.
50 max.
15 max.
1.27 min.
50 max.
15 max.
Release time *5
Backlash
1°
Allowable work per braking
Allowable total work
J
J
39.2
39.2
137
137
4.9 × 103
4.9 × 103
44.1 × 103
44.1 × 103
30,000 max.
Allowable angular acceleration
rad/s2
(Speed of 2,800 r/min or more must not be changed in less than 10 ms)
Brake life
---
---
---
10,000,000 operations min.
Continuous
Rating
Insulation grade
Type F
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 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.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*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.
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
32
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Torque and Rotation Speed Characteristics
3,000-r/min Cylindrical Servomotors
• 3,000-r/min Servomotors with 100-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
R88M-G05030H/T (50 W)
R88M-G10030L/S (100 W)
R88M-G20030L/S (200 W)
(N·m)
(N·m)
(N·m)
0.48
0.48
0.83 (3600)
0.5
0.83
1.0
0.5
2.0
1.78
Repetitive usage
0.64 0.64
Continuous usage
1.78 (3500)
0.75
Repetitive usage
0.32 0.32
Continuous usage
Repetitive usage
0.25
1.0
0
0.9
0.6
0.16
0.16
0.1
Continuous usage
0.28
0
1000 2000 3000 4000 5000
(r/min)
0
1000 2000 3000 4000 5000
(r/min)
1000 2000 3000 4000 5000
(r/min)
R88M-G40030L/S (400 W)
(N·m)
4.0
3.6
Repetitive usage
1.3 1.3
Continuous usage
3.6 (3000)
2.0
0
1.3
0.6
1000 2000 3000 4000 5000
(r/min)
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
33
Servomotor Specifications (R88M-G)
● Characteristics
3,000-r/min Cylindrical Servomotors
200-VAC Input Power
Model (R88M-) G05030H G10030H G20030H G40030H G75030H
---
---
---
---
---
---
Item
Unit G05030T G10030T G20030T G40030T G75030T G1K030T G1K530T G2K030T G3K030T G4K030T G5K030T
Rated output t *1
W
50
100
200
400
1.3
750
2.4
1000
3.18
3000
1500
4.77
2000
6.36
3000
9.54
4000
12.6
5000
15.8
Rated torque *1
N·m
0.16
0.32
0.64
Rated rotation speed
Max. momentary rotation speed
Max. momentary torque *1
Rated current *1
r/min
r/min
N·m
5000
4500
7.05
4
5000
4500
0.45
1.1
0.90
1.1
1.78
1.6
3.67
2.6
9.1
7.2
12.8
9.4
18.4
13
27.0
18.6
57.1
36.3
24.7
75
45.1
28.5
85.7
A (rms)
A (rms)
Max. momentary current *1
3.4
3.4
4.9
7.9
12.1
21.4
28.5
40
kg·m2
(GD2/4)
2.5 ×
5.1 ×
1.4 ×
2.6 ×
8.7 ×
1.69 ×
2.59 ×
3.46 ×
6.77 ×
1.27 ×
1.78 ×
Rotor inertia
10−6
10−6
10−5
10−5
10−5
10−4
10−4
10−4
10−4
10−3
10−3
20 times
the rotor
inertia
Applicable load inertia
---
30 times the rotor inertia max. *2
15 times the rotor inertia max. *2
max. *2
Torque constant *1
N·m/A
kW/s
ms
0.14
10.4
1.56
0.7
0.19
20.1
1.1
0.41
30.3
0.71
2.6
0.51
62.5
0.52
3
0.64
66
0.44
60
0.51
88
0.48
117
0.53
10.8
490
196
0.51
134
0.46
20
0.51
125
0.51
20
0.57
140
0.46
20
Power rate *1
Mechanical time constant
Electrical time constant
Allowable radial load *3
Allowable thrust load *3
0.45
4.6
0.78
6.7
0.54
10
ms
0.79
68
N
68
245
98
245
98
392
147
392
147
490
196
490
196
784
343
784
343
N
58
58
Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx.
0.3 0.5 0.8 1.2 2.3 4.5 5.1 6.5 9.3 12.9 17.3
Without brake
Weight
kg
kg
Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx.
With brake
0.5
0.7
1.3
1.7
3.1
5.1
6.5
7.9
11
14.8
19.2
320 ×
300 ×
320 ×
300 ×
130 × 120 × t12
170 × 160 × t12
Radiation shield dimensions (material)
100 × 80 × t10 (AI)
380 × 350 × t30 (AI)
(AI)
(AI)
t30 (AI) t20 (AI)
Applicable Servo Drives (R88D-)
Brake inertia
GT01H
GT01H
GT02H
GT04H
GT08H
GT15H
GT15H
GT20H
GT30H
GT50H
GT50H
kg·m2
(GD2/4)
1.8 ×
1.8 ×
7.5 ×
2.5 ×
3.3 ×
3.3 ×
3.3 ×
1.35 ×
1.35 ×
2 × 10−7 2 × 10−7
10−6
10−6
10−6
10−5
10−5
10−5
10−5
10−4
10−4
Excitation voltage *4
V
W
A
24 VDC 5%
24 VDC 10%
Power consumption (at 20°C)
Current consumption (at 20°C)
7
7
9
9
10
18
19
19
19
22
22
0.3
0.3
0.36
0.36
0.42
0.74
0.81
0.81
0.81
0.9
0.9
0.29
min.
0.29
min.
1.27
min.
1.27
min.
2.45
min.
11.8
min.
16.1
min.
16.1
min.
Static friction torque
Attraction time *5
N·m
4.9 min. 7.8 min. 7.8 min.
110
max.
110
max.
ms
ms
35 max. 35 max. 50 max. 50 max. 70 max. 50 max. 50 max. 50 max. 80 max.
Release time *5
20 max. 20 max. 15 max. 15 max. 20 max. 15 max. 15 max. 15 max. 15 max. 50 max. 50 max.
Backlash
1°
Allowable work per braking
J
J
39.2
39.2
137
137
196
392
392
392
392
1470
1470
4.9 ×
4.9 ×
44.1 ×
44.1 ×
147 ×
2.0 ×
4.9 ×
4.9 ×
4.9 ×
2.2 ×
2.2 ×
Allowable total work
103
103
103
103
103
105
105
105
105
106
106
30,000 max.
10,000 max.
Allowable angular acceleration rad/s2 (Speed of 2,800 r/min or more must not be changed (Speed of 900 r/min or more must not be changed in less than
in less than 10 ms)
10 ms)
Brake life
---
---
---
10,000,000 operations min.
Continuous
Rating
Insulation grade
Type F
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 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.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*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.
Radial load
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500
Thrust load
manufactured by Okaya Electric Industries Co., Ltd.).
Center of shaft (LR/2)
34
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Torque and Rotation Speed Characteristics
3,000-r/min Cylindrical Servomotors
• 3,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-G05030H/T (50 W)
R88M-G10030H/T (100 W)
R88M-G20030H/T (200 W)
(N·m)
(N·m)
(N·m)
0.93
1.0
0.93
1.78
1.78 (4500)
0.5
2.0
0.45
0.45
1.5
Repetitive usage
Repetitive usage
Repetitive usage
0.5
0.25
1.0
0.32
0.32
0.16
0.16
0.64
Continuous usage
1000 2000 3000 4000 5000
0.64
0.28
Continuous usage
0.1
Continuous usage
0.38
0
1000 2000 3000 4000 5000
(r/min)
0
1000 2000 3000 4000 5000
(r/min)
0
(r/min)
R88M-G40030H/T (400 W)
R88M-G75030H/T (750 W)
R88M-G1K030T (1 kW)
(N·m)
(N·m)
(N·m)
7.05
7.05 (3600)
9.1 (4000)
9.1
10
8.0
4.0
3.6 (3800)
3.6
Repetitive usage
Repetitive usage
2.4 2.4
Continuous usage
Repetitive usage
4.0
1.0
4.0
2.0
0
5
3.18
3.18
1.3
1.3
4.8
1.7
Continuous usage
Continuous usage
0.78
0
1000 2000 3000 4000 5000
(r/min)
1000 2000 3000 4000 5000
(r/min)
0
1000 2000 3000 4000 5000
(r/min)
R88M-G1K530T (1.5 kW)
R88M-G2K030T (2 kW)
R88M-G3K030T (3 kW)
(N·m)
(N·m)
(N·m)
27.0 (3400)
27.0
12.9 (3500)
30
15 12.9
20
10
18.4
18.4 (3600)
Repetitive usage
9.54 9.54
Continuous usage
Repetitive usage
4.77 4.77
Repetitive usage
6.36
15
7.5
0
6.36
5.5
3.6
6.0
Continuous usage
Continuous usage
0
1000 2000 3000 4000 5000
(r/min)
1000 2000 3000 4000 5000
(r/min)
0
1000 2000 3000 4000 5000
(r/min)
R88M-G4K030T (4 kW)
R88M-G5K030T (5 kW)
(N·m)
(N·m)
40
20
45.1
47.6
36.3
37.9
12.6
50
25
Repetitive usage
Repetitive usage
15.8
15.8
12.6
15.0
10.0
Continuous usage
Continuous usage
0
1000 2000 3000 4000 5000
(r/min)
0
1000 2000 3000 4000 5000
(r/min)
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
35
Servomotor Specifications (R88M-GP)
● Characteristics
3,000-r/min Flat Servomotors
Model (R88M-)
GP10030L
100 VAC
GP20030L
GP20030S
200
200 VAC
GP20030H
GP20030T
200
GP40030L
GP40030S
400
GP10030H
GP10030T
100
GP40030H
GP40030T
400
Item
Unit
W
GP10030S
100
Rated output *1
Rated torque *1
N·m
0.32
0.64
1.3
0.32
0.64
1.3
Rated rotation speed
Max. momentary rotation speed
Max. momentary torque *1
Rated current *1
r/min
r/min
N·m
3000
5000
4500
3.6
5000
1.8
0.84
1.6
1.8
2.5
7.5
0.86
1
3.65
2.5
A (rms)
A (rms)
4.4
1.6
Max. momentary current *1
4.9
13.3
3.1
4.9
7.5
kg·m2
(GD2/4)
Rotor inertia
1.0 × 10−5
3.5 × 10−5
6.5 × 10−5
1.0 × 10−5
3.5 × 10−5
6.4 × 10−5
Applicable load inertia
Torque constant *1
---
N·m/A
kW/s
ms
ms
N
20 times the rotor inertia max.*2
0.21
10.2
0.27
11.7
0.3
26.0
0.34
10.2
0.42
11.5
0.54
25.5
Power rate *1
Mechanical time constant
Electrical time constant
Allowable radial load *3
Allowable thrust load *3
0.87
0.75
0.55
1.05
0.81
0.59
3.4
6.7
6.7
2.9
5.6
6.6
68
245
245
68
245
245
N
58
98
98
58
98
98
Without brake
Weight
kg
Approx. 0.7
Approx. 0.9
Approx. 1.3
Approx. 2
Approx. 1.8
Approx. 2.5
Approx. 0.7
Approx. 0.9
Approx. 1.3
Approx. 2
Approx. 1.8
Approx. 2.5
With brake
kg
130 × 120 × t10
130 × 120 × t10
Radiation shield dimensions (material)
Applicable Servo Drives (R88D-)
170 × 160 × t12 (AI)
170 × 160 × t12 (AI)
(AI)
(AI)
GT01L
GT02L
GT04L
GT01H
GT02H
GT04H
kg·m2
(GD2/4)
Brake inertia
3 × 10−6
9 × 10−6
3 × 10−6
9 × 10−6
Excitation voltage *4
Power consumption (at 20°C)
Current consumption (at 20°C)
Static friction torque
Attraction time *5
V
24 VDC 10%
W
7
10
7
10
A
0.29
0.41
0.29
0.41
N·m
ms
ms
0.29 min.
50 max.
0.29 min.
50 max.
1.27 min.
60 max.
Release time *5
15 max.
Backlash
1°
Allowable work per braking
Allowable total work
J
J
137
196
137
196
44.1 × 103
147 × 103
44.1 × 103
147 × 103
10,000 max.
Allowable angular acceleration
rad/s2
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life
---
---
---
10,000,000 operations min.
Rating
Continuous
Continuous
Insulation grade
Type F
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 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.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*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.
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
36
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Torque and Rotation Speed Characteristics
3,000-r/min Flat Servomotors
• 3,000-r/min Servomotors with 100-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
R88M-GP10030L/S (100 W)
R88M-GP20030L/S (200 W)
R88M-GP40030L/S (400 W)
(N·m)
(N·m)
4.0
(N·m)
2.0
1.0
0.5
0.84 (3500)
0.84
1.8
1.8 (3400)
3.6 (3300)
3.6
Repetitive usage
Repetitive usage
Repetitive usage
1.3
Continuous usage
1.0
0
2.0
0
0.32
0.32
0.64
0.64
0.32
0.19
1.3
1.5
Continuous usage
0.38
Continuous usage
0.78
0
1000 2000 3000 4000 5000
(r/min)
1000 2000 3000 4000 5000
(r/min)
1000 2000 3000 4000 4500
(r/min)
• 3,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-GP10030H/T (100 W)
R88M-GP20030H/T (200 W)
R88M-GP40030H/T (400 W)
(N·m)
4.0
(N·m)
(N·m)
1.8 (4500)
1.8
2.0
1.0
3.65 (3600)
3.65
0.86
0.86
Repetitive usage
0.64 0.64
Continuous usage
Repetitive usage
Repetitive usage
1.0
2.0
0
2.0
0.5
1.3
1.3
0.32
0.32
0.78
Continuous usage
0.19
0.38
Continuous usage
0
1000 2000 3000 4000 5000
(r/min)
1000 2000 3000 4000 5000
(r/min)
0
1000 2000 3000 4000 5000
(r/min)
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
37
Servomotor Specifications (R88M-G)
● Characteristics
2,000-r/min Cylindrical Servomotors
200-VAC Input Power
Model (R88M-)
G1K020T
G1K520T
G2K020T
G3K020T
G4K020T
G5K020T
G7K515T
Item
Unit
Rated output *1
W
1000
4.8
1500
7.15
2000
9.54
3000
14.3
4000
18.8
5000
23.8
7500
48
Rated torque *1
N·m
Rated rotation speed
Max. momentary rotation speed
Max. momentary torque *1
Rated current *1
r/min
r/min
N·m
2000
3000
1500
2000
111
13.5
5.6
19.6
9.4
26.5
12.3
37.1
41.2
17.8
54.2
54.9
23.4
71.4
70.6
28
A (rms)
A (rms)
46.6
117.8
Max. momentary current *1
17.1
28.5
85.7
kg·m2
(GD2/4)
Rotor inertia
6.17 × 10−4
1.12 × 10−3
1.52 × 10−3
2.23 × 10−3
4.25 × 10−3
6.07 × 10−3
8.9 × 10−3
Applicable load inertia
Torque constant *1
---
N·m/A
kW/s
ms
ms
N
10 times the rotor inertia max. *2
0.88
37.3
0.76
45.8
0.78
0.81
91.6
0.81
0.85
93.5
1.03
230
Power rate *1
60
0.75
83.2
Mechanical time constant
Electrical time constant
Allowable radial load *3
Allowable thrust load *3
0.7
0.81
0.72
1
24
0.9
0.71
18
19
21
20
32
34
490
490
490
784
784
784
1176
N
196
196
196
343
343
343
490
Without brake
Weight
kg
Approx. 6.8
Approx. 8.7
Approx. 8.5
Approx. 10.1
Approx. 10.6
Approx. 12.5
Approx. 14.6
Approx. 16.5
Approx. 18.8
Approx. 21.3
Approx. 25
Approx. 28.5
Approx. 41
Approx. 45
With brake
kg
380 × 350 ×
Radiation shield dimensions (material)
Applicable Servo Drives (R88D-)
275 × 260 × t15 (AI)
470 × 440 × t30 (AI)
GT50H
t30 (AI)
GT10H
GT15H
GT20H
GT30H
GT50H
GT75H
kg·m2
(GD2/4)
Brake inertia
1.35 × 10−4
4.25 × 10−4
4.7 × 10−4
4.7 × 10−4
Excitation voltage *4
Power consumption (at 20°C)
Current consumption (at 20°C)
Static friction torque
Attraction time *5
V
24 VDC 10%
22
W
14
19
19
26
31
34
A
0.59
0.79
0.79
0.9
1.1
1.3
1.4
N·m
ms
ms
4.9 min.
80 max.
70 max.
13.7 min.
100 max.
50 max.
13.7 min.
100 max.
50 max.
16.1 min.
110 max.
50 max.
1°
21.5 min.
90 max.
35 min.
24.5 min.
80 max.
25 min.
58.8 min.
150 max.
50 max.
Release time *5
Backlash
Allowable work per braking
Allowable total work
J
J
588
1176
1176
1170
1078
1372
1372
7.8 × 105
1.5 × 106
1.5 × 106
2.2 × 106
2.5 × 106
2.9 × 106
2.9 × 106
10,000 max.
Allowable angular acceleration
rad/s2
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life
---
---
---
10,000,000 operations min.
Continuous
Rating
Insulation grade
Type F
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 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.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*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.
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
38
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Torque and Rotation Speed Characteristics
2,000-r/min Cylindrical Servomotors
• 2,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-G1K020T (1 kW)
R88M-G1K520T (1.5 kW)
R88M-G2K020T (2 kW)
(N·m)
(N·m)
(N·m)
13.5
13.5 (2200)
15
10
5
26.5
26.5 (2200)
19.6 (2200)
Repetitive usage
7.15 7.15
Continuous usage
19.6
20
10
30
15
Repetitive usage
Repetitive usage
14.3
4.7
5.5
3.2
4.8
4.8
9.54
9.54
13.2
6.3
Continuous usage
Continuous usage
(r/min)
3000
0
1000
2000
(r/min)
3000
0
1000
2000
(r/min)
3000
0
1000
2000
R88M-G3K020T (3 kW)
R88M-G4K020T (4 kW)
R88M-G5K020T (5 kW)
(N·m)
(N·m)
(N·m)
50
54.9
54.9 (2000)
70.6
70.6 (2000)
41.2
Repetitive usage
41.2 (2200)
70
50
25
Repetitive usage
35 23.8
23.8
Continuous usage
Repetitive usage
18.8 18.8
Continuous usage
25
0
14.3 14.3
25.0
12.5
14.3
9.5
23.0
Continuous usage
1000 2000
15.8
(r/min)
3000
(r/min)
3000
0
1000
2000
(r/min)
3000
0
1000
2000
R88M-G7K515T (7.5 kW)
(N·m)
111
111
100
100
36
Repetitive usage
50 48
48
Continuous usage
(r/min)
2000
0
1000
1500
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
39
Servomotor Specifications (R88M-G)
● Characteristics
1,000-r/min Cylindrical Servomotors
200-VAC Input Power
Model (R88M-)
G90010T
G2K010T
G3K010T
G4K510T
G6K010T
Item
Unit
Rated output *1
W
900
2000
19.1
3000
28.4
1000
2000
60
4500
42.9
6000
57.2
Rated torque *1
N·m
r/min
8.62
Rated rotation speed
Max. momentary rotation speed
Max. momentary torque *1
Rated current *1
r/min
N·m
18.4
7.6
41.5
18.5
44
101
33
130
57.2
A (rms)
A (rms)
24
Max. momentary current *1
17.1
57.1
84.2
121.4
kg·m2
(GD2/4)
Rotor inertia
1.12 × 10−3
3.55 × 10−3
5.57 × 10−3
8.09 × 10−3
9.9 × 10−3
Applicable load inertia
Torque constant *1
---
N·m/A
kW/s
ms
ms
N
10 times the rotor inertia max. *2
1.13
66.3
1
103
1.1
145
1.3
228
1.22
331
Power rate *1
Mechanical time constant
Electrical time constant
Allowable radial load *3
Allowable thrust load *3
0.88
0.97
0.74
0.7
0.65
20
25
30
31
46.2
686
1176
1470
1470
1764
N
196
490
490
490
588
Without brake
Weight
kg
Approx. 8.5
Approx. 10
Approx. 17.5
Approx. 21
Approx. 25
Approx. 28.5
Approx. 34
Approx. 39.5
Approx. 41
Approx. 45
With brake
kg
Radiation shield dimensions (material)
Applicable Servo Drives (R88D-)
275 × 260 × t15 (AI)
470 × 440 × t30 (AI)
GT15H
GT30H
GT50H
GT50H
GT75H
kg·m2
(GD2/4)
Brake inertia
1.35 × 10−4
4.7 × 10−4
4.7 × 10−4
4.7 × 10−4
4.7 × 10−4
Excitation voltage *4
Power consumption (at 20°C)
Current consumption (at 20°C)
Static friction torque
Attraction time *5
V
24 VDC 10%
W
19
31
34
A
0.79
1.3
1.4
N·m
ms
ms
13.7 min.
100 max.
50 max.
24.5 min.
80 max.
25 max.
58.8 min.
150 max.
50 max.
Release time *5
Backlash
1°
Allowable work per braking
Allowable total work
J
J
1176
1372
1.6 × 106
2.9 × 106
10,000 max.
Allowable angular acceleration
rad/s2
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life
---
---
---
10,000,000 operations min.
Rating
Continuous
Type F
Insulation grade
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 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.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*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.
Radial load
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500
Thrust load
manufactured by Okaya Electric Industries Co., Ltd.).
Center of shaft (LR/2)
40
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Torque and Rotation Speed Characteristics
1,000-r/min Cylindrical Servomotors
• 1,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-G90010T (900 W)
R88M-G2K010T (2 kW)
R88M-G3K010T (3 kW)
18.4
18.4 (1600)
(N·m)
(N·m)
20
10
50
25
70
35
41.5 (1600)
(N·m)
41.5
60
60 (1350)
Repetitive usage
Repetitive usage
Repetitive usage
28.4 28.4
34.9
38
8.62 8.62
10.0
4.31
19.1 19.1
14.2
9.5
Continuous usage
Continuous usage
Continuous usage
(r/min)
(r/min)
(r/min)
2000
0
1000
2000
0
1000
2000
0
1000
R88M-G4K510 (4.5 kW)
R88M-G6K010T (6 kW)
130 (1500)
130
101
101 (1300)
(N·m)
100
50
(N·m)
100
50
Repetitive usage
Repetitive usage
71
57.2 57.2
42.9 42.9
40
Continuous usage
21.5
Continuous usage
28.6
(r/min)
2000
0
1000
(r/min)
2000
0
1000
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
41
Decelerator Specifications (R88G-HPG/VRSF)
● Backlash: 3 Arcminutes Max.
Decelerators for 3,000-r/min Servomotors
Rated
rotation
speed
Maximum
Efficiency momentary
rotation speed
Maximum
momentary
torque
Allowable Allowable
Rated
torque
Decelerator
inertia
radial
load
thrust
load
Weight
Model
r/min
600
333
143
91
N·m
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
11.7
23.5
34.7
47.4
9.94
23.2
42.3
69.7
95.0
11.5
28.9
58.1
94.3
124.2
19.1
45.7
90.1
141.5
192.9
26.7
62.4
118.9
191.8
42.0
92.3
183.0
53.9
124.6
69.3
158.4
%
r/min
1000
555
N·m
1.68
kg·m2
N
N
kg
0.29
0.29
1.04
1.04
1.04
0.29
1.04
1.04
2.4
1/5
1/9
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
R88G-HPG32A051K0B
R88G-HPG32A111K0B
R88G-HPG32A211K0B
R88G-HPG32A331K0B
R88G-HPG50A451K0B
R88G-HPG32A052K0B
R88G-HPG32A112K0B
R88G-HPG32A211K5B
R88G-HPG50A332K0B
R88G-HPG50A451K5B
R88G-HPG32A052K0B
R88G-HPG32A112K0B
R88G-HPG50A212K0B
R88G-HPG50A332K0B
R88G-HPG32A053K0B
R88G-HPG50A113K0B
R88G-HPG50A213K0B
R88G-HPG32A054K0B
R88G-HPG50A115K0B
R88G-HPG50A055K0B
R88G-HPG50A115K0B
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
72
83
87
90
87
80
87
90
90
90
84
89
89
91
88
88
91
90
90
88
91
5.00 × 10-7
3.00 × 10-7
5.00 × 10-6
4.40 × 10-6
4.40 × 10-6
5.00 × 10-7
6.00 × 10-6
5.00 × 10-6
6.50 × 10-5
6.50 × 10-5
2.07 × 10-5
1.93 × 10-5
4.90 × 10-5
4.50 × 10-5
4.50 × 10-5
2.07 × 10-5
5.70 × 10-5
4.90 × 10-5
6.20 × 10-5
6.10 × 10-5
6.80 × 10-5
6.00 × 10-5
3.00 × 10-4
2.70 × 10-4
2.70 × 10-4
3.90 × 10-4
3.40 × 10-4
3.00 × 10-4
2.80 × 10-4
4.70 × 10-4
3.90 × 10-4
3.40 × 10-4
3.00 × 10-4
4.80 × 10-4
4.70 × 10-4
3.90 × 10-4
3.40 × 10-4
5.80 × 10-4
4.80 × 10-4
3.80 × 10-4
7.70 × 10-4
5.80 × 10-4
3.80 × 10-4
8.80 × 10-4
1.20 × 10-3
8.80 × 10-4
135
538
3.29
161
642
50 W
1/21
1/33
1/45
1/5
238
6.13
340
1358
1555
1707
538
151
10.5
389
67
111
14.3
427
600
273
143
91
1000
454
3.8
135
1/11
7.39
280
1119
1358
3226
3541
883
100 W 1/21
1/33
238
15.2
340
151
19.4
916
1/45
67
111
26.5
1006
221
2.4
1/5
600
273
143
91
1000
454
6.93
1.02
1.09
2.9
1/11
16.7
280
1119
2817
3226
3541
883
200 W 1/21
1/33
238
28.5
800
151
47.4
916
2.9
1/45
67
111
64.6
1006
221
2.9
1/5
600
273
143
91
1000
454
16.0 (15.7)
33.1 (32.5)
66.5 (65.2)
98.2 (96.3)
133.9 (131.4)
29.2
1.09
2.9
1/11
659
2320
2547
6240
6848
1832
2320
5448
6240
6848
3542
4488
5488
6240
15694
3542
4488
5448
14300
15694
3542
4488
12486
14300
3542
10285
12486
3542
10285
8118
10285
400 W 1/21
1/33
238
800
2.9
151
1565
1718
520
7.5
1/45
67
111
7.5
1/5
600
273
143
91
1000
454
2.9
1/11
68.1
659
3.1
750 W 1/21
1/33
238
124.3
204.7
279.2
32.9
1367
1565
1718
889
7.8
151
7.8
1/45
67
111
7.8
1/5
600
273
143
91
1000
454
7.3
1/11
82.6
1126
1367
1565
4538
889
7.8
1 kW
1/21
1/33
1/45
1/5
238
166.1
270.0
355.4
51.3
7.8
151
7.8
67
100*1
1000
454
19.0
7.4
600
273
143
91
1/11
122.5
241.9
379.7
517.8
77.4
1126
1367
4135
4538
889
7.9
1.5 kW 1/21
238
7.9
1/33
1/45
1/5
136*1
100*1
1000
454
19.0
19.0
7.4
67
600
273
143
91
1/11
2 kW
180.7
343.9
555.0
118.9
261.4
517.7
163.4
359.0
197.8
451.9
1126
3611
4135
889
7.9
1/21
214*1
136*1
1000
409*1
214*1
900*1
409*1
900*1
409*1
19.0
19.0
7.3
1/33
1/5
600
273
143
600
273
600
273
3 kW
1/11
1/21
1/5
2974
3611
889
19.0
19.0
7.9
4 kW
5 kW
1/11
1/5
2974
2347
2974
19.1
17.7
19.1
1/11
Note: 1. The values inside parentheses ( ) are for 100-V Servomotors.
Note: 4. The allowable radial load is the value at the T/2 position.
Note: 2. The Decelerator inertia is the Servomotor shaft conversion value.
Note: 3. The protective structure for Servomotors with Decelerators satisfies
IP44.
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).
42
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Decelerators for 3,000-r/min Flat Servomotors
Rated
rotation
speed
Maximum
Efficiency momentary
rotation speed
Maximum
momentary
torque
Allowable Allowable
Rated
torque
Decelerator
inertia
radial
load
thrust
load
Weight
Model
r/min
600
273
143
91
N·m
1.37
2.63
5.40
6.91
9.42
2.49
4.75
10.2
17.0
23.2
4.67
11.7
23.5
34.7
47.4
%
85
75
80
65
65
78
68
76
81
81
72
82
86
81
81
r/min
1000
N·m
3.67 (3.59)
7.06 (6.89)
14.5 (14.2)
18.6 (18.1)
25.3 (24.7)
7.01
kg·m2
N
N
kg
0.34
1.04
1.04
2.9
1/5
1/11
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
5.00 × 10-7
6.00 × 10-6
5.00 × 10-6
4.50 × 10-5
4.50 × 10-5
2.07 × 10-5
5.80 × 10-5
4.90 × 10-5
4.50 × 10-5
4.50 × 10-5
7.10 × 10-5
5.80 × 10-5
4.90 × 10-5
2.80 × 10-4
2.80 × 10-4
135
280
340
916
1006
221
659
800
916
1006
520
659
800
1565
1718
538
454
1119
1358
3226
3541
883
100 W 1/21
1/33
238
151
1/45
67
111
2.9
1/5
600
273
143
91
1000
0.99
3.1
1/11
454
13.4
2320
2817
3226
3541
1832
2320
2817
6240
6848
200 W 1/21
1/33
238
28.8
3.1
151
47.9
3.1
1/45
67
111
65.4
3.1
1/5
600
273
143
91
1000 (900)
454 (409)
238 (214)
151 (136)
111 (100)
13.1 (12.9)
32.9 (32.4)
66.2 (65.2)
97.6 (96.2)
133.0 (131.2)
3.1
1/11
3.1
400 W 1/21
1/33
3.1
7.8
1/45
67
7.8
Note: 1. The values inside parentheses ( ) are for 100-V Servomotors.
Note: 4. The allowable radial load is the value at the T/2 position.
Note: 2. The Decelerator inertia is the Servomotor shaft conversion value.
Note: 3. The protective structure for Servomotors with Decelerators satisfies IP44.
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).
Decelerators for 2,000-r/min Servomotors
Rated
rotation
speed
Maximum
Efficiency momentary
rotation speed
Maximum
momentary
torque
Allowable Allowable
Rated
torque
Decelerator
inertia
radial
load
thrust
load
Weight
Model
r/min
400
182
95
N·m
20.4
%
r/min
600
273
143
91
N·m
57.4
kg·m2
N
N
kg
1/5
1/11
1/21
1/33
1/45
1/5
R88G-HPG32A053K0B
R88G-HPG32A112K0SB
R88G-HPG32A211K0SB
R88G-HPG50A332K0SB
R88G-HPG50A451K0SB
R88G-HPG32A053K0B
R88G-HPG32A112K0SB
R88G-HPG50A213K0B
R88G-HPG50A332K0SB
R88G-HPG32A053K0B
R88G-HPG32A112K0SB
R88G-HPG50A213K0B
R88G-HPG50A332K0SB
R88G-HPG32A054K0B
R88G-HPG50A115K0B
R88G-HPG50A213K0SB
R88G-HPG65A253K0SB
R88G-HPG50A054K0SB
R88G-HPG50A114K0SB
R88G-HPG65A204K0SB
R88G-HPG65A254K0SB
R88G-HPG50A055K0SB
R88G-HPG50A115K0SB
R88G-HPG65A205K0SB
R88G-HPG65A255K0SB
R88G-HPG65A057K5SB
R88G-HPG65A127K5SB
85
90
92
92
92
89
92
92
93
91
93
93
93
92
92
93
90
91
93
91
92
92
93
92
93
92
94
3.80 × 10-4
3.40 × 10-4
2.90 × 10-4
4.70 × 10-4
4.70 × 10-4
3.80 × 10-4
3.40 × 10-4
5.80 × 10-4
4.70 × 10-4
3.80 × 10-4
3.40 × 10-4
5.80 × 10-4
4.70 × 10-4
3.80 × 10-4
8.80 × 10-4
6.90 × 10-4
3.00 × 10-3
1.20 × 10-3
8.70 × 10-4
3.28 × 10-3
3.24 × 10-3
1.10 × 10-3
8.40 × 10-4
2.85 × 10-3
2.81 × 10-3
2.07 × 10-2
2.02 × 10-2
889
3542
7.3
47.3
133.1
259.7
407.6
555.9
86.8
1126
1367
4135
4538
889
4488
7.8
1 kW
92.3
5448
7.8
60
144.9
197.7
31.7
14300
15694
3542
19.0
19.0
7.3
44
67
400
182
95
600
273
143
91
1/11
1/21
1/33
1/5
72.1
197.7
377.0
601.5
119.9
270.5
515.9
815.0
190.1
418.3
806.4
930.1
250.3
562.8
999.2
1258.6
325.5
723.8
1300.5
1634.4
511.2
1250.7
1126
3611
4135
889
4488
7.8
1.5 kW
2 kW
3 kW
4 kW
137.5
219.4
43.2
12486
14300
3542
19.0
19.0
7.3
60
400
182
95
600
273
143
91
1/11
1/21
1/33
1/5
97.4
1126
3611
4135
889
4488
7.8
185.6
270.0*1
66.0
12486
14300
3542
19.0
19.0
7.9
60
400
182
95
600
273
143
120
600
273
150
120
600
273
150
120
400
166
1/11
1/21
1/25
1/5
145.2
260.0*1
322.9
85.8
2974
3611
7846
2347
2974
7338
7846
2347
2974
7338
7846
4841
6295
10285
12486
28654
8118
19.1
19.1
52.0
18.6
20.1
52.0
52.0
22.0
23.5
55.4
55.4
48.0
52.0
80
400
182
100
80
1/11
1/20
1/25
1/5
192.7
342.2
430.9
109.8
200.0*1
438.2
550.9
221.1
540.8
10285
26799
28654
8118
400
182
100
80
1/11
1/20
1/25
1/5
10285
26799
28654
17681
22991
5 kW
300
125
7.5 kW
1/12
*1. "Rated torque" indicates the allowable rated torque for the decelerator. Do not exceed this value.
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.
Note: 2. The protective structure for Servomotors with Decelerators satisfies
IP44.
Note: 3. The allowable radial load is the value at the T/2 position.
Note: 4. The standard models have a straight shaft. Models with a key and tap are
indicated with "J" at the end of the model number (the suffix in the box).
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
43
Decelerators for 1,000-r/min Servomotors
Rated
rotation
Maximum
Efficiency momentary
rotation speed
Maximum
momentary
torque
Allowable Allowable
Rated
torque
Decelerator
inertia
radial
load
thrust
load
Weight
Model
speed
r/min
200
90
N·m
39.9
%
r/min
400
182
95
N·m
85.2
kg·m2
N
N
kg
1/5
1/11
1/21
1/33
1/5
R88G-HPG32A05900TB
R88G-HPG32A11900TB
R88G-HPG50A21900TB
R88G-HPG50A33900TB
R88G-HPG32A052K0TB
R88G-HPG50A112K0TB
R88G-HPG50A212K0TB
R88G-HPG65A255K0SB
R88G-HPG50A055K0SB
R88G-HPG50A115K0SB
R88G-HPG65A205K0SB
R88G-HPG65A255K0SB
R88G-HPG50A054K5TB
R88G-HPG65A127K5SB
R88G-HPG65A204K5TB
R88G-HPG65A057K5SB
R88G-HPG65A127K5SB
93
94
94
94
95
94
95
94
94
95
94
94
95
94
95
94
95
3.80 × 10-4
3.40 × 10-4
7.00 × 10-4
5.90 × 10-4
4.90 × 10-4
8.40 × 10-4
6.50 × 10-4
2.81 × 10-3
1.10 × 10-3
8.40 × 10-4
2.85 × 10-3
2.81 × 10-3
1.20 × 10-3
2.02 × 10-2
1.92 × 10-2
2.07 × 10-2
2.02 × 10-2
889
3542
7.9
89.0
190.1
362.4
573.2
196.1
430.9
786.8
971.1
282.9
684.0
1129.2
1411.5
479.2
1142.9
1915.0
609.7
1477.3
1126
3611
4135
889
4488
8.4
900 W
2 kW
3 kW
47
169.8
268.5
90.2
12486
14300
3542
19.1
19.1
8.9
30
60
200
90
400
182
95
1/11
1/21
1/25
1/5
198.4
320.0*1
446.7
133.9
246.0*1
534.7
669.9
203.5
485.6
813.1
268.1
650.3
2974
3611
7846
2347
2974
7338
7846
2347
6295
7338
4841
6295
10285
12486
28654
8118
20.1
20.1
55.4
22.0
23.5
55.4
55.4
22.0
52.0
52.0
48.0
52.0
47
40
80
200
90
400
182
100
80
1/11
1/20
1/25
1/5
10285
26799
28654
8118
50
40
200
83
400
166
100
400
166
4.5 kW 1/12
1/20
22991
26799
17681
22991
50
1/5
6 kW
200
83
1/12
*1. "Rated torque" indicates the allowable rated torque for the decelerator. Do not exceed this value.
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.
Note: 2. The protective structure for Servomotors with Decelerators satisfies IP44.
Note: 3. The allowable radial load is the value at the T/2 position.
Note: 4. The standard models have a straight shaft. Models with a key and tap are indicated with "J" at the end of the model number (the suffix in the box).
44
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
● Backlash: 15 Arcminutes Max.
Decelerators for 3,000-r/min Servomotors
Rated
rotation
Maximum
Efficiency momentary
rotation speed
Maximum
momentary
torque
Allowable Allowable
Rated
torque
Decelerator
inertia
radial
load
thrust
load
Weight
Model
speed
r/min
600
333
200
120
600
333
200
120
600
333
200
120
600
333
200
120
600
333
200
120
N·m
0.52
0.93
1.67
2.78
1.19
2.29
3.81
6.36
2.70
3.77
6.29
11.1
5.40
9.50
15.8
26.4
10.7
18.2
30.4
50.7
%
r/min
1000
556
N·m
1.46
kg·m2
N
N
kg
1/5
1/9
R88G-VRSF05B100CJ
R88G-VRSF09B100CJ
R88G-VRSF15B100CJ
R88G-VRSF25B100CJ
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
65
65
70
70
75
80
80
80
85
66
66
70
85
83
83
83
90
85
85
85
4.00 × 10-6
3.50 × 10-6
3.50 × 10-6
3.25 × 10-6
4.00 × 10-6
3.50 × 10-6
3.50 × 10-6
3.25 × 10-6
1.18 × 10-5
2.75 × 10-5
3.00 × 10-5
2.88 × 10-5
3.63 × 10-5
2.75 × 10-5
3.00 × 10-5
2.88 × 10-5
7.13 × 10-5
6.50 × 10-5
7.00 × 10-5
6.80 × 10-5
392
196
220
294
343
196
220
294
343
196
465
588
661
392
465
588
661
392
588
686
808
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
2.63
441
50 W
100 W
200 W
400 W
750 W
1/15
1/25
1/5
333
4.73
588
200
7.88
686
1000
556
3.38
392
1/9
6.48
441
1/15
1/25
1/5
333
10.8
588
200
18.0
686
1000
556
7.57
392
1/9
10.6
931
1/15
1/25
1/5
333
17.6
1176
1323
784
200
31.2
1000
556
15.6 (15.3)
27.4 (26.8)
45.7 (44.8)
76.1 (74.7)
31.7
1/9
931
1/15
1/25
1/5
333
1176
1323
784
200
1000
556
1/9
53.9
1176
1372
1617
1/15
1/25
333
89.9
200
149.8
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 T/2 position.
Note: 5. The standard models have a straight shaft with a key.
Decelerators for 3,000-r/min Flat Servomotor
Rated
rotation
speed
Maximum
Efficiency momentary
rotation speed
Maximum
momentary
torque
Allowable Allowable
Rated
torque
Decelerator
inertia
radial
load
thrust
load
Weight
Model
r/min
600
333
200
120
600
333
200
120
600
333
200
120
N·m
1.19
2.29
3.81
6.36
2.70
3.77
6.29
11.1
5.40
9.50
15.8
26.4
%
r/min
1000
N·m
3.15
kg·m2
N
N
kg
1/5
1/9
R88G-VRSF05B100PCJ
R88G-VRSF09B100PCJ
R88G-VRSF15B100PCJ
R88G-VRSF25B100PCJ
R88G-VRSF05B200PCJ
R88G-VRSF09C200PCJ
R88G-VRSF15C200PCJ
R88G-VRSF25C200PCJ
R88G-VRSF05C400PCJ
R88G-VRSF09C400PCJ
R88G-VRSF15C400PCJ
R88G-VRSF25C400PCJ
75
80
80
80
85
66
66
70
85
83
83
83
4.00 × 10-6
3.50 × 10-6
3.50 × 10-6
3.25 × 10-6
1.18 × 10-5
2.75 × 10-5
3.00 × 10-5
2.88 × 10-5
3.63 × 10-5
2.75 × 10-5
3.00 × 10-5
2.88 × 10-5
392
441
588
686
392
931
1176
1323
784
931
1176
1323
196
220
294
343
196
465
588
661
392
465
588
661
0.72
0.72
0.87
0.87
0.85
1.80
2.20
2.20
1.80
1.80
2.20
2.20
556
6.048
100 W
200 W
400 W
1/15
1/25
1/5
333
10.08
200
16.8
1000
7.65
1/9
556
10.692
17.82
1/15
1/25
1/5
333
200
31.5
1000 (900)
556 (500)
333 (300)
200 (180)
15.5 (15.3)
27.3 (26.9)
45.4 (44.8)
75.7 (74.7)
1/9
1/15
1/25
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 T/2 position.
Note: 5. The standard models have a straight shaft with a key.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
45
Encoder, External Regeneration Resistors, Reactor and Parameter Unit Specifications
● Encoder Specifications
Incremental Encoders
Item
Encoder system
Specifications
Optical encoder
No. of output pulses
Power supply voltage
Power supply current
Output signals
Phases A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation
5 VDC 5%
180 mA (max.)
+S, −S
Output interface
RS-485 compliance
Absolute Encoders
Item
Specifications
Optical encoder
Encoder system
17 bits
No. of output pulses
Maximum rotations
Phases A and B: 32,768 pulses/rotation, Phase Z: 1 pulse/rotation
−32,768 to +32,767 rotations
Power supply voltage
Power supply current
Applicable battery voltage
5 VDC 5%
110 mA (max.)
3.6 VDC
180 μA for a maximum of 5 s right after power interruption
Current consumption of battery 100 μA for operation during power interruption
3.6 μA when power is supplied to Servo Drive
Output signals
+S, −S
Output interface
RS-485 compliance
● External Regeneration Resistors Specifications
Regeneration
absorption for 120°C
temperature rise
Nominal
capacity
Heat radiation
condition
Model
Resistance
Thermal switch output specifications
R88A-RR08050S
R88A-RR080100S
50 Ω
Aluminum 250 × 250, Operating temperature: 150°C 5%, NC contact,
Thickness: 3.0 Rated output: 30 VDC, 50 mA max.
80 W
20 W
70 W
100 Ω
Aluminum 350 × 350, Operating temperature: 170°C 5%, NC contact,
R88A-RR22047S1
R88A-RR50020S
47 Ω
220 W
Thickness: 3.0
Rated output: 3 A
Operating temperature: 200°C 7%, NC contact,
Rated output: 250 VAC, 0.2 A max.
24 VDC, 0.2 A max.
Aluminum 600 × 600,
20 Ω
500 W
180 W
Thickness: 3.0
● Reactor Specifications
Reactor
Servo Drive
Reactor type
Weight
Model
Rated current
Inductance
R88D-GTA5L
R88D-GT01H
3G3AX-DL2002
3G3AX-DL2004
3G3AX-DL2007
1.6 A
21.4 mH
Approx. 0.8 kg
Approx. 1.0 kg
Approx. 1.3 kg
Single-phase
Single-phase
Single-phase
R88D-GT01L
R88D-GT02H
3.2 A
6.1 A
10.7 mH
6.75 mH
R88D-GT02L
R88D-GT04H
R88D-GT04L
R88D-GT08H
R88D-GT10H
3G3AX-DL2015
3G3AX-DL2022
3G3AX-AL2025
9.3 A
13.8 A
10.0 A
3.51 mH
2.51 mH
2.8 mH
Approx. 1.6 kg
Approx. 2.1 kg
Approx. 2.8 kg
Single-phase
Single-phase
Three-phase
R88D-GT15H
R88D-GT08H
R88D-GT10H
R88D-GT15H
R88D-GT20H
R88D-GT30H
3G3AX-AL2055
20.0 A
0.88 mH
Approx. 4.0 kg
Three-phase
R88D-GT50H
R88D-GT75H
3G3AX-AL2110
3G3AX-AL2220
34.0 A
67.0 A
0.35 mH
0.18 mH
Approx. 5.0 kg
Approx. 10.0 kg
Three-phase
Three-phase
46
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
● R88A-PR02G Parameter Unit Specifications
General Specifications
Item
Specifications
Operating ambient temperature
Operating ambient humidity
0 to 55°C
90% max. (with no condensation)
Storage ambient temperature
Storage ambient humidity
−20 to 80°C
90% max. (with no condensation)
Storage and operating atmosphere
Vibration resistance
No corrosive gases
5.9 m/s2 max.
Performance Specifications
Item
Specifications
Type
Hand-held
Cable length
Connectors
Display
1.5 m
Mini DIN 8-pin MD connector
7-segment LED
External dimensions
Weight
62 × 114 × 15 mm (W × H × D)
Approx. 0.1 kg (including cable that is provided)
Standard
RS-232
Communications method
Baud rate
Asynchronous (ASYNC)
9,600 bps
1 bit
Start bits
Data
8 bits
None
1 bit
Parity
Stop bits
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
47
Connections
● Control I/O Connector Specifications (CN1)
Control I/O Signal Connections and External Signal Processing for Position Control
2.2 kΩ
1
3
+24VCW
+CW
Reverse
pulse
11
10
BKIR
Brake Interlock
BKIRCOM
4 220 Ω
−CW
500 kpps max.
Maximum
operating
voltage:
30 VDC
2.2 kΩ
+24VCCW
+CCW
2
Forward
pulse
5
35 READY
Servo Ready Output
Maximum
output
current:
6 220 Ω
34
−CCW
READYCOM
Reverse
pulse
44
50 mA DC
/ALM
Alarm Output
36 ALMCOM
3 kΩ
+CWLD
37
43 kΩ
110 Ω
−CWLD 45
2 Mpps max.
43 kΩ
43 kΩ
3 kΩ
3 kΩ
Forward
pulse
39
INP
46
+CCWLD
Positioning
Completed Output
110 Ω
3 kΩ
38
INPCOM
−CCWLD 47
43 kΩ
12
OUTM1
4.7 kΩ
7
General-purpose Output 1
12 to 24 VDC
+24VIN
RUN Command
40
41
OUTM2
General-purpose Output 2
COM
Input
29
26
RUN
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
Vibration Filter
Switch
19
Z
Phase-Z Output
(open collector output)
DFSEL
25
ZCOM
Gain Switch
Input
21
+A
Encoder Phase-A
Output
Line driver output
Conforms to
EIA RS-422A
GSEL
27
28
30
22 −A
Electronic Gear
+B
49
48 −B
+Z
(Load resistance:
Switch Input
Encoder Phase-B
Output
120
Ω min.)
GESEL
Deviation Counter
Reset Input
ECRST
23
24 −Z
Encoder Phase-Z
Output
Alarm Reset
100 Ω
20
SEN
Sensor ON
Input
RESET 31
4.7 kΩ
1 μF
13 SENGND
42
Control Mode
Switch Input
32
33
8
TVSEL
Backup Battery Input *1
BAT
43
BATCOM
Pulse Prohibit
Input
IPG
NOT
POT
10 kΩ
Forward Torque Limit Input
16 PCL
3.83 kΩ
Reverse Drive
Prohibit Input
17
AGND
10 kΩ
18
Reverse Torque Limit Input
NCL
FG
3.83 kΩ
Forward Drive
Prohibit Input
50
9
Frame ground
*1. If a backup battery is connected, a cable with a battery is not required.
48
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Control I/O Signal Connections and External Signal Processing for Speed Control
11 BKIR
Brake Interlock
10 BKIRCOM
20 kΩ
Speed Command Input REF 14
Maximum
operating
voltage:
30 VDC
Maximum
output
3.83 kΩ
AGND 15
Forward Torque
Limit Input
35 READY
Servo Ready Output
34 READYCOM
10 kΩ
PCL 16
3.83 kΩ
AGND 17
current:
Reverse Torque
Limit Input
50 mA DC
37 /ALM
Alarm Output
36 ALMCOM
10 kΩ
NCL 18
3.83 kΩ
100 Ω
39 TGON
20
SEN
Sensor ON Input
Servomotor Rotation
Speed Detection Output
38 TGONCOM
4.7 kΩ
1 μF
SENGND 13
12
OUTM1
4.7 kΩ
+24VIN
7
12 to 24 VDC
General-purpose Output 1
40
41
OUTM2
General-purpose Output 2
COM
RUN Command
Input
RUN 29
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
Zero Speed
Designation Input
VZERO
19
25
Z
Phase-Z Output
(open collector output)
ZCOM
26
27
Gain Switch
Input
GSEL
+A
−A
+B
21
22
49
Encoder Phase-A
Internally Set
Speed Selection 3
VSEL3 28
Line driver output
Conforms to
EIA RS-422A
(Load resistance:
120 Ω min.)
Output
Encoder Phase-B
Output
Internally Set
Speed Selection 2
VSEL2 30
48 −B
+Z
−Z
23
24
Encoder Phase-Z
Output
Alarm Reset
Input
RESET 31
Control Mode
Switch Input
TVSEL 32
Internally Set
Speed Selection 1
VSEL1 33
42
43
BAT Backup Battery Input *1
BATCOM
Reverse Drive
Prohibit Input
NOT
POT
8
Forward Drive
Prohibit Input
50
FG
9
Frame ground
*1. If a backup battery is connected, a cable with a battery is not required.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
49
Control I/O Signal Connections and External Signal Processing for Torque Control
Torque Command
Input or
Speed Limit
Input
11 BKIR
Brake Interlock
10 BKIRCOM
20 kΩ
TREF1/VLIM 14
Maximum
operating
voltage:
30 VDC
Maximum
output
3.83 kΩ
AGND 15
Torque Command
Input
35 READY
Servo Ready Output
34 READYCOM
10 kΩ
TREF2 16
AGND 17
3.83 kΩ
current:
50 mA DC
37 /ALM
Alarm Output
36 ALMCOM
100 Ω
20
SEN
Sensor ON
4.7 kΩ
1μF
SENGND 13
39 TGON
Servomotor Rotation
Speed Detection Output
38 TGONCOM
12
OUTM1
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
12 to 24 VDC
+24VIN
7
General-purpose Output 1
40
41
OUTM2
General-purpose Output 2
COM
RUN Command
Input
RUN 29
Zero Speed
Designation Input
VZERO
19
25
Z
Phase-Z Output
(open collector output)
ZCOM
26
27
31
32
8
Gain Switch
Input
GSEL
RESET
TVSEL
+A
−A
21
22
49
48
Encoder Phase-A
Output
Line driver output
Conforms to
Alarm Reset
Input
EIA RS-422A
(Load resistance:
120 Ω min.)
+B
−B
Encoder Phase-B
Output
Control Mode
Switch Input
23 +Z
24 −Z
Encoder Phase-Z
Output
Reverse Drive
Prohibit Input
42
Backup Battery Input *1
BATCOM
NOT
POT
BAT
43
50
Forward Drive
Prohibit Input
FG
Frame ground
9
*1. If a backup battery is connected, a cable with a battery is not required.
50
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs 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
1
3
2
4
Noise filter
E
NF
Main-circuit power supply
Main-circuit contactor
OFF
ON
1MC
(Ground to
100 Ω or less.)
X
Surge killer
1MC
X
PL
Servo error display
G-Series
G-Series
AC Servo Drive
AC Servomotor
Power Cable
(*2)
CNA
XB
L1C
L2C
B
CNB
U
24 VDC
1MC
V
M
CNA
W
L1
L3
Reactor
CNB
B1
(Ground to
100 Ω or less.)
Regeneration
resistor
CN2
(*3)
B3
B2
(*4)
Encoder Cable
E
CN1
37 /ALM
X
24 VDC
36 ALMCOM
CN1
24 VDC
X
BKIR 11
XB
(*1)
User
control
device
BKIRCOM 10
CN1
Control Cable
*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 Servomotors
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).
If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2.
*4. The models GTA5L to GT02L and GT01H to 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.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
51
R88D-GT08H/-GT10H/-GT15H
R
S
T
Three-phase 200 to 240 VAC, 50/60 Hz
NFB
Noise filter
1
4
2
NF
5
3
6
E
Main-circuit power supply
Main-circuit contactor
OFF
ON
1MC
(Ground to
100 Ω or less.)
X
Surge killer
1MC
X
PL
Servo error display
G-Series
G-Series
AC Servo Drive
AC Servomotor
Power Cable
CNA
XB
(*2)
L1C
L2C
B
CNB
U
24 VDC
1MC
V
M
CNA
W
L1
L2
L3
Reactor
(Ground to
100 Ω or less.)
CN2
CNB
B1
Encoder Cable
E
(*3)
Regeneration
B3
B2
resistor
CN1
37 /ALM
X
24 VDC
36 ALMCOM
CN1
X
24 VDC
BKIR 11
XB
(*1)
User
control
device
CN1
BKIRCOM 10
Control Cable
*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 Servomotors
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 (GT08H to GT15H).
If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2.The brake is not affected by the polarity of the
power supply.
52
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
R88D-GT20H/-GT30H/-GT50H
R
S
T
Three-phase 200 to 230 VAC 50/60 Hz
NFB
1
4
2
NF
5
3
6
Noise filter
E
Main-circuit power supply
Main-circuit contactor
OFF
ON
1MC
(Ground to
100 Ω or less.)
X
Surge killer
1MC
X
PL
Servo error display
G-Series
G-Series
AC Servo Drive
TB1
L1C
AC Servomotor
Power Cable
(*2)
XB
B
TB1
L2C
U
1MC
24 VDC
V
M
W
TB1
L1
L2
L3
B1
B3
B2
Reactor
(Ground to
100 Ω or less.)
CN2
Encoder Cable
E
(*3)
Regeneration
resistor
CN1
37 /ALM
X
24 VDC
36 ALMCOM
CN1
X
24 VDC
BKIR 11
XB
(*1)
User
control
CN1
BKIRCOM 10
device
Control Cable
*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 Servomotors
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 (GT20H to GT50H).
If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
53
R88D-GT75H
R
S
T
Three-phase 200 to 230 VAC 50/60 Hz
NFB
1
4
2
NF
5
3
6
Noise filter
E
Main-circuit power supply
Main-circuit contactor
OFF
ON
1MC
(Ground to
100 Ω or less.)
X
Surge killer
1MC
X
PL
Servo error display
G-Series
G-Series
AC Servo Drive
AC Servomotor
Power Cable
TB2
XB
(*2)
L1C
L2C
B
TB1
24 VDC
U
V
1MC
M
W
TB1
L1
L2
L3
B1
B2
Reactor
(Ground to
100 Ω or less.)
CN2
Encoder Cable
E
Regeneration
resistor
(*3)
TB2
FN(+)
CN1
FAN Stop
37 /ALM
X
FN(−)
24 VDC
36 ALMCOM
CN1
BKIR 11
X
24 VDC
XB
User
control
(*1)
CN1
BKIRCOM 10
device
Control Cable
*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 Servomotors
with brakes.
*2. The brake is not affected by the polarity of the power supply.
*3. The model 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.
54
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
I/O Circuit Diagrams
● Control Input Circuits
• Speed Command/Torque Command Input
20 kΩ
–
+
20 kΩ
REF/TREF/VLIM14
15
ADC
1
AGND
+3.3 V
1 kΩ
–
+
10 kΩ
PCL/TREF 16
1 kΩ
3.83 kΩ
ADC
2
AGND
17
+3.3 V
1 kΩ
–
+
10 kΩ
18
NCL
1 kΩ
3.83 kΩ
• The maximum allowable input voltage is 10 V for each input. The VR must be 2 kΩ with B characteristics and 1/2 W minimum. R must be 200
Ω 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
220 Ω
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
Servo Drive
Vcc 24 V
2.2 KΩ
220 Ω
+
−
• External control power supply (200 kpps maximum)
(+CW: 3, −CW: 4, +CCW: 5, −CCW: 6)
Controller
Vcc
Servo Drive
R
+
−
Input current: 7 to 15 mA
220 Ω
• 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
5V
R
Vcc - 1.5
R + 220
2 kΩ (1/2 W)
1 kΩ (1/2 W)
0Ω (Shorted)
≒ 10mA
(7-15mA)
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
55
• Sequence Input
External power supply:
12 VDC 5% to
4.7 kΩ
+24VIN
7
24 VDC 5%
Power supply capacity:
50 mA min. (per Unit)
Photocoupler input
RUN 29
Minimum ON time:
40 ms
To other input circuit ground commons
To other input circuits
Signal Levels ON level: 10 V min.
OFF level: 3 V max.
• Sensor Input
Sensor ON Input
ABS
Servo Drive
100 Ω
SEN 20
Input voltage:
1 mA, to 5 VDC
+5 V
When at high level:
Approx. 1 mA
SENGND
4.7 k
0.1 μF
13
7406 or the equivalent
0 V
High level: 4 V min.
Signal Levels
Low level: 0.8 V max.
• A PNP transistor is recommended.
● Control Output Circuits
• Position Feedback Output
Servo Drive
Controller
R = 120 to 180 Ω
+5 V
21 +A
22
+A
−A
Phase A
Phase A
R
−A
49 +B
48 −B
+B
Output line driver
AM26C31 or
Phase B
Phase Z
R
R
Phase B
−B
the equivalent
+Z
−Z
+Z
23
24
Phase Z
−Z
0 V
25 ZCOM
Shell FG
GND
0 V
0 V
Applicable line receiver
AM26C32 or the equivalent
FG
FG
• Phase-Z Output (Open-collector Output)
Servo Drive
Controller
19 Z
25
Maximum operating voltage: 30 VDC
Maximum output current: 50 mA
ZCOM
0 V
• Sequence Output
Servo Drive
To other output
circuits
X
External power supply
24 VDC 1 V
Di
Maximum operating voltage: 30 VDC
Maximum output current: 50 mA
X
Di
Di: Diode for preventing surge voltage
(Use high-speed diodes.)
56
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Components and Functions
● Servo Drive Part Names
● CN1 Control Inputs
Display area
Pin No.
Symbol
+24VCW
+24VCCW
+CW/PULS/FA
−CW/PULS/FA
+CCW/SIGN/FB
−CCW/SIGN/FB
+24VIN
NOT
Name
1
2
3
4
5
6
7
8
9
24-V Open-collector Input for Command Pulse
24-V Open-collector Input for Command Pulse
Unit No. switch
Settings area
Analog monitor 1 check pin (IM)
Analog monitor 2 check pin (SP)
Reverse Pulses Input/ Feed Pulses Input,
or 90° Phase Difference Pulse Input (Phase A)
Check pin (G: GND)
RS-485
Communications connector
(CN3A)
Forward Pulse Input/ Direction Signal,
or 90° Phase Difference Pulse Input (Phase B)
Main-circuit power terminals
RS-232
(L1, L2, L3)
Communications connector/
Parameter Unit connector
(CN3B)
Control-circuit power terminals
(L1C, L2C)
12 to 24-VDC Power Supply Input
Reverse Drive Prohibit Input
Forward Drive Prohibit Input
Speed Command Input
Torque Command Input
Speed Limit Input
Control I/O connector (CN1)
POT
REF
External Regeneration Resistor
connection terminals
(B1, B2, B3)
14
TREF
VLIM
Servomotor connection terminals
(U, V, W)
15
16
AGND
Analog Input Ground
Encoder connector (CN2)
PCL
Forward Torque Limit Input
Torque Command Input
Analog Input Ground
TREF
Protective ground terminals
17
18
20
13
AGND
NCL
Reverse Torque Limit Input
SEN
● Main Circuit Connector (CNA)
Sensor ON Input
SENGND
VZERO
DFSEL
PNSEL
GSEL
Symbol
L1
Name
Zero Speed Designation Input
Vibration Filter Switch
26
27
L2
Main circuits power supply input
Speed Command Rotation Direction Switch
Gain Switch
L3
L1C
L2C
Control circuit power supply input
TLSEL
Torque Limit Switch
GESEL
VSEL3
Electronic Gear Switch
28
29
30
Internally Set Speed Selection 3
RUN Command
● Servomotor Connector (CNB)
RUN
Symbol
Name
ECRST
VSEL2
Deviation Counter Reset Input
Internally Set Speed Selection 2
Alarm Reset Input
B1
B2
B3
U
External Regeneration Resistor connection terminals
31
32
RESET
TVSEL
IPG
Control Mode Switch Input
Pulse Prohibit Input
V
33
VSEL1
Internally Set Speed Selection 1
Servomotor connection terminals
Frame ground
W
42
43
44
45
46
47
BAT
Backup Battery Input
BATGND
+CWLD
−CWLD
+CCWLD
−CCWLD
Reverse Pulse
(input for line driver only)
● Display Area
Forward Pulse
(input for line driver only)
A 6-digit 7-segment LED display shows the Servo Drive status, alarm
codes, parameters, and other information.
● Check Pins (IM, SP, and G)
The actual motor speed, command speed, torque, and number of
accumulated pulses can be measured based on the analog voltage
level by using an oscilloscope. The type of signal to output and the
output voltage level are set in the SP Selection (Pn07) and IM Selec-
tion (Pn08) parameters.
● Unit No. Switch
The Servo Drive number in serial communications is set to a value
from 0 to F. This number is used to identify which Servo Drive the
computer is accessing in RS-232/485 communications between mul-
tiple Servo Drives and a computer.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
57
● CN1 Control Outputs
● Protective Functions
Pin No.
10
Symbol
BKIRCOM
BKIR
Name
Error detection
Control power supply undervoltage
Overvoltage
Brake Interlock Output
11
12
OUTM1
Z
General-purpose Output 1
Undervoltage
19
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
Overcurrent
25
ZCOM
+A
Overheating
21
Overload
22
−A
Regeneration overload
Encoder communications error
Encoder communications data error
Position deviation exceeded
Overspeed
48
−B
49
+B
23
+Z
24
−Z
35
READY
READYCOM
/ALM
Command pulse multiplying error
Overrun limit error
Servo Ready Output
34
37
EEPROM parameter error
EEPROM check code error
Drive prohibit input
Alarm Output
36
ALMCOM
INP
39
Positioning Completed Output
Servomotor Rotation Speed Detection Output
38
INPCOM
TGON
TGONCOM
OUTM2
COM
Excessive analog input
Absolute encoder system down error
39
38
Absolute encoder counter overflow error
Absolute encoder overspeed error
Absolute encoder one-turn counter error
Absolute encoder multi-turn counter error
Absolute encoder status error
ABS
ABS
ABS
ABS
ABS
40
General-purpose Output 2
General-purpose Output Common
Frame Ground
41
Shell
FG
● Encoder Connector Specifications (CN2)
Pin No.
Symbol
E5V
Name
Encoder power supply +5 V
Encoder power supply GND
Battery +
1
Encoder phase Z error
Encoder PS signal error
PCL input exceeded
NCL input exceeded
Motor automatic recognition error
CPU error
2
E0V
3
4
BAT+
BAT−
PS+
Battery −
5
Encoder +phase S input
Encoder −phaseS input
Shield ground
6
PS−
Shell
FG
Encoder error
● Communications Connector Specifications (CN3A)
Pin No.
Symbol
GND
B+
Name
4
7
8
Ground
RS-485 communications data
A−
● Parameter Unit Connector Specifications (CN3B)
Pin No.
Symbol
TXD
GND
RXD
B+
Name
3
4
5
7
8
RS-232 send data
Ground
RS-232 receive data
RS-485 communications data
A−
58
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Parameter
● R88A-RP02G : Parameter Unit Part Names
● Gain Parameters
LED Display (6 Digits)
Parameter name
Explanation
If an error occurs, all digits will flash and the
Set to adjust position control system
responsiveness.
display will switch to the error display.
Position Loop Gain
Speed Loop Gain
Unit No. Display (2 Digits)
Set to adjust speed loop responsiveness.
Displays the selected Servo Drive's unit
number set in the Unit No. Setting (Pn00).
In Parameter Setting Mode, displays the
2-digit parameter number.
Speed Loop Integration
Time Constant
Set to adjust the speed loop integration time
constant.
Speed Feedback Filter
Time Constant
The encoder signal is converted to the speed
signal via the low pass filter.
Mode Key
Switches between the following six modes.
• Monitor Mode
• Autotuning Mode
Torque Command Filter
Time Constant
Set to adjust the primary lag filter time constant
for the torque command section.
•
•
Parameter Setting Mode
• Auxiliary Function Mode
Parameter Write Mode • Copy Mode
Set the position control feed-forward
compensation value.
Feed-forward Amount
Increment/Decrement Key
Increases or decreases parameter numbers
or set values.
Feed-forward Command Set the time constant of the primary lag filter
Filter
used in the speed feed-forward section.
Shift Key
Set to adjust position control system
responsiveness.
Position Loop Gain 2
Speed Loop Gain 2
Shifts the digit being changed to the left.
Data Key
Set to adjust speed loop responsiveness.
Switches between the parameter and setting
displays, saves settings, etc.
Speed Loop Integration
Time Constant 2
Set to adjust the speed loop integration time
constant.
Speed Feedback Filter
Time Constant 2
The encoder signal is converted to the speed
signal via the low pass filter.
● Function Selection Parameters
Parameter name
Unit No. Setting
Explanation
Set the unit number.
Torque Command Filter
Time Constant 2
Set to adjust the primary lag filter time constant
for the torque command section.
Set the data to display on the Parameter Unit
when the power supply is turned ON.
Set the notch frequency of the resonance
suppression notch filter.
Default Display
Notch Filter 1 Frequency
Notch Filter 1 Width
Inertia Ratio
Control Mode Selection
Torque Limit Selection
Set the control mode to be used.
Set the width to one of five levels for the
resonance suppression notch filter. Normally,
use the default setting.
Set the torque limit method for forward and
reverse operation.
Set the ratio between the mechanical system
inertia and the Servomotor rotor inertia.
You can stop the Servomotor from rotating
beyond the device's travel distance range by
setting limit inputs.
Drive Prohibit Input
Selection
Realtime Autotuning
Mode Selection
Set the operating mode for realtime autotuning.
Command Speed
Selection
Select the speed command when using speed
control.
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.
Zero Speed Designation/
Speed Command
Direction Switch
Set the function of the Zero-speed Designation
Input (VZERO).
Realtime Autotuning
Machine Rigidity
Selection
Select the relation between the output voltage
level and the speed.
SP Selection
IM Selection
Select the relation between the output voltage
level and the torque or number of pulses.
Adaptive Filter Selection Enable or disable the adaptive filter.
Vibration Filter Selection Vibration filters 1 and 2 can be switched.
General-purpose Output Assign the function of General-purpose Output 2
2 Selection (OUTM2).
Autotuning Operation
Set the operating pattern for autotuning.
Setting
General-purpose Output Assign the function of General-purpose Output 1
1 Selection
(OUTM1).
Set the allowable operating range for the
Operation Switch When
Set the operating method for the 17-bit absolute
Overrun Limit Setting
Servomotor. The overrun limit function is
disabled if the parameter is set to 0.
Using Absolute Encoder encoder.
RS-232 Baud Rate
Setting
Instantaneous Speed
Observer Setting
Select the baud rate for the RS-232 port.
Set the instantaneous speed observer.
RS-485 Baud Rate
Setting
Select the baud rate for RS-485
communications.
Set the notch frequency of the resonance
suppression notch filter.
Notch Filter 2 Frequency
Notch Filter 2 Width
Front Key Protection
Setting
Front panel key operation can be limited to
Monitor Mode.
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.
Notch Filter 2 Depth
Set vibration frequency 1to suppress vibration at
the end of the load in dampening control.
Vibration Frequency 1
Vibration Filter 1 Setting
Vibration Frequency 2
Vibration Filter 2 Setting
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.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
59
● Position Control Parameters
Parameter name
Explanation
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).
Selects whether to use photocoupler or line-
driver-only input for the command pulse input.
Note: To use a Servo Relay Unit Cable, set this
parameter to 0 (photocoupler input).
Command Pulse Input
Selection
Adaptive Filter Table
Number Display
Command Pulse
Set the Servomotor rotation direction for the
Rotation Direction Switch command pulse input.
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.
Set the form of the pulse inputs sent as
command to the Servo Drive from a position
controller.
Gain Switching Input
Operating Mode
Selection
Command Pulse Mode
Command Pulse
Prohibited Input Setting
Enable or disable the pulse disable input (IPG).
Select the condition for switching between gain 1
and gain 2.
The details depend on the control mode.
Encoder Divider
Numerator Setting
Gain Switch 1 Setting
Gain Switch 1 Time
Set the number of encoder pulses (+A, −A, −B,
+B) output from the Servo Drive for each
Servomotor rotation.
Encoder Divider
Denominator Setting
This parameter is enabled when the 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.
Encoder Output Direction
Switch
Set the B-phase logic for pulse output (−B, +B).
Electronic Gear Ratio
Numerator 1
This parameter is enabled when the Gain Switch
1 Setting (Pn31) is 3 to 6, 9, or 10. Set the
judgment level for switching between gain 1 and
gain 2.
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
Numerator 2
Gain Switch 1 Level
Setting
Electronic Gear Ratio
Numerator Exponent (Pn4A)
Electronic Gear Ratio Numerator 1 (Pn48)
The unit for the setting depends on the condition
set in the Gain Switch 1 Setting (Pn31).
or
Electronic Gear Ratio
Numerator Exponent
× 2
Electronic Gear Ratio Numerator 2 (Pn49)
Electronic Gear Ratio Denominator (Pn4B)
Set the hysteresis width above and below the
judgment level set in the Gain Switch 1 Level
Setting (Pn33).
Electronic Gear Ratio
Denominator
Gain Switch 1 Hysteresis
Setting
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.
When switching between gain 1 and gain 2 is
enabled, set the phased switching time only for
the position loop gain at gain switching.
Position Loop Gain
Switching Time
Position Command Filter
Time Constant Setting
Select the condition for switching between gain 1
and gain 2 in speed control mode.
The Gain Switching Input Operating Mode
Selection (Pn30) must be set to 1 (enabled).
Select the FIR filter time constant used for the
command pulse input.
The higher the setting, the smoother the
command pulses.
Gain Switch 2 Setting
Gain Switch 2 Time
Smoothing Filter Setting
This parameter is enabled when Gain Switch 2
Setting (Pn36) is 3 to 5. Set the delay time for
returning from gain 2 to gain 1.
Deviation Counter Reset
Condition Setting
Set the deviation counter reset conditions.
This parameter is enabled when 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 Gain Switch 2 Setting
(Pn36).
Gain Switch 2 Level
Setting
Set the hysteresis width above and below the
Gain Switch 2 Hysteresis judgment level set in the Gain Switch 2 Level
Setting
Setting (Pn38). The unit depends on the setting
of the Gain Switch 2 Setting (Pn36).
Jog Speed
Set the speed for jogging.
60
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
● Speed and Torque Control Parameters
● Sequence Parameters
Parameter name
Speed Command Scale
Command Speed
Explanation
Parameter name
Explanation
Set the relation between the voltage applied to
the Speed Command Input (REF) and the
Servomotor speed.
Positioning Completion
Range
Set the range for the Positioning Completed
Output (INP).
Set the rotation speed to output for the general-
purpose output (zero speed detection output or
speed coincidence output).
Set to reverse the polarity of the speed
Zero Speed Detection
Rotation Direction Switch command input (REF).
Speed Command Offset Set to adjust the offset of the Speed Command
Set the rotation speed for the Servomotor
Rotation Detection Output (TGON) for Internally
Set Speed Control.
Rotation Speed for Motor
Rotation Detection
Adjustment
Input (REF).
No. 1 Internally Set
Speed
Set the No. 1 internally set rotation speed.
Positioning Completion
Condition Setting
Set the operation for positioning completion
output (INP).
No. 2 Internally Set
Speed
Set the No. 2 internally set rotation speed.
Set the No. 3 internally set rotation speed.
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.
Undervoltage Alarm
Selection
No. 3 Internally Set
Speed
Set the No. 4 internally set rotation speed.
For torque control (when Pn5B = 0), set the
speed limit.
No. 4 Internally Set
Speed
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.
Stop Selection for Drive
Prohibition Input
No. 5 Internally Set
Speed
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 one of the following operations for after the
main power supply is cut off if the Undervoltage
Stop Selection with Main Alarm Selection (Pn65) is set to 0.
No. 6 Internally Set
Speed
Power OFF
·Operation during deceleration and after
stopping
·Clearing the deviation counter
No. 7 Internally Set
Speed
No. 8 Internally Set
Speed
Set the operation to be performed after stopping
Stop Selection for Alarm or during deceleration when any protective
Speed Command Filter
Time Constant
Set the primary lag filter time constant in the
Speed Command Input (REF: CN1 pin 14).
Generation
function of the Servo Drive operates and an error
occurs.
Soft Start Acceleration
Time
Set the acceleration time for the speed
command.
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).
Stop Selection with
Servo OFF
Soft Start Deceleration
Time
Set the deceleration time for the speed
command.
S-curve Acceleration/
Deceleration Time
Setting
Set the pseudo-S-curve acceleration/
deceleration value to add to the speed command
to enable smooth operation.
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).
Torque Command/Speed Select the input for the torque command and
Limit Selection
Brake Timing when
Stopped
speed limit.
Set the relation between the voltage applied to
Torque Command Scale the Speed Limit Input (VLIM) and the
Servomotor speed.
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.
Torque Output Direction
Switch
Set to reverse the polarity of the Torque
Command Input (REF/TREF or PCL/TREF).
Brake Timing during
Operation
Set the limit to the Servomotor's maximum
torque.
No. 1 Torque Limit
No. 2 Torque Limit
BKIR will also turn OFF if the speed drops to
30 r/min or lower before the set time elapses.
Set the limit to the Servomotor's maximum
torque.
Regeneration Resistor
Selection
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.
Momentary Hold Time
Set the torque limit for the following cases.
·Drive prohibit deceleration with Stop Selection
for Drive Prohibit Input (Pn66) set to 2.
Emergency Stop Torque ·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.
Deviation Counter
Set the deviation counter overflow level.
Overflow Level
Speed Command/Torque Set the overflow level for Speed Command Input
Command Input Overflow (REF) or Torque Command Input (TREF) using
Level Setting
voltage after offset adjustment.
Overload Detection Level
Setting
Set the overload detection level.
Overspeed Detection
Level Setting
Set the overspeed detection level.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
61
Dimensions
(Unit: mm)
●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
70
130
Mounting Hole Dimensions
4
Two, M4
AC SERVO DRIVER
UNIT No.
DATA
IM
SP
G
0.5
6
28
40
• Single-phase 100 VAC (200 W)
R88D-GT02L
• Single-phase 200 VAC (400 W)
R88D-GT04H
55
70
130
Mounting Hole Dimensions
4
Two, M4
AC SERVO DRIVER
UNIT No.
DATA
SP
IM
G
0.5
6
43
55
62
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
• Single-phase 100 VAC (400 W)
R88D-GT04L
• Single-phase/Three-phase 200 VAC (750 W)
R88D-GT08H
70
170
65
Mounting Hole Dimensions
4
Two, M4
AC SERVO DRIVER
UNIT No.
DATA
IM
SP
G
0.5
7.5
50
65
• Single-phase/Three-phase 200 VAC (900 W to 1.5 kW)
R88D-GT10H
R88D-GT15H
70
170
85
Mounting Hole Dimensions
Two, M4
4
AC SERVO DRIVER
UNIT No.
DATA
IM
SP
G
0.5
7.5
70
85
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
63
• Three-phase 200 VAC (2 kW)
R88D-GT20H
85
70
200
3.5
17.5
50
42.5
Mounting Hole Dimensions
5.2
5.2
Four, M4
5.2
dia.
R2.6
R2.6
AC SERVO DRIVER
UNIT No.
DATA
SP
IM
G
5.2
17.5
50±0.5
R2.6
5.2
R2.6
dia.
3.5
5.2
85
42.5
17.5
50
• Three-phase 200 VAC (2 to 5 kW)
R88D-GT30H/-GT50H
130
3.5
15
100
70
200
Mounting Hole Dimensions
65
5.2
5.2 dia.
50±0.5
Six, M4
5.2
R2.6
R2.6
AC SERVO DRIVER
UNIT No.
DATA
IM
SP
G
5.2
100±0.5
130
15
R2.6
R2.6
dia.
3.5
5.2
65
5.2
15
100
64
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
• Three-phase 200 VAC (7.5 kW)
R88D-GT75H
Front Panel Mounting (Using Mounting Brackets)
Mounting Hole Dimensions
248
37.5
90
90
70
339.3
(4)
82.5
5.2
90
5.2
Six, M4
45.1
(2.3)
5.2
Square hole
90±0.5
90±0.5
38.5
5.2
5.2
5.2
250
Four, 5.2 dia.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
65
● Servomotors
3,000-r/min Cylindrical Servomotors
• 50 W/100 W
ABS
INC
R88M-G05030H (-S2)
R88M-G10030L (-S2)
R88M-G10030H (-S2)
R88M-G05030H-B (S2)
R88M-G10030L-B (S2)
R88M-G10030H-B (S2)
R88M-G05030T (-S2)
R88M-G10030S (-S2)
R88M-G10030T (-S2)
R88M-G05030T-B (S2)
R88M-G10030S-B (S2)
R88M-G10030T-B (S2)
Brake connector
Servomotor connector
Encoder
connector
Model
LL
72
LN
LL
25
R88M-G05030@
R88M-G10030@
R88M-G05030@-B
R88M-G10030@-B
26.5
46.5
26.5
46.5
6
3
92
102
122
(Dimensions of shaft end
with key and tap)
Two, 4.3 dia.
40 × 40
14
*The empty bax in the L, H, L, T or S.
12.5
3h9
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.
46 dia.
LN
M3 (depth: 6)
• 200 W/400 W/750 W
ABS
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)
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)
Model
LL
79.5
99
LR
30
35
30
35
S
D1
70
90
70
90
D2
50
70
50
70
C
G
6.5
8
Z
4.5
6
KL1
QK
b
h
4
5
6
4
5
6
M
t1
2.5
3
L
R88M-G20030@
R88M-G40030@
R88M-G75030@
R88M-G20030@-B
R88M-G40030@-B
R88M-G75030@-B
11
14
19
11
14
19
18
22.5
22
4h9
M4
8
60
80
60
80
43
53
43
53
5h9
6h9
4h9
5h9
6h9
M5
M4
M5
10
8
112.2
116
3.5
2.5
3
18
6.5
8
4.5
6
135.5
149.2
22.5
22
10
3.5
*The empty bax in the L, H, L, T or S.
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.
Brake connector
Servomotor connector
Encoder
connector
LL
LR
3
G
(Dimensions of shaft end
with key and tap)
Four, Z dia.
C × C
QK
b
D1 dia.
M
(effective depth: L)
66
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
• 1 kW/1.5 kW/2 kW
ABS
Servomotor
canon plug
R88M-G1K030T (-S2)
R88M-G1K530T (-S2)
R88M-G2K030T (-S2)
R88M-G1K030T-B (S2)
R88M-G1K530T-B (S2)
R88M-G2K030T-B (S2)
C × C
(Dimensions of shaft end
with key and tap)
45
LL
55
Encoder
canon plug
G
3
Four, Z dia.
42
6h9
M5 (depth: 12)
Model
LL
D1
D2
C
D3
G
KL1
Z
R88M-G1K030T
R88M-G1K530T
R88M-G2K030T
R88M-G1K030T-B
R88M-G1K530T-B
R88M-G2K030T-B
175
180
205
200
205
230
100
80
90
120
7
98
6.6
115
100
115
95
80
95
100
90
135
120
135
10
7
103
98
9
6.6
9
100
10
103
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.
• 3 kW
ABS
Servomotor/brake
connector
(Dimensions of the shaft end
with key and tap)
R88M-G3K030T (-S2)
R88M-G3K030T-B (S2)
LL
120 × 120
55
Encoder
connector
45
12
3
9
41
8h9
Model
LL
162 dia.
R88M-G3K030T
R88M-G3K030T-B
217
242
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.
• 4 kW/5 kW
ABS
R88M-G4K030T (-S2)
R88M-G5K030T (-S2)
R88M-G4K030T-B (S2)
R88M-G5K030T-B (S2)
Servomotor/brake
connector
(Dimensions of shaft end
with key and tap)
130 × 130
LL
65
Encoder
connector
55
51
12
6
Four, 9 dia.
8h9
Model
LL
R88M-G4K030T
R88M-G5K030T
R88M-G4K030T-B
R88M-G5K030T-B
240
280
265
305
165 dia.
M8 (depth: 20)
145 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.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
67
3,000-r/min Flat Servomotors
• 100 W/200 W/400 W
ABS
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)
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
LL
LR
S
D1
D2
C
F
G
KL1
Z
QK
b
h
t1
M
L
R88M-GP10030L
R88M-GP10030H
60.5
25
8
70
50
60
3
7
43
4.5
12.5
3h9
3
1.8
M3
6
R88M-GP10030S
R88M-GP10030T
87.5
67.5
94.5
82.5
109.5
84.5
111.5
100
R88M-GP20030L
R88M-GP20030H
11
14
8
18
4h9
5h9
3h9
4h9
5h9
4
5
3
4
5
2.5
3.0
1.8
2.5
3.0
M4
M5
M3
M4
M5
8
10
6
R88M-GP20030S
R88M-GP20030T
30
25
30
90
70
90
70
50
70
80
60
80
5
3
5
8
7
8
53
43
53
5.5
4.5
5.5
R88M-GP40030L
R88M-GP40030H
22.5
12.5
18
R88M-GP40030S
R88M-GP40030T
R88M-GP10030L-B
R88M-GP10030H-B
R88M-GP10030S-B
R88M-GP10030T-B
R88M-GP20030L-B
R88M-GP20030H-B
11
14
8
R88M-GP20030S-B
R88M-GP20030T-B
127
R88M-GP40030L-B
R88M-GP40030H-B
115
22.5
10
R88M-GP40030S-B
R88M-GP40030T-B
142
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
Motor connector
LL
LR
Brake connector
G
F
C × C
(7)
(7)
(Dimensions of shaft end
with key and tap)
Four, Z dia.
QK
b
M (depth: L)
68
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
2,000-r/min Cylindrical Servomotors
• 200 VAC: 1 kW/1.5 kW
ABS
R88M-G1K020T (-S2)
Servomotor/brake
R88M-G1K520T (-S2)
R88M-G1K020T-B (S2)
R88M-G1K520T-B (S2)
connector
(Dimensions of shaft end
with key and tap)
LL
55
130 × 130
Encoder
connector
45
41
12
6
Four, 9 dia.
8h9
Model
LL
R88M-G1K020T
R88M-G1K520T
R88M-G1K020T-B
R88M-G1K520T-B
150
175
200
165 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.
• 200 VAC: 2 kW/3 kW
ABS
Servomotor/brake
R88M-G2K020T (-S2)
R88M-G3K020T (-S2)
R88M-G2K020T-B (S2)
R88M-G3K020T-B (S2)
(Dimensions of shaft end
with key and tap)
connector
LL
LR
130 × 130
Encoder
connector
LW
QK
12
6
Four, 9 dia.
8h9
M (depth: L)
Model
LL
LR
55
65
55
65
S
LW
45
55
45
55
QK
41
51
41
51
M
L
R88M-G2K020T
R88M-G3K020T
R88M-G2K020T-B
R88M-G3K020T-B
200
250
225
275
22
24
22
24
M5
M8
M5
M8
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.
• 200 VAC : 4 kW/5 kW
ABS
Servomotor/brake
connector
R88M-G4K020T (-S2)
LL
LR
C × C
(Dimensions of shaft end
R88M-G5K020T (-S2)
R88M-G4K020T-B (S2)
R88M-G5K020T-B (S2)
Encoder
connector
with key and tap)
18
Four, Z dia.
3.2
QK
b
M (depth: L)
Model
LL
LR
65
70
65
70
S
D1
D2
C
D3
KL1
128
143
128
143
Z
QK
b
h
7
8
7
8
t1
4
M
L
R88M-G4K020T
R88M-G5K020T
R88M-G4K020T-B
R88M-G5K020T-B
242
225
267
250
28
35
28
35
165
200
165
200
130
114.3
130
150
176
150
176
190
233
190
233
11
51
50
51
50
8h9
M8
20
25
20
25
13.5
11
10h9
8h9
5
M12
M8
4
114.3
13.5
10h9
5
M12
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.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
69
1,500-r/min Cylindrical Servomotors
• 7.5 kW
ABS
Brake connector
R88M-G7K515T (-S2)
R88M-G7K515T-B (S2)
Motor
connector
Eye-bolt
Nominal diameter: 10
(Dimensions of shaft end
with key and tap)
113
LL
176 × 176
96
90
Encoder
connector
Four, 13.5 dia.
24
3.2
12h9
Model
R88M-G7K515T
R88M-G7K515T-B
LL
340.5
380.5
M16 (depth: 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 number.
1,000-r/min Cylindrical Servomotors
• 900 W/2 kW
ABS
Encoder connector
Servomotor/brake connector
R88M-G90010T (-S2)
R88M-G2K010T (-S2)
R88M-G90010T-B (S2)
R88M-G2K010T-B (S2)
LL
LR
C × C
(Dimensions of shaft end
with key and tap)
G
F
Four, Z dia.
QK
b
M (depth: L)
Model
R88M-G90010T
R88M-G2K010T
R88M-G90010T-B
R88M-G2K010T-B
LL
LR
70
80
70
80
S
D1
145
200 114.3
145 110
200 114.3
D2
C
D3
165
233
165
233
F
6
G
KL1
118
143
118
143
Z
9
QK
41
50
41
50
b
h
7
8
7
8
t1
4
M
L
175
182
200
207
22
35
22
35
110
130
176
130
176
12
18
12
18
8h9
M5
12
25
12
25
3.2
6
13.5
9
10h9
8h9
5
M12
M5
4
3.2
13.5
10h9
5
M12
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.
• 3 kW
ABS
R88M-G3K010T (-S2)
R88M-G3K010T-B (S2)
Servomotor/brake
connector
(Dimensions of shaft end
with key and tap)
LL
80
176 × 176
50
Encoder connector
Four, 13.5 dia.
18 3.2
10 height: 9
Model
R88M-G3K010T
R88M-G3K010T-B
LL
233 dia.
222
271
M12 (depth: 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.
70
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
• 4.5 kW
ABS
R88M-G4K510T (-S2)
R88M-G4K510T-B (S2)
(Dimensions of shaft end
with key and tap)
Servomotor/brake
LL
113
3.2
connector
176 × 176
Eye-bolt
Nominal
diameter: 10
90
24
Four, 13.5 dia.
Encoder connector
12 height: 9
233 dia.
Model
R88M-G4K510T
R88M-G4K510T-B
LL
300.5
337.5
M12 (depth: 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.
• 6 kW
ABS
Brake connector
R88M-G6K010T (-S2)
R88M-G6K010T-B (S2)
Motor
connector
Eye-bolt
Nominal diameter: 10
(Dimensions of shaft end
with key and tap)
176 × 176
LL
113
96
90
Encoder
connector
Four, 13.5 dia.
24
3.2
12 height: 9
Model
R88M-G6K010T
R88M-G6K010T-B
LL
340.5
380.5
M16 (depth: 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 number.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
71
● Decelerators
Backlash: 3 Arcminutes Max.
<Cylinder Type>
● 3,000-r/min Servomotors (50 to 750 W)
Dimensions (mm)
Outline
Drawings
Model
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1/5
1/9
R88G-HPG11B05100B@
R88G-HPG11B09050B@
R88G-HPG14A21100B@
R88G-HPG14A33050B@
R88G-HPG14A45050B@
R88G-HPG11B05100B@
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 *4
1 *4
1
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
42
42
40
40
40 × 40
40 × 40
60 × 60
60 × 60
60 × 60
40 × 40
60 × 60
60 × 60
55 dia.
55 dia.
60 × 60
60 × 60
90 × 90
89 dia.
89 dia.
60 × 60
89 dia.
89 dia.
122 dia.
122 dia.
80 × 80
80 × 80
122 dia.
122 dia.
122 dia.
46
46
46
46
46
46
46
46
46
46
46
46
70
70
70
70
70
70
70
70
70
70
90
90
90
90
90
40
40
39.5
39.5
55.5
55.5
55.5
39.5
55.5
55.5
84
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
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
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
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
50W
1/21
1/33
1/45
1/5
58
60
70
56
1
58
60
70
56
1
58
60
70
56
1 *4
1
42
40
46
40
1/11
58
60
70
56
100W 1/21
1/33
1
58
60
70
56
2
80
90
105
105
70
85
1/45
2
80
90
85
84
1/5
1
58
60
56
55.5
55.5
84
1/11
1
58
60
70
56
200W 1/21
1/33
1
80
90
105
105
105
70
85
2
80
90
85
84
1/45
2
80
90
85
84
1/5
1
58
60
56
55.5
84
1/11
2
71
80
90
105
105
135
135
105
105
135
135
135
85
400W 1/21
1/33
2
71
80
90
85
84
2
104
104
78
133
133
80
120
120
90
115
115
85
114
114
84
1/45
2
1/5
1
1/11
1
78
80
90
85
84
750W
1/21
2
104
104
104
133
133
133
120
120
120
115
115
115
114
114
114
(200V)
1/33
1/45
2
2
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Decelerator with a straight shaft with key and tap, add “J” to the end of the model number, in the place indicated by the box.
(e.g., R88G-HPG11B05100BJ)
Note: 3. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 4. Applicable for the servomotors with key, if the key is removed.
Note: 5. The dimensional drawings in this document are designed to indicate only the main dimensions. They do not necessarily represent the detailed shapes of the products.
Outline Drawings 1
There is one set bolt.
Four,
Set bolt (AT)
Z2 dia.
Key and tap Dimensions
C1
E
QK
b
D1 dia.
D2 dia.
S dia., height: 7
M (depth: L)
T
F1
F2
C2
Four, Z1 dia.
G
LR
LM
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
*4. For the R88G-HPG11B series, two set bolts are positioned at an angle of
90° from each other.
Four,
Set bolt (AT)
Z2 dia.
D2 dia.
C2
72
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Dimensions (mm)
Key Dimensions
Tap Dimensions
Model
G
S
T
Z1
Z2
AT*1
QK
b
3
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
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
5
5
8
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
3.4
3.4
5.5
5.5
5.5
3.4
5.5
5.5
9
M4 × 9
M4 × 9
M4 × 10
M4 × 10
M4 × 10
M4 × 9
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
R88G-HPG11B05100B@
R88G-HPG11B09050B@
R88G-HPG14A21100B@
R88G-HPG14A33050B@
R88G-HPG14A45050B@
R88G-HPG11B05100B@
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
8
3
6
8
16
16
16
8
5
8
1/21
1/33
1/45
1/5
50W
8
5
3
8
8
5
3
8
5
3
1.8
3
6
8
16
16
25
25
16
16
25
25
25
16
25
25
40
40
25
25
40
40
40
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M5 × 12
M5 × 12
M5 × 12
M5 × 12
M5 × 12
5
8
1/11
8
5
3
8
1/21 100W
1/33
10
10
8
8
4
12
12
8
9
8
4
1/45
5.5
5.5
9
5
3
1/5
8
5
3
8
1/11
10
10
10
8
8
4
12
12
12
8
1/21 200W
1/33
9
8
4
9
8
4
1/45
5.5
9
5
3
1/5
10
10
13
13
10
10
13
13
13
8
4
12
12
20
20
12
12
20
20
20
1/11
9
8
4
1/21 400W
1/33
11
11
9
12
12
8
5
5
1/45
4
1/5
9
8
4
1/11
750W
1/21
11
11
11
12
12
12
5
(200V)
5
1/33
1/45
5
*1. This is the set bolt.
Outline Drawings 2
Four,
Z2 dia.
Set bolt (AT)
Key and tap Dimensions
QK
C1
E
b
D1 dia.
S dia., height: 7
D2 dia.
M (depth: L)
T
F1
F2
C2
Four, Z1 dia.
G
LR
LM
*3. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
73
Backlash: 3 Arcminutes Max.
<Cylinder Type>
● 3,000-r/min Servomotors (1 to 5 kW)
Dimensions (mm)
Outline
Drawings
Model
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1/5
1/11
1/21
1/33
1/45
1/5
R88G-HPG32A052K0B@
R88G-HPG32A112K0B@
R88G-HPG32A211K5B@
R88G-HPG50A332K0B@
R88G-HPG50A451K5B@
R88G-HPG32A052K0B@
R88G-HPG32A112K0B@
R88G-HPG32A211K5B@
R88G-HPG50A332K0B@
R88G-HPG50A451K5B@
R88G-HPG32A052K0B@
R88G-HPG32A112K0B@
R88G-HPG50A212K0B@
R88G-HPG50A332K0B@
R88G-HPG32A053K0B@
R88G-HPG50A113K0B@
R88G-HPG50A213K0B@
R88G-HPG32A054K0B@
R88G-HPG50A115K0B@
R88G-HPG50A055K0B@
R88G-HPG50A115K0B@
2
2
2
2
2
2
2
2
2
2
2
2
2
2
1
2
2
1
1
1
1
110
110
110
123
123
110
110
110
123
123
110
110
123
123
107
123
123
129
149
149
149
133
133
133
156
156
133
133
133
156
156
133
133
156
156
133
156
156
133
156
156
156
120
120
120
170
170
120
120
120
170
170
120
120
170
170
135 dia.
135 dia.
135 dia.
170 dia.
170 dia.
135 dia.
135 dia.
135 dia.
170 dia.
170 dia.
135 dia.
135 dia.
170 dia.
170 dia.
135
135
135
190
190
135
135
135
190
190
135
135
190
190
115
115
115
115
115
115
115
115
115
115
115
115
115
115
145
145
145
145
145
145
145
115
115
115
165
165
115
115
115
165
165
115
115
165
165
115
165
165
115
165
165
165
114
114
114
163
163
114
114
114
163
163
114
114
163
163
114
163
163
114
163
163
163
84
84
98
98
12.5
12.5
12.5
12
35
35
35
53
53
35
35
35
53
53
35
35
53
53
35
53
53
35
53
53
53
1kW
84
98
122
122
84
103
103
98
12
12.5
12.5
12.5
12
1/11
84
98
1.5kW 1/21
84
98
1/33
1/45
1/5
122
122
84
103
103
98
12
12.5
12.5
12
1/11
2kW
84
98
1/21
122
122
84
103
103
98
1/33
1/5
12
120 130 × 130 135
12.5
12
3kW
1/11
1/21
1/5
170
170
170 dia.
170 dia.
190
190
122
122
84
103
103
98
12
120 130 × 130 135
170 130 × 130 190
170 130 × 130 190
170 130 × 130 190
12.5
12
4kW
5kW
1/11
1/5
122
122
122
103
103
103
12
1/11
12
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Decelerator with a straight shaft with key and tap, add “J” to the end of the model number, in the place indicated by the box.
(e.g., R88G-HPG32A051K0BJ)
Note: 3. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 4. Applicable for the servomotors with key, if the key is removed.
Note: 5. The dimensional drawings in this document are designed to indicate only the main dimensions. They do not necessarily represent the detailed shapes of the products.
Outline Drawings 1
Four,
Z2 dia.
Set bolt (AT)
Key and tap Dimensions
E
C1
QK
b
D2 dia.
S dia., height: 7
D1 dia.
M (depth: L)
T
F1
F2
C2
Four, Z1 dia.
G
LR
LM
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
74
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Dimensions (mm)
Key Dimensions
Tap Dimensions
Model
G
S
T
Z1
Z2
AT*1
QK
b
h
8
8
8
9
9
8
8
8
9
9
8
8
9
9
8
9
9
8
9
9
9
t1
5
M
L
13
13
13
16
16
13
13
13
16
16
13
13
16
16
13
16
16
13
16
16
16
40
40
40
50
50
40
40
40
50
50
40
40
50
50
40
50
50
40
50
50
50
82
82
82
82
82
82
82
82
82
82
82
82
82
82
82
82
82
82
82
82
82
11
11
11
14
14
11
11
11
14
14
11
11
14
14
11
14
14
11
14
14
14
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 18
M8 × 16
M8 × 16
M8 × 25
M8 × 25
M8 × 25
M8 × 25
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
12
12
12
14
14
12
12
12
14
14
12
12
14
14
12
14
14
12
14
14
14
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
20
20
20
20
20
20
20
20
20
20
20
20
20
20
20
20
20
20
20
20
20
R88G-HPG32A052K0B@
R88G-HPG32A112K0B@
R88G-HPG32A211K5B@
R88G-HPG50A332K0B@
R88G-HPG50A451K5B@
R88G-HPG32A052K0B@
R88G-HPG32A112K0B@
R88G-HPG32A211K5B@
R88G-HPG50A332K0B@
R88G-HPG50A451K5B@
R88G-HPG32A052K0B@
R88G-HPG32A112K0B@
R88G-HPG50A212K0B@
R88G-HPG50A332K0B@
R88G-HPG32A053K0B@
R88G-HPG50A113K0B@
R88G-HPG50A213K0B@
R88G-HPG32A054K0B@
R88G-HPG50A115K0B@
R88G-HPG50A055K0B@
R88G-HPG50A115K0B@
1/5
1/11
1/21
1/33
1/45
1/5
5
5
1kW
5.5
5.5
5
5
1/11
5
1/21 1.5kW
5.5
5.5
5
1/33
1/45
1/5
5
1/11
2kW
1/21
5.5
5.5
5
1/33
1/5
5.5
5.5
5
1/11
1/21
1/5
3kW
4kW
5kW
5.5
5.5
5.5
1/11
1/5
1/11
*1. This is the set bolt.
Outline Drawings 2
Four,
Z2 dia.
Set bolt (AT)
Key and tap Dimensions
QK
E
C1
b
S dia., height: 7
D2 dia.
D1 dia.
M (depth: L)
T
F1
C2 dia.
Four, Z1 dia.
G
F2
LR
LM
*3. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
75
Backlash: 3 Arcminutes Max.
<Flat Servomotors>
● 3,000-r/min Servomotors (100 to 400 W)
Dimensions (mm)
Model
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1/5
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
42
58
58
80
80
58
80
80
80
80
80
80
80
133
133
40
60
60
90
90
60
90
90
90
90
90
90
90
120
120
60×60
60×60
60×60
89 dia.
89 dia.
80×80
80×80
80×80
80×80
80×80
80×80
80×80
80×80
122 dia.
122 dia.
46
70
70
70
70
70
90
90
90
90
90
90
90
90
90
90
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
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
29
40
40
59
59
40
59
59
59
59
59
59
59
84
84
27
37
37
53
53
37
53
53
53
53
53
53
53
98
98
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
15
21
21
27
27
21
27
27
27
27
27
27
27
35
35
1/11
1/21
1/33
1/45
1/5
70
100 W
200 W
400 W
70
105
105
70
1/11
1/21
1/33
1/45
1/5
105
105
105
105
105
105
105
135
135
1/11
1/21
1/33
1/45
Note: 1. The standard models have a straight shaft.
A model with a key and tap is indicated by adding “J” to the end of the model number.
Note: 2. Applicable for the servomotors with key, if the key is removed.
Outline Drawings
C1
E
Set bolt (AT)
Four, Z2 dia.
Key and Tap Dimensions
QK
D1 dia.
b
D2 dia.
M (depth: L)
T
F1
F2
C2
Four, Z1 dia.
G
LR
LM
76
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Dimensions (mm)
Key dimensions
Tap dimensions
Model
*
1
G
S
T
Z1
Z2
AT
QK
b
3
h
3
5
5
7
7
5
7
7
7
7
7
7
7
8
8
t1
M
M3
M4
M4
M6
M6
M4
M6
M6
M6
M6
M6
M6
M6
M10
M10
L
6
5
8
20
28
28
42
42
28
42
42
42
42
42
42
42
82
82
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
M4×9
M4×10
M4×10
M4×10
M4×10
M5×12
M5×12
M5×12
M5×12
M5×12
M5×12
M5×12
M5×12
M5×12
M5×12
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
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
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
8
16
16
25
25
16
25
25
25
25
25
25
25
40
40
5
8
1/11
1/21
1/33
1/45
1/5
8
5
8
100 W
200 W
400 W
10
10
8
8
12
12
8
8
5
10
10
10
10
10
10
10
13
13
8
12
12
12
12
12
12
12
20
20
1/11
1/21
1/33
1/45
1/5
8
8
8
8
8
1/11
1/21
1/33
1/45
8
12
12
*1. This is the set bolt.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
77
Backlash: 3 Arcminutes Max.
<Cylinder Type>
● 2,000-r/min Servomotors (1 to 7.5 kW)
Dimensions (mm)
Outline
Drawings
Model
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1/5
1/11
1/21
1/33
1/45
1/5
R88G-HPG32A053K0B@
R88G-HPG32A112K0SB@
R88G-HPG32A211K0SB@
R88G-HPG50A332K0SB@
R88G-HPG50A451K0SB@
R88G-HPG32A053K0B@
R88G-HPG32A112K0SB@
R88G-HPG50A213K0B@
R88G-HPG50A332K0SB@
R88G-HPG32A053K0B@
R88G-HPG32A112K0SB@
R88G-HPG50A213K0B@
R88G-HPG50A332K0SB@
R88G-HPG32A054K0B@
R88G-HPG50A115K0B@
R88G-HPG50A213K0SB@
R88G-HPG65A253K0SB@
R88G-HPG50A055K0SB@
R88G-HPG50A115K0SB@
R88G-HPG65A205K0SB@
R88G-HPG65A255K0SB@
R88G-HPG50A055K0SB@
R88G-HPG50A115K0SB@
R88G-HPG65A205K0SB@
R88G-HPG65A255K0SB@
R88G-HPG65A057K5SB@
R88G-HPG65A127K5SB@
1
1
1
2
2
1
1
2
2
1
1
2
2
1
1
1
1
1
1
1
1
1
1
1
1
1
1
107
107
107
123
123
107
107
123
123
107
107
123
123
129
149
149
231
149
149
231
231
149
149
231
231
184.5
254.5
133
133
133
156
156
133
133
156
156
133
133
156
156
133
156
156
222
156
156
222
222
156
156
222
222
222
222
120 130 × 130 135
120 130 × 130 135
120 130 × 130 135
145
145
145
145
145
145
145
145
145
145
145
145
145
145
145
145
145
200
200
200
200
200
200
200
200
200
200
115
115
115
165
165
115
115
165
165
115
115
165
165
115
165
165
220
165
165
220
220
165
165
220
220
220
220
114
114
114
163
163
114
114
163
163
114
114
163
163
114
163
163
214
163
163
214
214
163
163
214
214
214
214
84
84
98
98
12.5
12.5
12.5
12
35
35
35
53
53
35
35
53
53
35
35
53
53
35
53
53
57
53
53
57
57
53
53
57
57
57
57
1kW
84
98
170
170
170 dia.
170 dia.
190
190
122
122
84
103
103
98
12
120 130 × 130 135
120 130 × 130 135
12.5
12.5
12
1/11
1/21
1/33
1/5
84
98
1.5kW
2kW
170
170
170 dia.
170 dia.
190
190
122
122
84
103
103
98
12
120 130 × 130 135
120 130 × 130 135
12.5
12.5
12
1/11
1/21
1/33
1/5
84
98
170
170
170 dia.
170 dia.
190
190
122
122
84
103
103
98
12
120 130 × 130 135
170 130 × 130 190
170 130 × 130 190
230 130 × 130 260
170 180 × 180 190
170 180 × 180 190
230 180 × 180 260
230 180 × 180 260
170 180 × 180 190
170 180 × 180 190
230 180 × 180 260
230 180 × 180 260
230 180 × 180 260
230 180 × 180 260
12.5
12
1/11
1/21
1/25
1/5
122
122
168
122
122
168
168
122
122
168
168
168
168
103
103
165
103
103
165
165
103
103
165
165
165
165
3kW
12
12
12
1/11
1/20
1/25
1/5
12
4kW
12
12
12
1/11
1/20
1/25
1/5
12
5kW
12
12
12.0
12.0
7.5kW
1/12
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Decelerator with a straight shaft with key and tap, add “J” to the end of the model number, in the place indicated by the box.
(e.g., R88G-HPG32A053K0BJ)
Note: 3. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 4. Applicable for the servomotors with key, if the key is removed.
Note: 5. The dimensional drawings in this document are designed to indicate only the main dimensions. They do not necessarily represent the detailed shapes of the products.
Outline Drawings 1
Four,
Z2 dia.
Set bolt (AT)
Key and tap Dimensions
QK
E
C1
b
D2 dia.
S dia., height: 7
D1 dia.
M (depth: L)
T
F1
F2
C2
Four, Z1 dia.
G
LR
LM
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
78
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Dimensions (mm)
Key Dimensions
Tap Dimensions
Model
G
S
T
Z1
Z2
AT*1
QK
b
h
8
t1
5
M
L
13
13
13
16
16
13
13
16
16
13
13
16
16
13
16
16
25
16
16
25
25
16
16
25
25
25
25
40
40
40
50
50
40
40
50
50
40
40
50
50
40
50
50
80
50
50
80
80
50
50
80
80
80
80
82
82
11
11
11
14
14
11
11
14
14
11
11
14
14
11
14
14
18
14
14
18
18
14
14
18
18
18
18
M8 × 18
M8 × 18
M8 × 18
M8 × 16
M8 × 16
M8 × 18
M8 × 18
M8 × 16
M8Å~16
M8 × 18
M8 × 18
M8 × 16
M8 × 16
M8 × 25
M8 × 25
M8 × 25
M8 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M8
M6
M6
M8
M8
M6
M6
M8
M8
M8
M8
70
70
12
12
12
14
14
12
12
14
14
12
12
14
14
12
14
14
22
14
14
22
22
14
14
22
22
22
22
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M16
M10
M10
M16
M16
M10
M10
M16
M16
M16
M16
20
20
20
20
20
20
20
20
20
20
20
20
20
20
20
20
35
20
20
35
35
20
20
35
35
35
35
R88G-HPG32A053K0B@
R88G-HPG32A112K0SB@
R88G-HPG32A211K0SB@
R88G-HPG50A332K0SB@
R88G-HPG50A451K0SB@
R88G-HPG32A053K0B@
R88G-HPG32A112K0SB@
R88G-HPG50A213K0B@
R88G-HPG50A332K0SB@
R88G-HPG32A053K0B@
R88G-HPG32A112K0SB@
R88G-HPG50A213K0B@
R88G-HPG50A332K0SB@
R88G-HPG32A054K0B@
R88G-HPG50A115K0B@
R88G-HPG50A213K0SB@
R88G-HPG65A253K0SB@
R88G-HPG50A055K0SB@
R88G-HPG50A115K0SB@
R88G-HPG65A205K0SB@
R88G-HPG65A255K0SB@
R88G-HPG50A055K0SB@
R88G-HPG50A115K0SB@
R88G-HPG65A205K0SB@
R88G-HPG65A255K0SB@
R88G-HPG65A057K5SB@
R88G-HPG65A127K5SB@
1/5
1/11
1/21
1/33
1/45
1/5
8
5
82
70
8
5
1kW
82
70
9
5.5
5.5
5
82
70
9
82
70
8
82
70
8
5
1/11
1/21
1/33
1/5
1.5kW
2kW
82
70
9
5.5
5.5
5
82
70
9
82
70
8
82
70
8
5
1/11
1/21
1/33
1/5
82
70
9
5.5
5.5
5
82
70
9
82
70
8
82
70
9
5.5
5.5
9
1/11
1/21
1/25
1/5
3kW
82
70
9
130
82
110
70
14
9
5.5
5.5
9
82
70
9
1/11
1/20
1/25
1/5
4kW
130
130
82
110
110
70
14
14
9
9
5.5
5.5
9
82
70
9
1/11
1/20
1/25
1/5
5kW
130
130
130
130
110
110
110
110
14
14
14
14
9
9.0
9.0
7.5kW
1/12
*1. This is the set bolt.
Outline Drawings 2
Four,
Z2 dia.
Set bolt (AT)
Key and tap Dimensions
QK
E
C1
b
S dia., height: 7
D1 dia.
D2 dia.
M (depth: L)
T
F1
C2 dia.
Four, Z1 dia.
G
F2
LR
LM
*3. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
79
Backlash: 3 Arcminutes Max.
<Cylinder Type>
● 1,000-r/min Servomotors (900 W to 6 kW)
Dimensions (mm)
Outline
Drawings
Model
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1/5
1/11
1/21
1/33
1/5
R88G-HPG32A05900TB@
R88G-HPG32A11900TB@
R88G-HPG50A21900TB@
R88G-HPG50A33900TB@
R88G-HPG32A052K0TB@
R88G-HPG50A112K0TB@
R88G-HPG50A212K0TB@
R88G-HPG65A255K0SB@
R88G-HPG50A055K0SB@
R88G-HPG50A115K0SB@
R88G-HPG65A205K0SB@
R88G-HPG65A255K0SB@
R88G-HPG50A054K5TB@
R88G-HPG65A127K5SB@
R88G-HPG65A204K5TB@
R88G-HPG65A057K5SB@
R88G-HPG65A127K5SB@
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
129
129
133
133
156
156
133
156
222
222
156
156
222
222
156
222
222
222
222
120 130 × 130 135
120 130 × 130 135
170 130 × 130 190
170 130 × 130 190
120 180 × 180 135
170 180 × 180 190
230 180 × 180 260
230 180 × 180 260
170 180 × 180 190
170 180 × 180 190
230 180 × 180 260
230 180 × 180 260
170 180 × 180 190
230 180 × 180 260
230 180 × 180 260
230 180 × 180 260
230 180 × 180 260
145
145
145
145
200
200
200
200
200
200
200
200
200
200
200
200
200
115
115
165
165
115
165
220
220
165
165
220
220
165
220
220
220
220
114
114
163
163
114
163
214
214
163
163
214
214
163
214
214
214
214
84
98
12.5
12.5
12
35
35
53
53
35
53
53
57
53
53
57
57
53
57
57
57
57
84
98
900W
2kW
149
122
122
84
103
103
98
149
12
129
12.5
12
1/11
1/21
1/25
1/5
149
122
168
168
122
122
168
168
122
168
168
168
168
103
165
165
103
103
165
165
103
165
165
165
165
231
12
231
12
149
12
1/11
1/20
1/25
1/5
149
12
3kW
231
12
231
12
149
12.0
12.0
12.0
12.0
12.0
4.5kW 1/12
1/20
254.5
254.5
184.5
254.5
1/5
6kW
1/12
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Decelerator with a straight shaft with key and tap, add “J” to the end of the model number, in the place indicated by the box.
(e.g., R88G-HPG32A05900TBJ)
Note: 3. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 4. Applicable for the servomotors with key, if the key is removed.
Note: 5. The dimensional drawings in this document are designed to indicate only the main dimensions. They do not necessarily represent the detailed shapes of the products.
Outline Drawings 1
Four,
Z2 dia.
Set bolt (AT)
Key and tap Dimensions
QK
E
C1
b
D2 dia.
S dia., height: 7
D1 dia.
M (depth: L)
T
F1
F2
C2
Four, Z1 dia.
G
LR
LM
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
80
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Dimensions (mm)
Key Dimensions
Tap Dimensions
Model
G
S
T
Z1
Z2
AT*1
QK
b
h
8
t1
5
M
L
13
13
16
16
13
16
25
25
16
16
25
25
16
25
25
25
25
40
40
50
50
40
50
80
80
50
50
80
80
50
80
80
80
80
82
82
11
11
14
14
11
14
18
18
14
14
18
18
14
18
18
18
18
M8 × 25
M8 × 25
M6
M6
M6
M6
M6
M6
M8
M8
M6
M6
M8
M8
M6
M8
M8
M8
M8
70
70
12
12
14
14
12
14
22
22
14
14
22
22
14
22
22
22
22
M10
M10
M10
M10
M10
M10
M16
M16
M10
M10
M16
M16
M10
M16
M16
M16
M16
20
20
20
20
20
20
35
35
20
20
35
35
20
35
35
35
35
R88G-HPG32A05900TB@
R88G-HPG32A11900TB@
R88G-HPG50A21900TB@
R88G-HPG50A33900TB@
R88G-HPG32A052K0TB@
R88G-HPG50A112K0TB@
R88G-HPG50A212K0TB@
R88G-HPG65A255K0SB@
R88G-HPG50A055K0SB@
R88G-HPG50A115K0SB@
R88G-HPG65A205K0SB@
R88G-HPG65A255K0SB@
R88G-HPG50A054K5TB@
R88G-HPG65A127K5SB@
R88G-HPG65A204K5TB@
R88G-HPG65A057K5SB@
R88G-HPG65A127K5SB@
1/5
1/11
1/21
1/33
1/5
8
5
900W
2kW
82
M8 × 25
70
9
5.5
5.5
5
82
M8 × 25
70
9
82
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
70
8
82
70
9
5.5
9
1/11
1/21
1/25
1/5
130
130
82
110
110
70
14
14
9
9
5.5
5.5
9
82
70
9
1/11
1/20
1/25
1/5
3kW
130
130
82
110
110
70
14
14
9
9
5.5
9
130
130
130
130
110
110
110
110
14
14
14
14
1/12 4.5kW
1/20
9
9
1/5
6kW
1/12
9
*1. This is the set bolt.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
81
Backlash: 15 Arcminutes Max.
<Cylinder Type>
● 3,000-r/min Servomotors (50 to 750 W)
Dimensions (mm)
Model
LM
LR
C1
C2
D1
D2
D3
D4
E3
F
G
1/5
1/9
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
67.5
67.5
78.0
78.0
67.5
67.5
78.0
78.0
72.5
89.5
100.0
100.0
89.5
89.5
100.0
100.0
93.5
97.5
110.0
110.0
32
32
32
32
32
32
32
32
32
50
50
50
50
50
50
50
50
61
61
61
52
52
52
52
52
52
52
52
52
78
78
78
78
78
78
78
78
98
98
98
40
40
40
40
40
40
40
40
60
60
60
60
60
60
60
60
80
80
80
80
46
46
46
46
46
46
46
46
70
70
70
70
70
70
70
70
90
90
90
90
60
60
60
60
60
60
60
60
60
90
90
90
90
90
90
90
90
115
115
115
50
50
50
50
50
50
50
50
50
70
70
70
70
70
70
70
70
90
90
90
45
45
45
45
45
45
45
45
45
62
62
62
62
62
62
62
62
75
75
75
10
10
10
10
10
10
10
10
10
17
17
17
17
17
17
17
17
18
18
18
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
5
5
5
6
6
50 W
100 W
200 W
400 W
750 W
1/15
1/25
1/5
6
6
6
1/9
6
1/15
1/25
1/5
6
6
10
8
1/9
1/15
1/25
1/5
8
8
8
1/9
8
1/15
1/25
1/5
8
8
10
10
10
10
1/9
1/15
1/25
Note: 1. The standard models have a straight shaft with a key.
Note: 2. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 3. Applicable for the servomotors with key, if the key is removed.
Outline Drawings
E3
F
Four, Z2 (effective depth: L)
Four, Z1
C2 × C2
G
T
C1 × C1
LM
LR
82
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Dimensions (mm)
Key dimensions
Model
S
T
Z1
Z2
AT
L
QK
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
12
12
12
12
12
12
12
12
12
19
19
19
19
19
19
19
19
24
24
24
20
20
20
20
20
20
20
20
20
30
30
30
30
30
30
30
30
40
40
40
M4
M4
M4
M4
M4
M4
M4
M4
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M6
M6
M6
M6
M6
M6
M6
M6
M8
M8
M8
M3
M3
M3
M3
M3
M3
M3
M3
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
12
12
12
12
12
12
12
12
12
20
20
20
20
20
20
20
20
20
20
20
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
R88G-VRSF05B100CJ
1/5
1/9
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
50 W
100 W
200 W
400 W
750 W
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
4
1/15
1/25
4
Outline Drawings
Set bolt (AT)
Key Dimensions
t1
QK
h
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
83
Backlash: 15 Arcminutes Max.
<Flat Servomotors>
● 3,000-r/min Servomotors (100 to 400 W)
Dimensions (mm)
Model
LM
LR
C1
C2
D1
D2
D3
D4
E3
F
G
1/5
1/9
R88G-VRSF05B100PCJ
R88G-VRSF09B100PCJ
R88G-VRSF15B100PCJ
R88G-VRSF25B100PCJ
R88G-VRSF05B200PCJ
R88G-VRSF09C200PCJ
R88G-VRSF15C200PCJ
R88G-VRSF25C200PCJ
R88G-VRSF05C400PCJ
R88G-VRSF09C400PCJ
R88G-VRSF15C400PCJ
R88G-VRSF25C400PCJ
67.5
67.5
32
32
32
32
32
50
50
50
50
50
50
50
52
52
52
52
52
78
78
78
78
78
78
78
60
60
60
60
80
80
80
80
80
80
80
80
70
70
70
70
90
90
90
90
90
90
90
90
60
60
60
60
60
90
90
90
90
90
90
90
50
50
50
50
50
70
70
70
70
70
70
70
45
45
45
45
45
62
62
62
62
62
62
62
10
10
10
10
10
17
17
17
17
17
17
17
3
3
3
3
3
3
3
3
3
3
3
3
8
8
100 W
200 W
400 W
1/15
1/25
1/5
78.0
8
78.0
8
72.5
12
12
12
12
12
12
12
12
1/9
89.5
1/15
1/25
1/5
100.0
100.0
89.5
1/9
89.5
1/15
1/25
100.0
100.0
Note: 1. The standard models have a straight shaft with a key.
Note: 2. Applicable for the servomotors with key, if the key is removed.
Outline Drawings
E3
F
Four, Z1
Four, Z2 (effective depth: L)
C1 × C1
G
T
C2 × C2
LM
LR
84
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
Dimensions (mm)
Key dimensions
Model
S
T
Z1
Z2
AT
L
QK
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
12
12
12
12
12
19
19
19
19
19
19
19
20
20
20
20
20
30
30
30
30
30
30
30
M4
M4
M4
M4
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M6
M6
M6
M6
M6
M6
M6
M3
M3
M3
M3
M4
M4
M4
M4
M4
M4
M4
M4
12
12
12
12
12
20
20
20
20
20
20
20
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
1/5
1/9
R88G-VRSF09B100PCJ
R88G-VRSF15B100PCJ
R88G-VRSF25B100PCJ
R88G-VRSF05B200PCJ
R88G-VRSF09C200PCJ
R88G-VRSF15C200PCJ
R88G-VRSF25C200PCJ
R88G-VRSF05C400PCJ
R88G-VRSF09C400PCJ
R88G-VRSF15C400PCJ
R88G-VRSF25C400PCJ
100 W
200 W
400 W
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
Outline Drawings
Set bolt (AT)
Key Dimensions
t1
QK
h
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
85
● Parameter Unit
R88A-PR02G
(62)
(24)
M3 (depth: 5)
(15)
Mini DIN 8-pin
MD connector
(1500)
● External Regeneration Resistor
R88A-RR22047S1
Thermal switch output
6
t1.2
500
200
20
220
230
R88A-RR08050S/-RR080100S
Thermal switch output
6
t1.2
500
104
122
130
20
R88A-RR50020S
360
386
402
25 43
78
10
86
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
● Reactor
3G3AX-DL2002
3G3AX-DL2004
3G3AX-AL2025
3G3AX-AL2055
Model
A
C
Y
Model
L
3G3AX-AL2025
3G3AX-AL2055
120 82
120 98
67
75
Ground terminal (M5)
3G3AX-DL2002
3G3AX-DL2004
85
95
Six, M4
terminal screws
Terminal
block
60
40
Two, M4
Ro
R
So
S
To
T
Ground terminal
(M4)
56
66
L
4-5.2 × 8
Ro R So S To
T
Connection Diagram
Four, 6 dia.
(Notch)
Y±1
C
50±1
A
9.5
3G3AX-DL2007
3G3AX-DL2015
3G3AX-AL2110
3G3AX-AL2220
Model
L
Terminal holes:
Six, K dia.
3G3AX-DL2007
3G3AX-DL2015
105
115
A
D
55
Ro
R
So
S
To
T
Two, M4
Ground terminal
(M4)
56
66
4-5.2 × 8
Ro R So S To
Connection Diagram
T
L
X±1
Y±1
W
Four, 6 dia.
(Notch)
C
W=Terminal width
Ground terminal (M6)
Model
A
C
D
H
H1
X
Y
K
W
3G3AX-AL2110
3G3AX-AL2220
150 103 70 170 108 60
180 113 75 190 140 90
80
90
5.3
12
8.4 16.5
3G3AX-DL2022
Two, M4
Ground terminal
(M4)
71
86
4-6 × 9
105
About Manuals
English Cat. No. Japanese Cat. No.
Type
Name
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog
Inputs User’s Manual
I562
SBCE-349
SBCE-337
R88M-G/R88D-GT
CXONE-@@@@C-V@/
CXONE-@@@@D-V@
W453
CX-Drive OPERATION MANUAL
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT
87
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Saves Space and Enables MECHATROLINK-II Communications with
the Controller.
• Data transfer using MECHATROLINK-Ⅱ (See Note 1) Communications:
All control data that can be interfaced between the Servo Driver and the Controller is transmitted using data communications.
This enables maximizing the Servomotor performance without restricting the transmission performance of the control signals.
• Having a communications module built into the Servo Driver significantly saves space in the control panel.
Note: 1. MECHATROLINK-II is a registered trademark of the MECHATROLINK Members Association.
Note: 2. CX-Drive (version 1.62) support for G-series Servo Drivers with MECHATROLINK-II Communications can be
System Configuration
obtained by using the CX-One V2/V3 auto-update function from July 31, 2008.
Controllers
Monitor Software
Parameter Unit
R88A-PR02G
CX-Drive
See Note 2
CS-series PLC
CJ-series PLC
Personal Computer Monitor Cable
R88A-CCG002P2
Position Control Unit
MECHATROLINK-II
MECHATROLINK-II Cables
CJ1W-NCF71
CS1W-NCF71
(With ring core and USB connector on both ends)
FNY-W6003-@@ (OMRON model number)
MECHATROLINK-II Repeater
Number of
connected
devices
Maximum transmission distance
0 to 30 m
30 to 50 m
50 to 100 m
1 to 15
16
Repeater not required. Repeater not required. Repeater required.
Repeater not required. Repeater required. Repeater required.
Support Software
CX-One FA Integrated Tool Package (for Ver.2.0)
(Including CX-Motion-NCF (See Note 3)
and CX-Drive)
Note 3. The CX-Motion-NCF is supported from version 1.6.
88
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Connector-Terminal Block
Conversion Units and Cable
Connector-Terminal Block Conversion Unit
XW2@-20G@
AC Servo Drives
I/O signals
Power Cables
Standard Cables
Without Brake
R88A-CAG@@@@S
With Brake
R88A-CAG@@@@B
Cable
XW2Z-@@@J-B33
Robot Cable
Without Brakes
R88A-CAG@@@@SR
With Brake
G-series
AC Servo Drive
R88A-CAG@@@@BR
R88D-GN@@-ML2
AC Servomotors
Motor power signals
feedback signals
Encoder Cables
Model without Decelerators
R88M-G
Standard Cables
50 W to 750 W
R88A-CRG@@@@C
900 W to 7.5 kW
R88A-CRGC@@@N
Robot Cables
50 W to 750 W
R88A-CRG@@@@CR
900 W to 7.5 kW
R88A-CRGC@@@NR
Decelerators
Absolute Encoder Battery Cable
R88A-CRGD0R3C (-BS)
Peripheral Devices
Backlash: 3 Arcminutes Max.
R88G-HPG
One Battery is included with Servo Drivers
with model numbers ending in “BS.”
Reactors
3G3AX-DL
3G3AX-AL
Backlash: 15 Arcminutes Max.
R88G-VRSF
(
)
External Regeneration Resistors
R88A-RR
*Not required if a battery is connected to the
control connector (CN1).
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
89
Interpreting Model Numbers
● Servo Driver Model Numbers
The model number provides information such as the Servo Drive type, the applicable Servomotor capacity, and the power supply voltage.
R88D-GN01H-ML2
G-series
Servo Drive
Drive Type
N: Network 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
50: 5 kW
75: 7.5 kW
Power Supply Voltage
L: 100 VAC
H: 200 VAC
Network type
ML2: MECHATROLINK-II Communications
● Servomotor Model Numbers
R88M-GP10030H-BOS2
G-series
Servomotor
Motor Type
Blank: Cylinder type
P:
Flat type
Servomotor Capacity
050: 50 W
100: 100 W
200: 200 W
400: 400 W
750: 750 W
900: 900 W
1K0: 1 kW
1K5: 1.5 kW
2K0: 2 kW
3K0: 3 kW
4K0: 4 kW
4K5: 4.5 kW
5K0: 5 kW
Rated Rotation Speed
10: 1,000 r/min
15: 1,500 r/min
20: 2,000 r/min
6K0: 6 kW
30: 3,000 r/min
7K5: 7.5 kW
Applied Voltage
H: 200 VAC with incremental encoder specifications
L: 100 VAC with incremental encoder specifications
T: 200 VAC with absolute encoder specifications
S: 100 VAC with absolute encoder specifications
Option
Blank: Straight shaft
B:
With brake
O:
S2:
With oil seal
Withkey and tap
90
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
● Understanding Decelerator Model Numbers
Backlash = 3' Max.
R88G-HPG14A05100PBJ
Decelerator for
G-Series Servomotors
Backlash = 3’ Max.
Flange Size Number
11A :@40
Gear Ratio
05 :1/5
14A :@60
20A :@90
09 :1/9 (only frame number 11A)
11 :1/11 (except frame number 65A)
12 :1/12 (only frame number 65A)
20 :1/20 (only frame number 65A)
21 :1/21 (except frame number 65A)
25 :1/25 (only frame number 65A)
33 :1/33
32A :@120
50A :@170
65A :@230
45 :1/45
Applicable Servomotor Capacity
050 : 50 W
100 :100 W
200 :200 W
400 :400 W
750 :750 W
900 :900 W
1K0 :1 kW
1K5 :1.5 kW
2K0 :2 kW
3K0 :3 kW
Motor Type
Blank :3,000-r/min cylindrical servomotors
P
S
T
:flat servomotors
:2,000-r/min servomotors
:1,000-r/min servomotors
Backlash
B
:3’ max.
4K0 :4 kW
4K5 :4.5 kW
5K0 :5 kW
Option
Blank :Straight shaft
6K0 :6 kW
J
:With key and tap
7K5 :7 kW
Backlash = 15' Max.
R88G-VRSF09B100PCJ
Decelerator for
G-Series Servomotors
Backlash = 15’ Max.
Gear Ratio
05 :1/5
09 :1/9
15 :1/15
25 :1/25
Flange Size Number
B
C
D
:@52
:@78
:@98
Applicable Servomotor Capacity
050 : 50 W
100 :100 W
Motor Type
Blank :3,000-r/min cylindrical servomotors
200 :200 W
P
:flat servomotors
400 :400 W
750 :750 W
Backlash
C
:15’ max.
Option
J
:With key and tap
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
91
Ordering Information
● Servo Drives
Specifications
Model
50 W
R88D-GNA5L-ML2
R88D-GN01L-ML2
R88D-GN02L-ML2
R88D-GN04L-ML2
100 W
200 W
400 W
50 W
Single-phase 100 VAC
Single-phase 200 VAC
R88D-GN01H-ML2
100 W
200 W
400 W
750 W
1 kW
R88D-GN02H-ML2
R88D-GN04H-ML2
R88D-GN08H-ML2
R88D-GN10H-ML2
Single-phase/three-phase 200
VAC
900 W
1 kW
R88D-GN15H-ML2
1.5 kW
2 kW
R88D-GN20H-ML2
R88D-GN30H-ML2
2 kW
3 kW
3 kW
Three-phase 200 VAC
4 kW
R88D-GN50H-ML2
R88D-GN75H-ML2
4.5 kW
5 kW
6 kW
7.5 kW
92
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
● Servomotors
3,000-r/min Cylindrical Servomotors
INC
Model
Straight shaft with key and tap
Specifications
Straight shaft
50 W
100 W
200 W
400 W
50 W
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
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
100 V
100 W
200 W
400 W
750 W
50 W
200 V
100 V
200 V
100 W
200 W
400 W
50 W
100 W
200 W
400 W
750 W
Note: Models with oil seals are also available.
3,000-r/min Cylindrical Servomotors
ABS/INC
Model
Specifications
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
50 W
100 W
200 W
400 W
50 W
100 V
100 W
200 W
400 W
750 W
1 kW
200 V
100 V
200 V
1.5 kW
2 kW
3 kW
4 kW
5 kW
50 W
100 W
200 W
400 W
50 W
100 W
200 W
400 W
750 W
1 kW
1.5 kW
2 kW
3 kW
4 kW
5 kW
Note: Models with oil seals are also available.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
93
3,000-r/min Flat Servomotors
INC
Model
Straight shaft with key and tap
Specifications
Straight shaft
R88M-GP10030L
R88M-GP20030L
R88M-GP40030L
R88M-GP10030H
R88M-GP20030H
R88M-GP40030H
R88M-GP10030L-B
R88M-GP20030L-B
R88M-GP40030L-B
R88M-GP10030H-B
R88M-GP20030H-B
R88M-GP40030H-B
100 W
R88M-GP10030L-S2
R88M-GP20030L-S2
R88M-GP40030L-S2
R88M-GP10030H-S2
R88M-GP20030H-S2
R88M-GP40030H-S2
R88M-GP10030L-BS2
R88M-GP20030L-BS2
R88M-GP40030L-BS2
R88M-GP10030H-BS2
R88M-GP20030H-BS2
R88M-GP40030H-BS2
100 V
200 V
100 V
200 V
200 W
400 W
100 W
200 W
400 W
100 W
200 W
400 W
100 W
200 W
400 W
Note: Models with oil seals are also available.
3,000-r/min Flat Servomotors
ABS/INC
Model
Specifications
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
100 W
200 W
400 W
100 W
200 W
400 W
100 W
200 W
400 W
100 W
200 W
400 W
100 V
200 V
100 V
200 V
Note: Models with oil seals are also available.
2,000-r/min Cylindrical Servomotors
ABS/INC
Model
Specifications
Straight shaft
R88M-G1K020T
R88M-G1K520T
R88M-G2K020T
R88M-G3K020T
R88M-G4K020T
R88M-G5K020T
R88M-G7K515T
R88M-G1K020T-B
R88M-G1K520T-B
R88M-G2K020T-B
R88M-G3K020T-B
R88M-G4K020T-B
R88M-G5K020T-B
R88M-G7K515T-B
Straight shaft with key and tap
R88M-G1K020T-S2
R88M-G1K520T-S2
R88M-G2K020T-S2
R88M-G3K020T-S2
R88M-G4K020T-S2
R88M-G5K020T-S2
R88M-G7K515T-S2
R88M-G1K020T-BS2
R88M-G1K520T-BS2
R88M-G2K020T-BS2
R88M-G3K020T-BS2
R88M-G4K020T-BS2
R88M-G5K020T-BS2
R88M-G7K515T-BS2
1 kW
1.5 kW
2 kW
200 V
3 kW
4 kW
5 kW
7.5 kW
1 kW
1.5 kW
2 kW
200 V
3 kW
4 kW
5 kW
7.5 kW
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.
94
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
1,000-r/min Cylindrical Servomotors
ABS/INC
Model
Straight shaft with key and tap
Specifications
Straight shaft
900 W
2 kW
R88M-G90010T
R88M-G2K010T
R88M-G3K010T
R88M-G4K510T
R88M-G6K010T
R88M-G90010T-B
R88M-G2K010T-B
R88M-G3K010T-B
R88M-G4K510T-B
R88M-G6K010T-B
R88M-G90010T-S2
R88M-G2K010T-S2
R88M-G3K010T-S2
R88M-G4K510T-S2
R88M-G6K010T-S2
R88M-G90010T-BS2
R88M-G2K010T-BS2
R88M-G3K010T-BS2
R88M-G4K510T-BS2
R88M-G6K010T-BS2
200 V
3 kW
4.5 kW
6 kW
900 W
2 kW
200 V
3 kW
4.5 kW
6 kW
Note: Models with oil seals are also available.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
95
● Decelerators
Backlash: 3 Arcminutes Max.
Decelerators for 3,000-r/min Cylindrical Servomotors
Straight shaft
Backlash: 3 Arcminutes Max.
Decelerators for 3,000-r/min Flat Servomotors
Straight shaft
Specifications
Model
Specifications
Model
Motor capacity
Gear ratio
Motor capacity
Gear ratio
1/5
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
R88G-HPG32A051K0B
R88G-HPG32A111K0B
R88G-HPG32A211K0B
R88G-HPG32A331K0B
R88G-HPG50A451K0B
R88G-HPG32A052K0B
R88G-HPG32A112K0B
R88G-HPG32A211K5B
R88G-HPG50A332K0B
R88G-HPG50A451K5B
R88G-HPG32A052K0B
R88G-HPG32A112K0B
R88G-HPG50A212K0B
R88G-HPG50A332K0B
R88G-HPG32A053K0B
R88G-HPG50A113K0B
R88G-HPG50A213K0B
R88G-HPG32A054K0B
R88G-HPG50A115K0B
R88G-HPG50A055K0B
R88G-HPG50A115K0B
1/5
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
1/9
1/11
1/21
1/33
1/45
1/5
50 W
1/21
1/33
1/45
1/5
100 W
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
100 W
200 W
400 W
750 W
200 W
400 W
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
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.
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 kW
1/11
1/21
1/33
1/45
1/5
1.5 kW
1/11
1/21
1/33
1/5
2 kW
3 kW
1/11
1/21
1/5
4 kW
5 kW
1/11
1/5
1/11
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.
96
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Backlash: 3 Arcminutes Max.
Decelerators for 2,000-r/min Cylindrical Servomotors
Straight shaft
Backlash: 3 Arcminutes Max.
Decelerators for 1,000-r/min Cylindrical Servomotors
Straight shaft
Specifications
Model
Specifications
Model
Motor capacity
Gear ratio
1/5
Motor capacity
Gear ratio
1/5
R88G-HPG32A053K0B
R88G-HPG32A112K0SB
R88G-HPG32A211K0SB
R88G-HPG50A332K0SB
R88G-HPG50A451K0SB
R88G-HPG32A053K0B
R88G-HPG32A112K0SB
R88G-HPG50A213K0B
R88G-HPG50A332K0SB
R88G-HPG32A053K0B
R88G-HPG32A112K0SB
R88G-HPG50A213K0B
R88G-HPG50A332K0SB
R88G-HPG32A054K0B
R88G-HPG50A115K0B
R88G-HPG50A213K0SB
R88G-HPG65A253K0SB
R88G-HPG50A054K0SB
R88G-HPG50A114K0SB
R88G-HPG65A204K0SB
R88G-HPG65A254K0SB
R88G-HPG50A055K0SB
R88G-HPG50A115K0SB
R88G-HPG65A205K0SB
R88G-HPG65A255K0SB
R88G-HPG65A057K5SB
R88G-HPG65A127K5SB
R88G-HPG32A05900TB
R88G-HPG32A11900TB
R88G-HPG50A21900TB
R88G-HPG50A33900TB
R88G-HPG32A052K0TB
R88G-HPG50A112K0TB
R88G-HPG50A212K0TB
R88G-HPG65A255K0SB
R88G-HPG50A055K0SB
R88G-HPG50A115K0SB
R88G-HPG65A205K0SB
R88G-HPG65A255K0SB
R88G-HPG50A054K5TB
R88G-HPG65A127K5SB
R88G-HPG65A204K5TB
R88G-HPG65A057K5SB
R88G-HPG65A127K5SB
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/5
900 W
1 kW
1/11
1/21
1/25
1/5
2 kW
3 kW
1/11
1/21
1/33
1/5
1.5 kW
2 kW
3 kW
4 kW
1/11
1/20
1/25
1/5
1/11
1/21
1/33
1/5
4.5 kW
6 kW
1/12
1/20
1/5
1/11
1/21
1/25
1/5
1/12
Note: 1. The standard models have a straight shaft.
Note: 2. Models with a key and tap are indicated with "J" at the end of the model
number.
1/11
1/20
1/25
1/5
1/11
1/20
1/25
1/5
5 kW
7.5 kW
1/12
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.
Backlash: 15 Arcminutes Max.
Backlash: 15 Arcminutes Max.
Decelerators for 3,000-r/min Cylindrical Servomotors
Straight shaft with key and tap
Decelerators for 3,000-r/min Flat Servomotors
Straight shaft with key and tap
Specifications
Model
Specifications
Model
Motor capacity
Gear ratio
1/5
Motor capacity
Gear ratio
1/5
R88G-VRSF05B100CJ
R88G-VRSF09B100CJ
R88G-VRSF15B100CJ
R88G-VRSF25B100CJ
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
R88G-VRSF05B100PCJ
R88G-VRSF09B100PCJ
R88G-VRSF15B100PCJ
R88G-VRSF25B100PCJ
R88G-VRSF05B200PCJ
R88G-VRSF09C200PCJ
R88G-VRSF15C200PCJ
R88G-VRSF25C200PCJ
R88G-VRSF05C400PCJ
R88G-VRSF09C400PCJ
R88G-VRSF15C400PCJ
R88G-VRSF25C400PCJ
1/9
1/9
50 W
100 W
1/15
1/25
1/5
1/15
1/25
1/5
1/9
1/9
100 W
200 W
400 W
750 W
200 W
400 W
1/15
1/25
1/5
1/15
1/25
1/5
1/9
1/9
1/15
1/25
1/5
1/15
1/25
1/9
1/15
1/25
1/5
1/9
1/15
1/25
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
97
● Accessories and Cables
• Servomotor Power Cables (Standard Cables)
• Servomotor Power Cables (Standard Cables)
For Servomotor without brake
For Servomotor with brake
Specifications
Model
Specifications
Model
3 m
5 m
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
3 m
5 m
R88A-CAGB003B
R88A-CAGB005B
R88A-CAGB010B
R88A-CAGB015B
R88A-CAGB020B
R88A-CAGB030B
R88A-CAGB040B
R88A-CAGB050B
R88A-CAGC003B
R88A-CAGC005B
R88A-CAGC010B
R88A-CAGC015B
R88A-CAGC020B
R88A-CAGC030B
R88A-CAGC040B
R88A-CAGC050B
R88A-CAGD003B
R88A-CAGD005B
R88A-CAGD010B
R88A-CAGD015B
R88A-CAGD020B
R88A-CAGD030B
R88A-CAGD040B
R88A-CAGD050B
10 m
15 m
20 m
30 m
40 m
50 m
3 m
10 m
15 m
20 m
30 m
40 m
50 m
3 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
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of 100 to 400 W
5 m
5 m
10 m
15 m
20 m
30 m
40 m
50 m
3 m
10 m
15 m
20 m
30 m
40 m
50 m
3 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
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
5 m
5 m
10 m
15 m
20 m
30 m
40 m
50 m
3 m
10 m
15 m
20 m
30 m
40 m
50 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
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
• Brake Cables (Standard Cables)
5 m
Specifications
Model
10 m
15 m
20 m
30 m
40 m
50 m
3 m
3 m
5 m
R88A-CAGA003B
R88A-CAGA005B
R88A-CAGA010B
R88A-CAGA015B
R88A-CAGA020B
R88A-CAGA030B
R88A-CAGA040B
R88A-CAGA050B
R88A-CAGE003B
R88A-CAGE005B
R88A-CAGE010B
R88A-CAGE015B
R88A-CAGE020B
R88A-CAGE030B
R88A-CAGE040B
R88A-CAGE050B
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
10 m
15 m
20 m
30 m
40 m
50 m
3 m
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of 100 to 400 W
5 m
10 m
15 m
20 m
30 m
40 m
50 m
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 6 kW
5 m
10 m
15 m
20 m
30 m
40 m
50 m
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 6 kW
Note: There are separate connectors for power and brakes for 3,000-r/min Ser-
vomotors 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.
98
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
• Encoder Cables (Standard Cables)
• Servomotor Power Cables (Robot Cables)
For Servomotor without brake
Specifications
Model
Specifications
Model
3 m
R88A-CRGA003C
R88A-CRGA005C
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
3 m
5 m
R88A-CAGA003SR
R88A-CAGA005SR
5 m
10 m
15 m
20 m
30 m
40 m
50 m
3 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
10 m R88A-CAGA010SR
15 m R88A-CAGA015SR
20 m R88A-CAGA020SR
30 m R88A-CAGA030SR
40 m R88A-CAGA040SR
50 m R88A-CAGA050SR
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of
100 to 400 W
3 m
5 m
R88A-CAGB003SR
R88A-CAGB005SR
5 m
10 m
15 m
20 m
30 m
40 m
50 m
3 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
10 m R88A-CAGB010SR
15 m R88A-CAGB015SR
20 m R88A-CAGB020SR
30 m R88A-CAGB030SR
40 m R88A-CAGB040SR
50 m R88A-CAGB050SR
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
3 m
5 m
R88A-CAGC003SR
R88A-CAGC005SR
5 m
10 m
15 m
20 m
30 m
40 m
50 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
10 m R88A-CAGC010SR
15 m R88A-CAGC015SR
20 m R88A-CAGC020SR
30 m R88A-CAGC030SR
40 m R88A-CAGC040SR
50 m R88A-CAGC050SR
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
• Absolute Encoder Battery Cable
Specifications
3 m
5 m
R88A-CAGD003SR
R88A-CAGD005SR
Model
Absolute Encoder Battery Cable
(Battery not included.)
10 m R88A-CAGD010SR
15 m R88A-CAGD015SR
20 m R88A-CAGD020SR
30 m R88A-CAGD030SR
40 m R88A-CAGD040SR
50 m R88A-CAGD050SR
0.3 m
0.3 m
R88A-CRGD0R3C
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
Absolute Encoder Battery Cable
(One R88A-BAT01G Battery included.)
R88A-CRGD0R3C-BS
• Absolute Encoder Backup Battery
Specifications
Model
2,000 mA·h 3.6 V
R88A-BAT01G
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
99
• Servomotor Power Cables (Robot Cables)
• Encoder Cables (Robot Cables)
For Servomotor with brake
Specifications
Model
Specifications
Model
3 m R88A-CRGA003CR
5 m R88A-CRGA005CR
10 m R88A-CRGA010CR
15 m R88A-CRGA015CR
20 m R88A-CRGA020CR
30 m R88A-CRGA030CR
40 m R88A-CRGA040CR
50 m R88A-CRGA050CR
3 m R88A-CRGB003CR
5 m R88A-CRGB005CR
10 m R88A-CRGB010CR
15 m R88A-CRGB015CR
20 m R88A-CRGB020CR
30 m R88A-CRGB030CR
40 m R88A-CRGB040CR
50 m R88A-CRGB050CR
3 m R88A-CRGC003NR
5 m R88A-CRGC005NR
10 m R88A-CRGC010NR
15 m R88A-CRGC015NR
20 m R88A-CRGC020NR
30 m R88A-CRGC030NR
40 m R88A-CRGC040NR
50 m R88A-CRGC050NR
3 m
5 m
R88A-CAGB003BR
R88A-CAGB005BR
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
10 m R88A-CAGB010BR
15 m R88A-CAGB015BR
20 m R88A-CAGB020BR
30 m R88A-CAGB030BR
40 m R88A-CAGB040BR
50 m R88A-CAGB050BR
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
3 m
5 m
R88A-CAGC003BR
R88A-CAGC005BR
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
10 m R88A-CAGC010BR
15 m R88A-CAGC015BR
20 m R88A-CAGC020BR
30 m R88A-CAGC030BR
40 m R88A-CAGC040BR
50 m R88A-CAGC050BR
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
3 m
5 m
R88A-CAGD003BR
R88A-CAGD005BR
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
10 m R88A-CAGD010BR
15 m R88A-CAGD015BR
20 m R88A-CAGD020BR
30 m R88A-CAGD030BR
40 m R88A-CAGD040BR
50 m R88A-CAGD050BR
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
• Communications Cables
• Brake Cables (Robot Cables)
Specifications
Model
Specifications
Model
RS-232 Communications Cable
(Personal Computer Monitor Cable)
2 m
R88A-CCG002P2
3 m
5 m
R88A-CAGA003BR
R88A-CAGA005BR
• Connectors
10 m R88A-CAGA010BR
15 m R88A-CAGA015BR
20 m R88A-CAGA020BR
30 m R88A-CAGA030BR
40 m R88A-CAGA040BR
50 m R88A-CAGA050BR
Specifications
Model
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of 100 to 400 W
Absolute Encoder
R88A-CNG01R
R88A-CNG02R
R88A-CNU01C
R88A-CNW01R
R88A-CNG01A
R88A-CNG01B
Servomotor Connector for
Encoder Cable
Incremental Encoder
Control I/O Connector (CN1)
Encoder Connector (CN2)
Power Cable Connector (750 W max.)
Brake Cable Connector (750 W max.)
• Control Cables
Specifications
Model
XW2Z-100J-B33
XW2Z-200J-B33
XW2B-20G4
1 m
2 m
Connector Terminal Block
Cables
M3 screw type
Connector Terminal Block
M3.5 screw type XW2B-20G5
M3 screw type XW2D-20G6
100
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
• External Regeneration Resistors
• Mounting Brackets (L Brackets for Rack Mounting)
Specifications
Model
Specifications
Model
R88D-GNA5L-ML2/-GN01L-ML2/-GN01H-ML2/
-GN02H-ML2
20 W, 50 Ω
R88A-RR08050S
R88A-RR080100S
R88A-RR22047S1
R88A-RR50020S
R88A-TK01G
20 W, 100 Ω
R88D-GN02L-ML2/-GN04H-ML2
R88D-GN04L-ML2/-GN08H-ML2
R88D-GN10H-ML2/-GN15H-ML2
R88A-TK02G
R88A-TK03G
R88A-TK04G
70 W, 47 Ω
500 W, 20 Ω
• Reactors
• Parameter Unit
Specifications
R88D-GNA5L-ML2/-GN01H-ML2
R88D-GN01L-ML2/-GN02H-ML2
R88D-GN02L-ML2/-GN04H-ML2
R88D-GN04L-ML2/-GN08H-ML2/-GT10H-ML2
R88D-GN15H-ML2
Model
Specifications
Model
3G3AX-DL2002
3G3AX-DL2004
3G3AX-DL2007
3G3AX-DL2015
3G3AX-DL2022
3G3AX-AL2025
3G3AX-AL2055
3G3AX-AL2110
3G3AX-AL2220
Parameter Unit
R88A-PR02G
R88D-GN08H-ML2/-GN10H-ML2/-GN15H-ML2
R88D-GN20H-ML2/-GN30H-ML2
R88D-GN50H-ML2
R88D-GN75H-ML2
• MECHATROLINK-related Devices and Cables (Manufactured by Yaskawa Corporation)
Name
OMRON model number
FNY-W6002-A5
FNY-W6002-01
FNY-W6002-03
FNY-W6002-05
FNY-W6003-A5
FNY-W6003-01
FNY-W6003-03
FNY-W6003-05
FNY-W6003-10
FNY-W6003-20
FNY-W6003-30
FNY-W6022
Yaskawa model number
JEPMC-W6002-A5-E
JEPMC-W6002-01-E
JEPMC-W6002-03-E
JEPMC-W6002-05-E
JEPMC-W6003-A5
JEPMC-W6003-01
JEPMC-W6003-03
JEPMC-W6003-05
JEPMC-W6003-10
JEPMC-W6003-20
JEPMC-W6003-30
JEPMC-W6022
0.5 m
MECHATROLINK-II Cables
1.0 m
(without ring core and USB connector on both ends)
Can be connected to R88D-GN and R88D-KN only.
3.0 m
5.0 m
0.5 m
1.0 m
3.0 m
5.0 m
MECHATROLINK-II Cables
(with ring core and USB connector on both ends)
10.0 m
20.0 m
30.0 m
MECHATROLINK-II Terminating Resistor
MECHATROLINK-II Repeater
Terminating resistance
Communications Repeater
FNY-REP2000
JEPMC-REP2000
Note: MECHATROLINK-related Devices and Cables are manufactured by Yaskawa Corporation, but they can be ordered directly from OMRON using the OMRON
model numbers. (Yaskawa-brand products will be delivered even when they are ordered from OMRON.)
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
101
Servo Drive-Servomotor Combinations
Only the Servomotor and Servo Drive combinations listed here can be used. Do not use other combinations.
● 3,000-r/min Sylindrical Servomotors and Servo Drives
Servomotor
Voltage
Servo Drive
Rated output
50 W
With incremental encoder
With absolute encoder
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-@
R88D-GNA5L-ML2
R88D-GN01L-ML2
R88D-GN02L-ML2
R88D-GN04L-ML2
R88D-GN01H-ML2
R88D-GN01H-ML2
R88D-GN02H-ML2
R88D-GN04H-ML2
R88D-GN08H-ML2
R88D-GN15H-ML2
R88D-GN15H-ML2
R88D-GN20H-ML2
R88D-GN30H-ML2
R88D-GN50H-ML2
R88D-GN50H-ML2
R88M-G05030H-@
100 W
200 W
400 W
50 W
R88M-G10030L-@
100 V
R88M-G20030L-@
R88M-G40030L-@
R88M-G05030H-@
100 W
200 W
400 W
750 W
1 kW
R88M-G10030H-@
Single-phase 200 V
R88M-G20030H-@
R88M-G40030H-@
R88M-G75030H-@
Single-phase/
three-phase 200 V
---
---
---
---
---
---
1.5 kW
2 kW
3 kW
Three-phase 200 V
4 kW
5 kW
● 3,000-r/min Flat Servomotors and Servo Drives
Servomotor
Voltage
Servo Drive
Rated output
100 W
With incremental encoder
R88M-GP10030L-@
R88M-GP20030L-@
R88M-GP40030L-@
R88M-GP10030H-@
R88M-GP20030H-@
R88M-GP40030H-@
With absolute encoder
R88M-GP10030S-@
R88M-GP20030S-@
R88M-GP40030S-@
R88M-GP10030T-@
R88M-GP20030T-@
R88M-GP40030T-@
R88D-GN01L-ML2
R88D-GN02L-ML2
R88D-GN04L-ML2
R88D-GN01H-ML2
R88D-GN02H-ML2
R88D-GN04H-ML2
100 V
200 W
400 W
100 W
Single-phase 200 V
200 W
400 W
● 2,000-r/min Sylindrical Servomotors and Servo Drives
Servomotor
Voltage
Servo Drive
Rated output
1 kW
With absolute encoder
R88M-G1K020T-@
R88M-G1K520T-@
R88M-G2K020T-@
R88M-G3K020T-@
R88M-G4K020T-@
R88M-G5K020T-@
R88M-G7K515T-@
R88D-GN10H-ML2
R88D-GN15H-ML2
R88D-GN20H-ML2
R88D-GN30H-ML2
R88D-GN50H-ML2
R88D-GN50H-ML2
R88D-GN75H-ML2
Single-phase/
three-phase 200 V
1.5 kW
2 kW
3 kW
Three-phase 200 V
4 kW
5 kW
7.5 kW
● 1,000-r/min Sylindrical Servomotors and Servo Drives
Servomotor
Voltage
Servo Drive
Rated output
With absolute encoder
Single-phase/
three-phase 200 V
R88D-GN15H-ML2
900 W
R88M-G90010T-@
R88D-GN30H-ML2
R88D-GN50H-ML2
R88D-GN50H-ML2
R88D-GN75H-ML2
2 kW
3 kW
R88M-G2K010T-@
R88M-G3K010T-@
R88M-G4K510T-@
R88M-G6K010T-@
Three-phase 200 V
4.5 kW
6 kW
102
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Servomotor and Decelerator Combinations
● 3,000-r/min Cylindrical Servomotors
1/11
Motor model
1/5
1/21
1/33
1/45
(1/9 for flange size No.11)
R88G-HPG11A05100B@
(Also used with
R88G-HPG14A21100B@
(Also used with
R88G-HPG11A09050B@
R88M-G05030@
R88G-HPG14A33050B@
R88G-HPG14A45050B@
(Gear ratio 1/9)
R88M-G10030@)
R88M-G10030@)
R88M-G10030@
R88M-G20030@
R88M-G40030@
R88M-G75030@
R88M-G1K030T
R88G-HPG11A05100B@
R88G-HPG14A05200B@
R88G-HPG14A05400B@
R88G-HPG20A05750B@
R88G-HPG32A051K0B@
R88G-HPG14A11100B@
R88G-HPG14A11200B@
R88G-HPG20A11400B@
R88G-HPG20A11750B@
R88G-HPG32A111K0B@
R88G-HPG14A21100B@
R88G-HPG20A21200B@
R88G-HPG20A21400B@
R88G-HPG32A21750B@
R88G-HPG32A211K0B@
R88G-HPG20A33100B@
R88G-HPG20A33200B@
R88G-HPG32A33400B@
R88G-HPG32A33750B@
R88G-HPG32A331K0B@
R88G-HPG20A45100B@
R88G-HPG20A45200B@
R88G-HPG32A45400B@
R88G-HPG32A45750B@
R88G-HPG50A451K0B@
R88G-HPG32A052K0B@
(Also used with
R88G-HPG32A112K0B@
(Also used with
R88G-HPG50A332K0B@
(Also used with
R88M-G1K530T
R88G-HPG32A211K5B@
R88G-HPG50A451K5B@
R88M-G2K030T)
R88M-G2K030T)
R88M-G2K030T)
R88M-G2K030T
R88M-G3K030T
R88G-HPG32A052K0B@
R88G-HPG32A053K0B@
R88G-HPG32A112K0B@
R88G-HPG50A113K0B@
R88G-HPG50A212K0B@
R88G-HPG50A213K0B@
R88G-HPG50A332K0B@
---
---
---
R88G-HPG50A115K0B@
(Also used with
R88M-G4K030T
R88M-G5K030T
R88G-HPG32A054K0B@
R88G-HPG50A055K0B@
---
---
---
---
---
---
R88M-G5K030T)
R88G-HPG50A115K0B@
● 3,000-r/min Flat Servomotors
Motor model
1/5
1/11
1/21
1/33
1/45
R88M-GP10030@ R88G-HPG11A05100PB@ R88G-HPG14A11100PB@ R88G-HPG14A21100PB@ R88G-HPG20A33100PB@ R88G-HPG20A45100PB@
R88M-GP20030@ R88G-HPG14A05200PB@ R88G-HPG20A11200PB@ R88G-HPG20A21200PB@ R88G-HPG20A33200PB@ R88G-HPG20A45200PB@
R88M-GP40030@ R88G-HPG20A05400PB@ R88G-HPG20A11400PB@ R88G-HPG20A21400PB@ R88G-HPG32A33400PB@ R88G-HPG32A45400PB@
● 2,000-r/min Cylindrical Servomotors
1/11
1/21
1/33
Motor model
1/5
1/45
(1/12 for flange size No.65) (1/20 for flange size No.65)(1/25 for flange size No.65)
R88G-HPG32A053K0B@ R88G-HPG32A112K0SB@
R88G-HPG50A332K0SB@
(Also used with
R88M-G1K020T
(Also used with
(Also used with
R88G-HPG32A211K0SB@
R88G-HPG50A451K0SB@
R88M-G3K030T)
R88M-G2K020T)
R88M-G2K020T)
R88G-HPG32A053K0B@ R88G-HPG32A112K0SB@ R88G-HPG50A213K0B@ R88G-HPG50A332K0SB@
R88M-G1K520T
R88M-G2K020T
R88M-G3K020T
(Also used with
(Also used with
(Also used with
(Also used with
---
---
---
R88M-G3K030T)
R88M-G2K020T)
R88M-G3K030T)
R88M-G2K020T)
R88G-HPG32A053K0B@
(Also used with
R88G-HPG50A213K0B@
(Also used with
R88G-HPG32A112K0SB@
R88G-HPG50A332K0SB@
R88M-G3K030T)
R88M-G3K030T)
R88G-HPG32A054K0B@
(Also used with
R88G-HPG50A115K0B@
(Also used with
R88G-HPG50A213K0SB@ R88G-HPG65A253K0SB@
R88M-G4K030T)
R88M-G5K030T)
R88M-G4K020T R88G-HPG50A054K0SB@ R88G-HPG50A114K0SB@ R88G-HPG65A204K0SB@ R88G-HPG65A254K0SB@
R88M-G5K020T R88G-HPG50A055K0SB@ R88G-HPG50A115K0SB@ R88G-HPG65A205K0SB@ R88G-HPG65A255K0SB@
---
---
---
R88M-G7K515T R88G-HPG65A057K5SB@ R88G-HPG65A127K5SB@
---
---
● 1,000-r/min Cylindrical Servomotors
1/11
1/21
1/33
Motor model
R88M-G90010T
R88M-G2K010T
1/5
(1/12 for flange size No.65)
(1/20 for flange size No.65)
(1/25 for flange size No.65)
R88G-HPG32A05900TB@
R88G-HPG32A052K0TB@
R88G-HPG50A055K0SB@
R88G-HPG32A11900TB@
R88G-HPG50A21900TB@
R88G-HPG50A33900TB@
R88G-HPG65A255K0SB@
(Also used with R88M-G5K020T)
R88G-HPG50A112K0TB@
R88G-HPG50A212K0TB@
R88G-HPG50A115K0SB@
R88G-HPG65A205K0SB@
R88G-HPG65A255K0SB@
R88M-G3K010T
R88M-G4K510T
R88M-G6K010T
(Also used with R88M-G5K020T) (Also used with R88M-G5K020T) (Also used with R88M-G5K020T) (Also used with R88M-G5K020T)
R88G-HPG65A127K5SB@
(Also used with R88M-G7K515T)
R88G-HPG50A054K5TB@
R88G-HPG65A057K5SB@
R88G-HPG65A204K5TB@
---
---
R88G-HPG65A127K5SB@
(Also used with R88M-G7K515T) (Also used with R88M-G7K515T)
---
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
103
Cable Combinations
Parameter Unit
AC SERVO DRIVER
ADR
Monitor Software for Windows
0
0
1
1
9
2
2
8
3
3
7
4
6
5
X10
X1
COM
SP
IM
G
Position Control Unit
Connector Terminal Block
Conversion Unit
* 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:
● Power Supply Cables (for CNB) (SR Connection Cables)
Symbol
Name
Connected to
Cylindrical Servomotors, R88A-CAGA@@@S
3,000 r/min, 50 to 750 W The empty boxes in the model
Flat Servomotors, number are for the cable length.
3,000 r/min, 100 to 400 The cable can be 3, 5, 10, 15, 20,
Model
Description
[Servomotor Connector]
(50)
(50)
L
Connector:
172159-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
W
30, 40, or 50 m long.
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
[Servomotor Connector]
R88A-CAGB@@@S
(70)
L
Straight plug:
N/MS3106B20-4S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
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.
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
R88A-CAGC@@@S
Cylindrical Servomotors,
3,000 r/min, 2 kW
Cylindrical Servomotors,
2,000 r/min, 2 kW
(70)
L
Standard Servomotor
Power Cables for
Servomotors without
Brakes
Straight plug:
N/MS3106B20-4S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
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.
(Japan Aviation Electronics Industry, Ltd.)
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
[Servomotor Connector]
R88A-CAGD@@@S
Straight plug:
N/MS3106B22-22S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(70)
L
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.
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
R88A-CAGE@@@S
Cylindrical Servomotors,
1,500 r/min, 7.5 kW
Cylindrical Servomotors,
1,000 r/min, 6 kW
L
Straight plug:
N/MS3106B32-17S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-20A
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.
(120)
(Japan Aviation Electronics Industry, Ltd.)
104
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Symbol
Name
Connected to
Model
Description
(70)
L
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
[Servomotor Connector]
R88A-CAGB@@@B
Straight plug:
N/MS3106B20-18S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
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.
(Japan Aviation Electronics Industry, Ltd.)
(70)
L
[Servomotor Connector]
R88A-CAGC@@@B
Cylindrical Servomotors,
3,000 r/min, 2 kW
Cylindrical Servomotors,
2,000 r/min, 2 kW
Standard Servomotor
Power Cables for
Servomotors with
Brakes
Straight plug:
N/MS3106B20-18S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
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.
(Japan Aviation Electronics Industry, Ltd.)
(70)
L
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
[Servomotor Connector]
R88A-CAGD@@@B
Straight plug:
N/MS3106B24-11S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-16A
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.
(Japan Aviation Electronics Industry, Ltd.)
R88A-CAGA@@@SR
[Servomotor Connector]
Cylindrical Servomotors,
3,000 r/min, 50 to 750 W
Flat Servomotors,
(50)
(50)
L
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.
Connector:
172159-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
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 W
[Servomotor Connector]
R88A-CAGB@@@SR
(70)
L
Straight plug:
N/MS3106B20-4S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
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.
Robot Servomotor
Power Cables for
Servomotors without
Brakes
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
R88A-CAGC@@@SR
Cylindrical Servomotors,
3,000 r/min, 2 kW
Cylindrical Servomotors,
2,000 r/min, 2 kW
(70)
L
Straight plug:
N/MS3106B20-4S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
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.
(Japan Aviation Electronics Industry, Ltd.)
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
[Servomotor Connector]
R88A-CAGD@@@SR
(70)
L
Straight plug:
N/MS3106B22-22S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
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.
(Japan Aviation Electronics Industry, Ltd.)
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
(70)
L
[Servomotor Connector]
R88A-CAGB@@@BR
Straight plug:
N/MS3106B20-18S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
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.
(Japan Aviation Electronics Industry, Ltd.)
(70)
L
[Servomotor Connector]
R88A-CAGC@@@BR
Robot Servomotor
Power Cables for
Servomotors with
Brakes
Cylindrical Servomotors,
3,000 r/min, 2 kW
Cylindrical Servomotors,
2,000 r/min, 2 kW
Straight plug:
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.
N/MS3106B20-18S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
(70)
L
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
[Servomotor Connector]
R88A-CAGD@@@BR
Straight plug:
N/MS3106B24-11S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-16A
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.
(Japan Aviation Electronics Industry, Ltd.)
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
105
● Brake Cables
Symbol
Name
Connected to
Model
Description
R88A-CAGA@@@B
[Servomotor Connector]
Cylindrical Servomotors,
3,000 r/min, 50 to 750 W
Flat Servomotors,
(50)
(70)
(50)
(50)
L
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.
Connector:
172157-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
3,000 r/min, 100 to 400 W
Standard Brake
Cables
[Servomotor Connector]
R88A-CAGE@@@B
Cylindrical Servomotors,
1,500 r/min, 7.5 kW
Cylindrical Servomotors,
1,000 r/min, 6 kW
L
Straight plug:
N/MS3106B14-2S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-6A
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.
(Japan Aviation Electronics Industry, Ltd.)
R88A-CAGA@@@BR
[Servomotor Connector]
Cylindrical Servomotors,
3,000 r/min, 50 to 750 W
Flat Servomotors,
(50)
L
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.
Connector:
172157-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
Robot Brake Cables
3,000 r/min, 100 to 400 W
● Encoder Cables (for CN2)
Symbol
Name
Connected to
Model
Description
[Servomotor Connector]
[Servo Drive Connector]
Cylindrical Servomotors,
3,000 r/min, 50 to 750 W,
absolute encoder
Flat Servomotors, 3,000 r/min,
100 to 400 W, absolute
encoder
Connector:
3 to 20 m:
Connector:
R88A-CRGA@@@C
172161-1
L
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.
(Tyco Electronics AMP KK)
Crimped I/O connector:
(Molex Japan Co., Ltd.)
30 to 50 m: 55100-0670
(Molex Japan Co., Ltd.)
Connector pins:
Connector pins:
170365-1
(Tyco Electronics AMP KK)
171639-1
(Tyco Electronics AMP KK)
50639-8028
(Molex Japan Co., Ltd.)
[Servo Drive Connector]
[Servomotor Connector]
Cylindrical Servomotors,
3,000 r/min, 50 to 750 W,
incremental encoder
Flat Servomotors, 3,000 r/min,
100 to 400 W, incremental
encoder
Connector:
3 to 20 m:
Connector:
R88A-CRGB@@@C
172160-1
L
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.
Crimped I/O connector:
(Molex Japan Co., Ltd.)
30 to 50 m: 55100-0670
(Molex Japan Co., Ltd.)
Connector pins:
(Tyco Electronics AMP KK)
StandardEncoder
Cables with
Connectors
(6.5 dia./6.8 dia.)
Connector pins:
170365-1
(Tyco Electronics AMP KK)
171639-1
50639-8028
(Molex Japan Co., Ltd.)
(Tyco Electronics AMP KK)
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
[Servo Drive Connector]
[Servomotor Connector]
Connector:
3 to 20 m:
Straight plug:
N/MS3106B20-29S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
R88A-CRGC@@@N
L
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.
Crimped I/O connector:
(Molex Japan Co., Ltd.)
30 to 50 m: 55100-0670
(Molex Japan Co., Ltd.)
Connector pins:
(6.5 dia./6.8 dia.)
(Japan Aviation Electronics Industry, Ltd.)
50639-8028
(Molex Japan Co., Ltd.)
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
[Servomotor Connector]
[Servo Drive Connector]
R88A-CRGA@@@CR
L
Connector:
Connector:
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.
Crimped I/O connector:
(Molex Japan Co., Ltd.)
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
172161-1
(Tyco Electronics AMP KK)
Connector pins:
170365-1
(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
[Servo Drive Connector]
[Servomotor Connector]
R88A-CRGB@@@CR
Connector:
Connector:
L
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.
Crimped I/O connector:
(Molex Japan Co., Ltd.)
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
172160-1
Robot Encoder
Cables with
Connectors
(Tyco Electronics AMP KK)
Connector pins:
170365-1
(Tyco Electronics AMP KK)
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
[Servo Drive Connector]
[Servomotor Connector]
R88A-CRGC@@@NR
Connector:
Straight plug:
N/MS3106B20-29S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
L
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.
Crimped I/O connector:
(Molex Japan Co., Ltd.)
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
(Japan Aviation Electronics Industry, Ltd.)
Cylindrical Servomotors,
1,000 r/min, 900 W to 6 kW
● Absolute Encoder Backup Battery and Absolute Encoder Battery Cable
Symbol
Name
Contents
Length (m)
Model
Description
43.5
300
43.5
Battery not included.
0.3 m
R88A-CRGD0R3C
Absolute Encoder Battery Cable
Absolute Encoder Backup Battery
One R88A-BAT01G Battery
included.
0.3 m
---
R88A-CRGD0R3C-BS
R88A-BAT01G
Battery holder
t=12
t=12
---
---
106
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
● RS-232 Communications Connector (for CN3)
Symbol
Name
Parameter Unit
Personal Computer Monitor Cable
Contents
Length (m)
Model
---
1.5 m
R88A-PR02G
for Windows
RS232 Communications
2 m
R88A-CCG002P2
● MECHATROLINK-II Cable (for CN6)
Symbol
Name
Length (m) OMRON model Number Yasukawa model Nunber
Description
0.5 m
1 m
FNY-W6002-A5
FNY-W6002-01
FNY-W6002-03
FNY-W6002-05
FNY-W6003-A5
FNY-W6003-01
FNY-W6003-03
FNY-W6003-05
FNY-W6003-10
FNY-W6003-20
FNY-W6003-30
JEPMC-W6002-A5-E
JEPMC-W6002-01-E
JEPMC-W6002-03-E
JEPMC-W6002-05-E
JEPMC-W6003-A5
JEPMC-W6003-01
JEPMC-W6003-03
JEPMC-W6003-05
JEPMC-W6003-10
JEPMC-W6003-20
JEPMC-W6003-30
(without ring core and USB connector on both ends)
L
MECHATROLINK-II
Communication Cable
*Can be connected to R88D-GN and
R88D-KN only.
3 m
5 m
0.5 m
1.0 m
3.0 m
5.0 m
10 m
20 m
30 m
(without ring core and USB connector on both ends)
L
MECHATROLINK-II
Communication Cable
With ferrite core
MECHATROLINK-II Termination resistor
---
FNY-W6022
JEPMC-W6022
---
● Control Cables (for CN1)
Symbol
Name
Connected to
Model
Description
6
L
39
XW2Z-@@@J-B33
The empty boxes in the model number are
for the cable length.
Connector Termial Block Cables
---
The cable can be 1, or 2 m long.
t=14
M3 screw type
M3.5 screw type
M3 screw type
XW2B-20G4
XW2B-20G5
XW2D-20G6
Connector Terminal Block Conversion
Unit
---
● Control Cables
Symbol
Name
Connected to
Model
Servomoteor Connector for Encoder
Cable, absolute Encoder
---
---
for moter
R88A-CNG01R
Servomoteor Connector for Encoder
Cable, Incremental Encoder
for moter
for drive
R88A-CNG02R
R88A-CNU01C
Control I/O Connector (CN1)
---
---
---
Encoder Connector (CN2)
---
---
---
R88A-CNW01R
R88A-CNG01A
R88A-CNG01B
Power Cable Connector (750 W max.)
Brake Cable Connector (750 W max.)
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
107
Servo Drive Specifications (R88D-GN@-ML2)
● General Specifications
Item
Specifications
0 to 55°C, 90% RH max. (with no condensation)
−20 to 65°C, 90% RH max. (with no condensation)
Ambient operating temperature and humidity
Ambient storage temperature and humidity
Operating and storage atmosphere
No corrosive gases
Smaller of either 10 to 60 Hz with double amplitude of 0.1 mm or acceleration of 5.88 m/s2 max. in X,
Y, and Z directions.
Vibration resistance
Impact resistance
Acceleration of 19.6m/s2 max. 2 times each in X, Y, and Z directions
Insulation resistance
Between power supply/power line terminals and frame ground: 0.5 MΩ min. (at 500 VDC)
Between power supply/power line terminals and frame ground: 1,500 VAC for 1 min at 50/60 Hz
Between each control signal and frame ground: 500 VAC for 1 min
Dielectric strength
Protective structure
Built into panel (IP10).
EN 55011 Class A Group 1
EMC Directive
EC
EN 61000-6-2, IEC 61000-4-2/-3/-4/-5/-6/-11
Directives
Low Voltage Directive EN 50178
International
standards
UL standards
UL 508C
CSA standards
CSA C22.2 No.14
Certified
Korean Radio Regulations (KC)
Note: 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.
Note: 2. Always disconnect all connections to the Servo Drive before you perform insulation resistance tests on it. If you perform an insulation resistance test while the
Servo Drive is connected, the Servo Drive may be damaged.
Never perform dielectric strength tests on the Servo Drive. Failure to follow this precaution may result in damaging internal elements.
Note: 3. Depending on the operating conditions, some Servo Drive parts will require maintenance.
Note: 4. The service life of the Servo Drive is 28,000 hours at an average ambient temperature of 55°C at 100% of the rated torque.
● Characteristics
Servo Drives with 100-VAC Input Power
Item
R88D-GNA5L-ML2
1.3 A
R88D-GN01L-ML2
1.8 A
R88D-GN02L-ML2
2.4 A
R88D-GN04L-ML2
4.9 A
Continuous output current (rms)
Momentary maximum output current (rms)
3.9 A
5.4 A
7.2 A
14.7 A
Power supply capacity
0.4 KVA
0.4 KVA
0.5 KVA
0.9 KVA
Main circuit
Power supply voltage
Rated current
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
2.2 A 3.7 A
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
Input power
supply
1.4 A
6.6 A
Power supply voltage
Rated current
Control circuit
0.09 A
10.1 W
4.4 W
0.09 A
14.4 W
4.4 W
0.09 A
18.4 W
4.4 W
0.09 A
41.4 W
4.4 W
Main circuit
Heat
generated
Control circuit
Control method
Inverter method
PWM frequency
Weight
All-digital servo
IGBT-driven PWM method
12.0 kHz
6.0 kHz
Approx. 0.8 kg
50 W
Approx. 0.8 kg
Approx. 1.1 kg
200 W
Approx. 1.5 kg
400 W
Maximum applicable motor capacity
100 W
G05030H
G10030L
G20030L
G20030S
GP20030L
GP20030S
---
G40030L
G40030S
GP40030L
GP40030S
---
INC
ABS
INC
3,000-r/min Servomotors
G05030T
G10030S
GP10030L
GP10030S
---
---
---
---
---
Applicable
Servomotors 3,000-r/min Flat Servomotors
(R88M-)
ABS
ABS
ABS
2,000-r/min Servomotors
1,000-r/min Servomotors
---
---
---
Speed control range
1:5000
Speed variability: Load characteristic
Speed variability: Voltage characteristic
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 50°C (at rated speed)
3%
Speed variability: Temperature characteristic
Torque control reproducibility
108
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Servo Drives with Single-phase 200-VAC Input Power
R88D-GN01H
-
R88D-GN02H
ML2
-
R88D-GN04H
ML2
-
R88D-GN08H
ML2
-
R88D-GN10H
ML2
-
R88D-GN15H
ML2
-
Item
ML2
1.16 A
3.5 A
Continuous output current (rms)
1.6 A
5.3 A
2.7 A
7.1 A
4.0 A
14.1 A
1.3 KVA
5.9 A
21.2 A
1.8 KVA
9.8 A
28.3 A
2.3 KVA
Momentary maximum output current (rms)
Power supply capacity
0.5 KVA
0.5 KVA
0.9 KVA
Single-phase 200 to 240 VAC
(170 to 264 V), 50/60 Hz
Single-phase or Three-phase
200 to 240 VAC (170 to 264 V), 50/60 Hz
Main circuit
Power supply voltage
Input power
supply
Rated current
1.3 A
2.0 A
3.7 A
5.0/3.3*1A
7.5/4.1*1A
11/8.0*1A
Power supply voltage
Rated current
Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
Control circuit
0.05 A
14.3 W
4.5 W
0.05 A
14.8 W
4.5 W
0.05 A
23.6 W
4.5 W
0.05 A
38.7 W
4.3 W
0.07 A
52.9 W
6.1 W
0.07 A
105.9 W
6.1 W
Main circuit
Heat
generated
Control circuit
PWM frequency
Weight
12.0 kHz
Approx. 0.8 kg Approx. 0.8 kg Approx. 1.1 kg Approx. 1.5 kg Approx. 1.7 kg Approx. 1.7 kg
6.0 kHz
Maximum applicable motor capacity
3,000-r/min Servomotors
Applicable
100 W
200 W
400 W
750 W
1 kW
---
1.5 kW
---
G05030H
G10030H
G20030H
G40030H
G75030H
INC
G05030T
G10030T
G1K030T
G1K530T
G20030T
G40030T
G75030T
---
ABS
GP10030H
GP20030H
GP40030H
---
---
---
---
---
---
INC
ABS
ABS
ABS
Servomotors
(R88M-)
3,000-r/min Flat Servomotors
GP10030T
GP20030T
GP40030T
---
G1K020T
---
---
2,000-r/min Servomotors
1,000-r/min Servomotors
---
---
---
---
---
---
G1K520T
G90010T
Control method
All-digital servo
Inverter method
IGBT-driven PWM method
1:5000
Speed control range
Speed variability: Load characteristic
Speed variability: Voltage characteristic
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 50°C (at rated speed)
3%
Speed variability: Temperature characteristic
Torque control reproducibility
*1. The left value is for single-phase input power and the right value is for three-phase input power.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
109
Servo Drives with Three-phase 200-VAC Input Power
Item
R88D-GN20H
-ML2
R88D-GN30H
17.4 A
-ML2
R88D-GN50H
31.0 A
-ML2
R88D-GN75H
45.4 A
-ML2
Continuous output current (rms)
Momentary maximum output current (rms)
14.3 A
45.3 A
63.6 A
84.8 A
170.0 A
Power supply capacity
3.3 KVA
4.5 KVA
7.5 KVA
11 KVA
Main circuit
Power supply voltage
Rated current
Three-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
15.2 A 23.7 A
Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
Input power
supply
10.2 A
35.0 A
Power supply voltage
Rated current
Control circuit
0.1 A
112.3 W
10.7 W
0.12 A
219.6 W
13.3 W
0.12 A
391.7 W
13.3 W
0.14 A
376.2 W
13.8 W
Main circuit
Heat
generated
Control circuit
PWM frequency
Weight
6.0 kHz
Approx. 3.2 kg
2 kW
Approx. 6.0 kg
3 kW
Approx. 6.0 kg
5 kW
Approx. 16.4 kg
7.5 kW
Maximum applicable motor capacity
---
---
---
---
---
INC
3,000-r/min Servomotors
G4K030T
G5K030T
G2K030T
G3K030T
ABS
---
---
---
---
---
---
---
---
Applicable
Servomotors
(R88M-)
INC
3,000-r/min Flat Servomotors
ABS
G4K020T
G5K020T
2,000-r/min Servomotors
1,000-r/min Servomotors
G2K020T
---
G3K020T
G2K010T
G7K515T
G6K010T
ABS
ABS
G3K010T
G4K510T
Control method
Inverter method
All-digital servo
IGBT-driven PWM method
1:5000
Speed control range
Speed variability: Load characteristic
Speed variability: Voltage characteristic
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 50°C (at rated speed)
3%
Speed variability: Temperature characteristic
Torque control reproducibility
110
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Servomotor Specifications (R88M-G)
● General Specifications
3,000-r/min
Flat Servomotors
1,000-r/min Servomotors
2,000-r/min Servomotors
3,000-r/min Servomotors
Item
50 to 750 W
1 to 5 kW
100 to 400 W
900 W to 5 kW
6 to 7.5 kW
Ambient operating
temperature and humidity
0 to 40°C, 85% RH max. (with no condensation)
−20 to 65°C, 85% RH
max. (with no
Ambient storage
temperature and humidity
−20 to 80°C, 85% max. (with no condensation)
condensation)
Operating and storage
atmosphere
No corrosive gases
10 to 2,500 Hz
Acceleration of
10 to 2,500 Hz
Acceleration of
10 to 2,500 Hz
Acceleration of
10 to 2,500 Hz
*
1
Vibration resistance
Impact resistance
Acceleration of 24.5 m/s2 max.
in the X, Y, and Z directions
49 m/s2 max. in the X,
Y, and Z directions
24.5 m/s2 max. in the
X, Y, and Z directions
49 m/s2 max. in the X,
Y, and Z directions
Acceleration of
98 m/s2 max.
Acceleration of 98 m/s2max.
2 times vertically
3 times each in the X, Y, and Z directions
Insulation resistance
Dielectric strength
Operating position
Insulation grade
Structure
20 MΩ 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 B
Type F
Type B
Type F
Totally enclosed, self-cooling
Protective structure
Vibration grade
IP65 (excluding the output shaft rotating section and lead wire ends)
V-15
Mounting method
Flange-mounting
Low-voltage
Directive
EC Directives
UL standards
IEC 60034-1/-5
UL1004-1
−
CSA standards
CSA 22.2 No.100
*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 laid 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.
Note: 3. Always disconnect all connections to the Servo Drive before you perform insulation resistance tests on it. If you perform an insulation resistance test while the
Servo Drive is connected, the Servo Drive may be damaged.
Never perform dielectric strength tests on the Servo Drive. Failure to follow this precaution may result in damaging internal elements.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
111
Servomoter Specifications (R88M-G)
● Characteristics
3,000-r/min Cylindrical Servomotors
100-VAC Input Power
Model (R88M-)
G05030H
G05030T
50
G10030L
G10030S
100
G20030L
G20030S
200
G40030L
G40030S
400
Item
Unit
W
Rated output *1
Rated torque *1
Rated rotation speed
N·m
r/min
0.16
0.32
0.64
1.3
3000
5000
Max. momentary rotation speed
Max. momentary torque *1
Rated current *1
r/min
N·m
0.45
1.1
0.93
1.7
1.78
2.5
3.6
4.6
A (rms)
A (rms)
Max. momentary current *1
3.4
5.1
7.6
13.9
kg·m2
(GD2/4)
Rotor inertia
2.5 × 10-6
5.1 × 10-6
1.4 × 10-5
2.6 × 10-5
Applicable load inertia
Torque constant *1
---
N·m/A
kW/s
ms
ms
N
30 times the rotor inertia max.*2
0.14
10.4
0.19
20.1
0.26
30.3
0.28
62.5
Power rate *1
Mechanical time constant
Electrical time constant
Allowable radial load *3
Allowable thrust load *3
1.56
1.11
0.72
0.55
0.7
0.8
2.5
2.9
68
68
245
245
N
58
58
98
98
Without brake
Weight
kg
Approx. 0.3
Approx. 0.5
Approx. 0.5
Approx. 0.7
Approx. 0.8
Approx. 1.3
Approx. 1.2
Approx. 1.7
With brake
kg
Radiation shield dimensions (material)
Applicable Servo Drives (R88D-)
100 × 80 × t10 (AI)
130 × 120 × t12 (AI)
GNA5L-ML2
GN01L-ML2
GN02L-ML2
GN04L-ML2
kg·m2
(GD2/4)
Brake inertia
2 × 10-7
2 × 10-7
1.8 × 10-6
1.8 × 10-6
Excitation voltage *4
Power consumption (at 20°C)
Current consumption (at 20°C)
Static friction torque
Attraction time *5
V
24 VDC 5%
W
7
7
9
9
A
0.3
0.3
0.36
0.36
N·m
ms
ms
0.29 min.
35 max.
20 max.
0.29 min.
35 max.
20 max.
1.27 min.
50 max.
15 max.
1.27 min.
50 max.
15 max.
Release time *5
Backlash
1°
Allowable work per braking
Allowable total work
J
J
39.2
39.2
137
137
4.9 × 103
4.9 × 103
44.1 × 103
44.1 × 103
30,000 max.
Allowable angular acceleration
rad/s2
(Speed of 2,800 r/min or more must not be changed in less than 10 ms)
Brake life
---
---
---
10,000,000 operations
Continuous
Rating
Insulation grade
Type F
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 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.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*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.
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
112
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Torque and Rotation Speed Characteristics
3,000-r/min Cylindrical Servomotors
• 3,000-r/min Servomotors with 100-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
R88M-G05030H/T (50 W)
R88M-G10030L/S (100 W)
R88M-G20030L/S (200 W)
(N·m)
(N·m)
(N·m)
0.48
0.48
0.83 (3600)
0.5
0.83
1.0
0.5
2.0
1.78
Repetitive usage
0.64 0.64
Continuous usage
1.78 (3500)
0.75
Repetitive usage
0.32 0.32
Continuous usage
Repetitive usage
0.25
1.0
0
0.9
0.6
0.16
0.16
0.1
Continuous usage
0.28
0
1000 2000 3000 4000 5000
(r/min)
0
1000 2000 3000 4000 5000
(r/min)
1000 2000 3000 4000 5000
(r/min)
R88M-G40030L/S (400 W)
(N·m)
4.0
3.6
Repetitive usage
1.3 1.3
Continuous usage
3.6 (3000)
2.0
0
1.3
0.6
1000 2000 3000 4000 5000
(r/min)
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
113
Servomotor Specifications (R88M-G)
● Characteristics
3,000-r/min Cylindrical Servomotors
200-VAC Input Power
Model (R88M-) G05030H G10030H G20030H G40030H G75030H
---
---
---
---
---
---
Item
Unit G05030T G10030T G20030T G40030T G75030T G1K030T G1K530T G2K030T G3K030T G4K030T G5K030T
Rated output *1
W
50
100
200
400
1.3
750
2.4
1000
3.18
3000
1500
4.77
2000
6.36
3000
9.54
4000
12.6
5000
15.8
Rated torque *1
N·m
0.16
0.32
0.64
Rated rotation speed
Max. momentary rotation speed
Max. momentary torque *1
Rated current *1
r/min
r/min
N·m
5000
4500
7.05
4
5000
4500
0.45
1.1
0.90
1.1
1.78
1.6
3.67
2.6
9.1
7.2
12.8
9.4
18.4
13
27.0
18.6
57.1
36.3
24.7
75
45.1
28.5
85.7
A (rms)
A (rms)
Max. momentary current *1
3.4
3.4
4.9
7.9
12.1
21.4
28.5
40
kg·m2
(GD2/4)
Rotor inertia
2.5
×
10-6
5.1
×
10-6
1.4
×
10-5
2.6
×
10-5
8.7
×
10-5 1.69
×
10-4 2.59 10-4 3.46 10-4 6.77 10-4 1.27 10-3 1.78 10-3
× × × × ×
20 times
the rotor
inertia
Applicable load inertia
---
30 times the rotor inertia max.*2
15 times the rotor inertia max.*2
max.*2
Torque constant *1
N·m/A
kW/s
ms
0.14
10.4
1.56
0.7
0.19
20.1
1.1
0.41
30.3
0.71
2.6
0.51
62.5
0.52
3
0.64
66
0.44
60
0.51
88
0.48
117
0.53
10.8
490
196
0.51
134
0.46
20
0.51
125
0.51
20
0.57
140
0.46
20
Power rate *1
Mechanical time constant
Electrical time constant
Allowable radial load *3
Allowable thrust load *3
0.45
4.6
0.78
6.7
0.54
10
ms
0.79
68
N
68
245
98
245
98
392
147
392
147
490
196
490
196
784
343
784
343
N
58
58
Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx.
0.3 0.5 0.8 1.2 2.3 4.5 5.1 6.5 9.3 12.9 17.3
Without brake
Weight
kg
kg
Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx.
With brake
0.5
0.7
1.3
1.7
3.1
5.1
6.5
7.9
11
14.8
19.2
320 ×
320 ×
Radiation shield dimensions (material)
Applicable Servo Drives (R88D-)
100 × 80 × t10 (AI) 130 × 120 × t12 (AI) 170 × 160 × t12 (AI) 300 × t30 300 × t20
380 × 350 × t30 (AI)
(AI)
GN01H- GN01H- GN02H- GN04H- GN08H- GN15H- GN15H- GN20H- GN30H- GN50H- GN50H-
ML2 ML2 ML2 ML2 ML2 ML2 ML2 ML2 ML2 ML2 ML2
(AI)
kg·m2
(GD2/4)
Brake inertia
2
×
10-7
2
×
10-7
1.8
×
10-6 1.8
×
10-6 7.5
×
10-6 2.5
×
10-5 3.3
×
10-5 3.3
×
10-5 3.3
×
10-5 1.35
×
10-4 1.35
×
10-4
Excitation voltage *4
V
24 VDC 5%
24 VDC 10%
Power consumption (at 20°C)
W
7
7
9
9
10
18
19
19
19
22
22
Current consumption (at 20
Static friction torque
Attraction time *5
Release time *5
°C)
A
0.3
0.3
0.36
0.36
0.42
0.74
0.81
0.81
0.81
0.9
0.9
N·m
ms
ms
0.29 min. 0.29 min. 1.27 min. 1.27 min. 2.45 min. 4.9 min. 7.8 min. 7.8 min. 11.8 min. 16.1 min. 16.1 min.
35 max. 35 max. 50 max. 50 max. 70 max. 50 max. 50 max. 50 max. 80 max. 110 max. 110 max.
20 max. 20 max. 15 max. 15 max. 20 max. 15 max. 15 max. 15 max. 15 max. 50 max. 50 max.
1°
Backlash
Allowable work per braking
Allowable total work
J
J
39.2
39.2
137
137
196
392
392
392
392
1470
1470
4.9
×
103
4.9
×
103 44.1
×
103 44.1
×
103 147
×
103
2.0
×
105
4.9
×
105
4.9
×
105
4.9
×
105
2.2
×
106
2.2 ×
106
30,000 max.
10,000 max.
Allowable angular
acceleration
rad/s2 (Speed of 2,800 r/min or more must not be changed (Speed of 900 r/min or more must not be changed in less than
in less than 10 ms)
10 ms)
Brake life
---
---
---
10,000,000 operations
Continuous
Rating
Insulation grade
Type F
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 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.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*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.
Radial load
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500
Thrust load
manufactured by Okaya Electric Industries Co., Ltd.).
Center of shaft (LR/2)
114
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Torque and Rotation Speed Characteristics
3,000-r/min Cylindrical Servomotors
• 3,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-G05030H/T (50 W)
R88M-G10030H/T (100 W)
R88M-G20030H/T (200 W)
(N·m)
(N·m)
(N·m)
0.93
1.0
0.93
1.78
1.78 (4500)
0.5
2.0
0.45
0.45
1.5
Repetitive usage
Repetitive usage
Repetitive usage
0.5
0.25
1.0
0.32
0.32
0.16
0.16
0.64
Continuous usage
1000 2000 3000 4000 5000
0.64
0.28
Continuous usage
0.1
Continuous usage
0.38
0
1000 2000 3000 4000 5000
(r/min)
0
1000 2000 3000 4000 5000
(r/min)
0
(r/min)
R88M-G40030H/T (400 W)
R88M-G75030H/T (750 W)
R88M-G1K030T (1 kW)
(N·m)
(N·m)
(N·m)
7.05
7.05 (3600)
9.1 (4000)
9.1
10
8.0
4.0
3.6 (3800)
3.6
Repetitive usage
Repetitive usage
2.4 2.4
Continuous usage
Repetitive usage
4.0
1.0
4.0
2.0
0
5
3.18
3.18
1.3
1.3
4.8
1.7
Continuous usage
Continuous usage
0.78
0
1000 2000 3000 4000 5000
(r/min)
1000 2000 3000 4000 5000
(r/min)
0
1000 2000 3000 4000 5000
(r/min)
R88M-G1K530T (1.5 kW)
R88M-G2K030T (2 kW)
R88M-G3K030T (3 kW)
(N·m)
(N·m)
(N·m)
27.0 (3400)
27.0
12.9 (3500)
30
15 12.9
20
10
18.4
18.4 (3600)
Repetitive usage
9.54 9.54
Continuous usage
Repetitive usage
4.77 4.77
Repetitive usage
6.36
15
7.5
0
6.36
5.5
3.6
6.0
Continuous usage
Continuous usage
0
1000 2000 3000 4000 5000
(r/min)
1000 2000 3000 4000 5000
(r/min)
0
1000 2000 3000 4000 5000
(r/min)
R88M-G4K030T (4 kW)
R88M-G5K030T (5 kW)
(N·m)
(N·m)
40
45.1
47.6
50
25
36.3
Repetitive usage
12.6 12.6
Continuous usage
1000 2000 3000 4000 5000
37.9
Repetitive usage
20
0
15.8
15.8
15.0
10.0
Continuous usage
0
1000 2000 3000 4000 5000
(r/min)
(r/min)
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
115
Servomotor Specifications (R88M-GP)
● Characteristics
3,000-r/min Flat Servomotors
100-VAC/200-VAC Input Powers
Model (R88M-)
GP10030L
100 VAC
GP20030L
GP20030S
200
200 VAC
GP20030H
GP20030T
200
GP40030L
GP40030S
400
GP10030H
GP10030T
100
GP40030H
GP40030T
400
Item
Unit
W
GP10030S
100
Rated output *1
Rated torque *1
N·m
0.32
0.64
1.3
0.32
0.64
1.3
Rated rotation speed
Max. momentary rotation speed
Max. momentary torque *1
Rated current *1
r/min
r/min
N·m
3000
5000
4500
3.6
5000
1.8
0.84
1.6
1.8
2.5
7.5
0.86
1
3.65
2.5
A (rms)
A (rms)
4.4
1.6
Max. momentary current *1
4.9
13.3
3.1
4.9
7.5
kg·m2
(GD2/4)
Rotor inertia
1.0 × 10-5
3.5 × 10-5
6.5 × 10-5
1.0 × 10-5
3.5 × 10-5
6.4 × 10-5
Applicable load inertia
Torque constant *1
---
N·m/A
kW/s
ms
ms
N
20 times the rotor inertia max.*2
0.21
10.2
0.27
11.7
0.3
26.0
0.34
10.2
0.42
11.5
0.54
25.5
Power rate *1
Mechanical time constant
Electrical time constant
Allowable radial load *3
Allowable thrust load *3
0.87
0.75
0.55
1.05
0.81
0.59
3.4
6.7
6.7
2.9
5.6
6.6
68
245
245
68
245
245
N
58
98
98
58
98
98
Without brake
Weight
kg
Approx. 0.7
Approx. 0.9
Approx. 1.3
Approx. 2
Approx. 1.8
Approx. 2.5
Approx. 0.7
Approx. 0.9
Approx. 1.3
Approx. 2
Approx. 1.8
Approx. 2.5
With brake
kg
130 × 120 × t10
130 × 120 × t10
Radiation shield dimensions (material)
Applicable Servo Drives (R88D-)
170 × 160 × t12(AI)
170 × 160 × t12 (AI)
(AI)
(AI)
GN01L-ML2
3 × 10-6
GN02L-ML2
GN04L-ML2
GN01H-ML2
3 × 10-6
GN02H-ML2
GN04H-ML2
kg·m2
Brake inertia
9 × 10-6
9 × 10-6
(GD2/4)
Excitation voltage *4
Power consumption (at 20°C)
Current consumption (at 20°C)
Static friction torque
Attraction time *5
V
24 VDC 10%
W
7
10
10
7
10
10
A
0.29
0.41
0.41
0.29
0.41
0.41
N·m
ms
ms
0.29 min.
50 max.
15 max.
1.27 min.
60 max.
15 max.
1.27 min.
60 max.
15 max.
0.29 min.
50 max.
15 max.
1.27 min.
60 max.
15 max.
1.27 min.
60 max.
15 max.
Release time *5
Backlash
1°
Allowable work per braking
Allowable total work
J
J
137
196
196
137
196
196
44.1 × 103
147 × 103
147 × 103
44.1 × 103
147 × 103
147 × 103
10,000 max.
Allowable angular acceleration
rad/s2
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life
---
---
---
10,000,000 operations
Continuous
Rating
Insulation grade
Type F
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 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.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*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.
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
116
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Torque and Rotation Speed Characteristics
3,000-r/min Flat Servomotors
• 3,000-r/min Servomotors with 100-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
R88M-GP10030L/S (100 W)
R88M-GP20030L/S (200 W)
R88M-GP40030L/S (400 W)
(N·m)
(N·m)
4.0
(N·m)
2.0
1.0
0.5
0.84 (3500)
0.84
1.8
1.8 (3400)
3.6 (3300)
3.6
Repetitive usage
Repetitive usage
Repetitive usage
1.3
Continuous usage
1.0
0
2.0
0
0.32
0.32
0.64
0.64
0.32
0.19
1.3
1.5
Continuous usage
0.38
Continuous usage
0.78
0
1000 2000 3000 4000 5000
(r/min)
1000 2000 3000 4000 5000
(r/min)
1000 2000 3000 4000 4500
(r/min)
• 3,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-GP10030H/T (100 W)
R88M-GP20030H/T (200 W)
R88M-GP40030H/T (400 W)
(N·m)
4.0
(N·m)
(N·m)
1.8 (4500)
1.8
2.0
1.0
3.65 (3600)
3.65
0.86
0.86
Repetitive usage
0.64 0.64
Continuous usage
Repetitive usage
Repetitive usage
1.0
2.0
0
2.0
0.5
1.3
1.3
0.32
0.32
0.78
Continuous usage
0.19
0.38
Continuous usage
0
1000 2000 3000 4000 5000
(r/min)
1000 2000 3000 4000 5000
(r/min)
0
1000 2000 3000 4000 5000
(r/min)
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
117
Servomotor Specifications (R88M-G)
● Characteristics
2,000-r/min Cylindrical Servomotors
200-VAC Input Power
Model (R88M-)
G1K020T
G1K520T
G2K020T
G3K020T
G4K020T
G5K020T
G7K515T
Item
Unit
Rated output *1
W
1000
4.8
1500
7.15
2000
9.54
3000
14.3
4000
18.8
5000
23.8
7500
48
Rated torque *1
N·m
Rated rotation speed
Max. momentary rotation speed
Max. momentary torque *1
Rated current *1
r/min
r/min
N·m
2000
3000
1500
2000
111
13.5
5.6
19.6
9.4
26.5
12.3
37.1
41.2
17.8
54.2
54.9
23.4
71.4
70.6
28
A (rms)
A (rms)
46.6
117.8
Max. momentary current *1
17.1
28.5
85.7
kg·m2
(GD2/4)
Rotor inertia
6.17 × 10-4
1.12 × 10-3
1.52 × 10-3
2.23 × 10-3
4.25 × 10-3
6.07 × 10-3
9.9 × 10-3
Applicable load inertia
Torque constant *1
---
N·m/A
kW/s
ms
ms
N
10 times the rotor inertia max.*2
0.88
37.3
0.76
45.8
0.78
0.81
91.6
0.81
0.85
93.5
1.03
230
Power rate *1
60
0.75
83.2
Mechanical time constant
Electrical time constant
Allowable radial load *3
Allowable thrust load *3
0.7
0.81
0.72
1
24
0.9
0.71
18
19
21
20
32
34
490
490
490
784
784
784
1176
N
196
196
196
343
343
343
490
Without brake
Weight
kg
Approx. 6.8
Approx. 8.7
Approx. 8.5
Approx. 10.1
Approx. 10.6
Approx. 12.5
Approx. 14.6
Approx. 16.5
Approx. 18.8
Approx. 21.3
Approx. 25
Approx. 28.5
Approx. 41
Approx. 45
With brake
kg
380 × 350 ×
Radiation shield dimensions (material)
Applicable Servo Drives (R88D-)
275 × 260 × t15 (AI)
GN15H-ML2
470 × 440 × t30 (AI)
GN50H-ML2
t30 (AI)
GN10H-ML2
GN20H-ML2
GN30H-ML2
GN50H-ML2
4.25 × 10-4
GN75H-ML2
4.7 × 10-4
kg·m2
Brake inertia
1.35 × 10-4
4.7 × 10-4
(GD2/4)
Excitation voltage *4
Power consumption(at 20°C)
Current consumption (at 20°C)
Static friction torque
Attraction time *5
V
24 VDC 10%
22
W
14
19
19
26
31
34
A
0.59
0.79
0.79
0.9
1.1
1.3
1.4
N·m
ms
ms
4.9 min.
80 max.
70 max.
13.7 min.
100 max.
50 max.
13.7 min.
100 max.
50 max.
16.1 min.
110 max.
50 max.
1°
21.5 min.
90 max.
35 min.
24.5 min.
80 max.
25 min.
58.8 min.
150 max.
50 max.
Release time *5
Backlash
Allowable work per braking
Allowable total work
J
J
588
1176
1176
1170
1078
1372
1372
7.8 × 105
1.5 × 106
1.5 × 106
2.2 × 106
2.5 × 106
2.9 × 106
2.9 × 106
10,000 max.
Allowable angular acceleration
rad/s2
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life
---
---
---
10,000,000 operations
Continuous
Rating
Insulation grade
Type F
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 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.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*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.
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
118
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Torque and Rotation Speed Characteristics
2,000-r/min Cylindrical Servomotors
• 2,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-G1K020T (1 kW)
R88M-G1K520T (1.5 kW)
R88M-G2K020T (2 kW)
(N·m)
(N·m)
(N·m)
13.5
13.5 (2200)
15
10
5
26.5
26.5 (2200)
19.6 (2200)
Repetitive usage
7.15 7.15
Continuous usage
19.6
20
10
30
15
Repetitive usage
Repetitive usage
14.3
4.7
5.5
3.2
4.8
4.8
9.54
9.54
13.2
6.3
Continuous usage
Continuous usage
(r/min)
3000
0
1000
2000
(r/min)
3000
0
1000
2000
(r/min)
3000
0
1000
2000
R88M-G3K020T (3 kW)
R88M-G4K020T (4 kW)
R88M-G5K020T (5 kW)
(N·m)
(N·m)
(N·m)
50
54.9
54.9 (2000)
70.6
70.6 (2000)
41.2
Repetitive usage
41.2 (2200)
70
50
25
Repetitive usage
35 23.8
23.8
Continuous usage
Repetitive usage
18.8 18.8
Continuous usage
25
0
14.3 14.3
25.0
12.5
14.3
9.5
23.0
Continuous usage
1000 2000
15.8
(r/min)
3000
(r/min)
3000
0
1000
2000
(r/min)
3000
0
1000
2000
R88M-G7K515T (7.5 kW)
(N·m)
111
111
100
100
36
Repetitive usage
50 48
48
Continuous usage
(r/min)
2000
0
1000
1500
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
119
Servomotor Specifications (R88M-G)
● Characteristics
1,000-r/min Cylindrical Servomotors
200-VAC Input Power
Model (R88M-)
G90010T
G2K010T
G3K010T
G4K510T
G6K010T
Item
Unit
Rated output *1
W
900
2000
19.1
3000
28.4
1000
2000
60
4500
42.9
6000
57.2
Rated torque *1
N·m
8.62
Rated rotation speed
Max. momentary rotation speed
Max. momentary torque *1
Rated current *1
r/min
r/min
N·m
18.4
7.6
41.5
18.5
44
101
33
130
57.2
A (rms)
A (rms)
24
Max. momentary current *1
17.1
57.1
84.2
121.4
kg·m2
(GD2/4)
Rotor inertia
1.12 × 10-3
3.55 × 10-3
5.57 × 10-3
8.09 × 10-3
9.9 × 10-3
Applicable load inertia
Torque constant *1
---
N·m/A
kW/s
ms
ms
N
10 times the rotor inertia max.*2
1.13
66.3
1
103
1.1
145
1.3
228
1.22
331
Power rate *1
Mechanical time constant
Electrical time constant
Allowable radial load *3
Allowable thrust load *3
0.88
0.97
0.74
0.7
0.65
20
25
30
31
46.2
686
1176
1470
1470
1764
N
196
490
490
490
588
Without brake
Weight
kg
Approx. 8.5
Approx. 10
Approx. 17.5
Approx. 21
Approx. 25
Approx. 28.5
Approx. 34
Approx. 39.5
Approx. 41
Approx. 45
With brake
kg
Radiation shield dimensions
(material)
275 × 260 × t15 (AI)
GN15H-ML2
470 × 440 × t30 (AI)
Applicable Servo Drives (R88D-)
GN30H-ML2
GN50H-ML2
GN50H-ML2
GN75H-ML2
kg·m2
(GD2/4)
Brake inertia
1.35 × 10-4
4.7 × 10-4
Excitation voltage *4
Power consumption (at 20°C)
Current consumption (at 20°C)
Static friction torque
Attraction time *5
V
W
24 VDC 10%
34
19
31
34
34
A
0.79
1.3
1.4
1.4
1.4
N·m
ms
ms
13.7 min.
100 max.
50 max.
24.5 min.
80 max.
25 max.
58.8 min.
150 max.
50 max.
1°
58.8 min.
150 max.
50 max.
58.8 min.
150 max.
50 max.
Release time *5
Backlash
Allowable work per braking
Allowable total work
J
J
1176
1372
1372
1372
1372
1.6 × 106
2.9 × 106
2.9 × 106
2.9 × 106
2.9 × 106
10,000 max.
Allowable angular acceleration
rad/s2
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life
---
---
---
10,000,000 operations
Continuous
Rating
Insulation grade
Type F
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 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.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*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.
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
120
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Torque and Rotation Speed Characteristics
1,000-r/min Cylindrical Servomotors
• 1,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-G90010T (900 W)
R88M-G2K010T (2 kW)
R88M-G3K010T (3 kW)
18.4
18.4 (1600)
(N·m)
(N·m)
20
10
50
25
70
35
41.5 (1600)
(N·m)
41.5
60
60 (1350)
Repetitive usage
Repetitive usage
Repetitive usage
28.4 28.4
34.9
38
8.62 8.62
10.0
4.31
19.1 19.1
14.2
9.5
Continuous usage
Continuous usage
Continuous usage
(r/min)
(r/min)
(r/min)
2000
0
1000
2000
0
1000
2000
0
1000
R88M-G4K510 (4.5 kW)
R88M-G6K010T (6 kW)
130 (1500)
130
101
101 (1300)
(N·m)
100
50
(N·m)
100
50
Repetitive usage
Repetitive usage
71
57.2 57.2
42.9 42.9
40
Continuous usage
21.5
Continuous usage
28.6
(r/min)
2000
0
1000
(r/min)
2000
0
1000
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
121
Decelerator Specifications (R88G-HPG/VRSF)
● Backlash: 3 Arcminutes Max.
Decelerators for 3,000-r/min Servomotors
Rated
rotation
speed
Maximum
Efficiency momentary
rotation speed
Maximum
momentary
torque
Allowable Allowable
Rated
torque
Decelerator
inertia
radial
load
thrust
load
Weight
Model
r/min
600
333
143
91
N·m
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
11.7
23.5
34.7
47.4
9.94
23.2
42.3
69.7
95.0
11.5
28.9
58.1
94.3
124.2
19.1
45.7
90.1
141.5
192.9
26.7
62.4
118.9
191.8
42.0
92.3
183.0
53.9
124.6
69.3
158.4
%
r/min
1000
555
N·m
1.68
kg·m2
N
N
kg
0.29
0.29
1.04
1.04
1.04
0.29
1.04
1.04
2.4
1/5
1/9
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
R88G-HPG32A051K0B
R88G-HPG32A111K0B
R88G-HPG32A211K0B
R88G-HPG32A331K0B
R88G-HPG50A451K0B
R88G-HPG32A052K0B
R88G-HPG32A112K0B
R88G-HPG32A211K5B
R88G-HPG50A332K0B
R88G-HPG50A451K5B
R88G-HPG32A052K0B
R88G-HPG32A112K0B
R88G-HPG50A212K0B
R88G-HPG50A332K0B
R88G-HPG32A053K0B
R88G-HPG50A113K0B
R88G-HPG50A213K0B
R88G-HPG32A054K0B
R88G-HPG50A115K0B
R88G-HPG50A055K0B
R88G-HPG50A115K0B
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
72
83
87
90
87
80
87
90
90
90
84
89
89
91
88
88
91
90
90
88
91
5.00 × 10-7
3.00 × 10-7
5.00 × 10-6
4.40 × 10-6
4.40 × 10-6
5.00 × 10-7
6.00 × 10-6
5.00 × 10-6
6.50 × 10-5
6.50 × 10-5
2.07 × 10-5
1.93 × 10-5
4.90 × 10-5
4.50 × 10-5
4.50 × 10-5
2.07 × 10-5
5.70 × 10-5
4.90 × 10-5
6.20 × 10-5
6.10 × 10-5
6.80 × 10-5
6.00 × 10-5
3.00 × 10-4
2.70 × 10-4
2.70 × 10-4
3.90 × 10-4
3.40 × 10-4
3.00 × 10-4
2.80 × 10-4
4.70 × 10-4
3.90 × 10-4
3.40 × 10-4
3.00 × 10-4
4.80 × 10-4
4.70 × 10-4
3.90 × 10-4
3.40 × 10-4
5.80 × 10-4
4.80 × 10-4
3.80 × 10-4
7.70 × 10-4
5.80 × 10-4
3.80 × 10-4
8.80 × 10-4
1.20 × 10-3
8.80 × 10-4
135
538
3.29
161
642
50 W
1/21
1/33
1/45
1/5
238
6.13
340
1358
1555
1707
538
151
10.5
389
67
111
14.3
427
600
273
143
91
1000
454
3.8
135
1/11
7.39
280
1119
1358
3226
3541
883
100 W 1/21
1/33
238
15.2
340
151
19.4
916
1/45
67
111
26.5
1006
221
2.4
1/5
600
273
143
91
1000
454
6.93
1.02
1.09
2.9
1/11
16.7
280
1119
2817
3226
3541
883
200 W 1/21
1/33
238
28.5
800
151
47.4
916
2.9
1/45
67
111
64.6
1006
221
2.9
1/5
600
273
143
91
1000
454
16.0 (15.7)
33.1 (32.5)
66.5 (65.2)
98.2 (96.3)
133.9 (131.4)
29.2
1.09
2.9
1/11
659
2320
2547
6240
6848
1832
2320
5448
6240
6848
3542
4488
5488
6240
15694
3542
4488
5448
14300
15694
3542
4488
12486
14300
3542
10285
12486
3542
10285
8118
10285
400 W 1/21
1/33
238
800
2.9
151
1565
1718
520
7.5
1/45
67
111
7.5
1/5
600
273
143
91
1000
454
2.9
1/11
68.1
659
3.1
750 W 1/21
1/33
238
124.3
204.7
279.2
32.9
1367
1565
1718
889
7.8
151
7.8
1/45
67
111
7.8
1/5
600
273
143
91
1000
454
7.3
1/11
82.6
1126
1367
1565
4538
889
7.8
1 kW
1/21
1/33
1/45
1/5
238
166.1
270.0
355.4
51.3
7.8
151
7.8
67
100*1
1000
454
19.0
7.4
600
273
143
91
1/11
122.5
241.9
379.7
517.8
77.4
1126
1367
4135
4538
889
7.9
1.5 kW 1/21
238
7.9
1/33
1/45
1/5
136*1
100*1
1000
454
19.0
19.0
7.4
67
600
273
143
91
1/11
2 kW
180.7
343.9
555.0
118.9
261.4
517.7
163.4
359.0
197.8
451.9
1126
3611
4135
889
7.9
1/21
214*1
136*1
1000
409*1
214*1
900*1
409*1
900*1
409*1
19.0
19.0
7.3
1/33
1/5
600
273
143
600
273
600
273
3 kW
1/11
1/21
1/5
2974
3611
889
19.0
19.0
7.9
4 kW
5 kW
1/11
1/5
2974
2347
2974
19.1
17.7
19.1
1/11
*1. Keep the maximum rotation speed at 4,500 r/min or less.
Note: 1. The values inside parentheses ( ) are for 100-V Servomotors.
Note: 4. The allowable radial load is the value at the T/2 position.
Note: 2. The Decelerator inertia is the Servomotor shaft conversion value.
Note: 3. The protective structure for Servomotors with Decelerators satisfies
IP44.
Note: 5. The standard models have a straight shaft. Models with a key and tap are
indicated with "J" at the end of the model number (the suffix in the box).
122
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Decelerators for 3,000-r/min Flat Servomotors
Rated
rotation
speed
Maximum
Efficiency momentary
rotation speed
Maximum
momentary
torque
Allowable Allowable
Rated
torque
Decelerator
inertia
radial
load
thrust
load
Weight
Model
r/min
600
273
143
91
N·m
1.37
2.63
5.40
6.91
9.42
2.49
4.75
10.2
17.0
23.2
4.67
11.7
23.5
34.7
47.4
%
85
75
80
65
65
78
68
76
81
81
72
82
86
81
81
r/min
1000
N·m
3.67 (3.59)
7.06 (6.89)
14.5 (14.2)
18.6 (18.1)
25.3 (24.7)
7.01
kg·m2
N
N
kg
0.34
1.04
1.04
2.9
1/5
1/11
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
5.00 × 10-7
6.00 × 10-6
5.00 × 10-6
4.50 × 10-5
4.50 × 10-5
2.07 × 10-5
5.80 × 10-5
4.90 × 10-5
4.50 × 10-5
4.50 × 10-5
7.10 × 10-5
5.80 × 10-5
4.90 × 10-5
2.80 × 10-4
2.80 × 10-4
135
280
340
916
1006
221
659
800
916
1006
520
659
800
1565
1718
538
454
1119
1358
3226
3541
883
100 W 1/21
1/33
238
151
1/45
67
111
2.9
1/5
600
273
143
91
1000
0.99
3.1
1/11
454
13.4
2320
2817
3226
3541
1832
2320
2817
6240
6848
200 W 1/21
1/33
238
28.8
3.1
151
47.9
3.1
1/45
67
111
65.4
3.1
1/5
600
273
143
91
1000 (900)
454 (409)
238 (214)
151 (136)
111 (100)
13.1 (12.9)
32.9 (32.4)
66.2 (65.2)
97.6 (96.2)
133.0 (131.2)
3.1
1/11
3.1
400 W 1/21
1/33
3.1
7.8
1/45
67
7.8
Note: 1. The values inside parentheses ( ) are for 100-V Servomotors.
Note: 4. The allowable radial load is the value at the T/2 position.
Note: 2. The Decelerator inertia is the Servomotor shaft conversion value.
Note: 3. The protective structure for Servomotors with Decelerators satisfies IP44.
Note: 5. The standard models have a straight shaft. Models with a key and tap are
indicated with "J" at the end of the model number (the suffix in the box).
Decelerators for 2,000-r/min Servomotors
Rated
rotation
speed
Maximum
Efficiency momentary
rotation speed
Maximum
momentary
torque
Allowable Allowable
Rated
torque
Decelerator
inertia
radial
load
thrust
load
Weight
Model
r/min
400
182
95
N·m
20.4
%
r/min
600
273
143
91
N·m
57.4
kg·m2
N
N
kg
1/5
1/11
1/21
1/33
1/45
1/5
R88G-HPG32A053K0B
R88G-HPG32A112K0SB
R88G-HPG32A211K0SB
R88G-HPG50A332K0SB
R88G-HPG50A451K0SB
R88G-HPG32A053K0B
R88G-HPG32A112K0SB
R88G-HPG50A213K0B
R88G-HPG50A332K0SB
R88G-HPG32A053K0B
R88G-HPG32A112K0SB
R88G-HPG50A213K0B
R88G-HPG50A332K0SB
R88G-HPG32A054K0B
R88G-HPG50A115K0B
R88G-HPG50A213K0SB
R88G-HPG65A253K0SB
R88G-HPG50A054K0SB
R88G-HPG50A114K0SB
R88G-HPG65A204K0SB
R88G-HPG65A254K0SB
R88G-HPG50A055K0SB
R88G-HPG50A115K0SB
R88G-HPG65A205K0SB
R88G-HPG65A255K0SB
R88G-HPG65A057K5SB
R88G-HPG65A127K5SB
85
90
92
92
92
89
92
92
93
91
93
93
93
92
92
93
90
91
93
91
92
92
93
92
93
92
94
3.80 × 10-4
3.40 × 10-4
2.90 × 10-4
4.70 × 10-4
4.70 × 10-4
3.80 × 10-4
3.40 × 10-4
5.80 × 10-4
4.70 × 10-4
3.80 × 10-4
3.40 × 10-4
5.80 × 10-4
4.70 × 10-4
3.80 × 10-4
8.80 × 10-4
6.90 × 10-4
3.00 × 10-3
1.20 × 10-3
8.70 × 10-4
3.28 × 10-3
3.24 × 10-3
1.10 × 10-3
8.40 × 10-4
2.85 × 10-3
2.81 × 10-3
2.07 × 10-2
2.02 × 10-2
889
3542
7.3
47.3
133.1
259.7
407.6
555.9
86.8
1126
1367
4135
4538
889
4488
7.8
1 kW
92.3
5448
7.8
60
144.9
197.7
31.7
14300
15694
3542
19.0
19.0
7.3
44
67
400
182
95
600
273
143
91
1/11
1/21
1/33
1/5
72.1
197.7
377.0
601.5
119.9
270.5
515.9
815.0
190.1
418.3
806.4
930.1
250.3
562.8
999.2
1258.6
325.5
723.8
1300.5
1634.4
511.2
1250.7
1126
3611
4135
889
4488
7.8
1.5 kW
2 kW
3 kW
4 kW
137.5
219.4
43.2
12486
14300
3542
19.0
19.0
7.3
60
400
182
95
600
273
143
91
1/11
1/21
1/33
1/5
97.4
1126
3611
4135
889
4488
7.8
185.6
270.0*1
66.0
12486
14300
3542
19.0
19.0
7.9
60
400
182
95
600
273
143
120
600
273
150
120
600
273
150
120
400
166
1/11
1/21
1/25
1/5
145.2
260.0*1
322.9
85.8
2974
3611
7846
2347
2974
7338
7846
2347
2974
7338
7846
4841
6295
10285
12486
28654
8118
19.1
19.1
52.0
18.6
20.1
52.0
52.0
22.0
23.5
55.4
55.4
48.0
52.0
80
400
182
100
80
1/11
1/20
1/25
1/5
192.7
342.2
430.9
109.8
200.0*1
438.2
550.9
221.1
540.8
10285
26799
28654
8118
400
182
100
80
1/11
1/20
1/25
1/5
10285
26799
28654
17681
22991
5 kW
300
125
7.5 kW
1/12
*1. "Rated torque" indicates the allowable rated torque for the decelerator. Do not exceed this value.
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.
Note: 2. The protective structure for Servomotors with Decelerators satisfies
IP44.
Note: 3. The allowable radial load is the value at the T/2 position.
Note: 4. The standard models have a straight shaft. Models with a key and tap are
indicated with "J" at the end of the model number (the suffix in the box).
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
123
Decelerators for 1,000-r/min Servomotors
Rated
rotation
Maximum
Efficiency momentary
rotation speed
Maximum
momentary
torque
Allowable Allowable
Rated
torque
Decelerator
inertia
radial
load
thrust
load
Weight
Model
speed
r/min
200
90
N·m
39.9
%
r/min
400
182
95
N·m
85.2
kg·m2
N
N
kg
1/5
1/11
1/21
1/33
1/5
R88G-HPG32A05900TB
R88G-HPG32A11900TB
R88G-HPG50A21900TB
R88G-HPG50A33900TB
R88G-HPG32A052K0TB
R88G-HPG50A112K0TB
R88G-HPG50A212K0TB
R88G-HPG65A255K0SB
R88G-HPG50A055K0SB
R88G-HPG50A115K0SB
R88G-HPG65A205K0SB
R88G-HPG65A255K0SB
R88G-HPG50A054K5TB
R88G-HPG65A127K5SB
R88G-HPG65A204K5TB
R88G-HPG65A057K5SB
R88G-HPG65A127K5SB
93
94
94
94
95
94
95
94
94
95
94
94
95
94
95
94
95
3.80 × 10-4
3.40 × 10-4
7.00 × 10-4
5.90 × 10-4
4.90 × 10-4
8.40 × 10-4
6.50 × 10-4
2.81 × 10-3
1.10 × 10-3
8.40 × 10-4
2.85 × 10-3
2.81 × 10-3
1.20 × 10-3
2.02 × 10-2
1.92 × 10-2
2.07 × 10-2
2.02 × 10-2
889
3542
7.9
89.0
190.1
362.4
573.2
196.1
430.9
786.8
971.1
282.9
684.0
1129.2
1411.5
479.2
1142.9
1915.0
609.7
1477.3
1126
3611
4135
889
4488
8.4
900 W
2 kW
3 kW
47
169.8
268.5
90.2
12486
14300
3542
19.1
19.1
8.9
30
60
200
90
400
182
95
1/11
1/21
1/25
1/5
198.4
320.0*1
446.7
133.9
246.0*1
534.7
669.9
203.5
485.6
813.1
268.1
650.3
2974
3611
7846
2347
2974
7338
7846
2347
6295
7338
4841
6295
10285
12486
28654
8118
20.1
20.1
55.4
22.0
23.5
55.4
55.4
22.0
52.0
52.0
48.0
52.0
47
40
80
200
90
400
182
100
80
1/11
1/20
1/25
1/5
10285
26799
28654
8118
50
40
200
83
400
166
100
400
166
4.5 kW 1/12
1/20
22991
26799
17681
22991
50
1/5
6 kW
200
83
1/12
*1. "Rated torque" indicates the allowable rated torque for the decelerator. Do not exceed this value.
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.
Note: 2. The protective structure for Servomotors with Decelerators satisfies IP44.
Note: 3. The allowable radial load is the value at the T/2 position.
Note: 4. The standard models have a straight shaft. Models with a key and tap are indicated with "J" at the end of the model number (the suffix in the box).
124
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
● Backlash: 15 Arcminutes Max.
Decelerators for 3,000-r/min Servomotors
Rated
rotation
Maximum
Efficiency momentary
rotation speed
Maximum
momentary
torque
Allowable Allowable
Rated
torque
Decelerator
inertia
radial
load
thrust
load
Weight
Model
speed
r/min
600
333
200
120
600
333
200
120
600
333
200
120
600
333
200
120
600
333
200
120
N·m
0.52
0.93
1.67
2.78
1.19
2.29
3.81
6.36
2.70
3.77
6.29
11.1
5.40
9.50
15.8
26.4
10.7
18.2
30.4
50.7
%
r/min
1000
556
N·m
1.46
kg·m2
N
N
kg
1/5
1/9
R88G-VRSF05B100CJ
R88G-VRSF09B100CJ
R88G-VRSF15B100CJ
R88G-VRSF25B100CJ
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
65
65
70
70
75
80
80
80
85
66
66
70
85
83
83
83
90
85
85
85
4.00 × 10-6
3.50 × 10-6
3.50 × 10-6
3.25 × 10-6
4.00 × 10-6
3.50 × 10-6
3.50 × 10-6
3.25 × 10-6
1.18 × 10-5
2.75 × 10-5
3.00 × 10-5
2.88 × 10-5
3.63 × 10-5
2.75 × 10-5
3.00 × 10-5
2.88 × 10-5
7.13 × 10-5
6.50 × 10-5
7.00 × 10-5
6.80 × 10-5
392
196
220
294
343
196
220
294
343
196
465
588
661
392
465
588
661
392
588
686
808
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
2.63
441
50 W
100 W
200 W
400 W
750 W
1/15
1/25
1/5
333
4.73
588
200
7.88
686
1000
556
3.38
392
1/9
6.48
441
1/15
1/25
1/5
333
10.8
588
200
18.0
686
1000
556
7.57
392
1/9
10.6
931
1/15
1/25
1/5
333
17.6
1176
1323
784
200
31.2
1000
556
15.6 (15.3)
27.4 (26.8)
45.7 (44.8)
76.1 (74.7)
31.7
1/9
931
1/15
1/25
1/5
333
1176
1323
784
200
1000
556
1/9
53.9
1176
1372
1617
1/15
1/25
333
89.9
200
149.8
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 T/2 position.
Note: 5. The standard models have a straight shaft with a key.
Decelerators for 3,000-r/min Flat Servomotor
Rated
rotation
speed
Maximum
Efficiency momentary
rotation speed
Maximum
momentary
torque
Allowable Allowable
Rated
torque
Decelerator
inertia
radial
load
thrust
load
Weight
Model
r/min
600
333
200
120
600
333
200
120
600
333
200
120
N·m
1.19
2.29
3.81
6.36
2.70
3.77
6.29
11.1
5.40
9.50
15.8
26.4
%
r/min
1000
N·m
3.15
kg·m2
N
N
kg
1/5
1/9
R88G-VRSF05B100PCJ
R88G-VRSF09B100PCJ
R88G-VRSF15B100PCJ
R88G-VRSF25B100PCJ
R88G-VRSF05B200PCJ
R88G-VRSF09C200PCJ
R88G-VRSF15C200PCJ
R88G-VRSF25C200PCJ
R88G-VRSF05C400PCJ
R88G-VRSF09C400PCJ
R88G-VRSF15C400PCJ
R88G-VRSF25C400PCJ
75
80
80
80
85
66
66
70
85
83
83
83
4.00 × 10-6
3.50 × 10-6
3.50 × 10-6
3.25 × 10-6
1.18 × 10-5
2.75 × 10-5
3.00 × 10-5
2.88 × 10-5
3.63 × 10-5
2.75 × 10-5
3.00 × 10-5
2.88 × 10-5
392
441
588
686
392
931
1176
1323
784
931
1176
1323
196
220
294
343
196
465
588
661
392
465
588
661
0.72
0.72
0.87
0.87
0.85
1.80
2.20
2.20
1.80
1.80
2.20
2.20
556
6.048
100 W
200 W
400 W
1/15
1/25
1/5
333
10.08
200
16.8
1000
7.65
1/9
556
10.692
17.82
1/15
1/25
1/5
333
200
31.5
1000 (900)
556 (500)
333 (300)
200 (180)
15.5 (15.3)
27.3 (26.9)
45.4 (44.8)
75.7 (74.7)
1/9
1/15
1/25
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 T/2 position.
Note: 5. The standard models have a straight shaft with a key.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
125
Encoder, External Regeneration Resistors, Reactor and Parameter Unit Specifications
● Encoder Specifications
Incremental Encoders
Item
Encoder system
Specifications
Optical encoder
No. of output pulses
Power supply voltage
Power supply current
Output signals
Phases A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation
5 VDC 5%
180 mA (max.)
+S, −S
Output interface
RS-485 compliance
Absolute Encoders
Item
Specifications
Optical encoder
Encoder system
17 bits
No. of output pulses
Maximum rotations
Phases A and B: 32,768 pulses/rotation, Phase Z: 1 pulse/rotation
−32,768 to +32,767 rotations
Power supply voltage
Power supply current
Applicable battery voltage
5 VDC 5%
110 mA (max.)
3.6 VDC
180 μA for a maximum of 5 s right after power interruption
Current consumption of battery 100 μA for operation during power interruption
3.6 μA when power is supplied to Servo Drive
Output signals
+S, −S
Output interface
RS-485 compliance
● External Regeneration Resistors Specifications
Regeneration
absorption for 120°C
temperature rise
Nominal
capacity
Heat radiation
condition
Model
Resistance
Thermal switch output specifications
R88A-RR08050S
R88A-RR080100S
50 Ω
Aluminum 250 × 250, Operating temperature: 150°C 5%, NC contact,
Thickness: 3.0 Rated output: 30 VDC, 50 mA max.
80 W
20 W
70 W
100 Ω
Aluminum 350 × 350, Operating temperature: 170°C 5%, NC contact,
R88A-RR22047S1
R88A-RR50020S
47 Ω
220 W
Thickness: 3.0
Rated output: 250 VAC, 0.2 A max.
Operating temperature: 200°C 7%, NC contact,
Rated output: 250 VAC, 0.2 A max.
24 VDC, 0.2 A max.
Aluminum 600 × 600,
20 Ω
500 W
180 W
Thickness: 3.0
● Reactor Specifications
Reactor
Servo Drive
Reactor type
Weight
Model
Rated current
Inductance
R88D-GNA5L-ML2
R88D-GN01H-ML2
3G3AX-DL2002
3G3AX-DL2004
3G3AX-DL2007
1.6 A
21.4 mH
Approx. 0.8 kg
Approx. 1.0 kg
Approx. 1.3 kg
Single-phase
Single-phase
Single-phase
R88D-GN01L-ML2
R88D-GN02H-ML2
3.2 A
6.1 A
10.7 mH
6.75 mH
R88D-GN02L-ML2
R88D-GN04H-ML2
R88D-GN04L-ML2
R88D-GN08H-ML2
R88D-GN10H-ML2
3G3AX-DL2015
3G3AX-DL2022
3G3AX-AL2025
9.3 A
13.8 A
10.0 A
3.51 mH
2.51 mH
2.8 mH
Approx. 1.6 kg
Approx. 2.1 kg
Approx. 2.8 kg
Single-phase
Single-phase
Three-phase
R88D-GN15H-ML2
R88D-GN08H-ML2
R88D-GN10H-ML2
R88D-GN15H-ML2
R88D-GN20H-ML2
R88D-GN30H-ML2
3G3AX-AL2055
20.0 A
0.88 mH
Approx. 4.0 kg
Three-phase
R88D-GN50H-ML2
R88D-GN75H-ML2
3G3AX-AL2110
3G3AX-AL2220
34.0 A
67.0 A
0.35 mH
0.18 mH
Approx. 5.0 kg
Approx. 10.0 kg
Three-phase
Three-phase
126
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
● R88A-PR02G Parameter Unit Specifications
General Specifications
Item
Specifications
Operating ambient temperature
Operating ambient humidity
0 to 55°C
90% max. (with no condensation)
Storage ambient temperature
Storage ambient humidity
−20 to 80°C
90% max. (with no condensation)
Storage and operating atmosphere
Vibration resistance
No corrosive gases
5.9 m/s2 max.
Performance Specifications
Item
Specifications
Type
Hand-held
Cable length
Connectors
Display
1.5 m
Mini DIN 8-pin MD connector
7-segment LED
External dimensions
Weight
62 × 114 × 15 mm (W × H × D)
Approx. 0.1 kg (including cable that is provided)
Standard
RS-232
Communications method
Baud rate
Asynchronous (ASYNC)
9,600 bps
1 bit
Start bits
Data
8 bits
None
1 bit
Parity
Stop bits
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
127
Connections
● Control I/O Connector Specifications (CN1)
Control I/O Signal Connections and External Signal Processing
4.7kΩ
1kΩ
12 to 24 VDC
+24VIN
1
2
15 /ALM
Alarm Output
Emergency Stop
STOP
EXT3
EXT2
EXT1
IN1
16 ALMCOM
4.7kΩ
36 OUTM1
External
Latch 3
1kΩ
General-purpose Output 1
3
4
5
6
7
8
4.7kΩ
35 OUTM1COM
1kΩ
External
Latch 2
29 OUTM2
General-purpose Output 2
4.7kΩ
30 OUTM2COM
External
Latch 1
1kΩ
31 OUTM3
4.7kΩ
General-purpose Output 3
General-purpose
Input 1
1kΩ
32 OUTM3COM
4.7kΩ
Forword Torque
Limit Input
1kΩ
PCL
NCL
4.7kΩ
Reverse Torque
Limit Input
1kΩ
4.7kΩ
Forward Drive
Prohibit Input
1kΩ
POT 19
NOT 20
DEC 21
4.7kΩ
Reverse Drive
Prohibit Input
1kΩ
4.7kΩ
Origin Proximity
Input
1kΩ
4.7kΩ
Backup Battery *1
34
BAT
1kΩ
General-purpose
Input0
IN0 22
IN2 23
4.7kΩ
33
BATCOM
1kΩ
General-purpose
Input 2
FG
Shell
*1. If a backup battery is connected, a cable with a battery is not required.
*2. Inputs for pins 19 and 20 are determined by parameter settings. The diagram shows the default configuration.
128
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
● Peripheral Device Connection Examples
R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2/-GN04L-ML2
R88D-GN01H-ML2/-GN02H-ML2/-GN04H-ML2/-GN08H-ML2/-GN10H-ML2/-GN15H-ML2
R
T
Single-phase 100 to 115 VAC, 50/60 Hz: R88D-GN@@L-ML2
Single-phase 200 to 240 VAC, 50/60 Hz: R88D-GN@@H-ML2
NFB
Noise filter
1
3
2
4
E
NF
Main-circuit power supply
Main-circuit contactor
OFF
ON
1MC
(Ground to
100 Ω or less.)
X
Surge killer
1MC
X
PL
Servo error display
G-Series
G-Series
AC Servo Drive
CNA
L1C
AC Servomotor
Power Cable
XB
(*2)
B
L2C
CNB
U
24 VDC
1MC
CNA
V
L1
Reactor
M
W
L3
CNB
B1
Regeneration
resistor
(Ground to
100 Ω or less.)
(*3)
B3
B2
CN2
(*4)
Encoder Cable
E
CN1
15 /ALM
X
24 VDC
16 ALMCOM
CN1
BKIR
24 VDC
X
XB
(*1)
User
control
BKIRCOM
CN1
device
Control Cable
*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 Servomotors
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 (GN04L-ML2, GN08H-ML2, GN10H-ML2, and GN15H-ML2).
If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2.
*4. The models GNA5L-ML2 to GN02L-ML2 and GN01H-ML2 to GN04H-ML2 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.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
129
R88D-GN08H-ML2/-GN10H-ML2/-GN15H-ML2
R
S
T
Three-phase 200 to 240 VAC, 50/60 Hz
NFB
Noise filter
1
4
2
NF
5
3
6
E
Main-circuit power supply
Main-circuit contactor
OFF
ON
1MC
(Ground to
100 Ω or less.)
X
Surge killer
1MC
X
PL
Servo error display
G-Series
G-Series
AC Servomotor
AC Servo Drive
CNA
L1C
Power Cable
XB
(*2)
B
CNB
U
L2C
24 VDC
1MC
Reactor
V
CNA
M
L1
L2
L3
W
(Ground to
100 Ω or less.)
CNB
B1
CN2
Encoder Cable
(*3)
E
Regeneration
resistor
B3
B2
CN1
15 /ALM
X
24 VDC
16 ALMCOM
CN1
BKIR
X
24 VDC
XB
(*1)
User
control
CN1
BKIRCOM
device
Control Cable
*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 Servomotors
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 (GN08H-ML2 to GN15H-ML2).
If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2.
*4. Connect B2-B3 for the models with a built-in regeneration resistor (GN08H-ML2 to GN15H-ML2).
If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2.
130
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
R88D-GN20H-ML2/-GN30H-ML2/-GN50H-ML2
R
S
T
Three-phase 200 to 230 VAC, 50/60 Hz
NFB
Noise filter
1
4
2
NF
5
3
6
E
Main-circuit power supply
Main-circuit contactor
OFF
ON
1MC
(Ground to
100 Ω or less.)
X
Surge killer
1MC
X
PL
Servo error display
G-Series
G-Series
AC Servo Drive
TB1
L1C
AC Servomotor
Power Cable
XB
(*2)
B
TB1
L2C
24 VDC
U
1MC
V
TB1
Reactor
M
L1
L2
L3
B1
B3
B2
W
(Ground to
100 Ω or less.)
CN2
(*3)
Regeneration
resistor
Encoder Cable
E
CN1
15 /ALM
X
24 VDC
16 ALMCOM
CN1
BKIR
X
24 VDC
XB
(*1)
User
control
CN1
BKIRCOM
device
Control Cable
*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 Servomotors
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 (GN08H-ML2 to GN15H-ML2).
If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
131
R88D-GN75H-ML2
R
S
T
Three-phase 200 to 230 VAC, 50/60 Hz
NFB
Noise filter
1
4
2
NF
5
3
6
E
Main-circuit power supply
Main-circuit contactor
OFF
ON
1MC
(Ground to
100 Ω or less.)
X
Surge killer
1MC
X
PL
Servo error display
G-Series
G-Series
AC Servomotor
AC Servo Drive
Power Cable
TB2
XB
(*2)
L1C
L2C
B
TB1
24 VDC
U
1MC
Reactor
V
TB1
M
L1
L2
L3
B1
B2
W
(Ground to
100 Ω or less.)
CN2
Regeneration
resistor
(*3)
Encoder Cable
E
TB2
FN
(+)
CN1
Fan Stop
15 /ALM
X
FN(-)
24 VDC
16 ALMCOM
CN1
BKIR
X
24 VDC
XB
(*1)
User
control
CN1
BKIRCOM
device
Control Cable
*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 Servomotors
with brakes.
*2. The brake is not affected by the polarity of the power supply.
*3. The model GN75H-ML2 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.
132
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
I/O Circuit Diagrams
● Control Input Circuits
• Control Inputs
For the relay contact, use either a switch, or a transistor with an open-collector output.
External power supply:
12 VDC 5% to
24 VDC 5%
4.7Ω
+24VIN
1
Power supply capacity:
50 mA min. (per Unit)
Photocoupler input
To other input circuit ground commons
To other input circuits
Signal Levels ON level: 10 V min.
OFF level: 3 V max.
● Control Output Circuits
• Control Outputs
Servo Drive
To other output
circuits
+
−
X
External power supply
24 VDC 1 V
Di
Maximum operating voltage: 30 VDC
Maximum output current: 50 mA
+
−
X
Di
Di: Diode for preventing surge voltage
(Use high-speed diodes.)
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
133
Components and Functions
● Servo Drive Part Names
● R88D-GN20H-ML2/-GN30H-ML2/-GN50H-ML2
• Main Circuit Terminal Block Specifications
Display area
Rotary switches
Symbol
Name
AC SERVO DRIVE
L1
ADR
0
0
1
1
9
2
2
MECHATROLINK-II
communications
status LED indicator
8
3
3
7
4
6
5
L2
Main circuit power supply input
X10
X1
COM
RS-232
communications connector
L3
SP
IM
Analog monitor check pins
SP IM, G)
(CN3)
(
,
L1C
L2C
B1
G
MECHATROLINK-II
communications connector
Control circuit power supply input
(CN6A, CN6B)
Main-circuit power terminals
(L1, L2, L3)
B2
External Regeneration Resistor connection terminals
Control-circuit power terminals
(L1C, L2C)
B3
U
V
Servomotor connection terminals
Frame ground
W
External Regeneration Resistor
connection terminals
(B1, B2, B3)
Control I/O connector (CN1)
Servomotor connection terminals
(U, V, W)
● R88D-GN75H-ML2
• Main Circuit Terminal Block Specifications (TB1)
Encoder connector (CN2)
Protective ground terminals
Symbol
Name
L1
L2
Main circuit power supply input
● R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2
R88D-GN04L-ML2/-GN01H-ML2/-GN02H-ML2
R88D-GN04H-ML2/-GN08H-ML2/-GN10H-ML2
R88D-GN15H-ML2
L3
B1
B2
U
External Regeneration Resistor connection terminals
• Main Circuit Connector (CNA)
Symbol
Name
V
Servomotor connection terminals
Frame ground
L1
W
L2
Main circuits power supply input
L3
L1C
L2C
Control circuit power supply input
• Main Circuit Terminal Block Specifications (TB2)
Symbol
Name
• Servomotor Connector (CNB)
L1C
Symbol
Name
Control circuit power supply input
L2C
B1
B2
B3
U
Frame ground
External Regeneration Resistor connection terminals
FN (+)
FN (−)
Fan Stop Output
V
Servomotor connection terminals
Frame ground
● Display Area
W
A 2-digit 7-segment LED display shows the Servo Drive status, alarm
codes, parameters, and other information.
● Analog Monitor Check Pins (SP, IM, and G)
The actual motor speed, command speed, torque, and number of
accumulated pulses can be measured based on the analog voltage
level by using an oscilloscope.
Set the type of signal to be output and the output voltage level by set-
ting the Speed Monitor (SP) Selection (Pn007) and Torque Monitor
(IM) Selection (Pn008).
● MECHATROLINK-II Status LED Indicator
Indicates the communications status of the MECHATROLINK-II.
● Rotary Switches
Sets the node address.
134
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
● CN1 Control Input Signals
● Protective Functions
Pin No.
Symbol
+24VIN
STOP
EXT3
EXT2
EXT1
IN1
Name
12 to 24-VDC Power Supply Input
Emergency Stop Input
Error detection
1
2
3
4
5
6
7
8
Control power supply undervoltage
Overvoltage
External Latch Signal 3
Undervoltage
External Latch Signal 2
Overcurrent
External Latch Signal 1
Overheating
External general-purpose Input 1
Forward Torque Limit Input
Reverse Torque Limit Input
Forward Drive Prohibit Input
Reverse Drive Prohibit Input
Origin Proximity Input
Overload
PCL
Regeneration overload
Encoder communications error
Encoder communications data error
Deviation counter overflow
Overspeed
NCL
POT
19 to 20*
NOT
21
22
23
34
33
DEC
IN0
External general-purpose Input 0
External general-purpose Input 2
Command error
IN2
Internal deviation counter overflow
Overrun limit error
BAT
Backup Battery Input
ABS
BATCOM
Parameter error
Parameter corruption
Drive prohibit input error
*Forward and reverse rotation over travel input.
● CN1 Control Output Signals
Absolute encoder system down error
Absolute encoder counter overflow error
Absolute encoder overspeed error
Absolute encoder one-turn counter error
Absolute encoder multi-turn counter error
Absolute encoder status error
ABS
ABS
ABS
ABS
ABS
ABS
Pin No.
15
Symbol
/ALM
Name
Alarm Output
16
ALMCOM
OUTM2
29
General-purpose Output 2 (READY)
General-purpose Output 3 (CLIM)
General-purpose Output 1 (BKIR)
30
OUTM2COM
OUTM3
31
32
OUTM3COM
OUTM1
Encoder phase Z error
Encoder PS signal error
Node address setting error
Communications error
36
35
OUTM1COM
● Encoder Connector Specifications (CN2)
Transmission cycle error
Watchdog data error
Pin No.
Symbol
E5V
Name
Encoder power supply +5 V
Encoder power supply GND
Battery +
1
Emergency stop input error
Transmission cycle setting error
SYNC command error
2
E0V
3
4
BAT+
BAT−
PS+
Battery −
Parameter setting error
Servomotor non-conformity
5
Encoder +phase S Input
Encoder −phase S Input
Shield ground
6
PS−
Shell
FG
● Parameter Unit Connector Specifications (CN3)
Pin No.
Symbol
TXD
Name
3
4
5
RS-232 send data
Ground
GND
RXD
RS-232 receive data
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
135
Parameter
● R88A-RP02G : Parameter Unit Part Names
LED Display (6 Digits)
Parameter name
Explanation
If an error occurs, all digits will flash and the
Sets the notch frequency of notch filter 1 for
resonance suppression.
display will switch to the error display.
Notch Filter 1 Frequency
Unit No. Display (2 Digits)
Selects the notch width of notch filter 1 for
resonance suppression.
Displays the parameter type (servo, 16 bit, or
32 bit).
Notch Filter 1 Width
8.8.8.8.8.8.
8.8
In Parameter Setting Mode, displays the
2-digit parameter number.
Selects the load inertia as a percentage of the
Servomotor rotor inertia.
Inertia Ratio (RT)
Mode Key
Realtime Autotuning
Mode Selection
Sets the operating mode for realtime autotuning.
Switches between the following six modes.
• Monitor Mode
•
Normal mode autotuning
Auxiliary Function Mode
Realtime Autotuning
Machine Rigidity
Selection
•
•
Parameter Setting Mode
•
Parameter Write Mode • Copy Mode
Sets the machine rigidity for realtime autotuning.
Increment/Decrement Key
Adaptive Filter Selection Enables or disables the adaptive filter.
Increases or decreases parameter numbers
or set values.
Selects the vibration filter type and the switching
Vibration Filter Selection
mode.
Shift Key
Shifts the digit being changed to the left.
Normal Mode Autotuning Sets the operating pattern for normal mode
Operation Setting
autotuning.
Data Key
Switches between the parameter and setting
displays, saves settings, etc.
Sets the Servomotor’s allowable operating range
for the position command input range.
Overrun Limit Setting
The Instantaneous Speed Observer improves
speed detection accuracy, thereby improving
responsiveness and reducing vibration when
stopping.
● Servo Parameters
Instantaneous Speed
Observer Setting (RT)
Parameter name
Explanation
Selects the data to be displayed on the 7-
segment LED display on the front panel.
Default Display
Sets the notch frequency of notch filter 2 for
resonance suppression.
Notch Filter 2 Frequency
Notch Filter 2 Width
Notch Filter 2 Depth
Selects the torque limit function, or the torque
feed-forward function during speed control.
Torque Limit Selection
Selects the notch width of notch filter 2 for
resonance suppression.
Selects the function for the Forward and Reverse
Drive Prohibit Inputs (CN1 POT: pin 19, NOT: pin
20).
Drive Prohibit Input
Selection
Selects the notch depth of notch filter 2 for
resonance suppression.
Sets the vibration frequency 1 for damping
control to suppress vibration at the end of the
load.
Controls errors and warnings for
MECHATROLINK-II communications.
Communications Control
Vibration Frequency 1
Vibration Filter 1 Setting
Power ON Address
Sets the duration to display the node address
Display Duration Setting when the control power is turned ON.
When setting Vibration Frequency 1 (Pn02B),
reduce this setting if torque saturation occurs, or
increase it to make the movement faster.
Speed Monitor (SP)
Selection
Selects the output to the Analog Speed Monitor
(SP on the front panel).
Sets the vibration frequency 2 for damping
control to suppress vibration at the end of the
load.
Torque Monitor (IM)
Selection
Selects the output to the Analog Torque Monitor
(IM on the front panel).
Vibration Frequency 2
Vibration Filter 2 Setting
Prohibit Parameter
Changes via Network
Allows/prohibits parameter changes via the
network.
Sets vibration filter 2 for damping control to
suppress vibration at the end of the load.
Operation Switch When
Using Absolute Encoder
Adaptive Filter Table
Number Display
Displays the table entry number corresponding
to the frequency of the adaptive filter.
Selects how the absolute encoder is used.
Gain Switching Operating
Mode Selection (RT)
RS-232 Baud Rate
Setting
Enables or disables gain switching.
Sets the baud rate for RS-232 communications.
Sets the trigger for gain switching.
The details depend on the control mode.
Position Loop Gain (RT)
Speed Loop Gain (RT)
Sets the position loop responsiveness.
Sets the speed loop responsiveness.
Gain Switch Setting (RT)
Enabled when the Gain Switch Setting (Pn031)
is set to 3, or 5 to 10. Sets the lag time from the
trigger detection to actual gain switching when
switching from gain 2 to gain 1.
Speed Loop Integration
Time Constant (RT)
Adjusts the speed loop integration time constant.
Gain Switch Time (RT)
Speed Feedback Filter
Time Constant (RT)
Sets the type of speed detection filter time
constant. Normally, use a setting of 0.
Sets the judgment level to switch between Gain
1 and Gain 2 when the Gain Switch Setting
(Pn031) is set to 3, 5, 6, 9, or 10. The unit for the
setting depends on the condition set in the Gain
Switch Setting (Pn031).
Torque Command Filter
Time Constant (RT)
Adjusts the first-order lag filter time constant for
the torque command section.
Gain Switch Level Setting
(RT)
Speed Feed-forward
Amount (RT)
Sets the speed feed-forward amount.
Sets the hysteresis of the judgment level for the
Gain Switch Level Setting (Pn033) when the
Gain Switch Setting (Pn031) is set to 3, 5, 6, 9,
or 10.
The unit for the setting depends on the condition
set for the Gain Switch Setting (Pn031).
Feed-forward Filter Time Sets the time constant for the speed feed-
Constant (RT)
forward first-order lag filter.
Gain Switch Hysteresis
Setting (RT)
Position Loop Gain 2
(RT)
Sets the position loop gain when using gain 2
switching.
Sets the speed loop gain when using gain 2
switching.
Speed Loop Gain 2 (RT)
This parameter can prevent the position loop
gain from increasing suddenly when the position
loop gain and position loop gain 2 differ by a
large amount.
Position Loop Gain
Switching Time (RT)
Sets the speed loop integration time constant
when using gain 2 switching.
Speed Loop Integration
Time Constant 2 (RT)
Sets the jog operation speed with the Parameter
Unit or CX-Dr
ive.
Jog Speed
Speed Feedback Filter
Time Constant 2 (RT)
Sets the speed detection filter when using gain 2
switching.
Emergency Stop Input
Setting
Enables the Emergency Stop Input (STOP).
Sets the first-order lag filter time constant for the
torque command section when using gain 2
switching.
Torque Command Filter
Time Constant 2 (RT)
Origin Proximity Input
Logic Setting
Sets the logic for the Origin Proximity Input
(DEC).
136
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
● 16-bit Positioning Parameters
Parameter name
Explanation
Parameter name
Explanation
Sets the relationship between polarity of
operation data sent over the network and the
direction of Servomotor rotation.
Enables or disables the backlash compensation
for position control, and sets the compensation
direction.
Operating Direction
Setting
Backlash Compensation
Selection
Sets the terminal assignment for Drive Prohibit
Input.
Sets the backlash compensation amount for
position control.
Input Signal Selection
Speed Limit
Backlash Compensation
Sets the speed limit for torque control mode.
Backlash Compensation Sets the backlash compensation time constant
Soft Start Acceleration
Time
Sets the acceleration time for speed control
mode.
Time Constant
for position control.
Soft Limit
Enables or disables the soft limit.
Soft Start Deceleration
Time
Sets the deceleration time for speed control
mode.
Sets the threshold for detecting the origin
(ZPOINT) in absolute values.
Origin Range
Speed Limit Selection
Sets the speed limit for torque control mode.
Linear Acceleration
Constant
Sets the acceleration for positioning operations.
Sets the deceleration for positioning operations.
Sets the No.1 Torque Limit for the Servomotor
output torque.
No.1 Torque Limit
Linear Deceleration
Constant
Sets the No.2 Torque Limit for the Servomotor
output torque.
No.2 Torque Limit
Sets the moving average time for position
commands.
Sets the positioning completion range when
Positioning Completion 1 (INP1) Output is
selected.
Moving Average Time
Positioning Completion
Range 1
Origin Return Mode
Settings
Sets the direction for origin return.
Speed Conformity Signal Sets the detection width for the speed conformity
Output Width detection (VCMP) signal.
Rotation Speed for Motor Sets the threshold level for the speed reached
Sets the operating speed for origin return, from
when the origin proximity signal is turned ON, to
when it is turned OFF and the latch signal is
detected.
Origin Return Approach
Speed 1
Rotation Detection
(TGON) signal.
Positioning Completion
Range 2
Sets the positioning completion range when
Positioning Completion 2 (INP2) is selected.
Sets the operating speed for origin return, from
when the latch signal is detected, to when the
Origin Return Final Distance (Pn204) is reached.
Origin Return Approach
Speed 2
Enables or disables the offset component
readjustment function of the Motor Phase
Current Detector (CT) for Servo ON command
inputs. The readjustment is made when control
power is turned ON.
Motor Phase Current
Offset Re-adjustment
Setting
General-purpose Output 1 Selects the function for general-purpose output 1
Function Selection
(OUTM1).
Selects the function for general-purpose output 2
General-purpose Output 2 (OUTM2).
Function Selection The set values and the functions are the same
Selects whether to activate the main power
supply undervoltage function (alarm code 13)
when the main power supply is interrupted for
the duration of the Momentary Hold Time
(Pn06D) during Servo ON.
Undervoltage Alarm
Selection
as for general-purpose output 1 (OUTM1).
Selects the function for general-purpose output 3
General-purpose Output 3 (OUTM3).
Function Selection The set values and the functions are the same
as for general-purpose output 1 (OUTM1).
Sets the operation used to decelerate to a stop
when the Forward Drive Prohibit Input (POT) or
Reverse Drive Prohibit Input (NOT) is enabled.
Stop Selection for Drive
Prohibition Input
Sets the operation to be performed during
deceleration and after stopping after the main
Stop Selection with Main power supply is turned OFF with the
● 32-bit Positioning Parameters
Power OFF
Undervoltage Alarm Selection (Pn065) set to 0.
The deviation counter will be reset when the
power OFF is detected.
Parameter name
Explanation
Sets the offset amount for the encoder position
and the mechanical coordinate system position
when using an absolute encoder.
Absolute Origin Offset
Sets the deceleration process and stop status
Stop Selection for Alarm after an alarm is issued by the protective
Generation
Forward Software Limit
Reverse Software Limit
Sets the soft limit in the forward direction.
Sets the soft limit for the reverse direction.
function. The deviation counter will be reset
when an alarm is issued.
Sets the operation after a Servo OFF.
The relationship between set values, operation,
and deviation counter processing for this
parameter is the same as for the Stop Selection
with Main Power OFF (Pn067).
Sets the distance to travel after detecting the
latch signal input position when performing
external input positioning.
Final Distance for
External Input Positioning
Stop Selection with
Servo OFF
Sets the distance from the latch signal input
position to the origin when performing origin
return.
Origin Return Final
Distance
Brake Timing when
Stopped
Sets the duration from Brake Interlock (BKIR)
signal detection to Servo OFF.
Electronic Gear Ratio 1
(Numerator)
Brake Timing during
Operation
Sets the duration from Servo OFF to when the
Brake Interlock (BKIR) signal is turned OFF.
Sets the numerator for the electronic gear ratio.
Electronic Gear Ratio 2
(Denominator)
Sets the denominator for the electronic gear
ratio.
Sets the regeneration resistor operation and the
regeneration overload (alarm code 18)
operation.
Set this parameter to 0 if using the built-in
regeneration resistor.
Regeneration Resistor
Selection
Deviation Counter
Overflow Level
Sets the deviation counter overflow level.
Sets the amount of time required to detect
shutoff when the main power supply continues to
shut off.
The main power OFF detection will be disabled if
this parameter is set to 1000.
Momentary Hold Time
Emergency Stop Torque
Sets the torque limit during deceleration
because of the Drive Prohibition Input when the
Stop Selection for Drive Prohibition Input
(Pn066) is set to 2.
Overload Detection Level
Setting
Sets the overload detection level.
Sets the overspeed detection level.
Overspeed Detection
Level Setting
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
137
Dimensions
(Unit: mm)
●Servo Drives
• Single-phase 100 VAC (50 to 100 W)
R88D-GNA5L-ML2
R88D-GN01L-ML2
• Single-phase 200 VAC (50 to 200 W)
R88D-GN01H-ML2
R88D-GN02H-ML2
70
132
40
Mounting Hole Dimensions
4
Two, M4
AC SERVO DRIVER
ADR
0
0
1
1
9
2
2
8
3
3
7
4
6
5
X10
X1
COM
SP
IM
G
0.5
6
28
40
• Single-phase 100 VAC (200 W)
R88D-GN02L-ML2
• Single-phase 200 VAC (400 W)
R88D-GN04H-ML2
70
132
55
Mounting Hole Dimensions
Two, M4
4
AC SERVO DRIVER
ADR
0
0
1
1
9
2
2
8
3
3
7
4
6
5
X10
X1
COM
SP
IM
G
0.5
6
43
55
138
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
• Single-phase 100 VAC (400 W)
R88D-GN04L-ML2
• Single-phase/Three-phase 200 VAC (750 W)
R88D-GN08H-ML2
Mounting Hole Dimensions
Two, M4
70
172
65
4
AC SERVO DRIVER
ADR
0
0
1
1
9
2
2
8
3
3
7
4
6
5
X10
X1
COM
SP
IM
G
0.5
7.5
50
65
• Single-phase/Three-phase 200 VAC (900 W to 1.5 kW)
R88D-GN10H-ML2
R88D-GN15H-ML2
70
172
85
Mounting Hole Dimensions
Two, M4
4
AC SERVO DRIVER
ADR
0
1
0
1
9
2
2
8
3
3
7
4
6
5
X10
X1
COM
SP
IM
G
0.5
7.5
70
85
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
139
• Three-phase 200 VAC (2 kW)
R88D-GN20H-ML2
85
70
200
3.5
17.5
50
42.5
Mounting Hole Dimensions
5.2
5.2
Four, M4
5.2
dia.
R2.6
R2.6
AC SERVO DRIVER
ADR
0
1
0
1
9
2
2
8
3
3
7
4
6
5
X10
X1
COM
SP
IM
G
5.2
dia.
R2.6
5.2
R2.6
0.5
17.5
50
3.5
5.2
85
42.5
17.5
50
• Three-phase 200 VAC (2 to 5 kW)
R88D-GN30H-ML2
R88D-GN50H-ML2
130
3.5
15
100
70
200
Mounting Hole Dimensions
65
5.2
5.2 dia.
0.5
5.2
Six, M4
50
R2.6
R2.6
AC SERVO DRIVER
ADR
0
1
0
1
9
2
2
8
3
3
7
4
5
6
X10
X1
COM
SP
IM
G
0.5
100
15
R2.6
5.2 dia.
5.2
R2.6
3.5
5.2
130
65
15
100
140
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
• Three-phase 200 VAC (7.5 kW)
R88D-GN75H-ML2
Front Panel Mounting (Using Mounting Brackets)
248
Mounting Hole Dimensions
37.5
90
90
70
339.3
(4)
82.5
5.2
90
5.2
45.1
(2.3)
Six, M4
5.2
AC SERVO DRIVER
ADR
0
1
0
1
9
2
2
8
3
3
7
4
5
6
X10
X1
COM
SP
IM
G
L1
L2
L3
B1
B2
Square hole
U
V
M
W
0.5
0.5
5.2
5.2
5.2
Four, 5.2 dia.
90
90
38.5
250
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
141
● Servomotors
3,000-r/min Cylindrical Servomotors
• 50 W/100 W
ABS
INC
R88M-G05030H (-S2)
R88M-G10030L (-S2)
R88M-G10030H (-S2)
R88M-G05030H-B (S2)
R88M-G10030L-B (S2)
R88M-G10030H-B (S2)
R88M-G05030T (-S2)
R88M-G10030S (-S2)
R88M-G10030T (-S2)
R88M-G05030T-B (S2)
R88M-G10030S-B (S2)
R88M-G10030T-B (S2)
Brake connector
Servomotor connector
Encoder
connector
Model
LL
72
LN
LL
25
R88M-G05030@
R88M-G10030@
R88M-G05030@-B
R88M-G10030@-B
26.5
46.5
26.5
46.5
6
3
92
102
122
(Dimensions of shaft end
with key and tap)
14
Two, 4.3 dia.
40 × 40
*The empty bax in the L, H, L, T or S.
12.5
3h9
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.
46 dia.
LN
M3 (depth: 6)
• 200 W/400 W/750 W
ABS
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)
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)
Model
LL
79.5
99
LR
30
35
30
35
S
D1
70
90
70
90
D2
50
70
50
70
C
G
Z
4.5
6
KL1
QK
18
b
h
4
5
6
4
5
6
M
t1
2.5
3
L
R88M-G20030@
R88M-G40030@
R88M-G75030@
R88M-G20030@-B
R88M-G40030@-B
R88M-G75030@-B
11
14
19
11
14
19
4h9
5h9
6h9
4h9
5h9
6h9
M4
8
60
80
60
80
6.5
8
43
53
43
53
22.5
22
M5
M4
M5
10
8
112.2
116
3.5
2.5
3
18
6.5
8
4.5
6
135.5
149.2
22.5
22
10
3.5
*The empty bax in the L, H, L, T or S.
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.
Brake connector
Servomotor connector
Encoder
connector
LL
LR
3
G
(Dimensions of shaft end
with key and tap)
Four, Z dia.
C × C
QK
b
D1 dia.
M
(effective depth: L)
142
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
• 1 kW/1.5 kW/2 kW
ABS
Servomotor
canon plug
R88M-G1K030T (-S2)
R88M-G1K530T (-S2)
R88M-G2K030T (-S2)
R88M-G1K030T-B (S2)
R88M-G1K530T-B (S2)
R88M-G2K030T-B (S2)
C × C
(Dimensions of shaft end
with key and tap)
45
LL
55
Encoder
canon plug
G
3
Four, Z dia.
42
6h9
M5 (depth: 12)
Model
LL
D1
D2
C
D3
G
KL1
Z
R88M-G1K030T
R88M-G1K530T
R88M-G2K030T
R88M-G1K030T-B
R88M-G1K530T-B
R88M-G2K030T-B
175
180
205
200
205
230
100
80
90
120
7
98
6.6
115
100
115
95
80
95
100
90
135
120
135
10
7
103
98
9
6.6
9
100
10
103
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.
• 3 kW
ABS
Servomotor/brake
connector
R88M-G3K030T (-S2)
R88M-G3K030T-B (S2)
(Dimensions of the shaft end
with key and tap)
LL
120×120
55
Encoder
45
connector
12
3
9
41
8h9
Model
LL
R88M-G3K030T
R88M-G3K030T-B
217
242
162 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.
• 4 kW/5 kW
ABS
R88M-G4K030T (-S2)
R88M-G5K030T (-S2)
R88M-G4K030T-B (S2)
R88M-G5K030T-B (S2)
Servomotor/brake
connector
(Dimensions of shaft end
with key and tap)
130 × 130
LL
65
Encoder
connector
55
51
12
6
Four, 9 dia.
8h9
Model
LL
R88M-G4K030T
R88M-G5K030T
R88M-G4K030T-B
R88M-G5K030T-B
240
280
265
305
165 dia.
M8 (depth: 20)
145 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.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
143
3,000-r/min Flat Servomotors
• 100 W/200 W/400 W
ABS
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)
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
LL
LR
S
D1
D2
C
F
G
KL1
Z
QK
b
h
t1
M
L
R88M-GP10030L
R88M-GP10030H
60.5
25
8
70
50
60
3
7
43
4.5
12.5
3h9
3
1.8
M3
6
R88M-GP10030S
R88M-GP10030T
87.5
67.5
94.5
82.5
109.5
84.5
111.5
100
R88M-GP20030L
R88M-GP20030H
11
14
8
18
4h9
5h9
3h9
4h9
5h9
4
5
3
4
5
2.5
3.0
1.8
2.5
3.0
M4
M5
M3
M4
M5
8
10
6
R88M-GP20030S
R88M-GP20030T
30
25
30
90
70
90
70
50
70
80
60
80
5
3
5
8
7
8
53
43
53
5.5
4.5
5.5
R88M-GP40030L
R88M-GP40030H
22.5
12.5
18
R88M-GP40030S
R88M-GP40030T
R88M-GP10030L-B
R88M-GP10030H-B
R88M-GP10030S-B
R88M-GP10030T-B
R88M-GP20030L-B
R88M-GP20030H-B
11
14
8
R88M-GP20030S-B
R88M-GP20030T-B
127
R88M-GP40030L-B
R88M-GP40030H-B
115
22.5
10
R88M-GP40030S-B
R88M-GP40030T-B
142
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
Motor connector
LL
LR
Brake connector
G
F
C × C
(7)
(7)
(Dimensions of shaft end
with key and tap)
Four, Z dia.
QK
b
M (depth: L)
144
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
2,000-r/min Cylindrical Servomotors
• 200 VAC: 1 kW/1.5 kW
ABS
R88M-G1K020T (-S2)
R88M-G1K520T (-S2)
R88M-G1K020T-B (S2)
R88M-G1K520T-B (S2)
Servomotor/brake
connector
LL
55
130 × 130
(Dimensions of shaft end
with key and tap)
Encoder
connector
12
6
Four, 9 dia.
45
41
8h9
Model
LL
R88M-G1K020T
R88M-G1K520T
R88M-G1K020T-B
R88M-G1K520T-B
150
175
200
165 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.
• 200 VAC: 2 kW/3 kW
ABS
Servomotor/brake
connector
(Dimensions of shaft end
with key and tap)
R88M-G2K020T (-S2)
R88M-G3K020T (-S2)
R88M-G2K020T-B (S2)
R88M-G3K020T-B (S2)
LL
LR
130 × 130
Encoder
connector
LW
QK
12
6
Four, 9 dia.
8h9
M (depth: L)
Model
LL
LR
55
65
55
65
S
LW
45
55
45
55
QK
41
51
41
51
M
L
R88M-G2K020T
R88M-G3K020T
R88M-G2K020T-B
R88M-G3K020T-B
200
250
225
275
22
24
22
24
M5
M8
M5
M8
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.
• 200 VAC : 4 kW/5 kW
ABS
Servomotor/brake
R88M-G4K020T (-S2)
R88M-G5K020T (-S2)
R88M-G4K020T-B (S2)
R88M-G5K020T-B (S2)
connector
LL
LR
C × C
(Dimensions of shaft end
Encoder
connector
with key and tap)
18
Four, Z dia.
3.2
QK
b
D1 dia.
D3 dia.
M (depth: L)
Model
LL
LR
65
70
65
70
S
D1
D2
130
C
D3
KL1
128
143
128
143
Z
QK
51
50
51
50
b
h
7
8
7
8
t1
4
M
L
R88M-G4K020T
R88M-G5K020T
R88M-G4K020T-B
R88M-G5K020T-B
242
225
267
250
28
35
28
35
165
200
165
200
150
176
150
176
190
233
190
233
11
8h9
M8
20
25
20
25
114.3
130
13.5
11
10h9
8h9
5
M12
M8
4
114.3
13.5
10h9
5
M12
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.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
145
1,500-r/min Cylindrical Servomotors
• 7.5 kW
ABS
Brake connector
R88M-G7K515T (-S2)
R88M-G7K515T-B (S2)
Motor
connector
Eye-bolt
Nominal diameter: 10
(Dimensions of shaft end
with key and tap)
113
LL
176 × 176
96
90
Encoder
connector
Four, 13.5 dia.
24
3.2
12h9
Model
R88M-G7K515T
R88M-G7K515T-B
LL
340.5
380.5
M16 (depth: 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 number.
1,000-r/min Cylindrical Servomotors
• 900 W/2 kW
ABS
Encoder connector
Servomotor/brake connector
R88M-G90010T (-S2)
R88M-G2K010T (-S2)
R88M-G90010T-B (S2)
R88M-G2K010T-B (S2)
LL
LR
C × C
(Dimensions of shaft end
with key and tap)
G
F
Four, Z dia.
QK
b
M (depth: L)
Model
R88M-G90010T
R88M-G2K010T
R88M-G90010T-B
R88M-G2K010T-B
LL
LR
70
80
70
80
S
D1
D2
C
D3
165
233
165
233
F
6
G
KL1
Z
9
QK
41
50
41
50
b
h
7
8
7
8
t1
4
M
L
175
182
200
207
22
35
22
35
145
110
130
176
130
176
12
18
12
18
118
143
118
143
8h9
M5
12
25
12
25
200 114.3
145 110
200 114.3
3.2
6
13.5
9
10h9
8h9
5
M12
M5
4
3.2
13.5
10h9
5
M12
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.
• 3 kW
ABS
R88M-G3K010T (-S2)
R88M-G3K010T-B (S2)
Servomotor/brake
connector
(Dimensions of shaft end
with key and tap)
LL
80
176 × 176
50
Encoder connector
Four, 13.5 dia.
18 3.2
10 height: 9
Model
R88M-G3K010T
R88M-G3K010T-B
LL
233 dia.
222
271
M12 (depth: 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.
146
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
• 4.5 kW
ABS
R88M-G4K510T (-S2)
R88M-G4K510T-B (S2)
(Dimensions of shaft end
with key and tap)
Servomotor/brake
connector
LL
113
3.2
176 × 176
Eye-bolt
Nominal
diameter: 10
90
24
Four, 13.5 dia.
Encoder connector
12 height: 9
Model
R88M-G4K510T
R88M-G4K510T-B
LL
233 dia.
300.5
337.5
M12 (depth: 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.
• 6 kW
Brake connector
ABS
Motor
connector
Eye-bolt
Nominal diameter: 10
R88M-G6K010T (-S2)
R88M-G6K010T-B (S2)
(Dimensions of shaft end
with key and tap)
176 × 176
LL
113
96
90
Encoder
connector
Four, 13.5 dia.
24
3.2
12 height: 9
Model
R88M-G6K010T
R88M-G6K010T-B
LL
M16 (depth: 32)
340.5
380.5
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.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
147
● Decelerators
Backlash: 3 Arcminutes Max.
<Cylinder Type>
● 3,000-r/min Servomotors (50 to 750 W)
Dimensions (mm)
Outline
Drawings
Model
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1/5
1/9
R88G-HPG11B05100B@
R88G-HPG11B09050B@
R88G-HPG14A21100B@
R88G-HPG14A33050B@
R88G-HPG14A45050B@
R88G-HPG11B05100B@
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 *4
1 *4
1
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
42
42
40
40
40 × 40
40 × 40
60 × 60
60 × 60
60 × 60
40 × 40
60 × 60
60 × 60
55 dia.
55 dia.
60 × 60
60 × 60
90 × 90
89 dia.
89 dia.
60 × 60
89 dia.
89 dia.
122 dia.
122 dia.
80 × 80
80 × 80
122 dia.
122 dia.
122 dia.
46
46
46
46
46
46
46
46
46
46
46
46
70
70
70
70
70
70
70
70
70
70
90
90
90
90
90
40
40
39.5
39.5
55.5
55.5
55.5
39.5
55.5
55.5
84
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
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
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
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
50W
1/21
1/33
1/45
1/5
58
60
70
56
1
58
60
70
56
1
58
60
70
56
1 *4
1
42
40
46
40
1/11
58
60
70
56
100W 1/21
1/33
1
58
60
70
56
2
80
90
105
105
70
85
1/45
2
80
90
85
84
1/5
1
58
60
56
55.5
55.5
84
1/11
1
58
60
70
56
200W 1/21
1/33
1
80
90
105
105
105
70
85
2
80
90
85
84
1/45
2
80
90
85
84
1/5
1
58
60
56
55.5
84
1/11
2
71
80
90
105
105
135
135
105
105
135
135
135
85
400W 1/21
1/33
2
71
80
90
85
84
2
104
104
78
133
133
80
120
120
90
115
115
85
114
114
84
1/45
2
1/5
1
1/11
1
78
80
90
85
84
750W
1/21
2
104
104
104
133
133
133
120
120
120
115
115
115
114
114
114
(200V)
1/33
1/45
2
2
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Decelerator with a straight shaft with key and tap, add “J” to the end of the model number, in the place indicated by the box.
(e.g., R88G-HPG11B05100BJ)
Note: 3. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 4. Applicable for the servomotors with key, if the key is removed.
Note: 5. The dimensional drawings in this document are designed to indicate only the main dimensions. They do not necessarily represent the detailed shapes of the products.
Outline Drawings 1
There is one set bolt.
Four,
Set bolt (AT)
Z2 dia.
Key and tap Dimensions
C1
E
QK
b
D1 dia.
D2 dia.
S dia., height: 7
M (depth: L)
T
F1
F2
C2
Four, Z1 dia.
G
LR
LM
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
*4. For the R88G-HPG11B series, two set bolts are positioned at an angle of
90° from each other.
Four,
Set bolt (AT)
Z2 dia.
D2 dia.
C2
148
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Dimensions (mm)
Key Dimensions
Tap Dimensions
Model
G
S
T
Z1
Z2
AT*1
QK
b
3
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
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
5
5
8
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
3.4
3.4
5.5
5.5
5.5
3.4
5.5
5.5
9
M4 × 9
M4 × 9
M4 × 10
M4 × 10
M4 × 10
M4 × 9
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
R88G-HPG11B05100B@
R88G-HPG11B09050B@
R88G-HPG14A21100B@
R88G-HPG14A33050B@
R88G-HPG14A45050B@
R88G-HPG11B05100B@
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
8
3
6
8
16
16
16
8
5
8
1/21
1/33
1/45
1/5
50W
8
5
3
8
8
5
3
8
5
3
1.8
3
6
8
16
16
25
25
16
16
25
25
25
16
25
25
40
40
25
25
40
40
40
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M5 × 12
M5 × 12
M5 × 12
M5 × 12
M5 × 12
5
8
1/11
8
5
3
8
1/21 100W
1/33
10
10
8
8
4
12
12
8
9
8
4
1/45
5.5
5.5
9
5
3
1/5
8
5
3
8
1/11
10
10
10
8
8
4
12
12
12
8
1/21 200W
1/33
9
8
4
9
8
4
1/45
5.5
9
5
3
1/5
10
10
13
13
10
10
13
13
13
8
4
12
12
20
20
12
12
20
20
20
1/11
9
8
4
1/21 400W
1/33
11
11
9
12
12
8
5
5
1/45
4
1/5
9
8
4
1/11
750W
1/21
11
11
11
12
12
12
5
(200V)
5
1/33
1/45
5
*1. This is the set bolt.
Outline Drawings 2
Four,
Z2 dia.
Set bolt (AT)
Key and tap Dimensions
QK
C1
E
b
D1 dia.
S dia., height: 7
D2 dia.
M (depth: L)
T
F1
F2
C2
Four, Z1 dia.
G
LR
LM
*3. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
149
Backlash: 3 Arcminutes Max.
<Cylinder Type>
● 3,000-r/min Servomotors (1 to 5 kW)
Dimensions (mm)
Outline
Drawings
Model
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1/5
1/11
1/21
1/33
1/45
1/5
R88G-HPG32A052K0B@
R88G-HPG32A112K0B@
R88G-HPG32A211K5B@
R88G-HPG50A332K0B@
R88G-HPG50A451K5B@
R88G-HPG32A052K0B@
R88G-HPG32A112K0B@
R88G-HPG32A211K5B@
R88G-HPG50A332K0B@
R88G-HPG50A451K5B@
R88G-HPG32A052K0B@
R88G-HPG32A112K0B@
R88G-HPG50A212K0B@
R88G-HPG50A332K0B@
R88G-HPG32A053K0B@
R88G-HPG50A113K0B@
R88G-HPG50A213K0B@
R88G-HPG32A054K0B@
R88G-HPG50A115K0B@
R88G-HPG50A055K0B@
R88G-HPG50A115K0B@
2
2
2
2
2
2
2
2
2
2
2
2
2
2
1
2
2
1
1
1
1
110
110
110
123
123
110
110
110
123
123
110
110
123
123
107
123
123
129
149
149
149
133
133
133
156
156
133
133
133
156
156
133
133
156
156
133
156
156
133
156
156
156
120
120
120
170
170
120
120
120
170
170
120
120
170
170
135 dia.
135 dia.
135 dia.
170 dia.
170 dia.
135 dia.
135 dia.
135 dia.
170 dia.
170 dia.
135 dia.
135 dia.
170 dia.
170 dia.
135
135
135
190
190
135
135
135
190
190
135
135
190
190
115
115
115
115
115
115
115
115
115
115
115
115
115
115
145
145
145
145
145
145
145
115
115
115
165
165
115
115
115
165
165
115
115
165
165
115
165
165
115
165
165
165
114
114
114
163
163
114
114
114
163
163
114
114
163
163
114
163
163
114
163
163
163
84
84
98
98
12.5
12.5
12.5
12
35
35
35
53
53
35
35
35
53
53
35
35
53
53
35
53
53
35
53
53
53
1kW
84
98
122
122
84
103
103
98
12
12.5
12.5
12.5
12
1/11
84
98
1.5kW 1/21
84
98
1/33
1/45
1/5
122
122
84
103
103
98
12
12.5
12.5
12
1/11
2kW
84
98
1/21
122
122
84
103
103
98
1/33
1/5
12
120 130 × 130 135
12.5
12
3kW
1/11
1/21
1/5
170
170
170 dia.
170 dia.
190
190
122
122
84
103
103
98
12
120 130 × 130 135
170 130 × 130 190
170 130 × 130 190
170 130 × 130 190
12.5
12
4kW
5kW
1/11
1/5
122
122
122
103
103
103
12
1/11
12
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Decelerator with a straight shaft with key and tap, add “J” to the end of the model number, in the place indicated by the box.
(e.g., R88G-HPG32A051K0BJ)
Note: 3. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 4. Applicable for the servomotors with key, if the key is removed.
Note: 5. The dimensional drawings in this document are designed to indicate only the main dimensions. They do not necessarily represent the detailed shapes of the products.
Outline Drawings 1
Four,
Z2 dia.
Set bolt (AT)
Key and tap Dimensions
E
C1
QK
b
D2 dia.
S dia., height: 7
D1 dia.
M (depth: L)
T
F1
F2
C2
Four, Z1 dia.
G
LR
LM
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
150
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Dimensions (mm)
Key Dimensions
Tap Dimensions
Model
G
S
T
Z1
Z2
AT*1
QK
b
h
8
8
8
9
9
8
8
8
9
9
8
8
9
9
8
9
9
8
9
9
9
t1
5
M
L
13
13
13
16
16
13
13
13
16
16
13
13
16
16
13
16
16
13
16
16
16
40
40
40
50
50
40
40
40
50
50
40
40
50
50
40
50
50
40
50
50
50
82
82
82
82
82
82
82
82
82
82
82
82
82
82
82
82
82
82
82
82
82
11
11
11
14
14
11
11
11
14
14
11
11
14
14
11
14
14
11
14
14
14
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 10
M8 × 18
M8 × 16
M8 × 16
M8 × 25
M8 × 25
M8 × 25
M8 × 25
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
12
12
12
14
14
12
12
12
14
14
12
12
14
14
12
14
14
12
14
14
14
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
20
20
20
20
20
20
20
20
20
20
20
20
20
20
20
20
20
20
20
20
20
R88G-HPG32A052K0B@
R88G-HPG32A112K0B@
R88G-HPG32A211K5B@
R88G-HPG50A332K0B@
R88G-HPG50A451K5B@
R88G-HPG32A052K0B@
R88G-HPG32A112K0B@
R88G-HPG32A211K5B@
R88G-HPG50A332K0B@
R88G-HPG50A451K5B@
R88G-HPG32A052K0B@
R88G-HPG32A112K0B@
R88G-HPG50A212K0B@
R88G-HPG50A332K0B@
R88G-HPG32A053K0B@
R88G-HPG50A113K0B@
R88G-HPG50A213K0B@
R88G-HPG32A054K0B@
R88G-HPG50A115K0B@
R88G-HPG50A055K0B@
R88G-HPG50A115K0B@
1/5
1/11
1/21
1/33
1/45
1/5
5
5
1kW
5.5
5.5
5
5
1/11
5
1/21 1.5kW
5.5
5.5
5
1/33
1/45
1/5
5
1/11
2kW
1/21
5.5
5.5
5
1/33
1/5
5.5
5.5
5
1/11
1/21
1/5
3kW
4kW
5kW
5.5
5.5
5.5
1/11
1/5
1/11
*1. This is the set bolt.
Outline Drawings 2
Four,
Z2 dia.
Set bolt (AT)
Key and tap Dimensions
QK
E
C1
b
S dia., height: 7
D2 dia.
D1 dia.
M (depth: L)
T
F1
C2 dia.
Four, Z1 dia.
G
F2
LR
LM
*3. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
151
Backlash: 3 Arcminutes Max.
<Flat Servomotors>
● 3,000-r/min Servomotors (100 to 400 W)
Dimensions (mm)
Model
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1/5
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
42
58
58
80
80
58
80
80
80
80
80
80
80
133
133
40
60
60
90
90
60
90
90
90
90
90
90
90
120
120
60×60
60×60
60×60
89 dia.
89 dia.
80×80
80×80
80×80
80×80
80×80
80×80
80×80
80×80
122 dia.
122 dia.
46
70
70
70
70
70
90
90
90
90
90
90
90
90
90
90
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
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
29
40
40
59
59
40
59
59
59
59
59
59
59
84
84
27
37
37
53
53
37
53
53
53
53
53
53
53
98
98
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
15
21
21
27
27
21
27
27
27
27
27
27
27
35
35
1/11
1/21
1/33
1/45
1/5
70
100 W
200 W
400 W
70
105
105
70
1/11
1/21
1/33
1/45
1/5
105
105
105
105
105
105
105
135
135
1/11
1/21
1/33
1/45
Note: 1. The standard models have a straight shaft.
A model with a key and tap is indicated by adding “J” to the end of the model number.
Note: 2. Applicable for the servomotors with key, if the key is removed.
Outline Drawings
C1
E
Set bolt (AT)
Four, Z2 dia.
Key and Tap Dimensions
QK
D1 dia.
b
D2 dia.
M (depth: L)
T
F1
F2
C2
Four, Z1 dia.
G
LR
LM
152
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Dimensions (mm)
Key dimensions
Tap dimensions
Model
*
1
G
S
T
Z1
Z2
AT
QK
b
3
h
3
5
5
7
7
5
7
7
7
7
7
7
7
8
8
t1
M
M3
M4
M4
M6
M6
M4
M6
M6
M6
M6
M6
M6
M6
M10
M10
L
6
5
8
20
28
28
42
42
28
42
42
42
42
42
42
42
82
82
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
M4×9
M4×10
M4×10
M4×10
M4×10
M5×12
M5×12
M5×12
M5×12
M5×12
M5×12
M5×12
M5×12
M5×12
M5×12
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
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
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
8
16
16
25
25
16
25
25
25
25
25
25
25
40
40
5
8
1/11
1/21
1/33
1/45
1/5
8
5
8
100 W
200 W
400 W
10
10
8
8
12
12
8
8
5
10
10
10
10
10
10
10
13
13
8
12
12
12
12
12
12
12
20
20
1/11
1/21
1/33
1/45
1/5
8
8
8
8
8
1/11
1/21
1/33
1/45
8
12
12
*1. This is the set bolt.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
153
Backlash: 3 Arcminutes Max.
<Cylinder Type>
● 2,000-r/min Servomotors (400 W to 5 kW)
Dimensions (mm)
Outline
Drawings
Model
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1/5
1/11
1/21
1/33
1/45
1/5
R88G-HPG32A053K0B@
R88G-HPG32A112K0SB@
R88G-HPG32A211K0SB@
R88G-HPG50A332K0SB@
R88G-HPG50A451K0SB@
R88G-HPG32A053K0B@
R88G-HPG32A112K0SB@
R88G-HPG50A213K0B@
R88G-HPG50A332K0SB@
R88G-HPG32A053K0B@
R88G-HPG32A112K0SB@
R88G-HPG50A213K0B@
R88G-HPG50A332K0SB@
R88G-HPG32A054K0B@
R88G-HPG50A115K0B@
R88G-HPG50A213K0SB@
R88G-HPG65A253K0SB@
R88G-HPG50A055K0SB@
R88G-HPG50A115K0SB@
R88G-HPG65A205K0SB@
R88G-HPG65A255K0SB@
R88G-HPG50A055K0SB@
R88G-HPG50A115K0SB@
R88G-HPG65A205K0SB@
R88G-HPG65A255K0SB@
R88G-HPG65A057K5SB@
R88G-HPG65A127K5SB@
1
1
1
2
2
1
1
2
2
1
1
2
2
1
1
1
1
1
1
1
1
1
1
1
1
1
1
107
107
107
123
123
107
107
123
123
107
107
123
123
129
149
149
231
149
149
231
231
149
149
231
231
184.5
254.5
133
133
133
156
156
133
133
156
156
133
133
156
156
133
156
156
222
156
156
222
222
156
156
222
222
222
222
120 130 × 130 135
120 130 × 130 135
120 130 × 130 135
145
145
145
145
145
145
145
145
145
145
145
145
145
145
145
145
145
200
200
200
200
200
200
200
200
200
200
115
115
115
165
165
115
115
165
165
115
115
165
165
115
165
165
220
165
165
220
220
165
165
220
220
220
220
114
114
114
163
163
114
114
163
163
114
114
163
163
114
163
163
214
163
163
214
214
163
163
214
214
214
214
84
84
98
98
12.5
12.5
12.5
12
35
35
35
53
53
35
35
53
53
35
35
53
53
35
53
53
57
53
53
57
57
53
53
57
57
57
57
1kW
84
98
170
170
170 dia.
170 dia.
190
190
122
122
84
103
103
98
12
120 130 × 130 135
120 130 × 130 135
12.5
12.5
12
1/11
1/21
1/33
1/5
84
98
1.5kW
2kW
170
170
170 dia.
170 dia.
190
190
122
122
84
103
103
98
12
120 130 × 130 135
120 130 × 130 135
12.5
12.5
12
1/11
1/21
1/33
1/5
84
98
170
170
170 dia.
170 dia.
190
190
122
122
84
103
103
98
12
120 130 × 130 135
170 130 × 130 190
170 130 × 130 190
230 130 × 130 260
170 180 × 180 190
170 180 × 180 190
230 180 × 180 260
230 180 × 180 260
170 180 × 180 190
170 180 × 180 190
230 180 × 180 260
230 180 × 180 260
230 180 × 180 260
230 180 × 180 260
12.5
12
1/11
1/21
1/25
1/5
122
122
168
122
122
168
168
122
122
168
168
168
168
103
103
165
103
103
165
165
103
103
165
165
165
165
3kW
12
12
12
1/11
1/20
1/25
1/5
12
4kW
12
12
12
1/11
1/20
1/25
1/5
12
5kW
12
12
12.0
12.0
7.5kW
1/12
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Decelerator with a straight shaft with key and tap, add “J” to the end of the model number, in the place indicated by the box.
(e.g., R88G-HPG32A053K0BJ)
Note: 3. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 4. Applicable for the servomotors with key, if the key is removed.
Note: 5. The dimensional drawings in this document are designed to indicate only the main dimensions. They do not necessarily represent the detailed shapes of the products.
Outline Drawings 1
Four,
Z2 dia.
Set bolt (AT)
Key and tap Dimensions
QK
E
C1
b
D2 dia.
S dia., height: 7
D1 dia.
M (depth: L)
T
F1
F2
C2
Four, Z1 dia.
G
LR
LM
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
154
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Dimensions (mm)
Key Dimensions
Tap Dimensions
Model
G
S
T
Z1
Z2
AT*1
QK
b
h
8
t1
5
M
L
13
13
13
16
16
13
13
16
16
13
13
16
16
13
16
16
25
16
16
25
25
16
16
25
25
25
25
40
40
40
50
50
40
40
50
50
40
40
50
50
40
50
50
80
50
50
80
80
50
50
80
80
80
80
82
82
11
11
11
14
14
11
11
14
14
11
11
14
14
11
14
14
18
14
14
18
18
14
14
18
18
18
18
M8 × 18
M8 × 18
M8 × 18
M8 × 16
M8 × 16
M8 × 18
M8 × 18
M8 × 16
M8Å~16
M8 × 18
M8 × 18
M8 × 16
M8 × 16
M8 × 25
M8 × 25
M8 × 25
M8 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M8
M6
M6
M8
M8
M6
M6
M8
M8
M8
M8
70
70
12
12
12
14
14
12
12
14
14
12
12
14
14
12
14
14
22
14
14
22
22
14
14
22
22
22
22
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M10
M16
M10
M10
M16
M16
M10
M10
M16
M16
M16
M16
20
20
20
20
20
20
20
20
20
20
20
20
20
20
20
20
35
20
20
35
35
20
20
35
35
35
35
R88G-HPG32A053K0B@
R88G-HPG32A112K0SB@
R88G-HPG32A211K0SB@
R88G-HPG50A332K0SB@
R88G-HPG50A451K0SB@
R88G-HPG32A053K0B@
R88G-HPG32A112K0SB@
R88G-HPG50A213K0B@
R88G-HPG50A332K0SB@
R88G-HPG32A053K0B@
R88G-HPG32A112K0SB@
R88G-HPG50A213K0B@
R88G-HPG50A332K0SB@
R88G-HPG32A054K0B@
R88G-HPG50A115K0B@
R88G-HPG50A213K0SB@
R88G-HPG65A253K0SB@
R88G-HPG50A055K0SB@
R88G-HPG50A115K0SB@
R88G-HPG65A205K0SB@
R88G-HPG65A255K0SB@
R88G-HPG50A055K0SB@
R88G-HPG50A115K0SB@
R88G-HPG65A205K0SB@
R88G-HPG65A255K0SB@
R88G-HPG65A057K5SB@
R88G-HPG65A127K5SB@
1/5
1/11
1/21
1/33
1/45
1/5
8
5
82
70
8
5
1kW
82
70
9
5.5
5.5
5
82
70
9
82
70
8
82
70
8
5
1/11
1/21
1/33
1/5
1.5kW
2kW
82
70
9
5.5
5.5
5
82
70
9
82
70
8
82
70
8
5
1/11
1/21
1/33
1/5
82
70
9
5.5
5.5
5
82
70
9
82
70
8
82
70
9
5.5
5.5
9
1/11
1/21
1/25
1/5
3kW
82
70
9
130
82
110
70
14
9
5.5
5.5
9
82
70
9
1/11
1/20
1/25
1/5
4kW
130
130
82
110
110
70
14
14
9
9
5.5
5.5
9
82
70
9
1/11
1/20
1/25
1/5
5kW
130
130
130
130
110
110
110
110
14
14
14
14
9
9.0
9.0
7.5kW
1/12
*1. This is the set bolt.
Outline Drawings 2
Four,
Z2 dia.
Set bolt (AT)
Key and tap Dimensions
QK
E
C1
b
S dia., height: 7
D1 dia.
D2 dia.
M (depth: L)
T
F1
C2 dia.
Four, Z1 dia.
G
F2
LR
LM
*3. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
155
Backlash: 3 Arcminutes Max.
<Cylinder Type>
● 1,000-r/min Servomotors (900 W to 6 kW)
Dimensions (mm)
Outline
Drawings
Model
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1/5
1/11
1/21
1/33
1/5
R88G-HPG32A05900TB@
R88G-HPG32A11900TB@
R88G-HPG50A21900TB@
R88G-HPG50A33900TB@
R88G-HPG32A052K0TB@
R88G-HPG50A112K0TB@
R88G-HPG50A212K0TB@
R88G-HPG65A255K0SB@
R88G-HPG50A055K0SB@
R88G-HPG50A115K0SB@
R88G-HPG65A205K0SB@
R88G-HPG65A255K0SB@
R88G-HPG50A054K5TB@
R88G-HPG65A127K5SB@
R88G-HPG65A204K5TB@
R88G-HPG65A057K5SB@
R88G-HPG65A127K5SB@
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
129
129
133
133
156
156
133
156
222
222
156
156
222
222
156
222
222
222
222
120 130 × 130 135
120 130 × 130 135
170 130 × 130 190
170 130 × 130 190
120 180 × 180 135
170 180 × 180 190
230 180 × 180 260
230 180 × 180 260
170 180 × 180 190
170 180 × 180 190
230 180 × 180 260
230 180 × 180 260
170 180 × 180 190
230 180 × 180 260
230 180 × 180 260
230 180 × 180 260
230 180 × 180 260
145
145
145
145
200
200
200
200
200
200
200
200
200
200
200
200
200
115
115
165
165
115
165
220
220
165
165
220
220
165
220
220
220
220
114
114
163
163
114
163
214
214
163
163
214
214
163
214
214
214
214
84
98
12.5
12.5
12
35
35
53
53
35
53
53
57
53
53
57
57
53
57
57
57
57
84
98
900W
2kW
149
122
122
84
103
103
98
149
12
129
12.5
12
1/11
1/21
1/25
1/5
149
122
168
168
122
122
168
168
122
168
168
168
168
103
165
165
103
103
165
165
103
165
165
165
165
231
12
231
12
149
12
1/11
1/20
1/25
1/5
149
12
3kW
231
12
231
12
149
12.0
12.0
12.0
12.0
12.0
4.5kW 1/12
1/20
254.5
254.5
184.5
254.5
1/5
6kW
1/12
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Decelerator with a straight shaft with key and tap, add “J” to the end of the model number, in the place indicated by the box.
(e.g., R88G-HPG32A05900TBJ)
Note: 3. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 4. Applicable for the servomotors with key, if the key is removed.
Note: 5. The dimensional drawings in this document are designed to indicate only the main dimensions. They do not necessarily represent the detailed shapes of the products.
Outline Drawings 1
Four,
Z2 dia.
Set bolt (AT)
Key and tap Dimensions
QK
E
C1
b
D2 dia.
S dia., height: 7
D1 dia.
M (depth: L)
T
F1
F2
C2
Four, Z1 dia.
G
LR
LM
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
156
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Dimensions (mm)
Key Dimensions
Tap Dimensions
Model
G
S
T
Z1
Z2
AT*1
QK
b
h
8
t1
5
M
L
13
13
16
16
13
16
25
25
16
16
25
25
16
25
25
25
25
40
40
50
50
40
50
80
80
50
50
80
80
50
80
80
80
80
82
82
11
11
14
14
11
14
18
18
14
14
18
18
14
18
18
18
18
M8 × 25
M8 × 25
M6
M6
M6
M6
M6
M6
M8
M8
M6
M6
M8
M8
M6
M8
M8
M8
M8
70
70
12
12
14
14
12
14
22
22
14
14
22
22
14
22
22
22
22
M10
M10
M10
M10
M10
M10
M16
M16
M10
M10
M16
M16
M10
M16
M16
M16
M16
20
20
20
20
20
20
35
35
20
20
35
35
20
35
35
35
35
R88G-HPG32A05900TB@
R88G-HPG32A11900TB@
R88G-HPG50A21900TB@
R88G-HPG50A33900TB@
R88G-HPG32A052K0TB@
R88G-HPG50A112K0TB@
R88G-HPG50A212K0TB@
R88G-HPG65A255K0SB@
R88G-HPG50A055K0SB@
R88G-HPG50A115K0SB@
R88G-HPG65A205K0SB@
R88G-HPG65A255K0SB@
R88G-HPG50A054K5TB@
R88G-HPG65A127K5SB@
R88G-HPG65A204K5TB@
R88G-HPG65A057K5SB@
R88G-HPG65A127K5SB@
1/5
1/11
1/21
1/33
1/5
8
5
900W
2kW
82
M8 × 25
70
9
5.5
5.5
5
82
M8 × 25
70
9
82
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
M12 × 25
70
8
82
70
9
5.5
9
1/11
1/21
1/25
1/5
130
130
82
110
110
70
14
14
9
9
5.5
5.5
9
82
70
9
1/11
1/20
1/25
1/5
3kW
130
130
82
110
110
70
14
14
9
9
5.5
9
130
130
130
130
110
110
110
110
14
14
14
14
1/12 4.5kW
1/20
9
9
1/5
6kW
1/12
9
*1. This is the set bolt.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
157
Backlash: 15 Arcminutes Max.
<Cylinder Type>
● 3,000-r/min Servomotors (50 to 750 W)
Dimensions (mm)
Model
LM
LR
C1
C2
D1
D2
D3
D4
E3
F
G
1/5
1/9
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
67.5
67.5
78.0
78.0
67.5
67.5
78.0
78.0
72.5
89.5
100.0
100.0
89.5
89.5
100.0
100.0
93.5
97.5
110.0
110.0
32
32
32
32
32
32
32
32
32
50
50
50
50
50
50
50
50
61
61
61
52
52
52
52
52
52
52
52
52
78
78
78
78
78
78
78
78
98
98
98
40
40
40
40
40
40
40
40
60
60
60
60
60
60
60
60
80
80
80
80
46
46
46
46
46
46
46
46
70
70
70
70
70
70
70
70
90
90
90
90
60
60
60
60
60
60
60
60
60
90
90
90
90
90
90
90
90
115
115
115
50
50
50
50
50
50
50
50
50
70
70
70
70
70
70
70
70
90
90
90
45
45
45
45
45
45
45
45
45
62
62
62
62
62
62
62
62
75
75
75
10
10
10
10
10
10
10
10
10
17
17
17
17
17
17
17
17
18
18
18
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
5
5
5
6
6
50 W
100 W
200 W
400 W
750 W
1/15
1/25
1/5
6
6
6
1/9
6
1/15
1/25
1/5
6
6
10
8
1/9
1/15
1/25
1/5
8
8
8
1/9
8
1/15
1/25
1/5
8
8
10
10
10
10
1/9
1/15
1/25
Note: 1. The standard models have a straight shaft with a key.
Note: 2. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 3. Applicable for the servomotors with key, if the key is removed.
Outline Drawings
E3
F
Four, Z2 (effective depth: L)
Four, Z1
C2 × C2
G
T
C1 × C1
LM
LR
158
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Dimensions (mm)
Key dimensions
Model
S
T
Z1
Z2
AT
L
QK
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
12
12
12
12
12
12
12
12
12
19
19
19
19
19
19
19
19
24
24
24
20
20
20
20
20
20
20
20
20
30
30
30
30
30
30
30
30
40
40
40
M4
M4
M4
M4
M4
M4
M4
M4
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M6
M6
M6
M6
M6
M6
M6
M6
M8
M8
M8
M3
M3
M3
M3
M3
M3
M3
M3
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
12
12
12
12
12
12
12
12
12
20
20
20
20
20
20
20
20
20
20
20
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
R88G-VRSF05B100CJ
1/5
1/9
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
50 W
100 W
200 W
400 W
750 W
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
4
1/15
1/25
4
Outline Drawings
Set bolt (AT)
Key Dimensions
t1
QK
h
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
159
Backlash: 15 Arcminutes Max.
<Flat Servomotors>
● 3,000-r/min Servomotors (100 to 400 W)
Dimensions (mm)
Model
LM
LR
C1
C2
D1
D2
D3
D4
E3
F
G
1/5
1/9
R88G-VRSF05B100PCJ
R88G-VRSF09B100PCJ
R88G-VRSF15B100PCJ
R88G-VRSF25B100PCJ
R88G-VRSF05B200PCJ
R88G-VRSF09C200PCJ
R88G-VRSF15C200PCJ
R88G-VRSF25C200PCJ
R88G-VRSF05C400PCJ
R88G-VRSF09C400PCJ
R88G-VRSF15C400PCJ
R88G-VRSF25C400PCJ
67.5
67.5
32
32
32
32
32
50
50
50
50
50
50
50
52
52
52
52
52
78
78
78
78
78
78
78
60
60
60
60
80
80
80
80
80
80
80
80
70
70
70
70
90
90
90
90
90
90
90
90
60
60
60
60
60
90
90
90
90
90
90
90
50
50
50
50
50
70
70
70
70
70
70
70
45
45
45
45
45
62
62
62
62
62
62
62
10
10
10
10
10
17
17
17
17
17
17
17
3
3
3
3
3
3
3
3
3
3
3
3
8
8
100 W
200 W
400 W
1/15
1/25
1/5
78.0
8
78.0
8
72.5
12
12
12
12
12
12
12
12
1/9
89.5
1/15
1/25
1/5
100.0
100.0
89.5
1/9
89.5
1/15
1/25
100.0
100.0
Note: 1. The standard models have a straight shaft with a key.
Note: 2. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 3. Applicable for the servomotors with key, if the key is removed.
Outline Drawings
E3
F
Four, Z1
Four, Z2 (effective depth: L)
C1 × C1
G
T
C2 × C2
LM
LR
160
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
Dimensions (mm)
Key dimensions
Model
S
T
Z1
Z2
AT
L
QK
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
12
12
12
12
12
19
19
19
19
19
19
19
20
20
20
20
20
30
30
30
30
30
30
30
M4
M4
M4
M4
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M6
M6
M6
M6
M6
M6
M6
M3
M3
M3
M3
M4
M4
M4
M4
M4
M4
M4
M4
12
12
12
12
12
20
20
20
20
20
20
20
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
1/5
1/9
R88G-VRSF09B100PCJ
R88G-VRSF15B100PCJ
R88G-VRSF25B100PCJ
R88G-VRSF05B200PCJ
R88G-VRSF09C200PCJ
R88G-VRSF15C200PCJ
R88G-VRSF25C200PCJ
R88G-VRSF05C400PCJ
R88G-VRSF09C400PCJ
R88G-VRSF15C400PCJ
R88G-VRSF25C400PCJ
100 W
200 W
400 W
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
Outline Drawings
Set bolt (AT)
Key Dimensions
t1
QK
h
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
161
● Parameter Unit
R88A-PR02G
(62)
(24)
M3 (depth: 5)
(15)
Mini DIN 8-pin
MD connector
(1500)
● External Regeneration Resistor
R88A-RR22047S1
Thermal switch output
6
t1.2
500
200
220
230
20
R88A-RR08050S/-RR080100S
Thermal switch output
6
t1.2
500
104
122
130
20
R88A-RR50020S
360
25 43
78
10
386
402
162
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
● Reactor
3G3AX-DL2002
3G3AX-DL2004
3G3AX-AL2025
3G3AX-AL2055
Model
A
C
Y
Model
L
Ground terminal (M5)
3G3AX-AL2025
3G3AX-AL2055
120 82
120 98
67
75
3G3AX-DL2002
3G3AX-DL2004
85
95
Six, M4
terminal screws
Terminal
block
60
40
Two, M4
Ro
R
So
S
To
T
Ground terminal
(M4)
56
66
L
Four, 5.2
×
8
Ro R So S To
T
Connection Diagram
Four, 6 dia.
(Notch)
Y
1
50
1
A
C
9.5
3G3AX-DL2007
3G3AX-DL2015
3G3AX-AL2110
3G3AX-AL2220
Terminal holes:
Six, K dia.
Model
L
A
D
55
3G3AX-DL2007
3G3AX-DL2015
105
115
Ro
R
So
S
To
T
Two, M4
Ground terminal
(M4)
56
66
Ro R So S To
Connection Diagram
T
Four, 5.2
× 8
L
X
1
Y 1
W
Four, 6 dia.
(Notch)
C
W=Terminal width
Ground terminal (M6)
Model
A
C
D
H
H1
X
Y
K
W
3G3AX-AL2110
3G3AX-AL2220
150 103 70 170 108 60
180 113 75 190 140 90
80
90
5.3
12
3G3AX-DL2022
8.4 16.5
Two, M4
Ground terminal
(M4)
71
86
Four, 6
× 9
105
About Manuals
English Cat. No. Japanese Cat. No.
Type
Name
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II
Communications User’s Manual
I566
SBCE-353
SBCE-375
R88M-G/R88D-GN@-ML2
CXONE-@@@@C-V@/
@@@@D-V@
W453
CX-Drive OPERATION MANUAL
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2
163
MEMO
164
MEMO
165
MEMO
166
Read and Understand this Catalog
Please read and understand this catalog before purchasing the product. Please consult your OMRON representative if you have
any questions or comments.
Warranty and Limitations of Liability
WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year
(or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON-INFRINGEMENT,
MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER
ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET
THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR
IMPLIED.
LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS
OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON
CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS REGARDING THE
PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED, STORED,
INSTALLED, AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE
MODIFICATION OR REPAIR.
Application Considerations
SUITABILITY FOR USE
OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of the
product in the customer's application or use of the product.
Take all necessary steps to determine the suitability of the product for the systems, machines, and equipment with which it will
be used.
Know and observe all prohibitions of use applicable to this product.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT
ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON
PRODUCT IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR
SYSTEM.
PROGRAMMABLE PRODUCTS
OMRON shall not be responsible for the user's programming of a programmable product, or any consequence thereof.
Disclaimers
CHANGE IN SPECIFICATIONS
Product specifications and accessories may be changed at any time based on improvements and other reasons. Consult with
your OMRON representative at any time to confirm actual specifications of purchased product.
DIMENSIONS AND WEIGHTS
Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown.
PERFORMANCE DATA
Performance data given in this catalog is provided as a guide for the user in determining suitability and does not constitute a
warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application
requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.
OMRON Corporation
Tokyo, JAPAN
Industrial Automation Company
Authorized Distributor:
Contact: www.ia.omron.com
Regional Headquarters
OMRON EUROPE B.V.
Wegalaan 67-69-2132 JD Hoofddorp
The Netherlands
OMRON ELECTRONICS LLC
One Commerce Drive Schaumburg,
IL 60173-5302 U.S.A.
Tel: (31)2356-81-300/Fax: (31)2356-81-388
Tel: (1) 847-843-7900/Fax: (1) 847-843-7787
© OMRON Corporation 2009-2012 All Rights Reserved.
In the interest of product improvement,
specifications are subject to change without notice.
OMRON (CHINA) CO., LTD.
Room 2211, Bank of China Tower,
200 Yin Cheng Zhong Road,
PuDong New Area, Shanghai, 200120, China
Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200
OMRON ASIA PACIFIC PTE. LTD.
No. 438A Alexandra Road # 05-05/08 (Lobby 2),
Alexandra Technopark,
Singapore 119967
Tel: (65) 6835-3011/Fax: (65) 6835-2711
CSM_14_1_0514
Printed in Japan
Cat. No. I814-E1-04
0412 (0308)
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SI9137DB
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