R88D-GT75H_技术文档

Features

2

6

Selection Guide

G-series Servomotors and Servo

Drives with General-purpose Inputs

System Configuration

8

10

12

21

22

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^*2for

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

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

5

6

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

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.

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

50 W

100 W

1/15

1/25

1/5

1/15

1/25

1/5

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

1/15

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)

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

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

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

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

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-GT02H

R88D-GT04H

R88D-GT08H

R88D-GT15H

R88D-GT20H

R88D-GT30H

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-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-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-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-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

R88G-HPG32A211K0SB@

R88G-HPG50A451K0SB@

R88M-G3K030T)

R88M-G2K020T)

R88G-HPG32A053K0B@ R88G-HPG32A112K0SB@ R88G-HPG50A213K0B@ R88G-HPG50A332K0SB@

R88M-G1K520T

R88M-G2K020T

R88M-G3K020T

(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)

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-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

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)

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)

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)

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:

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

LL

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

---

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/s²max. in X,

Y, and Z directions.

Vibration resistance

Impact resistance

Acceleration of 19.6 m/s²max. 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

0.5 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

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

0.9 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

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

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/s²max. in the X,

Y, and Z directions

10 to 2,500 Hz and

acceleration of

24.5 m/s²max. in the

X, Y, and Z directions

10 to 2,500 Hz and

acceleration of

49 m/s²max. 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/s²max. 3 times

Acceleration of

98 m/s²max. 3 times

Acceleration of

98 m/s²max. 3 times

Impact resistance

Acceleration of 98 m/s²max. 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

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)

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

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

245

N

58

98

Without brake

Weight

kg

Approx. 0.3

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

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

9

A

0.3

0.36

N·m

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

39.2

137

4.9 × 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)

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

0.1

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

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)

Max. momentary current ^*1

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

10⁻⁵

10⁻⁴

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

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

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)

t30 (AI) t20 (AI)

Applicable Servo Drives (R88D-)

Brake inertia

GT01H

GT02H

GT04H

GT08H

GT15H

GT20H

GT30H

GT50H

kg·m²

(GD²/4)

1.8 ×

7.5 ×

2.5 ×

3.3 ×

1.35 ×

2 × 10⁻⁷2 × 10⁻⁷

10⁻⁶

10⁻⁵

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

9

10

18

19

22

0.3

0.36

0.42

0.74

0.81

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

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

39.2

137

196

392

1470

4.9 ×

44.1 ×

147 ×

2.0 ×

4.9 ×

2.2 ×

Allowable total work

10³

10⁵

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)

0.93

1.0

0.93

1.78

1.78 (4500)

0.5

2.0

0.45

1.5

Repetitive usage

0.5

0.25

1.0

0.32

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)

7.05

7.05 (3600)

9.1 (4000)

9.1

10

8.0

4.0

3.6 (3800)

3.6

Repetitive usage

2.4 2.4

Continuous usage

Repetitive usage

4.0

1.0

4.0

2.0

0

5

3.18

1.3

4.8

1.7

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)

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

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)

40

20

45.1

47.6

36.3

37.9

12.6

50

25

Repetitive usage

15.8

12.6

15.0

10.0

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

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)

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

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

2.9

5.6

6.6

68

245

68

245

N

58

98

58

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

Radiation shield dimensions (material)

Applicable Servo Drives (R88D-)

170 × 160 × t12 (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

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

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

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)

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

1.3

Continuous usage

1.0

0

2.0

0

0.32

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)

1.8 (4500)

1.8

2.0

1.0

3.65 (3600)

3.65

0.86

Repetitive usage

0.64 0.64

Continuous usage

Repetitive usage

1.0

2.0

0

2.0

0.5

1.3

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

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)

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

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

784

1176

N

196

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

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

26

31

34

A

0.59

0.79

0.9

1.1

1.3

1.4

N·m

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

588

1176

1170

1078

1372

7.8 × 10⁵

1.5 × 10⁶

2.2 × 10⁶

2.5 × 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)

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

14.3

4.7

5.5

3.2

4.8

9.54

13.2

6.3

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)

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

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)

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

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

1764

N

196

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

GT75H

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

24 VDC 10%

W

19

31

34

A

0.79

1.3

1.4

N·m

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

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)

20

10

50

25

70

35

41.5 (1600)

(N·m)

41.5

60

60 (1350)

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

(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

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

kg

0.29

1.04

0.29

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

86

75

80

65

78

85

76

81

87

82

86

81

83

88

84

88

72

83

87

90

87

80

87

90

84

89

91

88

91

90

88

91

5.00 × 10^-7

3.00 × 10^-7

5.00 × 10^-6

4.40 × 10^-6

5.00 × 10^-7

6.00 × 10^-6

5.00 × 10^-6

6.50 × 10^-5

2.07 × 10^-5

1.93 × 10^-5

4.90 × 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

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

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

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

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

78

68

76

81

72

82

86

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

kg

0.34

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

2.07 × 10^-5

5.80 × 10^-5

4.90 × 10^-5

4.50 × 10^-5

7.10 × 10^-5

5.80 × 10^-5

4.90 × 10^-5

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

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

89

92

93

91

93

92

93

90

91

93

91

92

93

92

93

92

94

3.80 × 10^-4

3.40 × 10^-4

2.90 × 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

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

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

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

52.0

18.6

20.1

52.0

22.0

23.5

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

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

95

94

95

94

95

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

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

55.4

22.0

23.5

55.4

22.0

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

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

70

75

80

85

66

70

85

83

90

85

4.00 × 10^-6

3.50 × 10^-6

3.25 × 10^-6

4.00 × 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

0.70

0.55

0.70

0.72

1.70

2.10

1.70

2.10

3.40

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

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

85

66

70

85

83

4.00 × 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

0.87

0.85

1.80

2.20

1.80

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

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

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

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/s²max.

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

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

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

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

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

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

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

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

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

R

−A

49 +B

48 −B

+B

Output line driver

AM26C31 or

Phase B

Phase Z

R

Phase B

−B

the equivalent

+Z

−Z

+Z

23

24

Phase Z

−Z

0 V

25 ZCOM

Shell FG

GND

0 V

Applicable line receiver

AM26C32 or the equivalent

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

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

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

Four, M4

5.2

dia.

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

AC SERVO DRIVER

UNIT No.

DATA

IM

SP

G

5.2

100^±0.5

130

15

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

70

339.3

(4)

82.5

5.2

90

5.2

Six, M4

45.1

(2.3)

5.2

Square hole

90^±0.5

38.5

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)

(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.

● 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

39.5

64.0

39.5

64.0

66.5

64.0

71.0

64

42

40

40 × 40

60 × 60

40 × 40

60 × 60

55 dia.

60 × 60

90 × 90

89 dia.

60 × 60

89 dia.

122 dia.

80 × 80

122 dia.

46

70

90

40

39.5

55.5

39.5

55.5

84

29

40

29

40

59

40

59

40

59

84

59

84

27

37

27

37

53

37

53

37

53

98

53

98

2.2

2.5

2.2

2.5

7.5

2.5

7.5

2.5

7.5

12.5

7.5

12.5

15

21

15

21

27

21

27

21

27

35

27

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

70

85

1/45

2

80

90

85

84

1/5

1

58

60

56

55.5

84

1/11

1

58

60

70

56

200W 1/21

1/33

1

80

90

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

135

105

135

85

400W 1/21

1/33

2

71

80

90

85

84

2

104

78

133

80

120

90

115

85

114

84

1/45

2

1/5

1

1/11

1

78

80

90

85

84

750W

1/21

2

104

133

120

115

114

(200V)

1/33

1/45

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

5

3

5

7

5

7

5

7

8

7

8

t1

1.8

3

M

M3

M4

M3

M4

M6

M4

M6

M4

M6

M10

M6

M10

L

6

5

8

20

28

20

28

42

28

42

28

42

82

42

82

3.4

5.5

3.4

5.5

9

M4 × 9

M4 × 10

M4 × 9

M3

M4

M6

15

25

15

25

36

25

36

25

36

70

36

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

8

5

8

1/21

1/33

1/45

1/5

50W

8

5

3

8

5

3

8

5

3

1.8

3

6

8

16

25

16

25

16

25

40

25

40

M4 × 10

M5 × 12

5

8

1/11

8

5

3

8

1/21 100W

1/33

10

8

4

12

8

9

8

4

1/45

5.5

9

5

3

1/5

8

5

3

8

1/11

10

8

4

12

8

1/21 200W

1/33

9

8

4

9

8

4

1/45

5.5

9

5

3

1/5

10

13

10

13

8

4

12

20

12

20

1/11

9

8

4

1/21 400W

1/33

11

9

12

8

5

1/45

4

1/5

9

8

4

1/11

750W

1/21

11

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.

● 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

1

2

1

110

123

110

123

110

123

107

123

129

149

133

156

133

156

133

156

133

156

133

156

120

170

120

170

120

170

135 dia.

170 dia.

135 dia.

170 dia.

135 dia.

170 dia.

135

190

135

190

135

190

115

145

115

165

115

165

115

165

115

165

115

165

114

163

114

163

114

163

114

163

114

163

84

98

12.5

12

35

53

35

53

35

53

35

53

35

53

1kW

84

98

122

84

103

98

12

12.5

12

1/11

84

98

1.5kW 1/21

84

98

1/33

1/45

1/5

122

84

103

98

12

12.5

12

1/11

2kW

84

98

1/21

122

84

103

98

1/33

1/5

12

120 130 × 130 135

12.5

12

3kW

1/11

1/21

1/5

170

170 dia.

190

122

84

103

98

12

120 130 × 130 135

170 130 × 130 190

12.5

12

4kW

5kW

1/11

1/5

122

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

9

8

9

8

9

8

9

8

9

t1

5

M

L

13

16

13

16

13

16

13

16

13

16

40

50

40

50

40

50

40

50

40

50

82

11

14

11

14

11

14

11

14

11

14

M8 × 10

M8 × 18

M8 × 16

M8 × 25

M6

70

12

14

12

14

12

14

12

14

12

14

M10

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

1kW

5.5

5

1/11

5

1/21 1.5kW

5.5

5

1/33

1/45

1/5

5

1/11

2kW

1/21

5.5

5

1/33

1/5

5.5

5

1/11

1/21

1/5

3kW

4kW

5kW

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.

● 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

71.0

65.0

78.0

104.0

42

58

80

58

80

133

40

60

90

60

90

120

60×60

89 dia.

80×80

122 dia.

46

70

90

40.0

56.0

85.0

56.0

85.0

115.0

39.5

55.5

84.0

55.5

84.0

114.0

29

40

59

40

59

84

27

37

53

37

53

98

2.2

2.5

7.5

2.5

7.5

12.5

15

21

27

21

27

35

1/11

1/21

1/33

1/45

1/5

70

100 W

200 W

400 W

70

105

70

1/11

1/21

1/33

1/45

1/5

105

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

7

5

7

8

t1

M

M3

M4

M6

M4

M6

M10

L

6

5

8

20

28

42

28

42

82

3.4

5.5

9.0

5.5

9.0

11.0

M4×9

M4×10

M5×12

M3

M4

M6

15

25

36

25

36

70

1.8

3.0

4.0

3.0

4.0

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

25

16

25

40

5

8

1/11

1/21

1/33

1/45

1/5

8

5

8

100 W

200 W

400 W

10

8

12

8

5

10

13

8

12

20

1/11

1/21

1/33

1/45

1/5

8

1/11

1/21

1/33

1/45

8

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.

● 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

2

1

2

1

2

1

107

123

107

123

107

123

129

149

231

149

231

149

231

184.5

254.5

133

156

133

156

133

156

133

156

222

156

222

156

222

120 130 × 130 135

145

200

115

165

115

165

115

165

115

165

220

165

220

165

220

114

163

114

163

114

163

114

163

214

163

214

163

214

84

98

12.5

12

35

53

35

53

35

53

35

53

57

53

57

53

57

1kW

84

98

170

170 dia.

190

122

84

103

98

12

120 130 × 130 135

12.5

12

1/11

1/21

1/33

1/5

84

98

1.5kW

2kW

170

170 dia.

190

122

84

103

98

12

120 130 × 130 135

12.5

12

1/11

1/21

1/33

1/5

84

98

170

170 dia.

190

122

84

103

98

12

120 130 × 130 135

170 130 × 130 190

230 130 × 130 260

170 180 × 180 190

230 180 × 180 260

170 180 × 180 190

230 180 × 180 260

12.5

12

1/11

1/21

1/25

1/5

122

168

122

168

122

168

103

165

103

165

103

165

3kW

12

1/11

1/20

1/25

1/5

12

4kW

12

1/11

1/20

1/25

1/5

12

5kW

12

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

16

13

16

13

16

13

16

25

16

25

16

25

40

50

40

50

40

50

40

50

80

50

80

50

80

82

11

14

11

14

11

14

11

14

18

14

18

14

18

M8 × 18

M8 × 16

M8 × 18

M8 × 16

M8Å~16

M8 × 18

M8 × 16

M8 × 25

M12 × 25

M6

M8

M6

M8

M6

M8

70

12

14

12

14

12

14

12

14

22

14

22

14

22

M10

M16

M10

M16

M10

M16

20

35

20

35

20

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

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

82

70

9

82

70

8

82

70

8

5

1/11

1/21

1/33

1/5

82

70

9

5.5

5

82

70

9

82

70

8

82

70

9

5.5

9

1/11

1/21

1/25

1/5

3kW

82

70

9

130

82

110

70

14

9

5.5

9

82

70

9

1/11

1/20

1/25

1/5

4kW

130

82

110

70

14

9

5.5

9

82

70

9

1/11

1/20

1/25

1/5

5kW

130

110

14

9

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.

● 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

129

133

156

133

156

222

156

222

156

222

120 130 × 130 135

170 130 × 130 190

120 180 × 180 135

170 180 × 180 190

230 180 × 180 260

170 180 × 180 190

230 180 × 180 260

170 180 × 180 190

230 180 × 180 260

145

200

115

165

115

165

220

165

220

165

220

114

163

114

163

214

163

214

163

214

84

98

12.5

12

35

53

35

53

57

53

57

53

57

84

98

900W

2kW

149

122

84

103

98

149

12

129

12.5

12

1/11

1/21

1/25

1/5

149

122

168

122

168

122

168

103

165

103

165

103

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

4.5kW 1/12

1/20

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

16

13

16

25

16

25

16

25

40

50

40

50

80

50

80

50

80

82

11

14

11

14

18

14

18

14

18

M8 × 25

M6

M8

M6

M8

M6

M8

70

12

14

12

14

22

14

22

14

22

M10

M16

M10

M16

M10

M16

20

35

20

35

20

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

82

M8 × 25

70

9

82

M12 × 25

70

8

82

70

9

5.5

9

1/11

1/21

1/25

1/5

130

82

110

70

14

9

5.5

9

82

70

9

1/11

1/20

1/25

1/5

3kW

130

82

110

70

14

9

5.5

9

130

110

14

1/12 4.5kW

1/20

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.

● 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

78.0

67.5

78.0

72.5

89.5

100.0

89.5

100.0

93.5

97.5

110.0

32

50

61

52

78

98

40

60

80

46

70

90

60

90

115

50

70

90

45

62

75

10

17

18

3

5

6

50 W

100 W

200 W

400 W

750 W

1/15

1/25

1/5

6

1/9

6

1/15

1/25

1/5

6

10

8

1/9

1/15

1/25

1/5

8

1/9

8

1/15

1/25

1/5

8

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

22

30

b

4

6

8

h

4

6

7

t1

12

19

24

20

30

40

M4

M5

M6

M8

M3

M4

12

20

2.5

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.

● 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

32

50

52

78

60

80

70

90

60

90

50

70

45

62

10

17

3

8

100 W

200 W

400 W

1/15

1/25

1/5

78.0

8

78.0

8

72.5

12

1/9

89.5

1/15

1/25

1/5

100.0

89.5

1/9

89.5

1/15

1/25

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

22

b

4

6

h

4

6

t1

12

19

20

30

M4

M5

M6

M3

M4

12

20

2.5

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

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.

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

50 W

100 W

1/15

1/25

1/5

1/15

1/25

1/5

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

1/15

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)

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

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

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

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

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-GN02H-ML2

R88D-GN04H-ML2

R88D-GN08H-ML2

R88D-GN15H-ML2

R88D-GN20H-ML2

R88D-GN30H-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-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-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-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-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

R88G-HPG32A211K0SB@

R88G-HPG50A451K0SB@

R88M-G3K030T)

R88M-G2K020T)

R88G-HPG32A053K0B@ R88G-HPG32A112K0SB@ R88G-HPG50A213K0B@ R88G-HPG50A332K0SB@

R88M-G1K520T

R88M-G2K020T

R88M-G3K020T

(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)

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

1

9

2

8

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)

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)

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)

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:

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:

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:

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

---

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/s²max. in X,

Y, and Z directions.

Vibration resistance

Impact resistance

Acceleration of 19.6m/s²max. 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

0.5 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

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

0.9 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

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

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/s²max.

in the X, Y, and Z directions

49 m/s²max. in the X,

Y, and Z directions

24.5 m/s²max. in the

X, Y, and Z directions

49 m/s²max. in the X,

Y, and Z directions

Acceleration of

98 m/s²max.

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)

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

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

245

N

58

98

Without brake

Weight

kg

Approx. 0.3

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

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

9

A

0.3

0.36

N·m

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

39.2

137

4.9 × 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)

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

0.1

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

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)

Max. momentary current ^*1

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^-51.69

×

10^-42.59 10^-43.46 10^-46.77 10^-41.27 10^-31.78 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

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

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 ×

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^-61.8

×

10^-67.5

×

10^-62.5

×

10^-53.3

×

10^-53.3

×

10^-53.3

×

10^-51.35

×

10^-41.35

×

10^-4

Excitation voltage ^*4

V

24 VDC 5%

24 VDC 10%

Power consumption (at 20°C)

W

7

9

10

18

19

22

Current consumption (at 20

Static friction torque

Attraction time ^*5

Release time ^*5

°C)

A

0.3

0.36

0.42

0.74

0.81

0.9

N·m

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

39.2

137

196

392

1470

4.9

×

10³

4.9

×

10³44.1

×

10³44.1

×

10³147

×

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)

0.93

1.0

0.93

1.78

1.78 (4500)

0.5

2.0

0.45

1.5

Repetitive usage

0.5

0.25

1.0

0.32

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)

7.05

7.05 (3600)

9.1 (4000)

9.1

10

8.0

4.0

3.6 (3800)

3.6

Repetitive usage

2.4 2.4

Continuous usage

Repetitive usage

4.0

1.0

4.0

2.0

0

5

3.18

1.3

4.8

1.7

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)

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

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)

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

15.0

10.0

Continuous usage

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

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

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)

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

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

2.9

5.6

6.6

68

245

68

245

N

58

98

58

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

Radiation shield dimensions (material)

Applicable Servo Drives (R88D-)

170 × 160 × t12(AI)

170 × 160 × t12 (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

(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

7

10

A

0.29

0.41

0.29

0.41

N·m

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

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

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)

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

1.3

Continuous usage

1.0

0

2.0

0

0.32

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)

1.8 (4500)

1.8

2.0

1.0

3.65 (3600)

3.65

0.86

Repetitive usage

0.64 0.64

Continuous usage

Repetitive usage

1.0

2.0

0

2.0

0.5

1.3

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

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)

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

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

784

1176

N

196

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

26

31

34

A

0.59

0.79

0.9

1.1

1.3

1.4

N·m

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

588

1176

1170

1078

1372

7.8 × 10⁵

1.5 × 10⁶

2.2 × 10⁶

2.5 × 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)

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

14.3

4.7

5.5

3.2

4.8

9.54

13.2

6.3

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)

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

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

N·m

18.4

7.6

41.5

18.5

44

101

33

130

57.2

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

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

1764

N

196

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

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

A

0.79

1.3

1.4

N·m

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

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

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)

20

10

50

25

70

35

41.5 (1600)

(N·m)

41.5

60

60 (1350)

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

(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

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

kg

0.29

1.04

0.29

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

86

75

80

65

78

85

76

81

87

82

86

81

83

88

84

88

72

83

87

90

87

80

87

90

84

89

91

88

91

90

88

91

5.00 × 10^-7

3.00 × 10^-7

5.00 × 10^-6

4.40 × 10^-6

5.00 × 10^-7

6.00 × 10^-6

5.00 × 10^-6

6.50 × 10^-5

2.07 × 10^-5

1.93 × 10^-5

4.90 × 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

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

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

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

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

78

68

76

81

72

82

86

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

kg

0.34

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

2.07 × 10^-5

5.80 × 10^-5

4.90 × 10^-5

4.50 × 10^-5

7.10 × 10^-5

5.80 × 10^-5

4.90 × 10^-5

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

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

89

92

93

91

93

92

93

90

91

93

91

92

93

92

93

92

94

3.80 × 10^-4

3.40 × 10^-4

2.90 × 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

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

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

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

52.0

18.6

20.1

52.0

22.0

23.5

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

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

95

94

95

94

95

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

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

55.4

22.0

23.5

55.4

22.0

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

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

70

75

80

85

66

70

85

83

90

85

4.00 × 10^-6

3.50 × 10^-6

3.25 × 10^-6

4.00 × 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

0.70

0.55

0.70

0.72

1.70

2.10

1.70

2.10

3.40

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

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

85

66

70

85

83

4.00 × 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

0.87

0.85

1.80

2.20

1.80

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

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

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

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/s²max.

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

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

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

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

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

1

9

2

MECHATROLINK-II

communications

status LED indicator

8

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

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

1

9

2

8

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

1

9

2

8

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

1

9

2

8

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

8

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

Four, M4

5.2

dia.

R2.6

AC SERVO DRIVER

ADR

0

1

0

1

9

2

8

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

AC SERVO DRIVER

ADR

0

1

0

1

9

2

8

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

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

8

3

7

4

5

6

X10

X1

COM

SP

IM

G

L1

L2

L3

B1

B2

Square hole

U

V

M

W

0.5

5.2

Four, 5.2 dia.

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)

(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.

● 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

39.5

64.0

39.5

64.0

66.5

64.0

71.0

64

42

40

40 × 40

60 × 60

40 × 40

60 × 60

55 dia.

60 × 60

90 × 90

89 dia.

60 × 60

89 dia.

122 dia.

80 × 80

122 dia.

46

70

90

40

39.5

55.5

39.5

55.5

84

29

40

29

40

59

40

59

40

59

84

59

84

27

37

27

37

53

37

53

37

53

98

53

98

2.2

2.5

2.2

2.5

7.5

2.5

7.5

2.5

7.5

12.5

7.5

12.5

15

21

15

21

27

21

27

21

27

35

27

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

70

85

1/45

2

80

90

85

84

1/5

1

58

60

56

55.5

84

1/11

1

58

60

70

56

200W 1/21

1/33

1

80

90

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

135

105

135

85

400W 1/21

1/33

2

71

80

90

85

84

2

104

78

133

80

120

90

115

85

114

84

1/45

2

1/5

1

1/11

1

78

80

90

85

84

750W

1/21

2

104

133

120

115

114

(200V)

1/33

1/45

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

5

3

5

7

5

7

5

7

8

7

8

t1

1.8

3

M

M3

M4

M3

M4

M6

M4

M6

M4

M6

M10

M6

M10

L

6

5

8

20

28

20

28

42

28

42

28

42

82

42

82

3.4

5.5

3.4

5.5

9

M4 × 9

M4 × 10

M4 × 9

M3

M4

M6

15

25

15

25

36

25

36

25

36

70

36

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

8

5

8

1/21

1/33

1/45

1/5

50W

8

5

3

8

5

3

8

5

3

1.8

3

6

8

16

25

16

25

16

25

40

25

40

M4 × 10

M5 × 12

5

8

1/11

8

5

3

8

1/21 100W

1/33

10

8

4

12

8

9

8

4

1/45

5.5

9

5

3

1/5

8

5

3

8

1/11

10

8

4

12

8

1/21 200W

1/33

9

8

4

9

8

4

1/45

5.5

9

5

3

1/5

10

13

10

13

8

4

12

20

12

20

1/11

9

8

4

1/21 400W

1/33

11

9

12

8

5

1/45

4

1/5

9

8

4

1/11

750W

1/21

11

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.

● 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

1

2

1

110

123

110

123

110

123

107

123

129

149

133

156

133

156

133

156

133

156

133

156

120

170

120

170

120

170

135 dia.

170 dia.

135 dia.

170 dia.

135 dia.

170 dia.

135

190

135

190

135

190

115

145

115

165

115

165

115

165

115

165

115

165

114

163

114

163

114

163

114

163

114

163

84

98

12.5

12

35

53

35

53

35

53

35

53

35

53

1kW

84

98

122

84

103

98

12

12.5

12

1/11

84

98

1.5kW 1/21

84

98

1/33

1/45

1/5

122

84

103

98

12

12.5

12

1/11

2kW

84

98

1/21

122

84

103

98

1/33

1/5

12

120 130 × 130 135

12.5

12

3kW

1/11

1/21

1/5

170

170 dia.

190

122

84

103

98

12

120 130 × 130 135

170 130 × 130 190

12.5

12

4kW

5kW

1/11

1/5

122

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

9

8

9

8

9

8

9

8

9

t1

5

M

L

13

16

13

16

13

16

13

16

13

16

40

50

40

50

40

50

40

50

40

50

82

11

14

11

14

11

14

11

14

11

14

M8 × 10

M8 × 18

M8 × 16

M8 × 25

M6

70

12

14

12

14

12

14

12

14

12

14

M10

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

1kW

5.5

5

1/11

5

1/21 1.5kW

5.5

5

1/33

1/45

1/5

5

1/11

2kW

1/21

5.5

5

1/33

1/5

5.5

5

1/11

1/21

1/5

3kW

4kW

5kW

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.

● 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

71.0

65.0

78.0

104.0

42

58

80

58

80

133

40

60

90

60

90

120

60×60

89 dia.

80×80

122 dia.

46

70

90

40.0

56.0

85.0

56.0

85.0

115.0

39.5

55.5

84.0

55.5

84.0

114.0

29

40

59

40

59

84

27

37

53

37

53

98

2.2

2.5

7.5

2.5

7.5

12.5

15

21

27

21

27

35

1/11

1/21

1/33

1/45

1/5

70

100 W

200 W

400 W

70

105

70

1/11

1/21

1/33

1/45

1/5

105

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

7

5

7

8

t1

M

M3

M4

M6

M4

M6

M10

L

6

5

8

20

28

42

28

42

82

3.4

5.5

9.0

5.5

9.0

11.0

M4×9

M4×10

M5×12

M3

M4

M6

15

25

36

25

36

70

1.8

3.0

4.0

3.0

4.0

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

25

16

25

40

5

8

1/11

1/21

1/33

1/45

1/5

8

5

8

100 W

200 W

400 W

10

8

12

8

5

10

13

8

12

20

1/11

1/21

1/33

1/45

1/5

8

1/11

1/21

1/33

1/45

8

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.

● 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

2

1

2

1

2

1

107

123

107

123

107

123

129

149

231

149

231

149

231

184.5

254.5

133

156

133

156

133

156

133

156

222

156

222

156

222

120 130 × 130 135

145

200

115

165

115

165

115

165

115

165

220

165

220

165

220

114

163

114

163

114

163

114

163

214

163

214

163

214

84

98

12.5

12

35

53

35

53

35

53

35

53

57

53

57

53

57

1kW

84

98

170

170 dia.

190

122

84

103

98

12

120 130 × 130 135

12.5

12

1/11

1/21

1/33

1/5

84

98

1.5kW

2kW

170

170 dia.

190

122

84

103

98

12

120 130 × 130 135

12.5

12

1/11

1/21

1/33

1/5

84

98

170

170 dia.

190

122

84

103

98

12

120 130 × 130 135

170 130 × 130 190

230 130 × 130 260

170 180 × 180 190

230 180 × 180 260

170 180 × 180 190

230 180 × 180 260

12.5

12

1/11

1/21

1/25

1/5

122

168

122

168

122

168

103

165

103

165

103

165

3kW

12

1/11

1/20

1/25

1/5

12

4kW

12

1/11

1/20

1/25

1/5

12

5kW

12

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

16

13

16

13

16

13

16

25

16

25

16

25

40

50

40

50

40

50

40

50

80

50

80

50

80

82

11

14

11

14

11

14

11

14

18

14

18

14

18

M8 × 18

M8 × 16

M8 × 18

M8 × 16

M8Å~16

M8 × 18

M8 × 16

M8 × 25

M12 × 25

M6

M8

M6

M8

M6

M8

70

12

14

12

14

12

14

12

14

22

14

22

14

22

M10

M16

M10

M16

M10

M16

20

35

20

35

20

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

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

82

70

9

82

70

8

82

70

8

5

1/11

1/21

1/33

1/5

82

70

9

5.5

5

82

70

9

82

70

8

82

70

9

5.5

9

1/11

1/21

1/25

1/5

3kW

82

70

9

130

82

110

70

14

9

5.5

9

82

70

9

1/11

1/20

1/25

1/5

4kW

130

82

110

70

14

9

5.5

9

82

70

9

1/11

1/20

1/25

1/5

5kW

130

110

14

9

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.

● 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

129

133

156

133

156

222

156

222

156

222

120 130 × 130 135

170 130 × 130 190

120 180 × 180 135

170 180 × 180 190

230 180 × 180 260

170 180 × 180 190

230 180 × 180 260

170 180 × 180 190

230 180 × 180 260

145

200

115

165

115

165

220

165

220

165

220

114

163

114

163

214

163

214

163

214

84

98

12.5

12

35

53

35

53

57

53

57

53

57

84

98

900W

2kW

149

122

84

103

98

149

12

129

12.5

12

1/11

1/21

1/25

1/5

149

122

168

122

168

122

168

103

165

103

165

103

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

4.5kW 1/12

1/20

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

16

13

16

25

16

25

16

25

40

50

40

50

80

50

80

50

80

82

11

14

11

14

18

14

18

14

18

M8 × 25

M6

M8

M6

M8

M6

M8

70

12

14

12

14

22

14

22

14

22

M10

M16

M10

M16

M10

M16

20

35

20

35

20

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

82

M8 × 25

70

9

82

M12 × 25

70

8

82

70

9

5.5

9

1/11

1/21

1/25

1/5

130

82

110

70

14

9

5.5

9

82

70

9

1/11

1/20

1/25

1/5

3kW

130

82

110

70

14

9

5.5

9

130

110

14

1/12 4.5kW

1/20

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.

● 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

78.0

67.5

78.0

72.5

89.5

100.0

89.5

100.0

93.5

97.5

110.0

32

50

61

52

78

98

40

60

80

46

70

90

60

90

115

50

70

90

45

62

75

10

17

18

3

5

6

50 W

100 W

200 W

400 W

750 W

1/15

1/25

1/5

6

1/9

6

1/15

1/25

1/5

6

10

8

1/9

1/15

1/25

1/5

8

1/9

8

1/15

1/25

1/5

8

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

22

30

b

4

6

8

h

4

6

7

t1

12

19

24

20

30

40

M4

M5

M6

M8

M3

M4

12

20

2.5

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.

● 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

32

50

52

78

60

80

70

90

60

90

50

70

45

62

10

17

3

8

100 W

200 W

400 W

1/15

1/25

1/5

78.0

8

78.0

8

72.5

12

1/9

89.5

1/15

1/25

1/5

100.0

89.5

1/9

89.5

1/15

1/25

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

22

b

4

6

h

4

6

t1

12

19

20

30

M4

M5

M6

M3

M4

12

20

2.5

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

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)


型号：	R88D-GT75H
厂家：	OMRON ELECTRONICS LLC
描述：	SERVO DRIVER 45.4A 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

R88D-GT75H [OMRON]

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