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DataSheet
System Configuration ......................................................................................2
G5 Series AC Servomotor/Servo Drives with built-in EtherCAT Communications .. 2
G5 Series Linear Motor/Servo Drives with built-in EtherCAT Communications
Linear Motor Type................................................................................................... 4
G5-series AC Servomotors/Servo Drives with General-purpose Pulse Train
or Analog Inputs ...............................................................................................6
G5-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II
Communications...............................................................................................8
G5-series AC Servo Drives with Built-in EtherCAT Communications...................10
Contents
Ordering Information
Specifications
Components and Functions
Dimensions
G5-series AC Servo Drives with Built-in EtherCAT Communications Linear
Motor Type ......................................................................................................22
Contents
Ordering Information
Specifications
Components and Functions
Dimensions
G5-Series AC Servo Drives with General-purpose Pulse Train or Analog Inputs................. 27
Contents
Ordering Information
Specifications
Components and Functions
Dimensions
G5-series AC Servo Drives with Built-in MECHATROLINK-II Communications ..... 38
Contents
Ordering Information
Specifications
Components and Functions
Dimensions
G5-series AC Servomotors ............................................................................47
Contents
Ordering Information
Specifications
Dimensions
G5-series Linear Motor ..................................................................................74
Contents
Ordering Information
Specifications
Components and Functions
Dimensions
Related Manuals .............................................................................................89
Sysmac® is a trademark or registered trademark of OMRON Corporation in Japan and other countries for
OMRON factory automation products.
Windows is registered trademarks of Microsoft Corporation in the USA and other countries.
EtherCAT® is a registered trademark of Beckhoff Automation GmbH for their patented technology.
Other company names and product names in this document are the trademarks or registered trademarks
of their respective companies.
As a Sysmac Device, the G5-series AC Servomotor/Servo Drive with Built-in EtherCAT Communications
is designed to provide optimal functionality and enhanced operability when used in conjunction with a
Machine Automation Controller such as NJ series and the automation software Sysmac Studio.
Sysmac Device is a generic term for OMRON control devices such as an EtherCAT Slave, designed with
unified communications specifications and user interface specifications.
When connecting a Servo Drive to the NJ5 series Machine Automation Controller, it is recommended that
you use the Servo Drive with Built-in EtherCAT Communications, R88D-KN@@@-ECT, with unit version
2.1 or later.
G5 Series AC Servomotor/Servo Drives with built-in EtherCAT Communications
R88M-K/R88D-KN@-ECT
System Configuration
Controllers
Automation Software
Sysmac Studio
Machine Automation Controller
NJ/NX Series
EtherCAT Cables
Use a category 5 or higher cable
with double, aluminium tape and
braided shielding.
Support Software
Programmable Controller
CJ2/CJ1
2
Position Control Unit with
EtherCAT interface
[email protected][email protected]
CX-One FA Integrated
Tool Package
(Including CX-Programmer)
Support Software
CX-One FA Integrated
Tool Package
(Including CX-Drive)
AC Servomotor/Drive
G5-series
G5-Series
System Configuration
High-Speed and High-Precision
G5 Series EtherCAT Communications
with the Controller
• Non-Flexible Cables
Without Brake
R88A-CA@@@@@S
• With Brake
R88A-CA@@@@@B
• Flexible Cables
• Without Brake
R88A-CA@@@@@SR
• With Brake
R88A-CA@@@@@BR
•
Connector-Terminal Block
Conversion Units and Cable
Connector-Terminal Block
Conversion Unit
XW2@-20G@
EtherCAT Communications
Linear Motor Type
AC Servo Drive
Power Cables
General-purpose Inputs
AC Servo Drive
I/O signals
Servo Drive
EtherCAT Communications
AC Servo Drive
• High-accuracy positioning with fully-closed control.
• Servo Drives for 400VAC globally widens applicable systems
and environment, including large-scale equipment.
• Safe design and Safe Torque Off (STO) function.
• Vibration can be suppressed in acceleration/deceleration
even in low-rigidity mechanical systems.
Cable
XW2Z-@@@J-B34
AC Servomotors
ML-II Type
AC Servo Drive
Brake Cables (50 to 750 W or less)
• Non-Flexible Cables
R88A-CAKA@@@B
• Flexible Cables
R88A-CAKA@@@BR
Motor power signals
EtherCAT Communications
Feedback Signals
AC Servomotors
Encoder Cables
• Non-Flexible Cables
750W or less
R88A-CRK@@@@C
• 1.0kW or more
R88A-CRKC@@@N
• Flexible Cables
• 750W or less
R88A-CRK@@@@CR
• 1.0kW or more
R88A-CRK@@@NR
•
G5 Series motor
R88M-K
3000r/min
2000r/min
1500r/min
1000r/min
Linear Motor
G5 Series
Drives with Built-in
EtherCAT Communications
R88D-KN@@-ECT
USB Communications
INC
Peripheral Devices
External
scale
Reactors
3G3AX-DL
3G3AX-AL
External Regeneration
Resistors
R88A-RR
Absolute Encoder Battery Cable
ABS
INC
Decelerators
R88A-CRGD0R3C (-BS)
(One Battery is included with model numbers
ending in"BS")
Note: Not required if a battery is connected
to the control connector (CN1).
3
G5 Series Linear Motor/Servo Drives with built-in EtherCAT Communications Linear Motor Type
R88L-EC/R88D-KN@-ECT-L
System Configuration
Controllers
Automation Software
Sysmac Studio
Machine Automation Controller
NJ/NX Series
EtherCAT Cables
Use a category 5 or higher cable
with double, aluminium tape and
braided shielding.
Support Software
Programmable Controller
CJ2/CJ1
4
Position Control Unit with
EtherCAT interface
[email protected][email protected]
CX-One FA Integrated
Tool Package
(Including CX-Programmer)
Support Software
CX-One FA Integrated
Tool Package
(Including CX-Drive)
AC Servomotor/Drive
G5-series
G5-Series
System Configuration
Linear Motor for Higher-speed
and Higher-precision
I/O signals
Connector-Terminal Block
Conversion Unit
XW2@-20G@
General-purpose Inputs
AC Servo Drive
Connector-Terminal Block
Conversion Units and Cable
Servo Drive
EtherCAT Communications
Linear Motor Type
AC Servo Drive
EtherCAT Communications
AC Servo Drive
• Inherited functions and performance of G5
series and EtherCAT communications achieve
high-speed and high-precision positioning.
• Lineup of compact and high-thrust iron-core
motor type and cogging-free ironless motor type
with excellent speed stability.
• Same Iron-core motor type for 200V AC and
400V AC.
• Quick setup by automatic setup function.
Cable
XW2Z-@@@J-B34
Linear Moter
ML-II Type
AC Servo Drive
Iron-core Type
Motor power signals
Power Cables
EtherCAT Communications
• Power Cable
Supplied by the user.
Motor Coil Unit : R88L-EC-FW-@
Magnet Trac : R88L-EC-FM-@
Ironless Type
AC Servomotors
G5 Series
Drives with Built-in
EtherCAT Communications
Linear Motor type
R88D-KN@@-ECT-L
Motor Coil Unit : R88L-EC-GW-@
Magnet Trac : R88L-EC-GM-@
Feedback Signals
External encoder Cables
• Serial Communications Cable
Peripheral Devices
Reactors
3G3AX-DL
3G3AX-AL
External Regeneration
Resistors
R88A-RR
R88A-CRKE010SR
Linear Motor
External encoder
USB Communications
• Commercial Product
Supplied by the user.
Refer to the *External encoder
on P26 for details.
• 90° Phase Difference Input
Cable
Supplied by the user
5
G5-series AC Servomotors/Servo Drives with General-purpose Pulse Train or Analog Inputs
R88M-K/R88D-KT
System Configuration
Support Software
Support Software
• CX-One FA Integrated
Controller
• CX-One FA Integrated
Tool Package
Including CX-Programmer
and CX-Position
and CX-Motion
Tool Package
(Including CX-Drive)
High-speed type
Direct connection cable for CJ1W-NC@@4
XW2Z-@@@J-G@
Programmable
Controller
CJ2
Position Control Unit (NC)
CJ1W-NC214/414
CJ1W-NC234/434
Position Control Unit Cable
Connector Terminal Block Conversion Unit
[email protected]
XW2@-20G@
External Signal
Standard type
Position Control Unit Cable (NC)
XW2Z-@-A@
Programmable
Controller
CJ1/CS1
Servo Relay Unit
Servo Drive Cable
XW2B-@
XW2Z-@-B@
Position Control Unit (NC)
CJ1W-NC@@3 CS1W-NC@@3
C200HW-NC@@3
External Signal
Pulse I/O Module
Pulse Train Commands
Position Control Unit
Pulse Train Commands/Feedback Signals
Programmable
Pulse I/O Module
Controller
CJ2M-MD21@ *
CJ2
*CJ2M CPU Unit Ver.2.0 or later
CPU Unit
Connector-Terminal Block Conversion Units and Cable
Built-in pulse
I/O function type
XW2@-50G@
XW2Z-@@@J-B24
Pulse Train Commands
CP1H/CP1L/CP1E
Analog Commands
Flexible Motion Controller
FQM1-MMA22
(Analog output)
FQM1-MMP22
(Pulse train output)
Servo Relay Units (for FQM1)
XW2Z-@-A@
XW2B-80J7-12A
Servo Drive Cable
XW2Z-@-B@
Programmable Controller + Controller (Analog output type)
Control Cables (for Motion Control Unit)
R88A-CPG
Analog Commands/Feedback Signals
Programmable Controller
CS1
Motion Control Unit (MC)
CS1W-MC221/421 (-V1)
Available to build the Absolute System.
6
Position Control Unit Cable (NC)
AC Servomotor/Drive
G5-series
G5-Series
System Configuration
The Preeminent Servo That Revolutionizes
Motion Controll
• Industry Top-class Tracking Performance.
Speed Response Frequency of 2 kHz.
• Best Positioning Accuracy*.
Featuring a 20-bit high-resolution incremental encoder.
EtherCAT Communications
AC Servo Drive
* 8 times the resolution of previous OMRON models
USB
communications
Servo Drive
Motor power signals
AC Servomotors
Power Cables
• Non-flexible Cables
Without Brake
R88A-CA@@@@@S
• With Brake
R88A-CA@@@@@B
• Flexible Cables
• Without Brake
R88A-CA@@@@@SR
• With Brake
R88A-CA@@@@@BR
ML-II Type
AC Servo Drive
General-purpose Inputs
AC Servo Drive
•
EtherCAT Communications
Linear Motor Type
AC Servo Drive
• High-precision Positioning.
Fully Closed Loop Control Is a Standard Feature.
• Conforms to the Latest International Standards.
Safety and Productivity.
• Globalization. Lineup of 400 VAC Servomotors.
Brake Cables (50 to 750 W or less)
• Non-flexible Cables
R88A-CAKA@@@B
• Flexible Cables
R88A-CAKA@@@BR
100 VAC
200 VAC
400 VAC
Encoder Cables
• Non-Flexible Cables
750W or less
R88A-CRK@@@@C
• 1.0kW or more
R88A-CRKC@@@N
• Flexible Cables
• 750W or less
R88A-CRK@@@@CR
• 1.0kW or more
R88A-CRK@@@NR
•
• G5 Series motor
R88M-K
3,000 r/min
2,000 r/min
1,500 r/min
1,000 r/min
Linear Motor
R88D-KT
AC Servomotors
Feedback Signals
• G5 Series driver
External scale
Peripheral Devices
Absolute Encoder Battery Cable
• Reactors
R88A-CRGD0R3C (-BS)
3G3AX-DL
3G3AX-AL
• External
Regeneration
Resistors
R88A-RR
Decelerators
(One Battery is included with Servo
Drivers with model numbers ending
in “BS.”)
* Not required if a battery is connected to
the control connector (CN1).
7
G5-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-K/R88D-KN@-ML2
System Configuration
Controllers (MECHATROLINK-II type)
Support Software
• CX-One FA Integrated
Tool Package
Including CX-Programmer
and CX-Position
and CX-Motion
Programmable Controller
CJ1
Support Software
• CX-One FA Integrated
Tool Package
(Including CX-Drive)
Position Control Unit
[email protected]
MECHATROLINK-II
MECHATROLINK-II Cables
(With ring core and USB connector on both ends)
FNY-W6003-@@ (OMRON model number)
(Without ring core USB connector on both ends)
FNY-W6002-@@ (OMRON model number)
Programmable Controller
CS1
Position Control Unit
[email protected]
MECHATROLINK-II Repeater
Maximum transmission distance
0 to 30 m
30 to 50 m
Number of 1 to 15 Repeater not required. Repeater not required.
connected
16
Repeater not required. Repeater required.
devices
8
AC Servomotor/Drive
G5-series
G5-Series
System Configuration
High-Speed and High-Precision
G5 Series MECHATROLINK-II
Communications with the Controller
Without Brake
R88A-CA@@@@@S
• With Brake
R88A-CA@@@@@B
• Flexible Cables
• Without Brake
R88A-CA@@@@@SR
• With Brake
R88A-CA@@@@@BR
•
USB
communications
• Connector-Terminal Block
Conversion Unit
XW2@-20G@
EtherCAT Communications
Linear Motor Type
AC Servo Drive
Power Cables
• Non-flexible Cables
Connector-Terminal Block
Conversion Units and Cable
General-purpose Inputs
AC Servo Drive
I/O signals
Servo Drive
EtherCAT Communications
AC Servo Drive
• Data transfer using MECHATROLINK-II
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.
• Cable
XW2Z-@@@J-B34
AC Servomotors
ML-II Type
AC Servo Drive
Brake Cables (50 to 750 W or less)
• Non-flexible Cables
R88A-CAKA@@@B
• Flexible Cables
R88A-CAKA@@@BR
Motor power signals
Feedback Signals
• Non-Flexible Cables
750W or less
R88A-CRK@@@@C
• 1.0kW or more
R88A-CRKC@@@N
• Flexible Cables
• 750W or less
R88A-CRK@@@@CR
• 1.0kW or more
R88A-CRK@@@NR
•
• G5 Series motor
R88M-K
3000r/min
2000r/min
1000r/min
Linear Motor
driver
R88D-KN@@-ML2
AC Servomotors
Encoder Cables
• G5 Series
External scale
Peripheral Devices
Absolute Encoder Battery Cable
• Reactors
R88A-CRGD0R3C (-BS)
3G3AX-DL
3G3AX-AL
• External
Regeneration
Resistors
R88A-RR
Decelerators
(One Battery is included with Servo
Drivers with model numbers ending
in “BS.”)
* Not required if a battery is connected to
the control connector (CN1).
9
G5-series AC Servo Drives with Built-in EtherCAT Communications
R88D-KN@-ECT
Contents
• Ordering Information
• Specifications
General Specifications
Characteristics
• Servo Drives with Single-phase 100 VAC Input Power
• Servo Drives with Single-phase or Three-phase 200 VAC Input Power
• Servo Drives with Three-phase 400 VAC Input Power
EtherCAT Communication Specifications
• Version Information
• Names and Functions
Servo Drive Part Names
Functions
• Dimensions
Ordering Information
Refer to the Ordering Information.
Specifications
General Specifications
Item
Specifications
Ambient operating temperature and
operating humidity
0 to 55°C, 85% max. (with no condensation)
Storage ambient temperature and
humidity
−20 to 65°C, 85% max. (with no condensation)
Operating and storage atmosphere
No corrosive gases
Vibration resistance
10 to 60 Hz and at an acceleration of 5.88 m/s2 or less (Not to be run continuously at a resonance point)
Insulation resistance
Between power supply terminals/power terminals and FG terminal: 0.5 MΩ min. (at 500 VDC)
Dielectric strength
Between power supply/power line terminals and FG terminal: 1,500 VAC for 1 min at 50/60 Hz
Protective structure
Built into panel
EMC
Directive
Low Voltage
EC
Directive
Directives
International
standard
Machinery
Directives
EN 55011, EN 61000-6-2, IEC 61800-3
EN 61800-5-1
EN954-1 (Cat.3), EN ISO 13849-1: 2008 (Category 3) (PLc,d), ISO 13849-1: 2006 (Category 3) (PLc,d),
EN61508 (SIL2),
EN62061 (SIL2), EN61800-5-2 (STO), IEC61326-3-1 (SIL2)
UL standards
UL 508C
CSA standards
CSA22.2 No. 14
Korean Radio
Regulations (KC)
Certified
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. Some Servo Drive parts will require maintenance. For details, refer to the G5 series USER'S MANUAL. Confirm the Manual No. that is
listed in Related Manuals.
10
AC Servomotor/Drive
Characteristics
● Servo Drives with 100 VAC Input Power
for Single-phase input type
R88D-KN01L-ECT
R88D-KN02L-ECT
R88D-KN04L-ECT
1.2A
1.7A
2.5A
4.6A
0.4KVA
0.4KVA
0.5KVA
0.9KVA
Rated current
1.7A
2.6A
4.3A
7.6A
Heat value*1
11W
16.6W
21W
25W
Power supply
voltage
Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
Heat value*1
4W
4W
4W
4W
Approx. 0.8kg
Approx. 0.8kg
Approx. 1.0kg
Approx. 1.6kg
50W
100W
200W
400 W
INC
K05030H
K10030L
K20030L
K40030L
ABS
K05030T
K10030S
K20030S
K40030S
2,000 r/min
Servomotors
ABS
−
−
−
−
1,000 r/min
Servomotors
ABS
−
−
−
−
Weight
Maximum applicable motor capacity
3,000 r/min
Servomotors
Applicable
Servomotor
(R88M-)
*1. The heat value is given for rated operation.
● Servo Drives with 200 VAC Input Power
for Single-phase/Three-phase input type
R88DKN01H-ECT
Item
Continuous output current (rms)
Power supply
capacity
Main circuit
Input power
supply
Heat value*2
Control circuit
Heat value
Weight
Maximum applicable motor capacity
3,000 r/min
Servomotors
Applicable
Servomotor
(R88M-)
2,000 r/min
Servomotors
1,000 r/min
Servomotors
R88DKN08H-ECT
R88DKN10H-ECT
R88DKN15H-ECT
1.2A
1.6A
2.6A
4.1A
5.9A
9.4A
0.5KVA *1
0.9KVA
1.3KVA
1.8KVA
2.3KVA
Single-phase or 3-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
1.6/0.9A *1
2.4/1.3A *1
4.1/2.4A *1
6.6/3.6A *1
9.1/5.2A *1
14.2/8.1A *1
14.3/13.7W*1
23/19W *1
33/24W *1
30/35.5W *1
57/49W *1
104/93W*1
Power supply
voltage
*2
R88DKN04H-ECT
0.5KVA
Power supply
voltage
Rated current
R88DKN02H-ECT
EtherCAT Communications
Linear Motor Type
AC Servo Drive
Control circuit
Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
4W
4W
4W
4W
7W
7W
Approx.
0.8kg
Approx.
0.8kg
Approx.
1.0kg
Approx.
1.6kg
Approx.
1.8kg
Approx.
1.8kg
100W
200W
400W
750W
1kW
1.5kW
INC
K05030H
K10030H
K20030H
K40030H
K75030H
−
K1K030H
K1K530H
ABS
K05030T
K10030T
K20030T
K40030T
K75030T
−
K1K030T
K1K530T
INC
−
−
−
−
K1K020H
K1K520H
ABS
−
−
−
−
K1K020T
K1K520T
INC
−
−
−
−
−
K90010H
ABS
−
−
−
−
−
K90010T
*1. The first value is for single-phase input power and the second value is for 3-phase input power.
*2. The heat value is given for rated operation.
ML-II Type
AC Servo Drive
Input power
supply
Power supply
voltage
AC Servomotors
Main circuit
General-purpose Inputs
AC Servo Drive
Power supply
capacity
EtherCAT Communications
AC Servo Drive
R88D-KNA5L-ECT
Linear Motor
Item
Continuous output current (rms)
G5-Series
System Configuration
G5-series
11
AC Servomotor/Drive
G5-series
● Servo Drives with 200 VAC Input Power
for Three-phase input type
Item
R88D-KN20H-ECT
R88D-KN30H-ECT
R88D-KN50H-ECT
R88D-KN75H-ECT
R88D-KN150HECT
13.4A
18.7A
33.0A
44.0A
66.1A
3.3KVA
4.5KVA
7.5KVA
11.0KVA
22.0KVA
Continuous output current (rms)
Power supply
capacity
Main circuit
Input power
supply
Control circuit
Power supply
voltage
3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
Rated current
11.8A
15.1A
21.6A
32.0A
58.0A
Heat value *1
139W
108W
328W
381W
720W
Power supply
voltage
Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
Heat value *1
Weight
Applicable
Servomotor
(R88M-)
2,000 r/min,
1,500 r/min
Servomotors
1,000 r/min
Servomotors
Single-phase 200 to 230 VAC (170 to 253V) 50/60Hz
280 to 325 VDC (238 to 357V)
10W
13W
13W
15W
17W
Approx. 2.7kg
Approx. 4.8kg
Approx. 4.8kg
Approx. 13.5kg
Approx. 21.0kg
2kW
3kW
5kW
7.5kW
15kW
−
−
Maximum applicable motor capacity
3,000 r/min
Servomotors
3-phase 200 to 230 VAC (170 to 253V) 50/60Hz
280 to 325 VDC (238 to 357V)
INC
K2K030H
K3K030H
K4K030H
K5K030H
ABS
K2K030T
K3K030T
K4K030T
K5K030T
−
−
INC
K2K020H
K3K020H
K4K020H
K5K020H
−
−
ABS
K2K020T
K3K020T
K4K020T
K5K020T
K7K515T
K11K015T
K15K015T
INC
−
K2K010H
K3K010H
−
−
ABS
−
K2K010T
K3K010T
K4K510T
K6K010T
−
*1. The heat value is given for rated operation.
● Servo Drives with 400 VAC Input Power
for Three-phase input type
Item
Continuous output current (rms)
Power supply
capacity
Main circuit
Input power
supply
Heat value*1
Heat value
*1
Maximum applicable motor capacity
Applicable
Servomotor
(R88M-)
2,000 r/min,
1,500 r/min
Servomotors
1,000 r/min
Servomotors
R88DKN20FECT
R88DKN30FECT
R88DKN50FECT
R88DKN75FECT
R88DKN150FECT
1.5A
2.9A
4.7A
6.7A
9.4A
16.5A
22.0A
33.1A
1.2KVA
1.8KVA
2.3KVA
3.8KVA
4.5KVA
6.0KVA
11.0KVA
22.0KVA
3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz
2.1A
2.8A
4.7A
5.9A
7.6A
12.1A
16.0A
29.0A
32.2W
48W
49W
65W
108W
200W
300W
590W
24 VDC (20.4 to 27.6 V)
7W
7W
7W
10W
13W
13W
15W
22W
Approx.
1.9kg
Approx.
1.9kg
Approx.
1.9kg
Approx.
2.7kg
Approx.
4.7kg
Approx.
4.7kg
Approx.
13.5kg
Approx.
21.0kg
600W
1kW
1.5kW
2kW
3kW
5kW
7.5kW
15kW
K2K030F
K3K030F
K4K030F
K5K030F
−
−
INC
−
K75030F
K1K030F
K1K530F
ABS
−
K75030C
K1K030C
K1K530C
K2K030C
K3K030C
K4K030C
K5K030C
−
−
INC
K40020F
K60020F
K1K020F
K1K520F
K2K020F
K3K020F
K4K020F
K5K020F
−
−
ABS
K40020C
K60020C
K1K020C
K1K520C
K2K020C
K3K020C
K4K020C
K5K020C
K7K515C
K11K015C
K15K015C
−
−
K90010F
−
K2K010F
K3K010F
−
−
K2K010C
K3K010C
K4K510C
K6K010C
−
INC
*1. The heat value is given for rated operation.
12
R88DKN15FECT
Power supply
voltage
Weight
3,000 r/min
Servomotors
R88DKN10FECT
Power supply
voltage
Rated current
Control circuit
R88DKN06FECT
−
−
K90010C
−
AC Servomotor/Drive
G5-Series
System Configuration
G5-series
EtherCAT Communications Specifications
Specification
Physical layer
100BASE-TX (IEEE802.3)
Connectors
RJ45 × 2 (shielded)
ECAT IN: EtherCAT input
ECAT OUT: EtherCAT output
Communications media
Ethernet Category 5 (100BASE-TX) or higher (twisted-pair cable with double, aluminum tape and braided
shielding) is recommended.
Communications distance
Distance between nodes: 100 m max.
Process data
Fixed PDO mapping
Mailbox (CoE)
Emergency messages, SDO requests, SDO responses, and SDO information
Distributed clock (DC)
Synchronization in DC mode.
DC cycle: 250 μs, 500 μs, 1 ms, 2 ms, 4 ms
LED indicators
L/A IN (Link/Activity IN) × 1
L/A OUT (Link/Activity OUT) × 1
RUN × 1
ERR × 1
CiA402 Drive Profile
• Cyclic synchronous position mode
• Cyclic synchronous velocity mode
• Cyclic synchronous torque mode
• Profile position mode
• Homing mode
• Touch probe function (Latch function)
• Torque limit function
Unit Versions
Unit
AC Servo Drives G5-Series
built-in EtherCAT
Communications
Unit version
Model
Unit version 1.0
R88D-KN@-ECT-R
Unit version 2.0
Unit version 2.1
Supported
R88D-KN@-ECT
Supported
Supported
Sysmac Studio version
(At the time of the controller NJ series and connection)
Version 1.00 or higher *1
Version 1.00 or higher *2
Version1.00 or higher
Sysmac Studio support version
(At the time of the controller NX series and connection)
Ver.1.13 or higher *1
Ver.1.13 or higher *2
Ver.1.13 or higher
Compatible CX-Drive version
Version2.2 or higher
Version2.3 or higher
Version2.4 or higher
*1. The function that was enhanced by the upgrade for Unit version2.0 can not be used. For detail, refer to "Function Support by Unit Version".
*2. The function that was enhanced by the upgrade for Unit version2.1 can not be used. For detail, refer to "Function Support by Unit Version".
ML-II Type
AC Servo Drive
Version Information
General-purpose Inputs
AC Servo Drive
EtherCAT Communications
Linear Motor Type
AC Servo Drive
IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile
EtherCAT Communications
AC Servo Drive
Item
Communications standard
Function Support by Unit Version
Unit version
Item
Sysmac Products Features
Unit version 1.0
R88D-KN@-ECT
Unit version 2.0
Unit version 2.1
Sysmac Error Status
No supported
Supported
Saving the Node Address Setting
No supported
Supported
Serial Number Display *1
No supported
Supported
ESI Specification (Version 1.0)
No supported
Supported
SII Data Check
No supported
Fixed PDO mapping
No supported
Variable PDO mapping (1600 hex, 1A00 hex)
Supported
Supported
No supported
Supported
csp: Cyclic synchronous position mode Supported
Available operation modes
csv: Cyclic synchronous velocity mode
No supported
Supported
cst: Cyclic synchronous torque mode
No supported
Supported
pp: Profile position mode
No supported
hm: Homing mode
No supported
Supported
No supported
Supported*2
(Available when the communications cycle is 1 ms or
above)
Excessive Speed Deviation Error
No supported
Supported
Interruptions Error
No supported
Supported
Supported
No supported*3
(only to 1:1)
FIR filter function
Error detection function
Electronic gear function
AC Servomotors
AC Servo Drives G5-Series built-in EtherCAT Communications
R88D-KN@-ECT-R
Supported
Linear Motor
Unit
Model
Supported
13
AC Servomotor/Drive
G5-series
Unit
AC Servo Drives G5-Series built-in EtherCAT Communications
Model
R88D-KN@-ECT-R
Unit version
Item
Unit version 1.0
R88D-KN@-ECT
Unit version 2.0
Unit version 2.1
Available when the
communications cycle is 1
ms or above at an
electronic gear ratio of 1:1
and 2 ms or above at a
gear ratio other than
1:1.*5
Fully-closed Control *4
Supported
Available when the
communications cycle is
500 μs or above in csp
and 1 ms or above in hm.
Torque limit objects
PDO mapping to 60E0/
60E1 hex is not possible.
PDO mapping to 60E0/60E1 hex is possible.*6
Positioning Completion Range
No supported
Supported
Reference Position for CSP (4020 hex)
No supported
Supported
Data Setting Warning Detection Setting (3781)
No supported
Version indication on the unit label
No supported
Supported*7
Supported
*1. The function to show the serial number controlled by OMRON in 1018h-04 hex.
*2. Setting the communications cycle to 500 μs or less does not enable the FIR filter function, although doing so does not cause any error.
*3. Setting this to an electronic gear ratio other than 1:1 simply causes the G5-series AC Servo Drive to operate at 1:1 without any errors.
*4. If Fully-closed Control is not available, a Function Setting Error (Error No. 93.4) will occur.
*5. This is applicable only when the total size of the objects mapped to RxPDO is 12 bytes or less. For details, refer to the USER'S MANUAL.
*6. There are objects added (3013 hex/3522 hex) to or renamed (3525 hex/3526 hex) from unit version 1.0.
For details of these objects, refer to Torque Limit Selection (3521 hex) in Extended Objects of each manual.
*7. Only the following Servo Drive models support DC power input:
• R88D-KN75H-ECT • R88D-KN150H-ECT
14
AC Servomotor/Drive
G5-series
Rotary switches for
node address setting
USB connector (CN7)
A 2-digit 7-segment display shows the node address, error codes, and other
Servo Drive status.
Charge Lamp
Lights when the main circuit power supply is turned ON.
EtherCAT communications
connector: ECAT IN
Safety connector (CN8)
Control I/O Connector (CN1)
Used for command input signals and I/O signals.
Encoder Connector (CN2)
Charge lamp
Control I/O connector (CN1)
External Regeneration
Resistor connection
terminals (B1, B2, and B3)
Connector for the encoder installed in the Servomotor.
External Encoder Connector (CN4)*
EtherCAT Communications Connectors (ECAT IN and ECAT OUT)
External encoder
connector (CN4)
These connectors are for EtherCAT communications.
Encoder connector (CN2)
Analog Monitor Connector (CN5)
You can use a special cable to monitor values, such as the motor rotation
speed, torque command value, etc.
USB Connector (CN7)
Communications connector for the computer.
EtherCAT Communications
Linear Motor Type
AC Servo Drive
Connector for an encoder signal used during fully-closed control.
Motor connection
terminals (U, V, and W)
Protective ground terminals
These indicators show the status of EtherCAT communications.
For details, refer to the G5 series USER'S MANUAL (Cat.No.I576).
Safety Connector (CN8)
Connector for safety devices.
If no safety devices are used, keep the factory-set safety bypass connector
installed.
General-purpose Inputs
AC Servo Drive
Control circuit
power supply terminals
(L1C and L2C)
EtherCAT
communications
connector: ECAT OUT
EtherCAT Status Indicators
ML-II Type
AC Servo Drive
Main circuit
power supply terminals
(L1, L2, and L3)
AC Servomotors
ADR
Linear Motor
Analog monitor connector (CN5)
Display
EtherCAT Communications
AC Servo Drive
EtherCAT status indicators
Seven-segment display
G5-Series
System Configuration
Components and Functions
15
AC Servomotor/Drive
G5-series
*External Encoder
Contact the encoder manufacturer to find out the detailed specifications such as operating environment before use.
External encoder type
Maker
−
90º phase difference output type *2*3
Serial communications type
(Incremental type) *3
Example of External encoder
Phase A/B type
Magnescale Co., Ltd
Magnescale Co., Ltd
−
−
0 to 4 Mpps
(Multiplication × 4)
0.01 to 1
3.3
0.01 to 1
3.3
0 to 400 Mpps
0.1
10
SL710+PL101RP/RHP
0.1
10
AT573A
0.05
2.5
ST778A(L)
0.1
5
SR77
0.01 to 1
3.3
SR87
0.01 to 1
3.3
0.001
0.4
0 to 400 Mpps
RESOLUTE
FAGOR AUTOMATION
Maximum
speed *4
[m/s]
SR85
Serial communications type
(Absolute type) *3
Renishaw Co.
Resolution
*4
[μm]
SR75
SL700+PL101RP/RHP
Mitutoyo Corporation
Supported speed *1
0.05
20
0.1
40
SAP/SVAP/GAP
0.05
2.5
LAP
0.1
2
*1. The supported speed is the internal feedback pulse speed [external encoder pulse/s] of the external encoder that can be processed by the
Servo Drive.
Check the instruction manual of the external encoder for the speed range supported by your external encoder.
*2. These are the directions that the Drive counts a 90° phase difference output.
Count-down direction
t1
EXA
EXB
Count-up direction
t1
EXA
t2
EXB is 90° ahead of EXA.
t1 > 0.25 μs
t2 > 1.0 μs
EXB
t2
EXB is 90° behind EXA.
t1 > 0.25 μs
t2 > 1.0 μs
*3. For the external encoder connection direction, set the direction so that count-up occurs when the motor shaft is rotating counterclockwise, and
count-down occurs when the motor shaft is rotating clockwise. If the connection direction cannot be selected due to installation conditions or
any other reason, the count direction can be reversed using External Feedback Pulse Direction Switching (3326 hex).
*4. The resolution and maximum speed are the values for the G5-series Servo Drive. The resolution and maximum speed may be different from
the specifications of the feedback encoder due to restriction on the maximum pulse frequency of the Servo Drive.
16
AC Servomotor/Drive
G5-series
Single-phase 100 VAC R88D-KNA5L-ECT/-KN01L-ECT (50 to 100 W)
R88D-KN01L-ECT-L (100 W)
Single-phase/Three-phase 200 VAC R88D-KN01H-ECT/-KN02H-ECT (100 to 200 W)
R88D-KN01H-ECT-L/-KN02H-ECT-L (100 to 200 W)
Mounting dimensions
132
CAD data
5.2 dia.
140
6
EtherCAT Communications
Linear Motor Type
AC Servo Drive
150
150
28
40
Single-phase 100 VAC R88D-KN02L-ECT (200 W)
R88D-KN02L-ECT-L (200 W)
Single-phase/Three-phase 200 VAC R88D-KN04H-ECT (400 W)
R88D-KN04H-ECT-L (400 W)
Mounting dimensions
132
CAD data
5.2 dia.
150
ML-II Type
AC Servo Drive
70
55
140
150
6
43
55
70
150
172
AC Servomotors
Single-phase 100 VAC R88D-KN04L-ECT (400 W)
R88D-KN04L-ECT-L (400 W)
Single-phase/Three-phase 200 VAC R88D-KN08H-ECT (750 W)
R88D-KN08H-ECT-L (750 W)
65
General-purpose Inputs
AC Servo Drive
40
Mounting dimensions
4
5.2 dia.
140
150
7.5
CAD data
Linear Motor
70
EtherCAT Communications
AC Servo Drive
<Wall Mounting>
G5-Series
System Configuration
Dimensions
50
65
Note: R88D-KN@-ECT-L is the AC Servo Drives with Built-in EtherCAT Communications type.
17
AC Servomotor/Drive
G5-series
Single-phase/Three-phase 200 VAC R88D-KN10H-ECT/-KN15H-ECT (900 W to 1.5 kW)
R88D-KN10H-ECT-L/-KN15H-ECT-L (1 kW to 1.5 kW)
Mounting dimensions
172
70
4
86
CAD data
5.2 dia.
140
150
150
70
86
8.5
Three-phase 200 VAC R88D-KN20H-ECT (2 kW)
86
CAD data
85
17.5
42.5
R2.6
50
5.2
Mounting dimensions
φ5.2
5.2
R2.6
70
195
168
188
198
5.2
R2.6
42.5
17.5
5.2
φ5.2
φ5.2
25
188
168
R2.6
2.5
50
86
17.5
50
Three-phase 200 VAC R88D-KN30H-ECT/-KN50H-ECT (3 to 5 kW)
R2.6
70
130
100
15
65
5.2
5.2
5.2 dia.
R2.6
Mounting dimensions
214
3.5
220
240
250
R2.6
15
18
5.2
5.2
65
100
R2.6
5.2 dia.
50
240
220
2.5
15
CAD data
5.2 dia.
100
130
AC Servomotor/Drive
Three-phase 200 VAC R88D-KN75H-ECT (7.5 kW)
233
222
207
CAD data
162
G5-Series
System Configuration
G5-series
5.2
Mounting dimensions
5.2
φ5.2
R2.6
φ5.2
R2.6
5.2
3.5
334
70
220 235 250
R2.6
φ5.2
R2.6
5.2
10-M4
45
R2.6
235
220
2.5
φ5.2 R2.6
27
180
233
5.2
5.2
EtherCAT Communications
Linear Motor Type
AC Servo Drive
72
27
EtherCAT Communications
AC Servo Drive
117
General-purpose Inputs
AC Servo Drive
27
72
117
162
207
φ7
φ7
30.5
7.5
435 450
R3.5
R3.5
231
70
271
CAD data
261
200
4-M6
30.5
7.5
435 450
30.5
Linear Motor
261
231
AC Servomotors
Mounting dimensions
4
ML-II Type
AC Servo Drive
Three-phase 200 VAC R88D-KN150H-ECT (15 kW)
19
AC Servomotor/Drive
G5-series
Three-phase 400 VAC R88D-KN06F-ECT/-KN10F-ECT (600 W to 1.0 kW)
R88D-KN06F-ECT-L/-KN10F-ECT-L (600 W to 1.0 kW)
Three-phase 400 VAC R88D-KN15F-ECT (1.5 kW)
R88D-KN15F-ECT-L (1.5 kW)
Mounting dimensions
172
70
CAD data
4
92
5.2 dia.
150
150
14.5
5.2 dia.
140
70
92
Three-phase 400 VAC R88D-KN20F-ECT (2 kW)
R88D-KN20F-ECT-L (2 kW)
94
CAD data
85
17.5
42.5
5.2
50
Mounting dimensions
φ5.2
5.2
1.8
195
70
φ5.2
25
168
188
198
168
R2.6
180
2.5
5.2
5.2
17.5
R2.6
26.5
φ5.2
50
94
50
Three-phase 400 VAC R88D-KN30F-ECT/-KN50F-ECT (3 to 5 kW)
R88D-KN30F-ECT-L (3 kW)
Mounting dimensions
15
65
5.2
130
100
5.2
70
5.2 dia.
214
3.5
5.2 dia.
50
220
220
240
R2.6
5.2
65
15
20
250
2.5
5.2
100
R2.6
5.2 dia.
240
15
100
130
CAD data
AC Servomotor/Drive
Three-phase 200 VAC R88D-KN75H-ECT (7.5 kW)
233
222
207
CAD data
162
G5-Series
System Configuration
G5-series
5.2
Mounting dimensions
5.2
φ5.2
R2.6
φ5.2
R2.6
5.2
3.5
334
70
220 235 250
R2.6
φ5.2
R2.6
5.2
10-M4
45
R2.6
235
220
2.5
φ5.2 R2.6
27
180
233
5.2
5.2
EtherCAT Communications
Linear Motor Type
AC Servo Drive
72
27
EtherCAT Communications
AC Servo Drive
117
27
General-purpose Inputs
AC Servo Drive
72
117
162
207
φ7
φ7
30.5
7.5
435 450
R3.5
R3.5
231
30.5
70
271
CAD data
261
200
4-M6
30.5
7.5
435 450
AC Servomotors
261
231
Linear Motor
Mounting dimensions
4
ML-II Type
AC Servo Drive
Three-phase 400 VAC R88D-KN150F-ECT (15kW)
21
G5-series AC Servo Drives with Built-in EtherCAT Communications Linear Motor Type
R88D-KN@-ECT-L
Contents
• Ordering Information
• Specifications
General Specifications
Characteristics
• Servo Drives with 100 VAC Input Power
• Servo Drives with 200 VAC Input Power
• Servo Drives with 400 VAC Input Power
EtherCAT Communication Specifications
• Version Information
• Names and Functions
Servo Drive Part Names
Functions
• Dimensions
Ordering Information
Refer to the Ordering Information.
Specifications
General Specifications
Item
Specifications
Ambient operating temperature and humidity
0 to 55°C, 20% to 85% max. (with no condensation)
Storage ambient temperature and humidity
–20 to 65°C, 20% to 85% max. (with no condensation)
Operating and storage atmosphere
No corrosive gases
Vibration resistance
10 to 60 Hz and at an acceleration of 5.88 m/s2 or less (Not to be run continuously at the resonance point)
Insulation resistance
Between power supply terminals/power terminals and FG terminal: 0.5 MΩ min. (at 500 VDC)
Dielectric strength
Between power supply/power terminals and FG terminal: 1,500 VAC for 1 min at 50/60 Hz
Protective structure
EC Directives*
Built into panel
EMC Directive
EN 55011, EN 61000-6-2, EN 61800-3
Low Voltage
Directive
EN 61800-5-1
Machinery Directives
EN954-1(Cat.3), EN ISO13849-1 (Cat.3)(PLc, d), ISO13849-1(Cat.3)(PLc, d),EN61508(SIL2),
EN62061(SIL2), EN61800-5-2 (STO), IEC61326-3-1 (SIL 2)
UL standards
UL 508C
CSA standards
CSA22.2 No.14
Korean Radio Regulations (KC)
Certified
* The certification from third party is issued in combination with the revolution type motor. The conformance as the whole system should be
checked by machine builder.
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. Some Servo Drive parts will require maintenance. For details, refer to the G5 series USER'S MANUAL. Confirm the Manual No. that is
listed in Related Manuals.
Note: 4. Vibration, unstable movement, or accoustic noise may occur by an exogenous noise. In such case, please reduce incoming noise as
referred in G5 series user's manuals.
22
AC Servomotor/Drive
R88D-KN02L-ECT-L
R88D-KN04L-ECT-L
0.4 KVA
0.5 KVA
0.9 KVA
Input power
supply
Power supply
voltage
Heat value*1
Control circuit
2.6 A
4.3 A
7.6 A
16.6 W
21 W
25 W
Power supply
voltage
Heat value
Single-phase 100 to 120 VAC (85 to 132 VAC) 50/60 Hz
*1
4W
4W
4W
Approx. 0.8 kg
Approx. 1.0 kg
Approx. 1.6 kg
Motor Rated Rms Current
1.7 Arms
2.5 Arms
4.6 Arms
Maximum current of motor
5.1 Arms
7.5 Arms
13.8 Arms
Mass
Maximum
motor
capacity
Single-phase 100 to 120 VAC (85 to 132 VAC) 50/60 Hz
Rated current
*1. The heat value is given for rated operation.
● 200-VAC Input Models
for Single-phase/Three-phase input type
Item
Power supply
capacity
Main circuit
Input power
supply
Heat value
*2
R88D-KN04HECT-L
R88D-KN08HECT-L
R88D-KN10HECT-L
R88D-KN15HECT-L
0.5 KVA
0.5 KVA
0.9 KVA
1.3 KVA
1.8 KVA
2.3 KVA
Single-phase or 3-phase 200 to 240 VAC (170 to 264 VAC) 50/60 Hz
1.6/0.9 A
*1
14.3/13.7 W
*1
Power supply
voltage
Heat value*2
2.4/1.3 A*1
4.1/2.4 A*1
*1
*1
23/19 W
33/24 W
6.6/3.6 A*1
30/35.5 W
*1
9.1/5.2 A*1
14.2/8.1 A*1
*1
104/93 W*1
57/49 W
Single-phase 200 to 240 VAC (170 to 264 VAC) 50/60 Hz
4W
4W
4W
7W
7W
Approx. 0.8 kg
Approx. 1.0 kg
Approx. 1.6 kg
Approx. 1.8 kg
Approx. 1.8 kg
Rated effective current of motor
1.2 Arms
1.6 Arms
2.6 Arms
4.1 Arms
5.9 Arms
9.4 Arms
Maximum current of motor
3.6 Arms
4.8 Arms
7.8 Arms
12.3 Arms
16.9 Arms
28.2 Arms
ML-II Type
AC Servo Drive
4W
Approx. 0.8 kg
Mass
Maximum
motor
capacity
R88D-KN02HECT-L
Power supply
voltage
Rated current
Control circuit
R88D-KN01HECT-L
*1. The first value is for single-phase input power and the second value is for 3-phase input power.
*2. The heat value is given for rated operation.
● 400-VAC Input Models
for Three-phase input type
Item
Power supply
capacity
Main circuit
Input power
supply
Heat value*1
R88D-KN15FECT-L
R88D-KN20FECT-L
R88D-KN30FECT-L
1.2 KVA
1.8 KVA
2.3 KVA
3.8 KVA
4.5 KVA
3-phase 380 to 480 VAC (323 to 528 VAC) 50/60 Hz
2.1 A
2.8 A
3.9 A
5.9 A
7.6 A
32.2 W
48 W
49 W
65 W
108 W
Power supply
voltage
Heat value
*1
Mass
Maximum
motor
capacity
R88D-KN10FECT-L
Power supply
voltage
Rated current
Control circuit
R88D-KN06FECT-L
24 VDC (20.4 to 27.6 VAC)
7W
7W
7W
10 W
13 W
Approx. 1.9 kg
Approx. 1.9 kg
Approx. 1.9 kg
Approx. 2.7 kg
Approx. 4.7 kg
Rated effective current of motor
1.5 Arms
2.9 Arms
4.7 Arms
6.7 Arms
9.4 Arms
Maximum current of motor
4.5 Arms
8.7 Arms
14.1 Arms
19.7 Arms
28.2 Arms
*1. The heat value is given for rated operation.
AC Servomotors
Main circuit
EtherCAT Communications
AC Servo Drive
R88D-KN01L-ECT-L
Power supply
capacity
Linear Motor
Item
EtherCAT Communications
Linear Motor Type
AC Servo Drive
● 100-VAC Input Models
for Single-phase input type
General-purpose Inputs
AC Servo Drive
Characteristics
G5-Series
System Configuration
G5-series
23
AC Servomotor/Drive
G5-series
EtherCAT Communications Specifications
Item
Specification
Communications standard
IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile
Physical layer
100BASE-TX (IEEE802.3)
Connectors
RJ45 × 2 (shielded)
ECAT IN: EtherCAT input
ECAT OUT: EtherCAT output
Communications media
Ethernet Category 5 (100BASE-TX) or higher (twisted-pair cable with double, aluminum tape and braided
shielding) is recommended.
Communications distance
Distance between nodes: 100 m max.
Process data
Fixed PDO mapping
Mailbox (CoE)
Emergency messages, SDO requests, SDO responses, and SDO information
Distributed clock (DC)
Synchronization in DC mode.
DC cycle: 250 μs, 500 μs, 1 ms, 2 ms, 4 ms
LED indicators
L/A IN (Link/Activity IN) × 1
L/A OUT (Link/Activity OUT) × 1
RUN × 1
ERR × 1
CiA402 Drive Profile
• Cyclic synchronous position mode
• Cyclic synchronous velocity mode
• Cyclic synchronous torque mode
• Profile position mode
• Homing mode
• Touch probe function (Latch function)
• Torque limit function
Version Information
Unit Versions
● AC Servo Drives with built-in EtherCAT communications Linear motor type and Software
Unit
AC Servo Drives G5-Series
built-in EtherCAT
Communications Linear Motor
Type
24
Unit version
Model
R88D-KN@@@-ECT-L
Unit version 1.1
Supported
Compatible Sysmac Studio version (At the time of the controller NJ series
and connection)
Version 1.04 or higher
Sysmac Studio support version (At the time of the controller NJ series and
At the time of the controller NJ series and connection )
Ver.1.13
AC Servomotor/Drive
G5-series
Analog monitor connector (CN5)
ADR
Rotary switches for
node address setting
USB connector (CN7)
Display
A 2-digit 7-segment display shows the node address, error codes, and other
Servo Drive status.
Charge Lamp
Lights when the main circuit power supply is turned ON.
EtherCAT communications
connector: ECAT IN
Main circuit
power supply terminals
(L1, L2, and L3)
Control circuit
power supply terminals
(L1C and L2C)
EtherCAT
communications
connector: ECAT OUT
Safety connector (CN8)
Charge lamp
EtherCAT Status Indicators
These indicators show the status of EtherCAT communications.
For details, refer to the G5 series USER'S MANUAL (Cat.No.I576).
Control I/O Connector (CN1)
Used for command input signals and I/O signals.
External Encoder Connector (CN4)*
Control I/O connector (CN1)
External Regeneration
Resistor connection
terminals (B1, B2, and B3)
Connector for an encoder signal used during fully-closed control.
EtherCAT Communications Connectors (ECAT IN and ECAT OUT)
EtherCAT Communications
AC Servo Drive
EtherCAT status indicators
Seven-segment display
G5-Series
System Configuration
Components and Functions
USB Connector (CN7)
Communications connector for the computer.
Safety Connector (CN8)
Connector for safety devices.
If no safety devices are used, keep the factory-set safety bypass connector
installed.
General-purpose Inputs
AC Servo Drive
You can use a special cable to monitor values, such as the motor rotation
speed, torque command value, etc.
ML-II Type
AC Servo Drive
Not used. (CN2)
AC Servomotors
Protective ground terminals
Analog Monitor Connector (CN5)
Linear Motor
External encoder
connector (CN4)
EtherCAT Communications
Linear Motor Type
AC Servo Drive
These connectors are for EtherCAT communications.
Motor connection
terminals (U, V, and W)
25
AC Servomotor/Drive
G5-series
*External Encoder
Contact the encoder manufacturer to find out the detailed specifications such as operating environment before use.
External encoder type
Maker
90º phase difference output type*2*3
Serial communications type
(Incremental type)*3
Example of External encoder
−
Phase A/B type
Magnescale Co., Ltd
Magnescale Co., Ltd
−
−
0 to 4 Mpps
(Multiplication × 4)
0.01 to 1
3.3
0.01 to 1
3.3
0 to 400 Mpps
0.1
10
SL710+PL101RP/RHP
0.1
10
AT573A
0.05
2.5
ST778A(L)
0.1
5
SR77
0.01 to 1
3.3
SR87
0.01 to 1
3.3
0.001
0.4
0 to 400 Mpps
RESOLUTE
FAGOR AUTOMATION
Maximum
speed *4
[m/s]
SR75
Serial communications type
(Absolute type)*3
Renishaw Co.
Resolution *4
[μm]
SR85
SL700+PL101RP/RHP
Mitutoyo Corporation
Supported speed*1
0.05
20
0.1
40
SAP/SVAP/GAP
0.05
2.5
LAP
0.1
2
*1. The supported speed is the internal feedback pulse speed [external encoder pulse/s] of the external encoder that can be processed by the
Servo Drive.
Check the instruction manual of the external encoder for the speed range supported by your external encoder.
*2. These are the directions that the Drive counts a 90° phase difference output.
Count-down direction
t1
EXA
EXB
Count-up direction
t1
EXA
t2
EXB is 90° ahead of EXA.
t1 > 0.25 μs
t2 > 1.0 μs
EXB
t2
EXB is 90° behind EXA.
t1 > 0.25 μs
t2 > 1.0 μs
*3. For the external encoder connection direction, set the direction so that count-up occurs when the motor shaft is rotating counterclockwise, and
count-down occurs when the motor shaft is rotating clockwise. If the connection direction cannot be selected due to installation conditions or
any other reason, the count direction can be reversed using External Feedback Pulse Direction Switching (3326 hex).
*4. The resolution and maximum speed are the values for the G5-series Servo Drive. The resolution and maximum speed may be different from
the specifications of the feedback encoder due to restriction on the maximum pulse frequency of the Servo Drive.
Dimensions
Refer to the page of Dimensions of the built-in EtherCAT communication type.
26
Refer to the Ordering Information.
Specifications
General Specifications
Item
Specifications
Ambient operating temperature and humidity
0 to 55°C, 85% max. (with no condensation)
Storage ambient temperature and humidity
−20 to 65°C, 85% max. (with no condensation)
Operating and storage atmosphere
No corrosive gases
Vibration resistance
10 to 60 Hz and at an acceleration of 5.88 m/s2 or less (Not to be run continuously at the resonance point)
Insulation resistance
Between power supply terminal/power terminal and FG terminal: 0.5 MΩ min. (at 500 VDC Megger)
Dielectric strength
Between power supply/power line terminals and FG terminal: 1,500 VAC for 1 min at 50/60 Hz
International standard
Protective structure
EC directives
Built into panel
EMC directive
EN55011, EN61000-6-2, IEC61800-3
Low voltage
command
EN61800-5-1
Machinery
directives
EN954-1 (Cat.3), EN ISO 13849-1: 2008 (PLc,d), ISO 13849-1: 2006 (PLc,d), EN61508 (SIL2),
EN62061 (SIL2), EN61800-5-2 (STO), IEC61326-3-1 (SIL2)
UL standards
UL508C *
CSA standards
CSA22.2 No.14
Korean Radio Regulations (KC)
Certified
* The Servo drive of R88D-KT20@ and smaller capacity the one are UL-Listed.
The Servo drive of R88D-KT30@ and bigger capacity the one are UL-Recognized.
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. Some Servo Drive parts will require maintenance. For details, refer to the G5 series USER'S MANUAL. Confirm the Manual No. that is
listed in Related Manuals.
Note: 4. To conform EMC directive, the tips on wiring and installation written in the G5 series user's manual must be followed. Confirm the Manual
No. that is listed in Related Manuals.
EtherCAT Communications
AC Servo Drive
EtherCAT Communications
Linear Motor Type
AC Servo Drive
General-purpose Inputs
AC Servo Drive
Ordering Information
ML-II Type
AC Servo Drive
• Ordering Information
• Specifications
General Specifications
Characteristics
• Servo Drives with Single-phase 100 VAC Input Power
• Servo Drives with Single-phase or three-phase 200 VAC Input Power
• Servo Drives with Three-phase 200 VAC Input Power
• Servo Drives with 400 VAC Input Power
• Names and Functions
Servo Drive Part Names
Functions
• Dimensions
AC Servomotors
Contents
Linear Motor
R88D-KT
G5-Series
System Configuration
G5-Series AC Servo Drives with General-purpose Pulse Train or Analog Inputs
27
AC Servomotor/Drive
G5-series
Characteristics
● Servo Drives with 100 VAC Input Power
for Single-phase input type
Item
R88D-KTA5L
R88D-KT01L
R88D-KT02L
R88D-KT04L
1.2A
1.7A
2.5A
4.6A
0.4KVA
0.4KVA
0.5KVA
0.9KVA
Continuous output current (rms)
Power supply
capacity
Main circuit
Input power
supply
Control circuit
Power supply
voltage
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
Rated current
1.7A
2.6A
4.3A
7.6A
Heat value*1
11W
16.6W
21W
25W
Power supply
voltage
Single-phase 100 to 120 VAC (85 to 132 V), 50/60 Hz
Heat value*1
4W
4W
4W
4W
Approx. 0.8 kg
Approx. 0.8kg
Approx. 1.0kg
Approx. 1.6kg
50W
100W
200W
400W
INC
K05030H
K10030L
K20030L
K40030L
ABS
K05030T
K10030S
K20030S
K40030S
2,000 r/min
Servomotors
ABS
−
−
−
−
1,000 r/min
Servomotors
ABS
−
−
−
−
Weight
Maximum applicable motor capacity
3,000 r/min
Servomotors
Applicable
Servomotors
(R88M-)
*1. The heat value is given for rated operation.
● Servo Drives with 200 VAC Input Power
for Single-phase/Three-phase input type
Item
Continuous output current (rms)
Power supply
capacity
Main circuit
Input power
supply
*2
Heat value
Heat value
Weight
Maximum applicable motor capacity
Applicable
Servomotors
(R88M-)
2,000 r/min
Servomotors
1,000 r/min
Servomotors
R88D-KT04H
R88D-KT08H
R88D-KT10H
R88D-KT15H
1.6A
2.6A
4.1A
5.9A
9.4A
0.5KVA
0.5KVA
0.9KVA
1.3KVA
1.8KVA
2.3KVA
Single-phase or Three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
1.6/0.9A
*1
14.3/13.7W
*1
2.4/1.3A *1
4.1/2.4A *1
*1
*1
23/19W
Power supply
voltage
*2
3,000 r/min
Servomotors
R88D-KT02H
1.2A
Power supply
voltage
Rated current
Control circuit
R88D-KT01H
33/24W
6.6/3.6A *1
30/35.5W
9.1/5.2A *1
14.2/8.1A *1
*1
104/93W *1
57/49W
Single-phase 200 to 240VAC (170 to 264V), 50/60Hz
4W
4W
4W
4W
7W
7W
Approx. 0.8kg
Approx. 0.8kg
Approx. 1.1kg
Approx. 1.6kg
Approx. 1.8kg
Approx. 1.8kg
100W
200W
400W
750W
1kW
1.5kW
INC
K05030H
K10030H
K20030H
K40030H
K75030H
−
K1K030H
K1K530H
ABS
K05030T
K10030T
K20030T
K40030T
K75030T
−
K1K030T
K1K530T
INC
−
−
−
−
K1K020H
K1K520H
ABS
−
−
−
−
K1K020T
K1K520T
INC
−
−
−
−
−
K90010H
ABS
−
−
−
−
−
K90010T
*1. The left value is for single-phase input power and the right value is for three-phase input power.
*2. The heat value is given for rated operation.
28
*1
AC Servomotor/Drive
R88D-KT75H
R88D-KT150H
33.0A
44.0A
66.1A
Power supply
capacity
3.3KVA
4.5KVA
7.5KVA
11.0KVA
22.0KVA
Main circuit
Power supply
voltage
3-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
Input power
supply
Control circuit
Rated current
11.8A
15.1A
21.6A
32.0A
58.0A
Heat value*1
139W
108W
328W
381W
720W
Power supply
voltage
Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
Heat value*1
Weight
3,000 r/min
Servomotors
2,000 r/min,
1,500 r/min
Servomotors
1,000 r/min
Servomotors
Single-phase 200 to 230 VAC (170 to 253V) 50/60Hz
280 to 325 VDC (238 to 357V)
10W
13W
13W
15W
17W
Approx. 2.7kg
Approx. 4.8kg
Approx. 4.8kg
Approx. 13.5kg
Approx. 21.0kg
2kW
3kW
5kW
7.5kW
15kW
−
−
Maximum applicable motor capacity
Applicable
Servomotors
(R88M-)
3-phase 200 to 230 VAC (170 to 253V) 50/60Hz
280 to 325 VDC (238 to 357V)
INC
K2K030H
K3K030H
K4K030H
K5K030H
ABS
K2K030T
K3K030T
K4K030T
K5K030T
−
−
INC
K2K020H
K3K020H
K4K020H
K5K020H
−
−
ABS
K2K020T
K3K020T
K4K020T
K5K020T
K7K515T
K11K015T
K15K015T
INC
−
K2K010H
K3K010H
−
−
INC
−
K2K010T
K3K010T
K4K510T
K6K010T
−
*1. The heat value is given for rated operation.
● Servo Drives with 400 VAC Input Power
for Three-phase input type
Item
Continuous output current (rms)
Power supply
capacity
Main circuit
Input power
supply
Heat value*1
Weight
Maximum applicable motor capacity
Applicable
Servomotors
(R88M-)
2,000 r/min,
1,500 r/min
Servomotors
1,000 r/min
Servomotors
R88DKT15F
R88DKT20F
R88DKT30F
R88DKT50F
R88DKT75F
R88DKT150F
1.5A
2.9A
4.7A
6.7A
9.4A
16.5A
22.0A
33.4A
1.2KVA
1.8KVA
2.3KVA
3.8KVA
4.5KVA
6.0KVA
11.0KVA
22.0KVA
3-phase 380 to 480 VAC (323 to 528 V), 50/60 Hz
2.1A
2.8A
3.9A
5.9A
7.6A
12.1A
16.0A
29.0A
32.2W
48W
49W
65W
108W
200W
300W
590W
Power supply
voltage
Heat value*1
3,000 r/min
Servomotors
R88DKT10F
Power supply
voltage
Rated current
Control circuit
R88DKT06F
24 VDC (20.4 to 27.6)
7W
7W
7W
10W
13W
13W
15W
22W
Approx.
1.9kg
Approx.
1.9kg
Approx.
1.9kg
Approx.
2.7kg
Approx.
4.7kg
Approx.
4.7kg
Approx.
13.5kg
Approx.
21.0kg
600W
1kW
1.5kW
2kW
3kW
5kW
7.5kW
15kW
K2K030F
K3K030F
K4K030F
K5K030F
−
−
INC
−
K75030F
K1K030F
K1K530F
ABS
−
K75030C
K1K030C
K1K530C
K2K030C
K3K030C
K4K030C
K5K030C
−
−
INC
K40020F
K60020F
K1K020F
K1K520F
K2K020F
K3K020F
K4K020F
K5K020F
−
−
ABS
K40020C
K60020C
K1K020C
K1K520C
K2K020C
K3K020C
K4K020C
K5K020C
K7K515C
K11K015C
K15K015C
INC
−
−
K90010F
−
K2K010F
K3K010F
−
−
ABS
−
−
K90010C
−
K2K010C
K3K010C
K4K510C
K6K010C
−
*1. The heat value is given for rated operation.
EtherCAT Communications
AC Servo Drive
R88D-KT50H
18.7A
EtherCAT Communications
Linear Motor Type
AC Servo Drive
R88D-KT30H
13.4A
General-purpose Inputs
AC Servo Drive
R88D-KT20H
ML-II Type
AC Servo Drive
Item
Continuous output current (rms)
AC Servomotors
for Three-phase input type
Linear Motor
● Servo Drives with 200 VAC Input Power
G5-Series
System Configuration
G5-series
29
AC Servomotor/Drive
G5-series
Components and Functions
Servo Drive Part Names
Display area
Monitor connector
(CN5)
Operation area
USB connector (CN7)
Main circuit power
suppy terminals
(L1, L2 and L3)
Expansion connector
(CN3)
Display area
A 6-digit 7-segment LED display shows the Servo Drive status, alarm
codes, parameters, and other information.
Operation area
Monitors the parameter setting and driver condition.
Charge Lamp
Lits when the main circuit power supply is turned ON.
Safety connector (CN8) Control I/O Connector (CN1)
Used for command input signals and I/O signals.
Control circuit power
suppy terminals
(L1C and L2C)
Encoder connector (CN2)
Connector for the encoder installed in the Servomotor.
Charge lamp
External Regeneration
Resistor connection
terminals
(B1, B2 and B3)
Control I/O connector
(CN1)
Expansion Connector (CN3)
A spare connector for expansion. Do not connect anything.
External Scale Connector (CN4)
Connector for an encoder signal used during full closing control.
Motor connection
terminals
(U, V and W)
External scale connector
(CN4)
Monitor Connector (CN5)
Uses a specified cable to monitor the motor rotation speed, torque
command value, etc.
Protective ground
terminals
Encoder connector
(CN2)
USB connector (CN7)
Communications connector for the computer.
Safety Connector (CN8)
Connector for the safety devices.
If no safety device is used, keep the factory-set safety bypass connector
installed.
Main Circuit Terminal (CNA)
Main-circuit power terminals (L1, L2, L3)
Control-circuit power terminals (CNA)
Motor connection terminals (CNB)
External Regeneration Resistor connection terminals (B1,B2,B3)
Servomotor connection terminals (U, V, W)
30
AC Servomotor/Drive
Phase A/B type
Magnescale Co., Ltd
Resolution*4
[μm]
Maximum
speed*4
[m/s]
−
−
0 to 4 Mpps
(Multiplication × 4)
SR75
0.01 to 1
3.3
SR85
0.01 to 1
3.3
0.1
10
0.1
10
SL700+PL101RP/RHP
SL710+PL101RP/RHP
0 to 400 Mpps
*1. The supported speed is the internal feedback pulse speed [external encoder pulse/s] of the external encoder that can be processed by the
Servo Drive.
Check the instruction manual of the external encoder for the speed range supported by your external encoder.
*2. These are the directions that the Drive counts a 90° phase difference output.
Count-down direction
t1
EXA
EXB
Count-up direction
t1
EXA
t2
EXB is 90° ahead of EXA.
t1 > 0.25 μs
t2 > 1.0 μs
EXB
t2
EXB is 90° behind EXA.
t1 > 0.25 μs
t2 > 1.0 μs
*3. For the external encoder connection direction, set the direction so that count-up occurs when the motor shaft is rotating counterclockwise, and
count-down occurs when the motor shaft is rotating clockwise. If the connection direction cannot be selected due to installation conditions or
any other reason, the count direction can be reversed using External Feedback Pulse Direction Switching (3326 hex).
*4. The resolution and maximum speed are the values for the G5-series Servo Drive. The resolution and maximum speed may be different from
the specifications of the feedback encoder due to restriction on the maximum pulse frequency of the Servo Drive.
EtherCAT Communications
AC Servo Drive
Serial communications type
(Incremental type)*3
−
Supported speed*1
EtherCAT Communications
Linear Motor Type
AC Servo Drive
90º phase difference output type*2*3
Example of External encoder
General-purpose Inputs
AC Servo Drive
Maker
ML-II Type
AC Servo Drive
External encoder type
AC Servomotors
Contact the encoder manufacturer to find out the detailed specifications such as operating environment before use.
Linear Motor
*External Encoder
G5-Series
System Configuration
G5-series
31
AC Servomotor/Drive
G5-series
Functions
Basic control
Position control
Internally set speed control
Speed control
Switching control
Torque control
Full closing control*
* Absolute type external encoder can not connected.
Advanced control
Vibration control
Gain switching
Adaptive filter
Torque limit
Friction torque compensation function
Inertia ratio switching function
Notch filter
Sequence I/O signal
Hybrid Vibration Suppression Function
Electronic gear function
Forward and reverse drive prohibition
functions
Feed-forward function
Encoder dividing function
Disturbance observer function
Instantaneous speed observer function
Brake interlock
Gain switching 3 function
Other functions
Safe Torque OFF (STO) Function
Realtime autotuning
Manual tuning
Various parameters
Basic Parameters
Extended Parameters
Vibration Suppression Parameters
Special Parameters
Analog Control Parameters
32
Interface Monitor Setting Parameters
Gain Parameters
AC Servomotor/Drive
G5-series
G5-Series
System Configuration
Dimensions
<Wall Mounting>
Single-phase 100 VAC R88D-KTA5L/-KT01L (50 to 100W)
Single-phase/Three-phase 200 VAC R88D-KT01H/-KT02H (100 to 200W)
Mounting dimensions
CAD data
150
6
EtherCAT Communications
Linear Motor Type
AC Servo Drive
140
28
40
Single-phase/Three-phase 100 VAC R88D-KT02L (200W)
Single-phase/Three-phase 200 VAC R88D-KT04H (400W)
CAD data
Mounting dimensions
130
5.2 dia.
150
150
140
6
ML-II Type
AC Servo Drive
70
55
43
55
Single-phase 100 VAC R88D-KT04L (400W)
Single-phase/Three-phase 200 VAC R88D-KT08H (750W)
Mounting dimensions
65
70
170
4
150
5.2 dia.
150
7.5
General-purpose Inputs
AC Servo Drive
150
EtherCAT Communications
AC Servo Drive
5.2 dia.
CAD data
AC Servomotors
130
140
50
65
Linear Motor
70
40
33
AC Servomotor/Drive
G5-series
Single-phase/Three-phase 200 VAC R88D-KT10H/-KT15H (900W to 1.5kW)
Mounting dimensions
170
70
4
86
5.2 dia.
150
150
CAD data
8.5
140
70
(86)
Three-phase 200 VAC R88D-KT20H (2kW)
Mounting dimensions
17.5
R2.6
86
85
50
42.5
5.2
70
5.2
193.5
5.2 dia.
R2.6
25
3.5
198
188
168
R2.6
5.2 dia.
188
168
R2.6
5.2
5.2 dia.
5.2
42.5
17.5
CAD data
18.5
50
(86)
50
Three-phase 200 VAC R88D-KT30H/-KT50H (3 to 5kW)
Mounting dimensions
15
65
5.2
R2.6
130
100
70
5.2 dia.
5.2
R2.6
250
240
220
15
34
5.2
5.2 dia.
5.2
R2.6
65
100
R2.6
CAD data
212
3
5.2 dia.
50
240
220
15
100
130
AC Servomotor/Drive
Three-phase 200 VAC R88D-KT75H (7.5kW)
233
26
70
27
180
233
11
71
Three-phase 200 VAC R88D-KT150H (15kW)
Mounting dimensions
4
φ7
30.5
7.5
R3.5
R3.5
270
200
30.5
4-M6
450
435
AC Servomotors
450
435
70
30.5
231
Linear Motor
φ7
231
CAD data
261
261
EtherCAT Communications
AC Servo Drive
235
26
90
90
220
EtherCAT Communications
Linear Motor Type
AC Servo Drive
90
250
235
2.5
R2.6
φ5.2
R2.6
210
10-M4
45
220
R2.6 φ5.2
334
11
210
φ5.2
R2.6 R2.6
General-purpose Inputs
AC Servo Drive
90
3.5
ML-II Type
AC Servo Drive
90
R2.6 φ5.2
CAD data
Mounting dimensions
71
90
G5-Series
System Configuration
G5-series
35
AC Servomotor/Drive
G5-series
Three-phase 400 VAC R88D-KT06F/-KT10F/-KT15F (600W to 1.5kW)
Mounting dimensions
70
CAD data
170
4
92
5.2 dia.
150
150
140
14.5
70
(92)
Three-phase 400 VAC R88D-KT20F (2kW)
CAD data
Mounting dimensions
94
85
17.5
42.5
5.2
50
3.5
5.2 dia.
5.2
193.5
70
5.2 dia.
25
168 188 198
188
168
R2.6
R2.6
5.2 5.2 dia.
5.2
17.5
26.5
50
50
94
Three-phase 400 VAC R88D-KT30F/-KT50F (3 to 5kW)
Mounting dimensions
15
65
5.2
130
100
70
5.2 dia.
5.2
212
5.2 dia.
50
250
240
220
240
220
R2.6
5.2
65
15
36
5.2
5.2 dia.
100
CAD data
3
R2.6
15
100
130
2
AC Servomotor/Drive
Three-phase 400 VAC: R88D-KT75F (7.5kW)
Mounting dimensions
R2.6 φ5.2
90
210
φ5.2
R2.6 R2.6
3.5
334
70
10-M4
45
250
235
220
R2.6 R2.6
φ5.2
R2.6 φ5.2
210
90
90
90
CAD data
220
2.5
EtherCAT Communications
AC Servo Drive
90
71
26
11
235
27
11
26
180
233
EtherCAT Communications
Linear Motor Type
AC Servo Drive
233
90
G5-Series
System Configuration
G5-series
71
φ7
30.5
7.5
435
270
261
200
30.5
4-M6
450
450
435
R3.5
R3.5
231
30.5
ML-II Type
AC Servo Drive
4
70
AC Servomotors
φ7
261
231
Linear Motor
CAD data
Mounting dimensions
General-purpose Inputs
AC Servo Drive
Three-phase 400 VAC R88D-KT150F (150kW)
37
G5-series AC Servo Drives with Built-in MECHATROLINK-II Communications
R88D-KN@-ML2
Contents
• Ordering Information
• Specifications
General Specifications
Characteristics
• Servo Drives with Single-phase 100 VAC Input Power
• Servo Drives with Single-phase or three-phase 200 VAC Input Power
• Servo Drives with Three-phase 200 VAC Input Power
• Servo Drives with 400 VAC Input Power
• Names and Functions
Servo Drive Part Names
Functions
• Dimensions
Ordering Information
Refer to the Ordering Information.
Specifications
General Specifications
Item
Specifications
Ambient operating temperature and operating
humidity
0 to +55C, 85% max. (with no condensation)
Storage ambient temperature and humidity
-20 to +65C, 85% max. (with no condensation)
Operating and storage atmosphere
No corrosive gases
Vibration resistance
10 to 60 Hz and at an acceleration of 5.88 m/s2 or less (Not to be run continuously at the resonance point)
Insulation resistance
Between power supply terminal/power terminal and FG terminal: 0.5 MΩ min. (at 500 VDC Megger)
Dielectric strength
Between power supply/power line terminals and FG terminal: 1,500 VAC for 1 min at 50/60 Hz
International standard
Protective structure
EC directives
Built into panel
EMC directive
EN55011, EN61000-6-2, IEC61800-3
Low voltage
directive
EN61800-5-1
Machinery
directives
EN954-1 (Cat.3), EN ISO 13849-1: 2008 (PLc,d), ISO 13849-1: 2006 (PLc,d), EN61508 (SIL2),
EN62061 (SIL2), EN61800-5-2 (STO), IEC61326-3-1 (SIL2)
UL standards
UL508C
CSA standards
CSA22.2 No.14
Korean Radio Regulations (KC)
Certified
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. Some Servo Drive parts will require maintenance. For details, refer to the G5 series USER'S MANUAL. Confirm the Manual No. that is
listed in Related Manuals.
38
38
AC Servomotor/Drive
Characteristics
● Servo Driver with 100 VAC Input Power
for Single-phase input type
R88D-KN01L-ML2
R88D-KN02L-ML2
R88D-KN04L-ML2
1.2A
1.7A
2.5A
Power supply
capacity
4.6A
0.4KVA
0.4KVA
0.5KVA
0.9KVA
Rated current
1.7A
2.6A
4.3A
7.6A
Heat value*1
11W
16.6W
21W
25W
Power supply
voltage
Single-phase 100 to 120 VAC (85 to 132 V), 50/60 Hz
Heat value*1
4W
4W
4W
Approx. 0.8 kg
Approx. 0.8kg
Approx. 1.0kg
Approx. 1.6kg
50W
100W
200W
400W
INC
K05030H
K10030L
K20030L
K40030L
ABS
K05030T
K10030S
K20030S
K40030S
2,000 r/min
Servomotors
ABS
−
−
−
−
1,000 r/min
Servomotors
ABS
−
−
−
−
Weight
Maximum applicable motor capacity
3,000 r/min
Servomotors
Applicable
Servomotors
(R88M-)
EtherCAT Communications
Linear Motor Type
AC Servo Drive
4W
*1. The heat value is given for rated operation.
● Servo Driver with 200 VAC Input Power
for Single-phase/Three-phase input type
Item
Continuous output current (rms)
Power supply
capacity
Main circuit
Input power
supply
Heat value*2
Heat value*2
Maximum applicable motor capacity
Applicable
Servomotors
(R88M-)
2,000 r/min
Servomotors
1,000 r/min
Servomotors
R88D-KN04HML2
R88D-KN08HML2
R88D-KN10HML2
R88D-KN15HML2
1.2A
1.6A
2.6A
4.1A
5.9A
9.4A
0.5KVA
0.5KVA
0.9KVA
1.3KVA
1.8KVA
2.3KVA
Single-phase or Three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
1.6/0.9A *1
2.4/1.3A *1
4.1/2.4A *1
6.6/3.6A *1
9.1/5.2A *1
14.2/8.1A *1
14.3/13.7W *1
23/19 W *1
33/24 W *1
30/35.5 W *1
57/49 W *1
104/93 W *1
Power supply
voltage
Weight
3,000 r/min
Servomotors
R88D-KN02HML2
Power supply
voltage
Rated current
Control circuit
R88D-KN01HML2
Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
4W
4W
4W
4W
7W
7W
Approx. 0.8kg
Approx. 0.8kg
Approx. 1.1kg
Approx. 1.6kg
Approx. 1.8kg
Approx. 1.8kg
100W
200W
400W
750W
1kW
1.5kW
INC
K05030H
K10030H
K20030H
K40030H
K75030H
−
K1K030H
K1K530H
ABS
K05030T
K10030T
K20030T
K40030T
K75030T
−
K1K030T
K1K530T
INC
−
−
−
−
K1K020H
K1K520H
ABS
−
−
−
−
K1K020T
K1K520T
INC
−
−
−
−
−
K90010H
ABS
−
−
−
−
−
K90010T
*1. The left value is for single-phase input power and the right value is for three-phase input power.
*2. The heat value is given for rated operation.
ML-II Type
AC Servo Drive
Control circuit
Single-phase 100 to 120 VAC (85 to 132 V), 50/60 Hz
AC Servomotors
Input power
supply
Power supply
voltage
Linear Motor
Main circuit
EtherCAT Communications
AC Servo Drive
R88D-KNA5L-ML2
General-purpose Inputs
AC Servo Drive
Item
Continuous output current (rms)
G5-Series
System Configuration
G5-series
39
AC Servomotor/Drive
G5-series
● Servo Driver with 200 VAC Input Power
for Three-phase input type
Item
R88D-KN20H-ML2
R88D-KN30H-ML2
R88D-KN50H-ML2
13.4A
18.7A
33.0A
3.3KVA
4.5KVA
7.5KVA
Continuous output current (rms)
Power supply
capacity
Main circuit
Input power
supply
Control circuit
Power supply
voltage
Three-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
Rated current
11.8A
15.1A
21.6A
Heat value*1
139W
108W
328W
Power supply
voltage
Heat value
Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
*1
Weight
10W
13W
13W
Approx. 2.7kg
Approx. 4.8kg
Approx. 4.8kg
2kW
3kW
5kW
Maximum applicable motor capacity
3,000 r/min
Servomotors
Applicable
Servomotors
(R88M-)
2,000 r/min
Servomotors
1,000 r/min
Servomotors
INC
K2K030H
K3K030H
K4K030H
K5K030H
ABS
K2K030T
K3K030T
K4K030T
K5K030T
INC
K2K020H
K3K020H
K4K020H
K5K020H
ABS
K2K020T
K3K020T
K4K020T
K5K020T
INC
−
K2K010H
K3K010H
INC
−
K2K010T
K3K010T
*1. The heat value is given for rated operation.
● Servo Driver with 400 VAC Input Power
for Three-phase input type
Item
Continuous output current (rms)
Power supply
capacity
Main circuit
Input power
supply
Heat value*1
Heat value*1
Maximum applicable motor capacity
Applicable
Servomotors
(R88M-)
2,000 r/min
Servomotors
1,000 r/min
Servomotors
R88D-KN20FML2
R88D-KN30FML2
R88D-KN50FML2
1.5A
2.9A
4.7A
6.7A
9.4A
16.5A
1.2KVA
1.8KVA
2.3KVA
3.8KVA
4.5KVA
6.0KVA
Single-phase 380 to 480 VAC (323 to 528 V), 50/60 Hz
2.1A
2.8A
3.9A
5.9A
7.6A
12.1A
32.2W
48W
49W
65W
108W
200W
24 VDC (20.4 to 27.6)
7W
7W
7W
10W
13W
13W
Approx. 1.9kg
Approx. 1.9kg
Approx. 1.9kg
Approx. 2.7kg
Approx. 4.7kg
Approx. 4.7kg
600W
1kW
1.5kW
2kW
3kW
5kW
K2K030F
K3K030F
K4K030F
K5K030F
INC
−
K75030F
K1K030F
K1K530F
ABS
−
K75030C
K1K030C
K1K530C
K2K030C
K3K030C
K4K030C
K5K030C
INC
K40020F
K60020F
K1K020F
K1K520F
K2K020F
K3K020F
K4K020F
K5K020F
ABS
K40020C
K60020C
K1K020C
K1K520C
K2K020C
K3K020C
K4K020C
K5K020C
INC
−
−
K90010F
−
K2K010F
K3K010F
ABS
−
−
K90010C
−
K2K010C
K3K010C
*1. The heat value is given for rated operation.
40
40
R88D-KN15FML2
Power supply
voltage
Weight
3,000 r/min
Servomotors
R88D-KN10FML2
Power supply
voltage
Rated current
Control circuit
R88D-KN06FML2
AC Servomotor/Drive
G5-series
Servo Drive Part Names
Display area
Analog monitor connector (CN5)
Rotary switches for node
address setting
MECHATROLINK-II
communications connector
USB connector (CN7)
Control circuit
power supply terminals
(L1C and L2C)
Safety connector (CN8)
MECHATROLINK-II Status LED Indicator
Indicates the communications status of the MECHATROLINK-II.
Encoder connector (CN2)
Connector for the encoder installed in the Servomotor.
Encoder connector (CN2)
USB Connector (CN7)
Communications Connector for the computer.
Safety Connector (CN8)
Connector for the safety devices.
If no safety device is used, keep the factory-set safety bypass
connector installed.
General-purpose Inputs
AC Servo Drive
External encoder
connector (CN4)
ML-II Type
AC Servo Drive
MECHATROLINK-II Communications Connectors (ML2A and
ML2B)
Connectors for MECHATROLINK-II communications.
AC Servomotors
External Regeneration
Resistor connection
terminals (B1, B2 and B3)
Analog Monitor Connector (CN5)
2 analog outputs to monitor values like motor rotation speed,
torque command value, etc.
Linear Motor
Control I/O connector (CN1)
EtherCAT Communications
Linear Motor Type
AC Servo Drive
External Encoder Connector (CN4)
Connector for an encoder signal used during full closing control.
Charge lamp
Protective ground terminals
Charge Lamp
Lits when the main circuit power supply is turned ON.
Control I/O Connector (CN1)
Used for command input signals and I/O signals.
Main circuit
power supply terminals
(L1, L2, and L3)
Motor connection
terminals (U, V and W)
Display area
A 2-digit 7-segment LED indicator shows the node address,
alarm codes, and other driver status.
EtherCAT Communications
AC Servo Drive
MECHATROLINK-II status LED indicator
G5-Series
System Configuration
Components and Functions
41
AC Servomotor/Drive
G5-series
*External Encoder
Contact the encoder manufacturer to find out the detailed specifications such as operating environment before use.
External encoder type
Maker
90º phase difference output type*2*3
Serial communications type
(Incremental type)*3
Example of External encoder
−
Phase A/B type
Magnescale Co., Ltd
Magnescale Co., Ltd
−
−
0 to 4 Mpps
(Multiplication × 4)
0.01 to 1
3.3
0.01 to 1
3.3
0 to 400 Mpps
0.1
10
SL710+PL101RP/RHP
0.1
10
AT573A
0.05
2.5
ST778A(L)
0.1
5
SR77
0.01 to 1
3.3
SR87
0.01 to 1
3.3
0.001
0.4
0 to 400 Mpps
RESOLUTE
FAGOR AUTOMATION
Maximum
speed*4
[m/s]
SR75
Serial communications type
(Absolute type)*3
Renishaw Co.
Resolution*4
[μm]
SR85
SL700+PL101RP/RHP
Mitutoyo Corporation
Supported speed*1
0.05
20
0.1
40
SAP/SVAP/GAP
0.05
2.5
LAP
0.1
2
*1. The supported speed is the internal feedback pulse speed [external encoder pulse/s] of the external encoder that can be processed by the
Servo Drive.
Check the instruction manual of the external encoder for the speed range supported by your external encoder.
*2. These are the directions that the Drive counts a 90° phase difference output.
Count-down direction
t1
EXA
EXB
Count-up direction
t1
EXA
t2
EXB is 90° ahead of EXA.
t1 > 0.25 μs
t2 > 1.0 μs
EXB
t2
EXB is 90° behind EXA.
t1 > 0.25 μs
t2 > 1.0 μs
*3. For the external encoder connection direction, set the direction so that count-up occurs when the motor shaft is rotating counterclockwise, and
count-down occurs when the motor shaft is rotating clockwise. If the connection direction cannot be selected due to installation conditions or
any other reason, the count direction can be reversed using External Feedback Pulse Direction Switching (3326 hex).
*4. The resolution and maximum speed are the values for the G5-series Servo Drive. The resolution and maximum speed may be different from
the specifications of the feedback encoder due to restriction on the maximum pulse frequency of the Servo Drive.
42
42
AC Servomotor/Drive
Torque control
Full closing control
Advanced control
Vibration control
Gain switching
Adaptive filter
Torque limit
Friction torque compensation function
Inertia ratio switching function
Notch filter
Sequence I/O signal
Hybrid Vibration Suppression Function
Electronic gear function
Forward and reverse drive prohibition
functions
Feed-forward function
Encoder dividing function
Disturbance observer function
Instantaneous speed observer function
Brake interlock
Gain switching 3 function
Other functions
Safe Torque OFF (STO) Function
Realtime autotuning
Manual tuning
Various parameters
Basic Parameters
Interface Monitor Setting Parameters
Gain Parameters
Extended Parameters
Vibration Suppression Parameters
Special Parameters
Analog Control Parameters
EtherCAT Communications
Linear Motor Type
AC Servo Drive
Switching control
General-purpose Inputs
AC Servo Drive
Internally set speed control
Speed control
ML-II Type
AC Servo Drive
Position control
AC Servomotors
Basic control
Linear Motor
Functions
EtherCAT Communications
AC Servo Drive
G5-Series
System Configuration
G5-series
43
AC Servomotor/Drive
G5-series
Dimensions
<Wall Mounting>
Single-phase 100VAC R88D-KNA5L-ML2/-KN01L-ML2 (50 to 100W)
Single-phase/Three-phase 200VAC R88D-KN01H-ML2/-KN02H-ML2 (100 to 200W)
Mounting dimensions
External dimensions
70
40
132
φ5.2
150
150
140
6
28
40
Single-phase/Three-phase 100VAC R88D-KN02L-ML2 (200W)
Single-phase/Three-phase 200VAC R88D-KN04H-ML2 (400W)
Mounting dimensions
External dimensions
70
55
132
φ5.2
150
150
140
6
43
55
Single-phase/Three-phase 100VAC R88D-KN04L-ML2 (400W)
Single-phase/Three-phase 200VAC R88D-KN08H-ML2 (750W)
Mounting dimensions
External dimensions
65
70
150
172
4
φ5.2
150
7.5
140
50
65
44
44
AC Servomotor/Drive
Single-phase/Three-phase 200VAC R88D-KN10H-ML2/-KN15H-ML2 (900 to 1.5kW)
Mounting dimensions
External dimensions
70
172
4
φ5.2
150
150
EtherCAT Communications
AC Servo Drive
86
140
8.5
G5-Series
System Configuration
G5-series
70
EtherCAT Communications
Linear Motor Type
AC Servo Drive
85
Three-phase 200VAC R88D-KN20H-ML2 (2kW)
Mounting dimensions
86
85
195
70
φ5.2
5.2
R2.6
1.8
168
188
198
R2.6
5.2
42.5
17.5
φ5.2
25
168
R2.6
5.2
φ5.2
17.5
General-purpose Inputs
AC Servo Drive
50
42.5
5.2
188
50
86
ML-II Type
AC Servo Drive
R2.6
50
Three-phase 200VAC R88D-KN30H-ML2/-KN50H-ML2 (3 to 5kW)
External dimensions
15
R2.6
130
100
φ5.2
65
5.2
5.2
70
5.2
φ5.2
5.2
R2.6
15
65
100
R2.6
Mounting dimensions
3.5
R2.6
220
240
213
250
φ5.2
50
220
240
15
100
130
AC Servomotors
17.5
Linear Motor
External dimensions
45
AC Servomotor/Drive
G5-series
Three-phase 400VAC R88D-KN06F-ML2/-KN10F-ML2 (600 to 1.0kW)
Three-phase 400VAC R88D-KN15F-ML2 (1.5kW)
External dimensions
Mounting dimensions
70
172
4
92
150
φ5.2
150
14.5
140
70
Three-phase 400VAC R88D-KN20F-ML2 (2kW)
External dimensions
Mounting dimensions
94
85
17.5
50
42.5
5.2
φ5.2
70
5.2
1.8
195
φ5.2
25
168 188 198
168
180
R2.6
R2.6
5.2 φ5.2
5.2
17.5
50
94
50
Three-phase 400VAC R88D-KN30F-ML2/-KN50F-ML2 (3 to 5kW)
External dimensions
15
65
5.2
130
100
Mounting dimensions
70
φ5.2
5.2
220
240
R2.6
65
46
46
φ5.2
3.5
50
220
240
250
15
5.2
φ5.2
5.2
15
213
100
R2.6
100
130
G5-series AC Servomotors
G5-Series
System Configuration
Contents
Refer to the Ordering Information.
Specifications
General Specifications
50 to 750W
1 to 5kW
Ambient operating temperature and
operating humidity
0 to 40°C
20 to 85% RH (with no condensation)
Storage ambient temperature and
humidity
−20 to +65°C, 20% to 85% RH (with no condensation)
Guaranteed maximum temperature: 72 hours at 80°C
Operating and storage atmosphere
No corrosive gases
Vibration resistance
900 W to 15kW
Acceleration of 49 m/s2
24.5 m/s2 max. in X, Y, and Z directions when the motor is stopped
Impact resistance
Acceleration of 98 m/s2 max. 3 times each in X, Y, and Z directions
Insulation resistance
Between power terminal and FG terminal: 20 MΩ min. (at 500 VDC Megger)
Dielectric strength
1,500 VAC between power terminal and FG terminal (sensed current 10 mA) for 1 min (voltage 100 V, 200 V)
1,800 VAC between power terminal and FG terminal (sensed current 10 mA) for 1 min (voltage 400 V)
1,000 VAC between brake terminal and FG terminal (sensed current 10 mA) for 1 min
Insulation class
Class B
Protective structure
IP67 (except for through-shaft parts and motor and encoder connector pins)
EC
Low voltage
directive
International directive
standard
UL standards
CSA standards
Class F
EN60034-1/-5
UL1004-1
UL1004-1,UL1004-6 *2
CSA 22.2 No.100
*1. The amplitude may be amplified by machine resonance. Do not exceed 80% of the specified value for extended periods of time.
*2. UL 1004-6 applies only to 1,500-r/min Servomotors of 7.5 to 15 kW and 1,000-r/min Servomotors of 4.5 to 6 kW.
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 Motor before you perform insulation resistance tests on it. If you perform an insulation
resistance test while the Servo Motor is connected, the Servo Motor may be damaged. Never perform dielectric strength tests on the
Servo Motor. Failure to follow this precaution may result in damaging internal elements.
Note: 4. To conform EMC directive, the tips on wiring and installation written in the G5 series user's manual must be followed.Confirm the Manual
No. that is listed in Related Manuals.
AC Servomotors
Item
*1
1,000-r/min motors
1,500-r/min motors
2,000-r/min motors
3,000-r/min motors
ML-II Type
AC Servo Drive
Ordering Information
General-purpose Inputs
AC Servo Drive
EtherCAT Communications
Linear Motor Type
AC Servo Drive
EtherCAT Communications
AC Servo Drive
• Ordering Information
• Specifications
General Specifications
Characteristics/Torque and Rotation Speed Characteristics
<Cylinder type>
• 3,000 r/min servomotors (100V, 200V, 400V)
• 2,000 r/min servomotors (200V, 400V)
• 1,500 r/min servomotors (200V/400V)
• 1,000 r/min servomotors (200V/400V)
Encoder Specifications
• Dimensions
Linear Motor
R88M-K
INC
ABS/INC
47
AC Servomotor/Drive
G5-series
Characteristics/Torque and Rotation Speed Characteristics
Characteristics
<Cylinder type>
3,000 r/min Servomotors (100 VAC Input Power)
Model (R88M-)
Item
Unit
K05030H
K10030L
K20030L
K40030L
K05030T
K10030S
K20030S
K40030S
Rated output *1
W
50
100
200
400
Rated torque *1
N•m
0.16
0.32
0.64
1.3
Rated rotation speed
r/min
3.8
3,000
Momentary maximum rotation speed
r/min
Momentary maximum torque*1
N•m
0.48
0.95
1.91
Rated current *1
A (rms)
1.1
1.6
2.5
4.6
Momentary maximum current*1
A (0-p)
4.7
6.9
10.6
19.5
Without brake
kg • m2
0.025×10-4
0.051×10-4
0.14×10-4
0.26×10-4
With brake
kg • m2
0.027×10-4
0.054×10-4
0.16×10-4
0.28×10-4
Rotor inertia
6,000
−
Applicable load inertia
Torque constant *1
30 times the rotor inertia max.
*2
N • m/A
0.11±10%
0.14±10%
0.20±10%
Without brake
kW/s
10.1
19.8
28.9
62.4
With brake
kW/s
9.4
18.7
25.3
37.8
Without brake
ms
1.43
1.03
0.61
0.48
With brake
ms
1.54
1.09
0.70
0.52
Electrical time constant
ms
0.82
0.91
3.0
3.4
Allowable radial load *3
N
68
68
245
245
Power rate *1
Mechanical time
constant
Allowable thrust load *3
Weight
N
58
58
98
98
Without brake
kg
Approx. 0.31
Approx. 0.45
Approx. 0.78
Approx. 1.2
With brake
kg
Approx. 0.51
Approx. 0.65
Approx. 1.2
Approx. 1.6
Radiator plate dimensions (material)
100×80×t10 (AI)
Applicable drivers (R88D-)
kg • m2
Brake inertia
Brake specifications
0.21±10%
130×120×t12 (AI)
KTA5L/KNA5L-ML2/
KNA5L-ECT
KT01L/KN01L-ML2/
KN01L-ECT
KT02L/KN02L-ML2/
KN02L-ECT
KT04L/KN04L-ML2/
KN04L-ECT
2×10-7
2×10-7
1.8×10-6
1.8×10-6
Excitation voltage *4
V
Power consumption (at 20°C)
W
7
7
9
9
Current consumption (at 20°C)
A
0.3
0.3
0.36
0.36
Static friction torque
24 VDC±5%
N•m
0.29 min.
0.29 min.
1.27 min.
1.27 min.
Attraction time *5
ms
35 max.
35 max.
50 max.
50 max.
Release time *5
ms
20 max.
20 max.
15 max.
15 max.
±1°
Backlash
Allowable work per braking
J
39.2
39.2
137
137
Allowable total work
J
4.9×103
4.9×103
44.1×103
44.1×103
Allowable angular acceleration
rad/s2
30,000 max. (Speed of 2,800 r/min or more must not be changed in less than 10 ms)
Brake limit
−
10 million times min.
Rating
−
Continuous
Insulation class
−
Type F
*1. These are the values when the motor is combined with a driver at normal temperature (20°C, 65%). The momentary maximum torque 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 servo ON/
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 limit 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 a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 by Okaya Electric Industries Co., Ltd.).
48
AC Servomotor/Drive
G5-Series
System Configuration
G5-series
Torque and Rotation Speed Characteristics
3,000 r/min Servomotors (100 VAC Input Power)
The following graphs show the characteristics with a 3-m standard cable and a 100 VAC input.
0.08
1,000 2,000 3,000 4,000 5,000 6,000
(r/min)
0.32
0.32
Continuous operation range4,300
0
0.56
0.4
Momentary operation range
1.0
0.16
1,000 2,000 3,000 4,000 5,000 6,000
(r/min)
Power supply voltage
1.91 (2,600) dropped by 10%
0.64
0.64
Continuous operation range
0
3,100
0.8
0.64
0.32
1,000 2,000 3,000 4,000 5,000 6,000
(r/min)
• R88M-K40030L/S (400W)
Power supply voltage
dropped by 10%
(N • m)
4.0 3.8
3.8 (2,600)
Momentary operation range
2.0
1.3
0
1.7
1.3
1.3
Continuous operation range
3,100
0.32
1,000 2,000 3,000 4,000 5,000 6,000
(r/min)
Note 1: The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is
also possible. However,doing so will reduce the output torque.
Note 2: If the motor power cable exceeds 20 m, the voltage drop will increase and the momentary operation range will become narrower.
EtherCAT Communications
AC Servo Drive
0.5
Continuous operation range
0
Momentary operation range
0.3
0.16
2.0 1.91
0.95 (3,700)
EtherCAT Communications
Linear Motor Type
AC Servo Drive
0.16
1.0 0.95
(N • m)
General-purpose Inputs
AC Servo Drive
Momentary operation range
0.25
Power supply voltage
dropped by 10%
(N • m)
ML-II Type
AC Servo Drive
0.48
• R88M-K20030L/S (200W)
AC Servomotors
Power supply voltage
dropped by 10%
0.48 (4,000)
(N • m)
0.5
• R88M-K10030L/S (100W)
Linear Motor
• R88M-K05030H/T (50W)
49
AC Servomotor/Drive
G5-series
Characteristics
3,000 r/min Servomotors (200 VAC Input Power)
Model (R88M-)
K05030H
K10030H
K20030H
K40030H
K75030H
K1K030H
K1K530H
K2K030H
K3K030H
K4K030H
K5K030H
Unit
K05030T
K10030T
K20030T
K40030T
K75030T
K1K030T
K1K530T
K2K030T
K3K030T
K4K030T
K5K030T
Rated output *1
W
50
100
200
400
750
1000
1500
2000
3000
4000
5000
Rated torque *1
N•m
0.16
0.32
0.64
1.3
2.4
3.18
4.77
6.37
9.55
12.7
15.9
Rated rotation speed
r/min
Item
3,000
Momentary maximum rotation speed]
r/min
Momentary maximum torque *1
N•m
0.48
0.95
1.91
3.8
7.1
9.55
14.3
19.1
28.6
38.2
47.7
Rated current *1
A (rms)
1.1
1.1
1.5
2.4
4.1
6.6
8.2
11.3
18.1
19.6
24.0
Momentary maximum
current *1
A (0-p)
4.7
Without brake
kg • m
0.025×10
With brake
kg • m2
Rotor
inertia
Applicable load inertia
Torque constant *1
6,000
2
4.7
-4
0.027×10-4
5,000
6.5
0.051×10
-4
0.054×10-4
0.14×10
10.2
-4
0.16×10-4
0.26×10
28
-4
0.28×10-4
0.97×10-4
20 times the
rotor inertia
max. *2
30 times the rotor inertia max. *2
−
0.87×10
-4
2.03×10
35
-4
2.35×10-4
2.84×10
4,500
48
-4
3.17×10-4
15 times the rotor
inertia max. *2
77
3.68×10
-4
4.01×10-4
6.50×10
83
-4
6.85×10-4
12.9×10
102
-4
17.4×10-4
14.2×10-4
18.6×10-4
15 times the rotor inertia max. *2
N • m/A
0.11±10%
0.21±10%
0.32±10%
0.40±10%
0.45±10%
0.37
0.45
0.44
0.41
0.49
0.49
Without brake
kW/s
10.1
19.8
28.9
62.3
65.4
49.8
80.1
110
140
126
146
*1
With brake
kW/s
9.4
18.7
25.3
57.8
58.7
43.0
71.8
101
116
114
136
Mechanical
time
constant
Without brake
ms
1.43
1.07
0.58
0.43
0.37
0.61
0.49
0.44
0.41
0.51
0.50
With brake
0.54
Power rate
ms
1.54
1.13
0.66
0.46
0.42
0.71
0.55
0.48
0.49
0.56
Electrical time constant
ms
0.82
0.90
3.2
3.4
5.3
5.8
6.3
6.7
11
12
13
Allowable radial load *3
N
68
68
245
245
392
490
490
490
490
784
784
Allowable thrust load *3
N
58
58
98
98
147
196
196
196
196
343
343
Without brake
kg
Approx.
0.31
Approx.
0.46
Approx.
0.79
Approx.
1.2
Approx.
2.3
Approx.
3.5
Approx.
4.4
Approx.
5.3
Approx.
8.3
Approx.
11.0
Approx.
14.0
With brake
kg
Approx.
0.51
Approx.
0.66
Approx.
1.2
Approx.
1.6
Approx.
3.1
Approx.
4.5
Approx.
5.4
Approx.
6.3
Approx.
9.4
Approx.
12.6
Approx.
16.0
Weight
Radiator plate dimensions
(material)
100×80×t10 (AI)
Applicable drives (R88D-)
Brake specifications
Brake inertia
KT01H/
KN01HML2/
KN01HECT
KT01H/
KN01HML2/
KN01HECT
2×10-7
2×10-7
kg • m2
170×160
×t12 (AI)
130×120×t12 (AI)
KT02H/
KN02HML2/
KN02HECT
KT04H/
KN04HML2/
KN04HECT
1.8×10-6
1.8×10-6
KT08H/
KN08HML2/
KN08HECT
320×300×t20 (AI)
KT15H/
KN15HML2/
KN15HECT
380×350×t30 (AI)
KT15H/
KN15HML2/
KN15HECT
KT20H/
KN20HML2/
KN20HECT
KT30H/
KN30HML2/
KN30HECT
KT50H/
KN50HML2/
KN50HECT
KT50H/
KN50HML2/
KN50HECT
0.75×10-5 0.33×10-4 0.33×10-4 0.33×10-4 0.33×10-4 1.35×10-4 1.35×10-4
Excitation voltage *4
V
Power consumption (at 20°C)
W
7
7
9
9
10
19
19
19
19
22
22
Current consumption (at 20°C)
A
0.3
0.3
0.36
0.36
0.42
0.81±10%
0.81±10±
0.81±10%
0.81±10%
0.90±10%
0.90±10%
Static friction torque
24 VDC±5%
24 VDC±10%
N•m
0.29 min.
0.29 min.
1.27 min.
1.27 min.
2.45 min.
7.8 min.
7.8 min.
7.8 min.
11.8 min.
16.1 min.
16.1 min.
Attraction time *5
ms
35 max.
35 max.
50 max.
50 max.
70 max.
50 max.
50 max.
50 max.
80 max.
110 max.
110 max.
Release time *5
ms
20 max.
20 max.
15 max.
15 max.
20 max.
Allowable work per
braking
Allowable total work
Allowable angular
acceleration
15 max. *6 15 max. *6 15 max. *6 15 max. *6 50 max. *6 50 max. *6
±1°
Backlash
J
39.2
39.2
3
J
4.9×10
rad/s2
137
3
4.9×10
44.1×10
137
3
44.1×10
196
3
1.47×10
392
5
392
5
4.9×10
392
5
4.9×10
30,000 max. (Speed of 2,800 r/min or more must not be
changed in less than 10 ms)
392
5
4.9×10
1470
5
4.9×10
1470
6
2.2×10
2.2×106
10,000
Brake limit
−
10 million times min.
Rating
−
Continuous
Insulation class
−
Type F
*1. These are the values when the motor is combined with a driver at normal temperature (20°C, 65%). The momentary maximum torque 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 servo ON/
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 limit 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 a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a Spark Killer (CR50500 by Okaya Electric Industries Co., Ltd.).
*6. Direct current switching with a varistor (Z15D151 by SEMITEC Co.).
50
AC Servomotor/Drive
The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input.
Power supply voltage
dropped by 10%
(N • m)
0.95 (5,000)
1.0 0.95
Power supply voltage
dropped by 10%
(4,000)
1.91 (4,600)
(N • m)
2.0 1.91
0.9
0.08
Continuous operation range
0
1,000 2,000 3,000 4,000 5,000 6,000
(r/min)
• R88M-K40030H/T (400W)
(3,100) 3.8 (3,600)
4.0 3.8
1.3
2.0
1.7
1.3
1,000 2,000 3,000 4,000 5,000 6,000
(r/min)
• R88M-K1K530H/T (1.5kW)
(3,200)
15 14.3
0
4.77
4.0
1,000
2,000
3,000
4,000 5,000
(r/min)
0
1,000
2,000
3,000
3,000
1,000
2,000
3,000
4,000 5,000
(r/min)
Power supply voltage
dropped by 10%
30
28.6
(3,100)
28.7 (3,400)
Momentary operation range
7.0
15
9.55
9.55
Continuous operation range
4,000 5,000
(r/min)
0
1,000
2,000
3,000
12.0
8.0
5.7
4,000 5,000
(r/min)
(2,800)
47.8 (3,200)
Momentary operation range
25
12.7
Continuous operation range
2,000
1.9
4.0
Power supply voltage
dropped by 10%
50 47.7
(2,800) 38.2 (3,100)
12.7
19.1 (3,700)
6.37
(N • m)
Momentary operation range
20
1,000
Continuous operation range
• R88M-K5K030H/T (5kW)
Power supply voltage
dropped by 10%
40 38.2
0
6.0
(N • m)
Continuous operation range
• R88M-K4K030H/T (4kW)
(N • m)
6.37
9.55 (4,200)
Momentary operation range
3.18
3.18
0
Momentary operation range
10
4.77
(3,800)
• R88M-K3K030H/T (3kW)
Power supply voltage
dropped by 10%
(3,300)
5
0.60
1,000 2,000 3,000 4,000 5,000 6,000
(r/min)
Continuous operation range
0
3.4
3.0
2.4
20 19.1
Power supply voltage
dropped by 10%
10 9.55
7.1 (3,600)
Continuous operation range
Momentary operation range
7.5
2.4
0.32
1,000 2,000 3,000 4,000 5,000 6,000
(r/min)
Momentary operation range
4.0
(N • m)
14.3 (3,600)
Continuous operation range
0
(N • m)
Power supply voltage
dropped by 10%
(3,200)
1.3
1.1
0.64
• R88M-K1K030H/T (1kW)
• R88M-K2K030H/T (2kW)
Power supply voltage
dropped by 10%
(N • m)
1,000 2,000 3,000 4,000 5,000 6,000
(r/min)
(N • m)
0.64
0.16
Continuous operation range
0
0.64
Continuous operation range
0
Momentary operation range
1.0
0.32
8.0 7.1
Momentary operation range
2.0
0.32
• R88M-K75030H/T (750W)
Power supply voltage
dropped by 10%
(N • m)
Momentary operation range
0.5
0.16
10.0
4,000 5,000
(r/min)
15.9
15.9
15.0
Continuous operation range
0
1,000
2,000
3,000
4,000 5,000
(r/min)
Note 1: The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is
also possible. However,doing so will reduce the output torque.
Note 2: If the motor power cable exceeds 20 m, the voltage drop will increase and the momentary operation range will become narrower.
AC Servomotors
0.16
General-purpose Inputs
AC Servo Drive
0.3
Momentary operation range
0.25
Linear Motor
0.48
• R88M-K20030H/T (200W)
EtherCAT Communications
Linear Motor Type
AC Servo Drive
Power supply voltage
dropped by 10%
0.48 (4000)
(N • m)
0.5
• R88M-K10030H/T (100W)
ML-II Type
AC Servo Drive
• R88M-K05030H/T (50W)
EtherCAT Communications
AC Servo Drive
Torque and Rotation Speed Characteristics
3,000 r/min Servomotors (200 VAC Input Power)
G5-Series
System Configuration
G5-series
51
AC Servomotor/Drive
G5-series
Characteristics
3,000 r/min Servomotors (400 VAC Input Power)
Model (R88M-)
Item
Unit
K75030F
K1K030F
K1K530F
K2K030F
K3K030F
K4K030F
K5K030F
K75030C
K1K030C
K1K530C
K2K030C
K3K030C
K4K030C
K5K030C
Rated output *1
W
750
1,000
1,500
2,000
3,000
4,000
5,000
Rated torque *1
N•m
2.39
3.18
4.77
6.37
9.55
12.7
15.9
Rated rotation speed
r/min
Momentary maximum rotation
speed
r/min
Momentary maximum torque*1
7.16
9.55
14.3
19.1
28.6
38.2
47.7
2.4
3.3
4.2
5.7
9.2
9.9
12.0
A (0-p)
10
14
18
24
39
42
51
Without brake
kg • m2
1.61×10-4
2.03×10-4
2.84×10-4
3.68×10-4
6.50×10-4
12.9×10-4
17.4×10-4
With brake
kg • m2
1.93×10-4
2.35×10-4
3.17×10-4
4.01×10-4
7.85×10-4
14.2×10-4
18.6×10-4
−
20 times the
rotor inertia
max. *2
*1
Applicable load inertia
Torque constant *1
Mechanical
time constant
4,500
N•m
Momentary maximum current
Power rate *1
5,000
A (rms)
Rated current *1
Rotor inertia
3,000
15 times the rotor inertia max. *2
N • m/A
0.78
0.75
0.89
0.87
0.81
0.98
0.98
Without brake
kW/s
35.5
49.8
80.1
110
140
126
146
With brake
kW/s
29.6
43
71.8
101
116
114
136
Without brake
ms
0.67
0.60
0.49
0.45
0.40
0.51
0.50
With brake
0.54
ms
0.8
0.70
0.55
0.49
0.49
0.56
Electrical time constant
ms
5.9
5.8
6.5
6.6
12
13
13
Allowable radial load *3
N
490
490
490
490
490
784
784
Allowable thrust load *3
Weight
N
196
196
196
196
196
343
343
Without brake
kg
Approx. 3.1
Approx. 3.5
Approx. 4.4
Approx. 5.3
Approx. 8.3
Approx. 11.0
Approx. 14.0
With brake
kg
Approx. 4.1
Approx. 4.5
Approx. 5.4
Approx. 6.3
Approx. 9.4
Approx. 12.6
Approx. 16.0
Radiator plate dimensions (material)
320×300×t20 (AI)
Applicable drives (R88D-)
Brake inertia
Excitation voltage
KT15F/
KN15F-ML2/
KN15F-ECT
KT15F/
KN15F-ML2/
KN15F-ECT
KT20F/
KN20F-ML2/
KN20F-ECT
KT30F/
KN30F-ML2/
KN30F-ECT
KT50F/
KN50F-ML2/
KN50F-ECT
KT50F/
KN50F-ML2/
KN50F-ECT
0.33×10-4
0.33×10-4
0.33×10-4
0.33×10-4
0.33×10-4
1.35×10-4
1.35×10-4
V
Power consumption (at
20°C)
Current consumption (at
20°C)
Brake specifications
KT10F/
KN10F-ML2/
KN10F-ECT
kg • m2
*4
380×350×t30 (AI)
24 VDC±10%
W
17
19
19
19
19
22
22
0.90±10%
A
0.70±10%
0.81±10%
0.81±10%
0.81±10%
0.81±10%
0.90±10%
N•m
2.5 min.
7.8 min.
7.8 min.
7.8 min.
11.8 min.
16.1 min.
16.1 min.
Attraction time *5
ms
50 max.
50 max.
50 max.
50 max.
80 max.
110 max.
110 max.
Release time *5
ms
15 max. *6
15 max. *6
15 max. *6
15 max. *6
15 max. *6
50 max. *6
50 max. *6
Static friction torque
±1°
Backlash
Allowable work per braking
J
392
392
392
392
392
1470
1470
Allowable total work
J
4.9×105
4.9×105
4.9×105
4.9×105
4.9×105
2.2×106
2.2×106
Allowable angular
acceleration
rad/s2
10,000
Brake limit
−
10 million times min.
Rating
−
Continuous
Insulation class
−
Type F
*1. These are the values when the motor is combined with a driver at normal temperature (20°C, 65%). The momentary maximum torque 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 servo ON/
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 limit 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 a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a Spark Killer (CR50500 by Okaya Electric Industries Co., Ltd.).
*6. Direct current switching with a varistor (Z15D151 by SEMITEC Co.).
52
AC Servomotor/Drive
G5-Series
System Configuration
G5-series
Torque and Rotation Speed Characteristics
3,000 r/min Servomotors (400 VAC Input Power)
The following graphs show the characteristics with a 3 m standard cable and a 400 VAC input.
8 7.16
(3,500)
7.16 (3,800)
Momentary operation range
2.6
1.6
2.39
Continuous operation range
0
1,000
2,000
3,000
4,000 5,000
(r/min)
• R88M-K2K030F/C (2kW)
(3,300)
20 19.1
6.37
19.1 (3,700)
0
1,000
2,000
7.0
3,000
1,000
2,000
3,000
4.0
1.9
Continuous operation range
4,000 5,000
(r/min)
30 28.6
(3,100)
15
2.0
4,000 5,000
(r/min)
9.55
9.55
Continuous operation range
0
1,000
2000
3,000
14.3 (3,600)
Momentary operation range
7.5
4.77
0
4.77
1,000
2,000
3,000
4.0
4,000 5,000
(r/min)
• R88M-K4K030F/C (4kW)
Power supply voltage
dropped by 10%
(N • m)
(3,200)
15 14.3
28.7 (3,400)
Power supply voltage
dropped by 10%
(N • m)
(2,800)
40 38.2
38.2 (3,100)
Momentary operation range
Momentary operation range
6.37
Continuous operation range
0
3.18
Continuous operation range
Momentary operation range
10
3.18
6.0
• R88M-K3K030F/C (3kW)
Power supply voltage
dropped by 10%
(N • m)
5
Power supply voltage
dropped by 10%
(N • m)
(3,800) 9.55 (4,200)
10 9.55
Momentary operation range
4
2.39
Power supply voltage
dropped by 10%
(N • m)
12.0
8.0
5.7
20
4,000 5,000
(r/min)
0
12.7
12.7
Continuous operation range
1,000
2,000
3,000
10
4,000 5,000
(r/min)
• R88M-K5K030F/C (5kW)
Power supply voltage
dropped by 10%
(N • m)
50 47.7
(2,800)
47.7 (3,200)
Momentary operation range
25
15.9
15.9
EtherCAT Communications
Linear Motor Type
AC Servo Drive
Power supply voltage
dropped by 10%
(N • m)
• R88M-K1K530F/C (1.5kW)
EtherCAT Communications
AC Servo Drive
• R88M-K1K030F/C (1kW)
General-purpose Inputs
AC Servo Drive
• R88M-K75030F/C (750W)
15
2,000
3,000
4,000 5,000
(r/min)
Note 1: The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is
also possible. However,doing so will reduce the output torque.
Note 2: If the motor power cable exceeds 20 m, the voltage drop will increase and the momentary operation range will become narrower.
AC Servomotors
1,000
Linear Motor
0
ML-II Type
AC Servo Drive
Continuous operation range
53
AC Servomotor/Drive
G5-series
Characteristics
1,500 r/min, 2,000 r/min Servomotors (200 VAC Input Power)
K1K020H
K1K520H
K2K020H
K3K020H
K4K020H
K5K020H
−
−
−
Unit
K1K020T
K1K520T
K2K020T
K3K020T
K4K020T
K5K020T
K7K515T
K11K015T
K15K015T
Rated output *1
W
1,000
1,500
2,000
3,000
4,000
5,000
7,500
11,000
15,000
Rated torque *1
N•m
4.77
7.16
9.55
14.3
19.1
23.9
47.8
70.0
95.0
Rated rotation speed
r/min
Model (R88M-)
Item
2,000
1,500
Momentary maximum rotation
speed
r/min
Momentary maximum torque *1
N•m
14.3
21.5
28.6
43.0
57.3
71.6
119.0
175.0
224.0
Rated current *1
A (rms)
5.7
9.4
11.5
17.4
21.0
25.9
44.0
54.2
66.1
Momentary maximum current *1
A (0-p)
24
40
49
74
89
110
165
203
236
Without brake
kg • m2
4.60×10-4
6.70×10-4
8.72×10-4
12.9×10-4
37.6×10-4
48.0×10-4
101×10-4
212×10-4
302×10-4
With brake
kg • m2
5.90×10-4
7.99×10-4
10.0×10-4
14.2×10-4
38.6×10-4
48.8×10-4
107×10-4
220×10-4
311×10-4
1.05
Rotor inertia
3,000
Torque constant *1
2,000
10 times the rotor inertia max. *2
−
Applicable load inertia
3,000
N • m/A
0.63
0.58
0.64
0.59
0.70
0.70
0.77
0.92
Without brake
kW/s
49.5
76.5
105
159
97.1
119
226
231
302
With brake
kW/s
38.6
64.2
91.2
144
94.5
117
213
223
293
Without brake
ms
0.80
0.66
0.66
0.57
0.65
0.63
0.58
0.80
0.71
With brake
ms
1.02
0.80
0.76
0.63
0.66
0.64
0.61
0.83
0.74
Electrical time constant
ms
9.4
10
10
12
20
19
21
31
32
Allowable radial load *3
N
490
490
490
784
784
784
1,176
2,254
2,254
Allowable thrust load *3
N
196
196
196
343
343
343
490
686
686
Without brake
kg
Approx.
5.2
Approx.
6.7
Approx.
8.0
Approx.
11.0
Approx.
15.5
Approx.
18.6
Approx.
36.4
Approx.
52.7
Approx.
70.2
With brake
kg
Approx.
6.7
Approx.
8.2
Approx.
9.5
Approx.
12.6
Approx.
18.7
Approx.
21.8
Approx.
40.4
Approx.
58.9
Approx.
76.3
Power rate *1
Mechanical
time constant
Weight
Radiator plate dimensions (material)
Applicable drives (R88D-)
Brake inertia
Brake specifications
Excitation voltage
kg • m2
*4
380×350×t
30 (AI)
275×260×t15 (AI)
470×440×t30 (AI)
550×520×t
30 (AI)
670×630×t35 (AI)
KT10H/
KN10HML2/
KN10HECT
KT15H/
KN15HML2/
KN15HECT
KT20H/
KN20HML2/
KN20HECT
KT30H/
KN30HML2/
KN30HECT
KT50H/
KN50HML2/
KN50HECT
KT50H/
KN50HML2/
KN50HECT
KT75H/
KN75HECT
KT150H/
KN150HECT
KT150H/
KN150HECT
1.35×10-4
1.35×10-4
1.35×10-4
1.35×10-4
4.7×10-4
4.7×10-4
4.7×10-4
7.1×10-4
7.1×10-4
V
24 VDC±10%
Power consumption (at
20°C)
W
14
19
19
22
31
31
34
26
26
Current consumption (at
20°C)
A
0.59±10%
0.79±10%
0.79±10%
0.90±10%
1.3±10%
1.3±10%
1.4±10%
1.08±10%
1.08±10%
Static friction torque
N•m
4.9 min.
13.7 min.
13.7 min.
16.2 min.
24.5 min.
24.5 min.
58.8 min.
100 min.
100 min.
Attraction time *5
ms
80 max.
100 max.
100 max.
110 max.
80 max.
80 max.
150 max.
300 max.
300 max.
Release time *5
ms
70 max. *6
50 max. *6
50 max. *6
50 max. *6
25 max. *6
25 max. *6
50 max.
140 max.
140 max.
±1°
Backlash
Allowable work per braking
J
588
1,176
1,176
1,470
1,372
1,372
1,372
2,000
2,000
Allowable total work
J
7.8×105
1.5×106
1.5×106
2.2×106
2.9×106
2.9×106
2.9×106
4.0×106
4.0×106
Allowable angular
acceleration
rad/s2
10,000
5,000
Brake limit
−
10 million times min.
Rating
−
Continuous
Insulation class
−
Type F
3,000
*1. These are the values when the motor is combined with a driver at normal temperature (20°C, 65%). The momentary maximum torque 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 servo ON/
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 limit 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 a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a Spark Killer (CR50500 by Okaya Electric Industries Co., Ltd.).
*6. Direct current switching with a varistor (Z15D151 by SEMITEC Co.).
54
AC Servomotor/Drive
The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input.
• R88M-K1K520H/T (1.5kW)
(2,000) 21.5 (2,300)
5
Momentary operation range
4.77
4.77
Continuous operation range
0
1,000
6.0
4.0
3.2
3,000 (r/min)
2,000
• R88M-K3K020H/T (3kW)
10 7.16
0
1,000
• R88M-K4K020H/T (4kW)
Power supply voltage
dropped by 10%
50 43.0
25
(2,200)
43.0 (2,400)
14.3
Continuous operation range
0
1,000
2,000
28.0
20.0
3,000 (r/min)
119.0
100
50
47.8(1500)
Continuous operation range
0
1000
2000
3,000 (r/min)
Power supply voltage
dropped by 10%
(N • m)
(1,900)
71.6
19.1
25.0
19.1
Continuous operation range
0
1,000
71.6 (2,100)
70.0
Power supply voltage
dropped by 10%
(1700) 175.0(2000)
130.0
(N • m)
224.0
2,000
3.0
3,000 (r/min)
95.5
95.5(1500)
Continuous operation range
52.5
2000 (r/min)
Power supply voltage
dropped by 10%
224.0(1700)
(1500)
200 Momentary operation range
100
70.0(1500)
1000
1,000
0
20.0
• R88M-K15K015T (15kW)
Continuous operation range
0
23.9
23.9
Continuous operation range
150
75
35
13.0
3,000 (r/min)
2,000
(N • m)
175.0
12.0
3000 (r/min)
2,000
70
Momentary operation range
60.0
1,000
0
Momentary operation range
Momentary operation range
47.8
Continuous operation range
15.0
11.0
6.4
57.3 (2,100)
• R88M-K11K015T (11kW)
Power supply voltage
dropped by 10%
(2200) 119.0(2500)
9.55
Momentary operation range
25
9.5
• R88M-K7K515T (7.5kW)
(N • m)
(1,900)
57.3
9.55
• R88M-K5K020H/T (5kW)
Power supply voltage
dropped by 10%
50
Momentary operation range
14.3
3,000 (r/min)
2,000
15
6.0
4.8
Continuous operation range
(N • m)
(N • m)
Momentary operation range
10.0
7.16
0
1000
EtherCAT Communications
Linear Motor Type
AC Servo Drive
10
Momentary operation range
(2,000) 28.6 (2,200)
28.6
30
20
General-purpose Inputs
AC Servo Drive
21.5
(2,000) 14.3 (2,200)
15 14.3
Power supply voltage
dropped by 10%
(N • m)
95.5
57.0
2000 (r/min)
Note 1: The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is
also possible. However,doing so will reduce the output torque.
Note 2: If the motor power cable exceeds 20 m, the voltage drop will increase and the momentary operation range will become narrower.
ML-II Type
AC Servo Drive
(N • m)
AC Servomotors
Power supply voltage
dropped by 10%
(N • m)
• R88M-K2K020H/T (2kW)
Power supply voltage
dropped by 10%
Linear Motor
• R88M-K1K020H/T (1kW)
EtherCAT Communications
AC Servo Drive
Torque and Rotation Speed Characteristics
1,500 r/min, 2,000 r/min Servomotors (200 VAC Input Power)
G5-Series
System Configuration
G5-series
55
AC Servomotor/Drive
G5-series
Characteristics
1,500 r/min, 2,000 r/min Servomotors (400 VAC Input Power)
Model (R88M-) K40020F K60020F K1K020F K1K520F K2K020F K3K020F K4K020F K5K020F
Item
Unit
K40020C K60020C K1K020C K1K520C K2K020C K3K020C K4K020C K5K020C
Rated output *1
W
400
600
1,000
1,500
2,000
3,000
4,000
5,000
Rated torque *1
N•m
1.91
2.86
4.77
7.16
9.55
14.3
19.1
23.9
Rated rotation speed
r/min
2,000
Momentary maximum
r/min
3,000
rotation speed
Momentary maximum torque
N•m
5.73
8.59
14.3
21.5
28.7
43.0
57.3
71.6
*1
*1
−
K7K515C
7,500
47.8
−
K11K015C
11,000
70.0
1,500
2,000
119.0
175.0
224.0
33.1
Rated current
Momentary maximum current
A (rms)
1.2
1.5
2.8
4.7
5.9
8.7
10.6
13.0
22.0
27.1
A (0-p)
4.9
6.5
12
20
25
37
45
55
83
101
Without brake
With brake
Applicable load inertia
Torque constant *1
Without brake
Power rate
*1
With brake
Mechanical Without brake
time
With brake
constant
Electrical time constant
Allowable radial load *3
Allowable thrust load *3
2
*1
Rotor inertia
kg • m
kg • m2
−
N • m/A
kW/s
kW/s
ms
-4
-4
-4
0.83
0.72
1.01
0.79
0.78
5.7
490
196
Approx.
3.1
Approx.
4.1
5.9
490
196
Approx.
3.5
Approx.
4.5
10
490
196
Approx.
5.2
Approx.
6.7
10
490
196
Approx.
6.7
Approx.
8.2
10
490
196
Approx.
8.0
Approx.
9.5
Without brake
kg
With brake
kg
320×300×t20 (AI)
Applicable drives (R88D-)
kg • m2
V
-4
-4
-4
1.61×10 2.03×10 4.60×10 6.70×10 8.72×10 12.9×10 37.6×10 48.0×10
1.90×10-4 2.35×10-4 5.90×10-4 7.99×10-4 10.0×10-4 14.2×10-4 38.6×10-4 48.8×10-4
10 times the rotor inertia max. *2
1.27
1.38
1.27
1.16
1.27
1.18
1.40
1.46
22.7
40.3
49.5
76.5
105
159
97.1
119
19.2
34.8
38.6
64.2
91.2
144
94.5
117
0.70
0.62
0.79
0.66
0.68
0.56
0.60
0.60
ms
N
N
Radiator plate dimensions
(material)
Brake specifications
-4
ms
Weight
Brake inertia
Excitation voltage *4
Power consumption
(at 20°C)
Current consumption
(at 20°C)
Static friction torque
Attraction time *5
Release time *5
Backlash
Allowable work per
braking
Allowable total work
Allowable angular
acceleration
Brake limit
Rating
Insulation class
-4
KT06F/
KT06F/
KN06FKN06FML2/
ML2/
KN06FKN06FECT
ECT
1.35×10-4 1.35×10-4
0.61
0.61
0.61
12
21
19
784
784
784
343
343
343
Approx.
Approx.
Approx.
11.0
15.5
18.6
Approx.
Approx.
Approx.
12.6
18.7
21.8
380×350
275×260×t15 (AI)
470×440×t30 (AI)
×t30 (AI)
KT10F/
KT15F/
KT20F/
KT30F/
KT50F/
KT50F/
KN10FKN15FKN20FKN30FKN50FKN50FML2/
ML2/
ML2/
ML2/
ML2/
ML2/
KN10FKN15FKN20FKN30FKN50FKN50FECT
ECT
ECT
ECT
ECT
ECT
1.35×10-4 1.35×10-4 1.35×10-4 1.35×10-4 4.7×10-4 4.7×10-4
24 VDC±10%
−
K15K015C
15,000
95.9
-4
118
-4
101×10
107×10-4
212×10
220×10-4
302×10-4
311×10-4
1.54
226
213
0.58
1.84
231
223
0.80
2.10
302
293
0.71
0.61
0.83
0.74
21
1,176
490
Approx.
36.4
Approx.
40.4
550×520
×t30 (AI)
31
2,254
686
Approx.
52.7
Approx.
58.9
32
2,254
686
Approx.
70.2
Approx.
76.3
KT75F/
KN75FECT
KT150F/
KN150FECT
KT150F/
KN150FECT
4.7×10-4
7.1×10-4
7.1×10-4
670×630×t35 (AI)
W
17
17
14
19
19
22
31
31
34
26
26
A
0.70±10%
0.70±10%
0.59±10%
0.79±10%
0.79±10%
0.90±10%
1.3±10%
1.3±10%
1.4±10%
1.08±10%
1.08±10%
N•m
ms
ms
2.5 min.
2.5 min. 4.9 min. 13.7 min. 13.7 min. 16.2 min. 24.5 min. 24.5 min. 58.8 min. 100 min. 100 min.
50 max.
50 max. 80 max. 100 max. 100 max. 110 max. 80 max. 80 max. 150 max. 300 max. 300 max.
15 max. *7 15 max. *7 70 max. *6 50 max. *6 50 max. *6 50 max. *6 25 max. *6 25 max. *6 50 max. 140 max. 140 max.
±1°
J
392
392
588
1,176
1,176
1,470
1,372
1,372
1,372
2,000
2,000
J
4.9×105
4.9×105
7.8×105
1.5×106
1.5×106
2.2×106
2.9×106
2.9×106
2.9×106
4.0×106
4.0×106
rad/s2
10,000
−
−
−
5,000
3,000
10 million times min.
Continuous
Type F
*1. These are the values when the motor is combined with a driver at normal temperature (20°C, 65%). The momentary maximum torque 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 servo ON/
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 limit 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 a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a Spark Killer (CR50500 by Okaya Electric Industries Co., Ltd.).
*6. Direct current switching with a varistor (Z15D151 by SEMITEC Co.).
56
AC Servomotor/Drive
Torque and Rotation Speed Characteristics
1,500 r/min, 2,000 r/min Servomotors (400 VAC Input Power)
The following graphs show the characteristics with a 3 m standard cable and a 400 VAC input.
Momentary operation range
3.5
3
1.91
1.91
Continuous operation range
0
1,000
• R88M-K1K520F/C (1.5kW)
(2,000)
21.5
2.86
1,000
(2,000)
6.0
4.8
Continuous operation range
0
1,000
3,000 (r/min)
2,000
• R88M-K4K020F/C (4kW)
(1,900)
57.3
9.55
28.6 (2,200)
9.55
Continuous operation range
1,000
0
2,000
15.0
11.0
6.4
3,000 (r/min)
57.3 (2,100)
(1,900)
71.6
50
25.0
35
1,000
3,000 (r/min)
2,000
• R88M-K11K015C (11kW)
Power supply voltage
dropped by 10%
50 43.0
25
(2,200)
Momentary operation range
14.3
14.3
Continuous operation range
0
1,000
2,000
43.0 (2,400)
28.0
20.0
9.5
3,000 (r/min)
Power supply voltage
dropped by 10%
(2200) 119.0(2500)
(N • m)
119.0
Momentary operation range
50
23.9
47.8
47.8(1500)
60.0
Continuous operation range
0
1,000
2,000
Continuous operation range
3.0
3,000 (r/min)
0
1000
2000
12.0
3000 (r/min)
• R88M-K15K015C (15kW)
Power supply voltage
dropped by 10%
(1700) 175.0(2000)
(N • m)
175.0
(N • m)
100
23.9
3,000 (r/min)
20.0
13.0
Continuous operation range
0
2,000
Momentary operation range
Momentary operation range
19.1
1,000
71.6 (2,100)
70
19.1
0
6.0
4.0
3.2
• R88M-K7K515C (7.5kW)
Power supply voltage
dropped by 10%
(N • m)
4.77
4.77
• R88M-K3K020F/C (3kW)
• R88M-K5K020F/C (5kW)
Power supply voltage
dropped by 10%
(N • m)
15
14.3 (2,200)
Continuous operation range
Momentary operation range
10.0
7.16
3,000 (r/min)
Power supply voltage
dropped by 10%
30 28.6
7.16
5
1.9
2,000
(N • m)
Momentary operation range
25
2.86
21.5 (2,300)
20
10
4.5
Continuous operation range
0
(2,000)
15 14.3
10 Momentary operation range
Momentary operation range
• R88M-K2K020F/C (2kW)
Power supply voltage
dropped by 10%
(N • m)
8.59 (2,400)
5
2.0
1.3
3,000 (r/min)
2,000
(2,100)
8.59
(N • m)
224.0
Power supply voltage
dropped by 10%
224.0(1700)
(1500)
150
Momentary operation range
75
70.0
70.0(1500)
Continuous operation range
0
130.0
1000
200 Momentary operation range
100
52.5
2000 (r/min)
EtherCAT Communications
AC Servo Drive
10
Power supply voltage
dropped by 10%
(N • m)
EtherCAT Communications
Linear Motor Type
AC Servo Drive
5.73 (2,700)
Power supply voltage
dropped by 10%
ML-II Type
AC Servo Drive
(2,400)
6 5.73
(N • m)
95.5
95.5(1500)
Continuous operation range
0
1000
95.5
57.0
2000 (r/min)
Note 1: The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is
also possible. However,doing so will reduce the output torque.
Note 2: If the motor power cable exceeds 20 m, the voltage drop will increase and the momentary operation range will become narrower.
AC Servomotors
Power supply voltage
dropped by 10%
(N • m)
• R88M-K1K020F/C (1kW)
General-purpose Inputs
AC Servo Drive
• R88M-K60020F/C (600W)
Linear Motor
• R88M-K40020F/C (400W)
G5-Series
System Configuration
G5-series
57
AC Servomotor/Drive
G5-series
Characteristics
1,000 r/min Servomotors (200/400 VAC Input Power)
200 VAC
Model (R88M-) K90010H K2K010H K3K010H
Item
Unit
K90010T
400 VAC
−
−
K90010F
K2K010T K3K010T K4K510T K6K010T
−
K2K010F K3K010F
−
K90010C K2K010C K3K010C K4K510C K6K010C
Rated output *1
W
900
2,000
3,000
4,500
6,000
900
2,000
3,000
4,500
6,000
Rated torque *1
N•m
8.59
19.1
28.7
43.0
57.0
8.59
19.1
28.7
43.0
57.3
Rated rotation speed
r/min
1,000
r/min
2,000
Momentary maximum rotation
speed
Momentary maximum torque
*1
N•m
19.3
47.7
71.7
107.0
143.0
19.3
47.7
71.7
107.0
143.0
Rated current *1
A (rms)
7.6
17.0
22.6
29.7
38.8
3.8
8.5
11.3
14.8
19.4
Momentary maximum current *1
A (0-p)
24
60
80
110
149
12
30
40
55
74
Without brake
kW/s
6.70×10-4
30.3×10-4
48.4×10-4
79.1×10-4
101×10-4
6.70×10-4
30.3×10-4
48.4×10-4
79.1×10-4
101×10-4
With brake
kW/s
7.99×10-4
31.4×10-4
49.2×10-4
84.4×10-4
107×10-4
7.99×10-4
31.4×10-4
49.2×10-4
84.4×10-4
107×10-4
2.08
Rotor inertia
Torque constant *1
Power rate
*1
Mechanical
time constant
10 times the rotor inertia max. *2
−
Applicable load inertia
N • m/A
0.86
0.88
0.96
1.02
1.04
1.72
1.76
1.92
2.05
Without brake
kW/s
110
120
170
233
325
110
120
170
233
325
With brake
kW/s
92.4
116
167
219
307
92.4
116
167
219
307
Without brake
ms
0.66
0.75
0.63
0.55
0.54
0.66
0.76
0.61
0.55
0.54
With brake
ms
0.78
0.78
0.64
0.63
0.57
0.79
0.78
0.62
0.63
0.57
Electrical time constant
ms
11
18
21
20
23
11
18
22
20
23
Allowable radial load *3
N
686
1176
1470
1470
1764
686
1176
1470
1470
1764
Allowable thrust load *3
N
196
490
490
490
588
196
490
490
490
588
Without brake
kg
Approx.
6.7
Approx.
14.0
Approx.
20.0
Approx.
29.4
Approx.
36.4
Approx.
6.7
Approx.
14.0
Approx.
20.0
Approx.
29.4
Approx.
36.4
With brake
kg
Approx.
8.2
Approx.
17.5
Approx.
23.5
Approx.
33.3
Approx.
40.4
Approx.
8.2
Approx.
17.5
Approx.
23.5
Approx.
33.3
Approx.
40.4
470×440
×t30 (AI)
550×520
×t30 (AI)
270×260
×t15 (AI)
Weight
Radiator plate dimensions (material)
270×260×t15 (AI)
Applicable drives (R88D-)
kg • m2
Brake specifications
Brake inertia
550×520
×t30 (AI)
470×440×t30 (AI)
KT15H/
KN15HML2/
KN15HECT
KT30H/
KN30HML2/
KN30HFECT
KT50H/
KN50HML2/
KN50HECT
KT50H/
KN50HECT
KT75H/
KN75HECT
KT15F/
KN15FML2/
KN15FECT
KT30F/
KN30FML2/
KN30FECT
KT50F/
KN50FML2/
KN50FECT
KT50F/
KN50FECT
KT75F/
KN75FECT
1.35×10-4
4.7×10-4
4.7×10-4
4.7×10-4
4.7×10-4
1.35×10-4
4.7×10-4
4.7×10-4
4.7×10-4
4.7×10-4
Excitation voltage *4
V
Power consumption (at 20°C)
W
19
31
34
34
34
19
31
34
34
34
Current consumption (at 20°C)
A
0.79±10%
1.3±10%
1.4±10%
1.4±10%
1.4±10%
0.79±10%
1.3±10%
1.4±10%
1.4±10%
1.4±10%
Static friction torque
24 VDC±10%
N•m
13.7 min.
24.5 min.
58.8 min.
58.8 min.
58.8 min.
13.7 min.
24.5 min.
58.8 min.
58.8 min.
58.8 min.
Attraction time *5
ms
100 max.
80 max.
150 max.
150 max.
150 max.
100 max.
80 max.
150 max.
150 max.
150 max.
Release time *5
ms
50 max. *6 25 max. *7 50 max. *7
50 max.
50 max.
50 max. *6 25 max. *6 50 max. *6
50 max.
50 max.
±1°
Backlash
Allowable work per braking
J
1,176
1,372
1,372
1,372
1,372
1,176
1,372
1,372
1,372
1,372
Allowable total work
J
1.5×106
2.9×106
2.9×106
2.9×106
2.9×106
1.5×106
2.9×106
2.9×106
2.9×106
2.9×106
Allowable angular
acceleration
rad/s2
10,000
5,000
10,000
Brake limit
−
10 million times min.
Rating
−
Continuous
Insulation class
−
Type F
5,000
*1. These are the values when the motor is combined with a driver at normal temperature (20°C, 65%). The momentary maximum torque 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 servo ON/
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 limit 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 a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a Spark Killer (CR50500 by Okaya Electric Industries Co., Ltd.).
*6. Direct current switching with a varistor (Z15D151 by SEMITEC Co.).
58
AC Servomotor/Drive
• R88M-K2K010H/T/F/C (2kW)
Power supply voltage
dropped by 10%
19.3 (1,800)
14.0
8.59
8.0
Continuous operation range
0
1,000
Momentary operation range
25
4.3
2,000
(r/min)
0
107.0
Power supply voltage
dropped by 10%
(1500) 107.0(1700)
(N • m)
150
Momentary operation range
43.0
18.0
75
1000
40.0
28.7
Continuous operation range
0
(r/min)
1,000
20.0
14.0
2,000 (r/min)
143.0
Power supply voltage
dropped by 10%
(1500) 143.0(1700)
57.3
57.3
57.3
28.0
1000
2000 (r/min)
0
2000 (r/min)
100.0
Continuous operation range
22.0
Continuous operation range
0
9.6
2,000
Momentary operation range
70.0
50.0
43.0
Momentary operation range
35 28.7
• R88M-K6K010T/C (6kW)
100
50
1,000
70
28.0
19.1
Continuous operation range
• R88M-K4K510T/C (4.5kW)
(N • m)
19.1
71.7
47.7 (1,600)
EtherCAT Communications
Linear Motor Type
AC Servo Drive
8.59
(1,400)
Power supply voltage
dropped by 10%
(1,400) 71.7 (1,600)
Note 1: The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is
also possible. However,doing so will reduce the output torque.
Note 2: If the motor power cable exceeds 20 m, the voltage drop will increase and the momentary operation range will become narrower.
Encoder Specifications
Incremental Encoders
Item
Encoder system
Absolute Encoders
Specifications
Optical encoder
20 bits
Item
Encoder system
Specifications
Optical encoder
17 bits
No. of output pulses
Phases A and B: 262,144 pulses/rotation
Phase Z: 1 pulse/rotation
No. of output pulses
Phases A and B: 32,768 pulses/rotation
Phase Z: 1 pulse/rotation
Power supply voltage
5 VDC±5%
Maximum rotations
−32,768 to +32,767 rotations
Power supply current
180 mA (max.)
Power supply voltage
5 VDC±5%
Output signals
+S, −S
Power supply current
110 mA (max.)
Output interface
RS-485 compliance
Applicable battery
voltage
3.6 VDC
Current consumption of
battery
265 μA for a maximum of 5 s right after
power interruption
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
Note: Multi-rotation Data Backup
• The multi-rotation data will be lost if the battery cable
connector is disconnected at the motor when connecting the
battery cable for the absolute encoder and battery.
• The multi-rotation data will be lost if CN2 is disconnected
when connecting the battery to CN1 without the use of a
battery cable for the absolute encoder.
ML-II Type
AC Servo Drive
Momentary operation range
10
47.7
50
(N • m)
AC Servomotors
(1,600)
19.3
20
Power supply voltage
dropped by 10%
(N • m)
Linear Motor
(N • m)
• R88M-K3K010H/T/F/C (3kW)
EtherCAT Communications
AC Servo Drive
• R88M-K90010H/T/F/C (900W)
The following graphs show the characteristics with a 3 m standard
cable and a 200 VAC input.
General-purpose Inputs
AC Servo Drive
Torque and Rotation Speed Characteristics
1,000 r/min Servomotors (200/400 VAC Input Power)
G5-Series
System Configuration
G5-series
59
AC Servomotor/Drive
G5-series
Dimensions
<Cylinder type>
3,000 r/min Servomotors (100/200 VAC)
50W/100W
• Without brake
Dimensions (mm)
Model
• R88M-K05030H (-S2)/-K10030@ (-S2) INC
• R88M-K05030T (-S2)/-K10030@ (-S2) ABS
LL
LM
LN
R88M-K05030@
72
48
23
R88M-K10030@
92
68
43
Encoder connector
CAD data
Motor connector
LL
40×40
25
(Dimensions of shaft end with key and tap)
LM
25
6
14
12.5
3
R3.7
3h9
3
2
M3 (depth: 6)
6.2
LN
46 dia.±0.2
R4.2
2−4.3 dia.
8h6 dia.
30h7 dia.
• With brake
Dimensions (mm)
Model
• R88M-K05030H-B (S2)/-K10030@-B (S2) INC
• R88M-K05030T-B (S2)/-K10030@-B (S2) ABS
LL
LM
LN
R88M-K05030@-B@
102
78
23
R88M-K10030@-B@
122
98
43
Encoder connector
Brake connector
CAD data
Motor connector
25
LL
40×40
(Dimensions of shaft end with key and tap)
LM
25
6
14
12.5
3
R3.7
2
3h9
3
6.2
LN
8h6 dia.
M3 (depth: 6)
46 dia.±0.2
30h7 dia.
R4.2
2−4.3 dia.
200W/400W
• Without brake
Dimensions (mm)
Model
• R88M-K20030@ (-S2)/-K40030@ (-S2) INC
• R88M-K20030@ (-S2)/-K40030@ (-S2) ABS
Encoder connector
Motor connector
LL
LM
6.5
LL
LM
R88M-K20030@
79.5
56.5
LN
11
R88M-K40030@
99
76
14
CAD data
60×60
30
(Dimensions of shaft end with key and tap)
4−4.5 dia.
4 (200W)
20 (200W) 5 (400W)
30
25 (400W)
4h9 (200W)
18 (200W)
5h9 (400W)
±0.2
.
ia
22.5
(400W)
70 d
3
M4 depth: 8 (200W)
M5 depth: 10 (400W)
Sh6 dia.
8.5 (200W)
11(400W)
50h7 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.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
60
AC Servomotor/Drive
G5-series
• With brake
Dimensions (mm)
Model
LL
LM
S
R88M-K20030@-B@
116
93
11
R88M-K40030@-B@
135.5
112.5
14
Encoder connector
CAD data
Brake connector
Motor connector
30
6.5
4−4.5 dia.
60×60
(Dimensions of shaft end with key and tap)
3
.2
ia.±0
70 d
EtherCAT Communications
AC Servo Drive
LL
LM
G5-Series
System Configuration
• R88M-K20030@-B (S2)/-K40030@-B (S2) INC
• R88M-K20030@-B (S2)/-K40030@-B (S2) ABS
4 (200W)
30 20 (200W) 5 (400W)
25 (400W)
4h9 (200W)
18 (200W)
5h9 (400W)
22.5 (400W)
M4 depth: 8 (200W)
M5 depth: 10 (400W)
8.5(200W)
115 (400W)
Sh6 dia.
750W
• Without brake
• R88M-K75030H (-S2) INC
• R88M-K75030T (-S2) ABS
Encoder connector
CAD data
Motor connector
112.2
EtherCAT Communications
Linear Motor Type
AC Servo Drive
50h7 dia.
80×80
3
4−6 dia.
(Dimensions of shaft end with key and tap)
90 dia.±0.2
35
25
22
6h9
6
M5 (depth: 10)
15.5
19h6 dia.
70h7 dia.
•
• With brake
• R88M-K75030H-B (S2) INC
• R88M-K75030T-B (S2) ABS
Encoder connector
Brake connector
CAD data
ML-II Type
AC Servo Drive
8
General-purpose Inputs
AC Servo Drive
35
86.2
Motor connector
80×80
8
3
4−6 dia.
(Dimensions of shaft end with key and tap)
90 dia.±0.2 35
25
22
6h9
AC Servomotors
35
148.2
122.2
6
M5 (depth: 10)
19h6 dia
70h7 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.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
Linear Motor
15.5
61
AC Servomotor/Drive
G5-series
1kW/1.5kW/2kW
• Without brake
• R88M-K1K030H (-S2)/-K1K530H (-S2)/-K2K030H (-S2) INC
• R88M-K1K030T (-S2)/-K1K530T (-S2)/-K2K030T (-S2) ABS
• With brake
• R88M-K1K030H-B (S2)/-K1K530H-B (S2)/-K2K030H-B (S2) INC
• R88M-K1K030T-B (S2)/-K1K530T-B (S2)/-K2K030T-B (S2) ABS
Servomotor/
brake connector
LL
LM
KB2
KB1
Encoder
connector
Dimensions (mm)
Model
LL
LM
KB1
R88M-K1K030@
141
97
66
KB2
119
R88M-K1K530@
159.5
115.5
84.5
137.5
R88M-K2K030@
156.5
178.5
134.5
103.5
R88M-K1K030@-B@
168
124
66
146
R88M-K1K530@-B@
186.5
142.5
84.5
164.5
R88M-K2K030@-B@
205.5
161.5
103.5
183.5
55
CAD data
(Dimensions of shaft end with key and tap)
100×100
3
10
55
45
42
4−9 dia.
101
60
135 dia.
6h9
15.5
115 dia.
19h6 dia.
M3, through
6
M5 (depth: 12)
19h6 dia.
95h7 dia.
95h7 dia.
3kW
• Without brake
• R88M-K3K030H (-S2) INC
• R88M-K3K030T (-S2) ABS
Dimensions (mm)
Model
• With brake
• R88M-K3K030H-B (S2) INC
• R88M-K3K030T-B (S2) ABS
Servomotor/
brake connector
LM
R88M-K3K030@
190
146
168
R88M-K3K030@-B@
215
171
193
55
LL
LM
KB2
112
Encoder
connector
LL
CAD data
120×120
12
3
(Dimensions of shaft end with key and tap)
55
45
41
4−9 dia.
113
M3, through
8h9
162 dia
60
145 dia.
22h6 dia.
18
110h7 dia.
4kW/5kW
• Without brake
Dimensions (mm)
Model
• R88M-K4K030H (-S2)/-K5K030H (-S2) INC
• R88M-K4K030T (-S2)/-K5K030T (-S2) ABS
• With brake
• R88M-K4K030H-B (S2)/-K5K030H-B (S2) INC
• R88M-K4K030T-B (S2)/-K5K030T-B (S2) ABS
LL
LM
KB2
KB1
Encoder
connector
7
M5 (depth: 12)
22h6 dia.
110h7 dia.
Servomotor/
brake connector
KB2
LL
LM
KB1
KB2
R88M-K4K030@
208
164
127
186
R88M-K5K030@
243
199
162
221
R88M-K4K030@-B@
236
192
127
214
R88M-K5K030@-B@
271
227
162
249
CAD data
65
(Dimensions of shaft end with key and tap)
130×130
12
65
6
4−9 dia.
118
55
51
M3, through
20
145 dia.
60
24h6 dia.
110h7 dia.
165 dia.
24h6 dia.
8h9
7
M8 (depth: 20)
110h7 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.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
62
AC Servomotor/Drive
G5-series
G5-Series
System Configuration
3,000 r/min Servomotors (400 VAC)
750W/1kW/1.5kW/2kW
• Without brake
• R88M-K75030F (-S2)/-K1K030F (-S2)/-K1K530F (-S2)/-K2K030F (-S2) INC
• R88M-K75030C (-S2)/-K1K030C (-S2)/-K1K530C (-S2)/-K2K030C (-S2) ABS
• With brake
CAD data
55
100×100
3
4−9 dia.
135 dia.
60
101 (Without brake)
103 (With brake)
115 dia.
19h6 dia.
55
45
42
M3, through
15.5
6h9
6
M5 (depth: 12)
19h6 dia.
95h7 dia.
95h7 dia.
EtherCAT Communications
Linear Motor Type
AC Servo Drive
10
(Dimensions of shaft end with key and tap)
R88M-K75030@
LL
LM
KB1
KB2
131.5
87.5
56.5
109.5
R88M-K1K030@
141
97
66
119
R88M-K1K530@
159.5
115.5
84.5
137.5
R88M-K2K030@
178.5
134.5
103.5
156.5
R88M-K75030@-B@
158.5
114.5
53.5
136.5
R88M-K1K030@-B@
168
124
63
146
R88M-K1K530@-B@
186.5
142.5
81.5
164.5
R88M-K2K030@-B@
205.5
161.5
100.5
183.5
General-purpose Inputs
AC Servo Drive
Dimensions (mm)
Model
3kW
• Without brake
• R88M-K3K030F (-S2) INC
• R88M-K3K030C (-S2) ABS
Dimensions (mm)
Model
LL
LM
KB2
R88M-K3K030@
190
146
168
R88M-K3K030@-B@
215
171
193
• With brake
• R88M-K3K030F-B (S2) INC
• R88M-K3K030C-B (S2) ABS
Servomotor/
brake connector
LL
Encoder
connector
CAD data
55
LM
KB2
112
12
120×120
3
113
(Dimensions of shaft end with key and tap)
4−9 dia.
55
45
41
M3, through
162 dia.
60
18
145 dia.
22h6 dia.
110h7 dia.
ML-II Type
AC Servo Drive
LM
KB2
KB1
22h6 dia.
8h9
7
M5 (depth: 12)
110h7 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.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
AC Servomotors
LL
Linear Motor
Servomotor/
brake connector
Encoder
connector
EtherCAT Communications
AC Servo Drive
• R88M-K75030F-B (S2)/-K1K030F-B (S2)/-K1K530F-B (S2)/-K2K030F-B (S2) INC
• R88M-K75030C-B (S2)/-K1K030C-B (S2)/-K1K530C-B (S2)/-K2K030C-B (S2) ABS
63
AC Servomotor/Drive
G5-series
4kW/5kW
• Without brake
Dimensions (mm)
Model
• R88M-K4K030F (-S2)/-K5K030F (-S2) INC
• R88M-K4K030C (-S2)/-K5K030C (-S2) ABS
• With brake
• R88M-K4K030F-B (S2)/-K5K030F-B (S2) INC
• R88M-K4K030C-B (S2)/-K5K030C-B (S2) ABS
Servomotor/
brake connector
Encoder
connector
LL
LM
KB1
KB2
R88M-K4K030@
208
164
127
186
R88M-K5K030@
243
199
162
221
R88M-K4K030@-B@
236
192
127
214
R88M-K5K030@-B@
271
227
162
249
CAD data
65
LL
LM
KB2
KB1
(Dimensions of shaft end with key and tap)
130×130
12
6
4-9 dia.
118
60
65
55
51
M3, through
8h9
145 dia.
165 dia.
24h6 dia.
110h7 dia.
24h6 dia.
20
7
M8 (depth: 20)
110h7 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.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
64
AC Servomotor/Drive
G5-series
G5-Series
System Configuration
1,500r/min, 2,000 r/min Servomotors (200 VAC)
1kW/1.5kW/2kW/3kW
• Without brake
• R88M-K1K020H (-S2)/-K1K520H (-S2)/-K2K020H (-S2)/-K3K020H (-S2) INC
• R88M-K1K020T (-S2)/-K1K520T (-S2)/-K2K020T (-S2)/-K3K020T (-S2) ABS
• With brake
LR
CAD data
130×130
45 (1 to 2kW)
55 (3kW)
41 (1 to 2kW)
51 (3kW)
M3, through
6
4−9 dia.
8h9
145 dia.
116 (1 to 2kW)
118 (3kW)
165 dia.
Sh6 dia.
7
M5 depth: 12 (1 to 2kW)
M8 depth: 20 (3kW)
Sh6 dia.
EtherCAT Communications
Linear Motor Type
AC Servo Drive
60
110h7 dia.
110h7 dia.
18 (1 to 2kW)
20 (3kW)
Dimensions (mm)
LL
LR
LM
S
KB1
R88M-K1K020@
138
55
94
22
60
KB2
116
R88M-K1K520@
155.5
55
111.5
22
77.5
133.5
R88M-K2K020@
173
55
129
22
95
151
R88M-K3K020@
208
65
164
24
127
186
R88M-K1K020@-B@
166
55
122
22
60
144
R88M-K1K520@-B@
183.5
55
139.5
22
77.5
161.5
R88M-K2K020@-B@
201
55
157
22
95
179
R88M-K3K020@-B@
236
65
192
24
127
214
General-purpose Inputs
AC Servo Drive
Model
4kW/5kW
• Without brake
Dimensions (mm)
Model
• R88M-K4K020H (-S2)/-K5K020H (-S2) INC
• R88M-K4K020T (-S2)/-K5K020T (-S2) ABS
• With brake
• R88M-K4K020H-B (S2)/-K5K020H-B (S2) INC
• R88M-K4K020T-B (S2)/-K5K020T-B (S2) ABS
LL
LM
KB1
KB2
R88M-K4K020@
177
133
96
155
R88M-K5K020@
196
152
115
174
R88M-K4K020@-B@
206
162
96
184
R88M-K5K020@-B@
225
181
115
203
Servomotor/brake connector
LL
LM
KB2
KB1
18
Encoder connector
CAD data
70
(Dimensions of shaft end with key and tap)
176×176
3.2
4−13.5 dia.
233 dia.
140
60
35h6 dia.
114.3h7 dia.
ML-II Type
AC Servo Drive
Encoder connector
(Dimensions of shaft end with key and tap)
LR
LL
LM
KB2
KB1
12
200 dia.
70
55
50
M3, through
10h9
8
35h6 dia.
30
M12 (depth: 25)
114.3h7 dia.
AC Servomotors
Servomotor/brake connector
EtherCAT Communications
AC Servo Drive
• R88M-K1K020H-B (S2)/-K1K520H-B (S2)/-K2K020H-B (S2)/-K3K020H-B (S2) INC
• R88M-K1K020T-B (S2)/-K1K520T-B (S2)/-K2K020T-B (S2)/-K3K020T-B (S2) ABS
Linear Motor
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.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
65
AC Servomotor/Drive
G5-series
7.5kW
• Without brake
• R88M-K7K515T (-S2) ABS
Dimensions (mm)
Model
• With brake
• R88M-K7K515T-B (S2) ABS
LL
LR
LM
S
KB1
KB2
L1
L2
L3
R88M-K7K515T@
312
113
268
42
219
290
117.5
117.5
149
R88M-K7K515T-B@
337
113
293
42
253
315
117.5
152.5
183
Brake connector
(for model with brake only)
Motor
connector
Encoder
connector
44
LM
LL
KB2
48
110
184
CAD data
176 × 176
LR
43.5 43.5
KB1
L3
L2
L1
61.5 24
3.2
4-13.5 dia.
Sh6 dia.
233 dia.
60
(Shaft end specifications with key and tap)
LR
96
M4, through
90
12h9
45
8 (Key groove P9)
0
37-0.2
2 min.
200 dia.
Boss insertion position
Sh6 dia.
M16
(depth 32 min.)
114.3h7 dia.
114.3h7 dia.
11kW/15kW
• Without brake
• R88M-K11K015T (-S2)/-K15K015T (-S2) ABS
• With brake
• R88M-K11K015T-B (S2)/R88M-K15K015T-B (S2) ABS
Encoder
connector
44
CAD data
Brake connector
(for model with brake only)
Motor
connector
LL
LM
110
220 × 220
LR
KB2
57
KB1
L3
L2
L1
61.5 32
4
48
205
57
4-13.5 dia.
268
dia.
60
235
Sm6 dia.
2 min.
(Shaft end specifications with key and tap)
LR
M5, through
98
90 45
16h9
10
(Key groove P9)
dia.
Sm6 dia.
0
49-0.2
M20
(depth 40 min.)
Boss insertion positon
200h7 dia.
200h7 dia.
Model
Dimensions (mm)
LL
LR
LM
S
KB1
KB2
L1
L2
L3
R88M-K11K015T@
316
116
272
55
232
294
124.5
124.5
162
R88M-K15K015T@
384
116
340
55
300
362
158.5
158.5
230
R88M-K11K015T-B@
364
116
320
55
266
342
124.5
159.5
196
R88M-K15K015T-B@
432
116
388
55
334
410
158.5
193.5
264
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.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
66
AC Servomotor/Drive
G5-series
Dimensions (mm)
Model
• R88M-K40020F (-S2)/-K60020F (-S2) INC
• R88M-K40020C (-S2)/-K60020C (-S2) ABS
R88M-K40020@
R88M-K60020@
• With brake
• R88M-K40020F-B (S2)/-K60020F-B (S2) INC
• R88M-K40020C-B (S2)/-K60020C-B (S2) ABS
LL
LM
KB1
KB2
131.5
87.5
56.5
109.5
141
97
66
119
R88M-K40020@-B@
158.5
114.5
53.5
136.5
R88M-K60020@-B@
168
124
63
146
Servomotor/brake connector
CAD data
55
LM
KB2
KB1
Encoder connector
10
100×100
3
(Dimensions of shaft end with key and tap)
4−9 dia.
55
45
42
M3, through
6h9
135 dia.
60
101 (Without brake)
103 (With brake)
115 dia.
19h6 dia.
6
M5 (depth: 12)
19h6 dia.
15.5
95h7 dia.
95h7 dia.
EtherCAT Communications
Linear Motor Type
AC Servo Drive
LL
EtherCAT Communications
AC Servo Drive
400W/600W
• Without brake
G5-Series
System Configuration
1,500 r/min, 2,000 r/min Servomotors (400 VAC)
1kW/1.5kW/2kW/3kW
• Without brake
• R88M-K1K020F (-S2)/-K1K520F (-S2)/-K2K020F (-S2)/-K3K020F (-S2) INC
• R88M-K1K020C (-S2)/-K1K520C (-S2)/-K2K020C (-S2)/-K3K020C (-S2) ABS
• R88M-K1K020F-B (S2)/-K1K520F-B (S2)/-K2K020F-B (S2)/-K3K020F-B (S2) INC
• R88M-K1K020C-B (S2)/-K1K520C-B (S2)/-K2K020C-B (S2)/-K3K020C-B (S2) ABS
CAD data
Servomotor/brake connector
LR
LL
LM
KB2
KB1
12
Encoder connector
(Dimensions of shaft end with key and tap)
LR
130×130
6
4−9 dia.
45 (1 to 2kW)
55 (3kW)
41 (1 to 2kW)
51 (3kW)
M3, through
General-purpose Inputs
AC Servo Drive
• With brake
8h9
145 dia.
165 dia.
110h7 dia.
110h7 dia.
Model
Sh6 dia.
sh6 dia.
M5 depth: 12 (1 to 2kW)
M8 depth: 20 (3kW)
18 (1 to 2kW)
20 (3kW)
Dimensions (mm)
LL
LR
LM
S
KB1
R88M-K1K020@
138
55
94
22
60
KB2
116
R88M-K1K520@
155.5
55
111.5
22
77.5
133.5
R88M-K2K020@
173
55
129
22
95
151
R88M-K3K020@
208
65
164
24
127
186
R88M-K1K020@-B@
166
55
122
22
57
144
R88M-K1K520@-B@
183.5
55
139.5
22
74.5
161.5
R88M-K2K020@-B@
201
55
157
22
92
179
R88M-K3K020@-B@
236
65
192
24
127
214
ML-II Type
AC Servo Drive
116 (1 to 2kW/Without brake)
118 (3kW/Without brake)
118 (1 to 3kW/With brake)
7
AC Servomotors
60
Linear Motor
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.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
67
AC Servomotor/Drive
G5-series
4kW/5kW
• Without brake
Dimensions (mm)
Model
• R88M-K4K020F (-S2)/-K5K020F (-S2) INC
• R88M-K4K020C (-S2)/-K5K020C (-S2) ABS
• With brake
• R88M-K4K020F-B (S2)/-K5K020F-B (S2) INC
• R88M-K4K020C-B (S2)/-K5K020C-B (S2) ABS
LL
LM
KB1
KB2
R88M-K4K020@
177
133
96
155
R88M-K5K020@
196
152
115
174
R88M-K4K020@-B@
206
162
96
184
R88M-K5K020@-B@
225
181
115
203
Servomotor/
brake connector
CAD data
LL
LM
KB2
KB1
18
Encoder
connector
70
176×176
3.2
140
(Dimensions of shaft end with key and tap)
70
55
M3, through
4−13.5 dia.
50
233 dia.
10h9
8
60
35h6 dia.
30
35h6 dia.
200 dia.
M12 (depth: 25)
114.3h7 dia.
114.3h7 dia.
7.5kW
• Without brake
• R88M-K7K515C (-S2) ABS
Model
• With brake
• R88M-K7K515C-B (S2) ABS
Dimensions (mm)
LL
LR
LM
S
KB1
KB2
L1
L2
L3
R88M-K7K515C@
312
133
268
42
219
290
117.5
117.5
149
R88M-K7K515C-B@
337
113
293
42
253
315
117.5
152.5
183
CAD data
Brake connector
(for model with brake only)
Motor
connector
Encoder
44
connector
LL
LM
48
110
184
176 × 176
LR
KB2
KB1
L3
43.5 43.5
(Shaft end specifications with key and tap)
L2
L1
4-13.5 dia.
61.5 24
3.2
Sh6 dia.
dia.
233
96
LR
90
45
M4, through
60
2 min.
Boss insertion positon
114.3h7 dia.
20
0d
ia.
Sh6 dia.
114.3h7 dia.
12h9
8 (Key groove P9)
0
37-0.2
M16
(depth 32 min.)
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.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
68
AC Servomotor/Drive
11kW/15kW
• Without brake
• R88M-K11K015C (-S2)/-K15K015C (-S2) ABS
• With brake
• R88M-K11K015C-B (S2)/R88M-K15K015C-B (S2) ABS
48
57
61.5
205
57
L2
L1
4-13.5 dia.
32
4
(Shaft end specifications with key and tap)
LR
M5, through
98
90
45
16h9
10
(Key groove P9)
8
φ26
φ235
60
Sm6 dia.
Sm6 dia.
2 min.
0
49-0.2
M20
(depth 40 min.)
Boss insertion positon
200h7 dia.
200h7 dia.
Model
Dimensions (mm)
LL
LR
LM
S
KB1
KB2
L1
L2
L3
R88M-K11K015C@
316
116
272
55
232
294
124.5
124.5
162
R88M-K15K015C@
384
116
340
55
300
362
158.5
158.5
230
R88M-K11K015C-B@
364
116
320
55
266
342
124.5
159.5
196
R88M-K15K015C-B@
432
116
388
55
334
410
158.5
193.5
264
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.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
EtherCAT Communications
Linear Motor Type
AC Servo Drive
L3
EtherCAT Communications
AC Servo Drive
220 × 220
LR
LM
KB2
KB1
110
General-purpose Inputs
AC Servo Drive
LL
ML-II Type
AC Servo Drive
44
AC Servomotors
Encoder
connector
CAD data
Linear Motor
Brake connector
(for model with brake only)
Motor
connector
G5-Series
System Configuration
G5-series
69
AC Servomotor/Drive
G5-series
1,000 r/min Servomotors (200 VAC)
900W
• Without brake
• R88M-K90010H (-S2) INC
• R88M-K90010T (-S2) ABS
Dimensions (mm)
Model
LL
LM
KB2
R88M-K90010@
155.5
111.5
133.5
R88M-K90010@-B@
183.5
139.5
161.5
• With brake
• R88M-K90010H-B (S2) INC
• R88M-K90010T-B (S2) ABS
CAD data
Servomotor/brake
connector
70
LL
LM
KB2
77.5
12
Encoder connector
130×130
(Dimensions of shaft end with key and tap)
70
6
45
4−9 dia.
M5 (depth: 12)
22h6 dia.
110h7 dia.
110h7 dia.
2kW/3kW
• Without brake
Dimensions (mm)
Model
• R88M-K2K010H (-S2)/-K3K010H (-S2) INC
• R88M-K2K010T (-S2)/-K3K010T (-S2) ABS
• With brake
• R88M-K2K010H-B (S2)/-K3K010H-B (S2) INC
• R88M-K2K010T-B (S2)/-K3K010T-B (S2) ABS
LL
LM
KB2
KB1
18
7
18
165 dia.
22h6 dia.
Encoder
connector
8h9
145 dia.
60
Servomotor/brake
connector
M3, through
41
116
LL
LM
KB1
KB2
R88M-K2K010@
163.5
119.5
82.5
141.5
R88M-K3K010@
209.5
165.5
128.5
187.5
R88M-K2K010@-B@
192.5
148.5
82.5
170.5
R88M-K3K010@-B@
238.5
194.5
128.5
216.5
CAD data
80
176×176
(Dimensions of shaft end with key and tap)
80
55
50
4−13.5 dia.
3.2
140
M3, through
10h9
8
233 dia.
60
35h6 dia.
35h6 dia.
200 dia.
30
M12 (depth: 25)
114.3h7 dia.
114.3h7 dia.
4.5kW
• Without brake
• R88M-K4K510T (-S2) ABS
Model
• With brake
• R88M-K4K510T-B (S2) ABS
Motor and
brake
connector
Encoder
connector
44
LR
LM
S
KB1
KB2
L1
R88M-K4K510T@
266
113
222
42
185
244
98
98
R88M-K4K510T-B@
291
113
247
42
185
269
98
133
176 × 176
LR
LL
LM
KB2
KB1
Dimensions (mm)
LL
CAD data
43.5 43.5
L2
L1
61.5 24
3.2
4-13.5 dia.
Sh6 dia.
140
233 dia.
(Shaft end specifications with key and tap)
LR
96
90
M4, through
45
12h9
8 (Key groove P9)
60
2 min.
Boss insertion positon
114.3h7 dia.
200 dia.
Sh6 dia.
114.3h7 dia.
0
37-0.2
M16
(depth 32 min.)
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.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
70
L2
AC Servomotor/Drive
6kW
• Without brake
• R88M-K6K010T (-S2) ABS
Model
• With brake
• R88M-K6K010T-B (S2) ABS
Dimensions (mm)
LL
LR
LM
S
KB1
KB2
L1
L2
L3
R88M-K6K010T@
312
113
268
42
219
290
117.5
117.5
149
R88M-K6K010T-B@
337
113
293
42
253
315
117.5
152.5
183
CAD data
Brake connector
(for model with brake only)
Motor
connector
G5-Series
System Configuration
G5-series
44
LL
LM
KB2
48
110
184
LR
(Shaft end specifications with key and tap)
43.5 43.5
KB1
L3
L2
L1
61.5 24
3.2
4-13.5 dia.
Sh6 dia.
233 dia.
LR
96
90
45
M4, through
8
60
12h9
(Key groove P9)
EtherCAT Communications
AC Servo Drive
176 × 176
Encoder
connector
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.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
General-purpose Inputs
AC Servo Drive
M16
(depth 32 min.)
ML-II Type
AC Servo Drive
φ114.3h7
AC Servomotors
200 dia.
Linear Motor
114.3h7 dia.
φSh6
EtherCAT Communications
Linear Motor Type
AC Servo Drive
0
37-0.2
2 min.
Boss insertion positon
71
AC Servomotor/Drive
G5-series
1,000 r/min Servomotors (400 VAC)
900W
• Without brake
• R88M-K90010F (-S2) INC
• R88M-K90010C (-S2) ABS
Dimensions (mm)
Model
• With brake
• R88M-K90010F-B (S2) INC
• R88M-K90010C-B (S2) ABS
LL
LM
KB1
KB2
R88M-K90010@
155.5
111.5
77.5
133.5
R88M-K90010@-B@
183.5
139.5
74.5
161.5
CAD data
Servomotor/
brake connector
70
LL
LM
KB2
KB1
12
Encoder
connector
130×130
(Dimensions of shaft end with key and tap)
70
6
45
4−9 dia.
M3, through
41
8h9
.
dia
145
60
116 (Without brake)
118 (With brake)
165
22h6 dia.
7
18
M5 (depth: 12)
22h6 dia.
dia.
110h7 dia.
110h7 dia.
2kW/3kW
• Without brake
Dimensions (mm)
Model
• R88M-K2K010F (-S2)/-K3K010F (-S2) INC
• R88M-K2K010C (-S2)/-K3K010C (-S2) ABS
• With brake
• R88M-K2K010F-B (S2)/-K3K010F-B (S2) INC
• R88M-K2K010C-B (S2)/-K3K010C-B (S2) ABS
LL
LM
KB1
KB2
R88M-K2K010@
163.5
119.5
82.5
141.5
R88M-K3K010@
209.5
165.5
128.5
187.5
R88M-K2K010@-B@
192.5
148.5
82.5
170.5
R88M-K3K010@-B@
238.5
194.5
128.5
216.5
Servomotor/
brake connector
CAD data
LL
LM
KB2
KB1
18
Encoder
connector
80
(Dimensions of shaft end with key and tap)
176×176
80
55
50
3.2
4−13.5 dia.
140
M3, through
233 dia.
10h9
8
60
35h6 dia.
200 dia.
114.3h7 dia.
35h6 dia.
114.3h7 dia.
4.5kW
• Without brake
• With brake
• R88M-K4K510C-B (S2) ABS
Motor and
brake
connector
Encoder
connector
44
Dimensions (mm)
Model
• R88M-K4K510C (-S2) ABS
LM
LL
LR
LM
S
KB1
KB2
L1
R88M-K4K510T@
266
113
222
42
185
244
98
98
R88M-K4K510T-B@
291
113
247
42
185
269
98
133
LR
LL
M12 (depth: 25)
30
CAD data
176 × 176
KB2
43.5 43.5
KB1
L2
(Shaft end specifications with key and tap)
L1
4-13.5 dia.
61.5 24
3.2
Sh6 dia.
140
233 dia.
LR
96
90
45
60
2 min.
Boss insertion positon
114.3h7 dia.
200 dia.
Sh6 dia.
M4, through
12h9
8 (Key groove P9)
0
37-0.2
M16
(depth 32 min.)
114.3h7 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.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
72
L2
AC Servomotor/Drive
6kW
• Without brake
• R88M-K6K010C (-S2) ABS
Model
• With brake
• R88M-K6K010C-B (S2) ABS
Dimensions (mm)
LL
LR
LM
S
KB1
KB2
L1
L2
L3
R88M-K6K010C@
312
113
268
42
219
290
117.5
117.5
149
R88M-K6K010C-B@
337
113
293
42
253
315
117.5
152.5
183
Brake connector
(for model with brake only)
Motor
connector
CAD data
G5-Series
System Configuration
G5-series
176 × 176
L3
L2
L1
61.5 24
3.2
4-13.5 dia.
Sh6 dia.
233 dia.
LR
96
90
45
M4, through
8
60
12h9
(Key groove P9)
0
37-0.2
2 min.
Boss insertion positon
114.3h7 dia.
200 dia.
φSh6
φ114.3h7
EtherCAT Communications
AC Servo Drive
184
(Shaft end specifications with key and tap)
43.5 43.5
KB1
M16
(depth 32 min.)
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.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
EtherCAT Communications
Linear Motor Type
AC Servo Drive
48
110
LR
General-purpose Inputs
AC Servo Drive
LM
KB2
ML-II Type
AC Servo Drive
LL
AC Servomotors
44
Linear Motor
Encoder
connector
73
G5-series Linear Motor
R88L-EC-@
Contents
• Ordering Information
• Specifications
General Specifications
• Iron-core Linear Motors
• Ironless Linear Motors
Characteristics
• Iron-core Linear Motors
• Ironless Linear Motors
• Dimensions
Ordering Information
Refer to the Ordering Information.
Specifications
General Specifications
● Iron-core Linear Motors
Item
● Ironless Linear Motors
Description
Item
Description
Operating ambient temperature
humidity
0 to 40°C, 20% to 80%
(with no condensation)
Operating ambient temperature
humidity
0 to 40°C, 20% to 80%
(with no condensation)
Storage ambient temperature
and humidity
−20 to +65°C, 85% max.
(with no condensation)
Storage ambient temperature
and humidity
−20 to +65°C, 85% max.
(with no condensation)
Operating and storage
atmosphere
No corrosive gases
Operating and storage
atmosphere
No corrosive gases
Vibration resistance*
Acceleration of 49 m/s2 max. in X, Y, and
Z directions
Vibration resistance*
Acceleration of 49 m/s2 max. in X, Y, and
Z directions
Impact resistance
Acceleration of 98 m/s2max. 3 times
each in X, Y, and Z directions
Impact resistance
Acceleration of 98 m/s2 max. 3 times
each in X, Y, and Z directions
Insulation resistance
Between power terminal and FG
terminal: 10 MΩ min. (at 500 VDC)
Insulation resistance
Between power terminal and FG
terminal: 10 MΩ min. (at 500 VDC)
Dielectric strength
Between power terminal and FG
terminal: 2,750 VDC for 1 s
Between power terminal and sensor:
2,750 VDC for 1 s
Dielectric strength
Between power terminal and FG
terminal: 2,250 VDC for 1 s
Between power terminal and sensor:
2,250 VDC for 1 s
Protective structure
IP00
Protective structure
IP00
Maximum coil temperature
(Motor Coil Unit)
130°C
Maximum coil temperature
(Motor Coil Unit)
110°C
Maximum magnet temperature
(Magnet Track)
70°C
Maximum magnet temperature
(Magnet Track)
70°C
Insulation class
Class B
Insulation class
Class B
Self-cooling
Cooling method
Cooling method
International
standard
EC
directive
Low
voltage
directive
EN60034-1
International
standard
EC
directive
Self-cooling
Low
voltage
directive
EN60034-1
* The amplitude may be increased by machine resonance. As a guideline, do not exceed 80% of the specified value.
74
AC Servomotor/Drive
R88L-ECFW-0303-ANPC
FW-0306-ANPC
FW-0606-ANPC
FW-0609-ANPC
FW-0612-ANPC
FW-1112-ANPC
FW-1115-ANPC
Maximum speed
(100VAC)
m/s
2.5
2.5
2
-
-
-
-
Maximum speed
(200VAC)
m/s
5
5
4
4
4
2
2
Maximum speed
(400VAC)
m/s
10
10
8
8
8
4
4
Continuous force*1
N
48
96
160
240
320
608
760
Momentary
maximum force*2
N
105
210
400
600
800
1,600
2,000
Continuous
current*2
Arms
1.24
2.4
3.4
5.2
6.9
6.5
8.2
Momentary
maximum current*1
Arms
3.1
6.1
10
15
20
20
25
Motor force
constant
N/Arms
39.7
39.7
46.5
46.5
46.5
93.0
93.0
Back
electromotive
force
V⋅s/m
13.2
13.2
15.5
15.5
15.5
31
31
Motor constant
N/√W
9.75
13.78
19.49
23.87
27.57
41.47
46.37
Phase resistance
Ω
5.34
2.68
1.83
1.23
0.92
1.6
1.29
Phase inductance mH
34.7
17.4
13.7
9.2
6.9
12.8
10.3
Electrical time
constant
ms
6.5
6.5
7.5
7.5
7.5
8
8
Maximum
continuous
power
consumption
W
32
63
88
131
175
279
349
Thermal
resistance
K/W
2.20
1.10
0.78
0.52
0.39
0.23
0.18
Thermal time
constant
s
110
110
124
124
124
126
126
Magnetic
attractive force
N
300
500
1,020
1,420
1,820
3,640
4,440
Magnetic pole pitch
mm
24
24
24
24
24
24
24
Mass
(except cables)
kg
0.48
0.78
1.31
1.84
2.37
4.45
5.45
Cooling plate
dimensions
mm
238×220×10
238×220×10
250×287×12
250×287×12
250×287×12
371×330×14
371×330×14
Application Servo Drives
(R88D-@-ECT-L)
KN01L/KN02H/
KN06F
KN02L/KN04H/
KN10F
KN04L/KN08H/
KN15F
KN10H/KN20F
KN15H/KN30F
KN15H/KN30F
KN15H/KN30F
Magnet Trac (R88L-EC-)
FM-03096-A/FM-03144-A/
FM-03384-A
FM-06192-A/FM-06288-A
FM-11192-A/FM-11288-A
Magnet Trac Unit
Length
96/144/384
192/288
192/288
mm
EtherCAT Communications
Linear Motor Type
AC Servo Drive
Unit
General-purpose Inputs
AC Servo Drive
Item
ML-II Type
AC Servo Drive
● Iron-core Linear Motors
AC Servomotors
Characteristics/Speed - Force Characteristics
Characteristics
EtherCAT Communications
AC Servo Drive
G5-Series
System Configuration
G5-series
Linear Motor
*1. This shows a value measured when the Motor Coil Unit is at 100°C and the Magnet Trac is at 25°C. The coil unit is mounted in the center of
an aluminum moving table (heat sink) which has its size larger than indicated in table as cooling condition.
*2. The Motor Coil Unit is subjected to a temperature rise of 6 K/s.
75
AC Servomotor/Drive
G5-series
Speed - Force Characteristics
The following graphs show the performance when the coil temperature of the Motor Coil Unit is 100°C.
The maximum operation speed is limited by considering the guide mechanism, encoder, and other aspects. If it is 5 m/s or higher, please consult
with your OMRON representative.
R88L-EC-FW-0303
100V AC
N
100
200V AC
N
100
Momentary
operation range
N
100
Momentary
operation range
Momentary
operation range
80
80
80
60
60
60
40
40
40
Continuous operation range
400V AC
Continuous operation range
20
20
20
Continuous
operation range
0
0
0
2
4 m/s
0
2
4
6
8 m/s
0
0 2 4 6 8 10 12 14 m/s
R88L-EC-FW-0306
100V AC
N
200V AC
N
Momentary
operation range
Momentary
operation range
Momentary
operation range
150
150
150
100
100
100
50
0
Continuous operation range
50
400V AC
200
200
200
76
N
Continuous operation range
50
Continuous
operation range
0
2
4 m/s
0
0
2
4
6
8 m/s
0
0 2 4 6 8 10 12 14 m/s
AC Servomotor/Drive
G5-Series
System Configuration
G5-series
R88L-EC-FW-0606
200V AC
400V AC
N
400
Momentary
operation range
Momentary
operation range
EtherCAT Communications
AC Servo Drive
N
400
Momentary
operation range
200
200
Continuous
operation range
0
0
200
Continuous
operation range
2
4 m/s
0
0
2
Continuous
operation range
4
6
8 m/s
0
0
4
8
12 m/s
EtherCAT Communications
Linear Motor Type
AC Servo Drive
100V AC
N
400
R88L-EC-FW-0609
200V AC
N
600
Momentary
operation range
Momentary
operation range
400
400
400V AC
N
600
General-purpose Inputs
AC Servo Drive
100V AC
N
600
400
0
200
Continuous
operation range
0
200
Continuous
operation range
2
4 m/s
0
0
Continuous
operation range
4
8 m/s
0
0
4
8
12 m/s
AC Servomotors
200
ML-II Type
AC Servo Drive
Momentary
operation range
R88L-EC-FW-0612
200V AC
N
800
Momentary
operation range
600
400V AC
N
800
Momentary
operation range
600
600
400
400
Linear Motor
100V AC
N
800
Momentary
operation range
400
Continuous
operation range
200
0
200
200
Continuous
operation range
0
2
4 m/s
0
0
2
Continuous
operation range
4
6 m/s
0
0
4
8
12 m/s
77
AC Servomotor/Drive
G5-series
R88L-EC-FW-1112
100V AC
N
1600
Momentary
operation range
800
Continuous
operation range
400
400
0
1200
800
Continuous
operation range
0
Momentary
operation range
Momentary
operation range
1200
1200
1
2 m/s
0
400V AC
N
1600
1600
800
200V AC
N
0
400
2
4 m/s
0
Continuous
operation range
0
2
4
6 m/s
R88L-EC-FW-1115
100V AC
N
2000
200V AC
N
2000
Momentary
operation range
Momentary
operation range
1500
1000
Momentary
operation range
78
1500
1000
1000
500
500
500
0
1500
Continuous
operation range
Continuous
operation range
0
400V AC
N
2000
1
2 m/s
0
0
2
4 m/s
0
Continuous
operation range
0
2
4
6 m/s
AC Servomotor/Drive
GW-0503
-ANPS
GW-0506
-ANPS
GW-0509
-ANPS
GW-0703
-ANPS
GW-0706
-ANPS
GW-0709
-ANPS
Maximum speed
(100VAC)
m/s
8
-
8
-
2.2
2.2
2.2
1.2
1.2
-
Maximum speed
(200VAC)
m/s
-
16
16
16
4.4
4.4
4.4
2.4
2.4
2.4
Continuous force
N
26.5
53
80
58
117
175
117
232
348
Momentary
maximum force*2
N
100
200
300
240
480
720
552
1110
1730
Continuous
current*2
Arms
1.33
2.66
4.0
0.87
1.76
2.60
0.94
1.87
2.81
Momentary
maximum current*1
Arms
5.0
10.0
15.0
3.50
7.1
10.6
4.5
9.0
14
Motor force
constant
N/Arms
19.9
19.9
19.9
68.0
68.0
68.0
124.0
124.0
124.0
Back
electromotive
force
V⋅s/m
6.6
6.6
6.6
22.7
22.7
22.7
41.3
41.3
41.3
Motor constant
N/√W
4.90
6.93
8.43
9.85
13.96
17.03
17.97
25.44
31.14
Phase resistance
Ω
5.5
2.8
1.8
15.9
8.0
5.3
15.8
7.9
5.3
Phase inductance mH
1.8
0.9
0.6
13
6.5
4.2
28.0
14.0
9.0
Electrical time
constant
ms
0.35
0.35
0.35
0.8
0.8
0.8
1.8
1.8
1.8
Maximum
continuous
power
consumption
W
47
95
142
67
134
200
82
165
247
Thermal
resistance
K/W
2.1
1.06
0.71
1.70
0.85
0.65
1.56
1.04
0.52
Thermal time
constant
s
36
36
36
72
72
72
96
96
96
Magnetic
attractive force
N
0
0
0
0
0
0
0
0
0
Magnetic pole
pitch
mm
30
30
30
42
42
42
57
57
57
Mass
(except cables)
kg
0.084
0.162
0.24
0.25
0.47
0.69
0.55
0.95
1.35
KN04L/
KN08H
KN10H
KN01L/
KN01H
KN02L/
KN04H
KN04L/
KN08H
KN02L/
KN04H
KN04L/
KN08H
KN10H
*1
96
4.8
Application Servo Drives
(R88D-@-ECT-L)
KN01L
Magnet Trac (R88L-EC-)
GM-03090-A/GM-03120-A/
GM-03390-A
GM-05126-A/GM-05168-A/
GM-05210-A/GM-05546-A
GM-07114-A/GM-07171-A/
GM-07456-A
Magnet Trac Unit
Length
90/120/390
126/168/210/546
114/171/456
mm
KN02H
*1. This shows a value measured when the Motor Coil Unit is at 100°C and the Magnet Trac is at 25°C.
*2. The Motor Coil Unit is subjected to a temperature rise of 40 K/s.
EtherCAT Communications
AC Servo Drive
GW-0309
-ANPS
EtherCAT Communications
Linear Motor Type
AC Servo Drive
GW-0306
-ANPS
General-purpose Inputs
AC Servo Drive
GW-0303
-ANPS
ML-II Type
AC Servo Drive
Unit
AC Servomotors
R88L-ECItem
Linear Motor
● Ironless Linear Motors
G5-Series
System Configuration
G5-series
79
AC Servomotor/Drive
G5-series
Speed - Force Characteristics
The maximum operation speed is limited by considering the guide mechanism, encoder, and other aspects. If it is 5 m/s or higher, please consult
with your OMRON representative.
R88L-EC-GW-0303
100V AC
N
200V AC
N
100
100
Momentary
operation range
Momentary
operation range
50
50
Continuous
operation range
0
Continuous operation range
0
0
4
8
12 m/s
0
5
10
15 m/s
R88L-EC-GW-0306
100V AC
N
200V AC
N
200
200
Momentary
operation range
Momentary
operation range
100
100
Continuous operation range
Continuous operation range
0
0
0
5
10 m/s
0
5
10
15 m/s
R88L-EC-GW-0309
100V AC
N
300
200V AC
N
300
Momentary
operation range
Momentary
operation range
200
200
100
100
Continuous operation range
Continuous operation range
0
80
0
0
4
8
m/s
0
4
8
12
16 m/s
AC Servomotor/Drive
G5-Series
System Configuration
G5-series
R88L-EC-GW-0503
200V AC
N
Momentary
operation range
EtherCAT Communications
AC Servo Drive
200
200
Momentary
operation range
100
100
Continuous operation range
Continuous operation range
0
0
0
1
2
3 m/s
0
2
4
6 m/s
EtherCAT Communications
Linear Motor Type
AC Servo Drive
100V AC
N
N
600
N
600
100V AC
200V AC
400
400
ML-II Type
AC Servo Drive
Momentary
operation range
Momentary
operation range
200
200
Continuous
operation range
Continuous operation range
0
0
2
4 m/s
0
2
4
6 m/s
AC Servomotors
0
General-purpose Inputs
AC Servo Drive
R88L-EC-GW-0506
R88L-EC-GW-0509
100V AC
N
600
Momentary
operation range
Momentary operation range
400
400
200
200
Continuous operation range
Continuous
operation range
0
Linear Motor
600
0
200V AC
N
2
4 m/s
0
0
2
4
6 m/s
81
AC Servomotor/Drive
G5-series
R88L-EC-GW-0703
N
600
N
600
100V AC
200V AC
Momentary
operation range
400
400
Momentary
operation range
200
200
Continuous
operation range
0
0
Continuous
operation range
0.5
1
1.5
2 m/s
0
0
2
4
m/s
R88L-EC-GW-0706
100V AC
N
200V AC
N
1000
1000
Momentary
operation range
Momentary
operation range
500
500
Continuous
operation range
Continuous
operation range
0
0
1
2 m/s
0
0
1
2
3 m/s
R88L-EC-GW-0709
N
2000
N
2000
100V AC
1500
1500
200V AC
Momentary
operation range
1000
1000
Momentary
operation range
500
500
Continuous
operation range
0
82
0
Continuous operation range
1
2 m/s
0
0 0.5 1 1.5 2 2.5 3 m/s
AC Servomotor/Drive
G5-series
Iron-core Linear Motors
Model
• R88L-EC-FW-0303/-0306
Mass[kg] *1
L1 [mm]
Number of holes [N]
R88L-EC-FW-0303
79 +0.15/–0.35
4
0.72
R88L-EC-FW-0306
127 +0.15/–0.35
6
1.03
• Motor Coil Unit
G5-Series
System Configuration
Dimensions
N-M4, effective thread depth 5
(11)
EtherCAT Communications
AC Servo Drive
48
9
450min.
L1
R2.5
12.4±0.7
23.9±0.7
9.5
28.6
89º
4.8
+0.1
28 -0.2
0
-0.2
37.1±0.1 *2
A
18.6±0.7
EtherCAT Communications
Linear Motor Type
AC Servo Drive
20
Enlarged view
of portion A
+0.15
-0.35
0.3±0.1 *2
*1. The weight of 450-mm cables is included.
*2. These values indicate mounting dimensions.
• Magnet Trac
L2
[mm]
L3
[mm]
Number of
holes [N]
Mass [kg]
R88L-EC-FM-03096-A
96
48
4
Approx. 0.22
R88L-EC-FM-03144-A
144
96
6
Approx. 0.32
R88L-EC-FM-03384-A
384
336
16
Approx. 0.85
Model
Enlarged view
of portion B
B
12
12
N-Ø6
12
*
Ø5
Depth 4
82
5.5
50
40
5
Depth 4
ML-II Type
AC Servo Drive
56
General-purpose Inputs
AC Servo Drive
20.5±0.7
48
48
48
L3
L2
* Use M5 low head allen head bolts.
48
48
48
(20.5)
8.2
Linear Motor
48
AC Servomotors
º
27.5
83
AC Servomotor/Drive
G5-series
• Motor Coil Unit
• R88L-EC-FW-0606/-0609/-0612
L1 [mm]
Number of
holes [N]
Mass [kg] *1
R88L-EC-FW-0606
127 +0.15/–0.35
6
1.59
R88L-EC-FW-0609
175 +0.15/–0.35
8
2.15
R88L-EC-FW-0612
223 +0.15/–0.35
10
2.7
Model
20
(11)
N-M4, effective thread depth 5
48
16
450min.
R2.5
L1
12.4 ±0.7
23.9 ±0.7
89°
9.5
28.6
A
4.8
+0.1
40 -0.2
0
-0.2
37.1 ±0.1 *2
30.6 ±0.7
32.5 ±0.7
Enlarged view
of portion A
0.3±0.1 *2
+0.15
80 -0.35
*1. The weight of 450-mm cables is included.
*2. These values indicate mounting dimensions.
• Magnet Trac
L2 [mm]
L3 [mm]
Number of holes [N]
Mass [kg]
R88L-EC-FM-06192-A
Model
192
144
8
Approx. 0.77
R88L-EC-FM-06288-A
288
240
12
Approx. 1.15
Enlarged view
of portion B
Depth 4
B
12
6*
N-Ø
12
Ø5
Depth 4
5
12
80
70
5.5
º
86
27
48
48
48
L3
L2
* Use M5 low head allen head bolts.
84
48
48
(21)
8.2
AC Servomotor/Drive
• Motor Coil Unit
L1 [mm]
Number of holes [N]
Mass [kg] *1
R88L-EC-FW-1112
223 +0.15/–0.35
15
4.89
R88L-EC-FW-1115
271 +0.15/–0.35
18
5.94
Model
(11)
N-M4, effective thread depth 5
20
36
L1
450 min.
R2.5
12.4±0.7
9.5
0
23.9±0.7
89º
65
A
4.8
+0.1
-0.2
41.1±0.1 *2
55.6±0.7
57.5±0.7
130
28.6 -0.2
Enlarged view
of portion A
+0.15
-0.35
0.3±0.1 *2
*1. The weight of 450-mm cables is included.
*2. These values indicate mounting dimensions.
• Magnet Trac
Number of holes [N]
Mass [kg]
144
8
Approx. 2.12
R88L-EC-FM-11288-A
288
240
12
Approx. 3.18
B
12
6*
N-Ø
12
12
Ø5
Depth 8
5
Depth 8
L3 [mm]
192
ML-II Type
AC Servo Drive
Model
Enlarged view
of portion B
L2 [mm]
R88L-EC-FM-11192-A
EtherCAT Communications
Linear Motor Type
AC Servo Drive
EtherCAT Communications
AC Servo Drive
48
General-purpose Inputs
AC Servo Drive
• R88L-EC-FW-1112/-1115
G5-Series
System Configuration
G5-series
48
48
48
L3
L2
* Use M5 low head allen head bolts.
48
48
(22)
12.2
Linear Motor
º
88
26
AC Servomotors
130
120
5.5
85
AC Servomotor/Drive
G5-series
● Ironless Linear Motors
• Motor Coil Unit
• R88L-EC-GW-0303/-0306/-0309
Model
L1 [mm]
L2 [mm]
Number of holes [N]
Mass [kg] *
R88L-EC-GW-0303
78
60
4
0.2
R88L-EC-GW-0306
138
120
7
0.28
R88L-EC-GW-0309
198
180
10
0.36
950 min.
L1
L2
10
3.5
N-φ3.5
20
5.3
18.5
10
3.2
* The weight of 950-mm cables is included.
• Magnet Trac
Model
L3 [mm]
L4 [mm]
Number of holes [N]
Mass [kg]
R88L-EC-GM-03090-A
90
60
3
Approx. 0.46
R88L-EC-GM-03120-A
120
90
4
Approx. 0.61
R88L-EC-GM-03390-A
390
360
13
Approx. 1.97
L3
49
(φ4.5)
N-φ4.5
30
21
15
L4
• Combination diagram
5.5
5.5
68
21
0.05
0.05
A
A
5.5±0.1
Motor Coil Unit mounting surface
86
Magnet Track mounting surface
4.4
φ7.5
(Depth4)
AC Servomotor/Drive
G5-Series
System Configuration
G5-series
• Motor Coil Unit
L1 [mm]
L2 [mm]
Number of holes [N]
Mass [kg] *
R88L-EC-GW-0503
106
84
4
0.48
R88L-EC-GW-0506
190
168
7
0.71
R88L-EC-GW-0509
274
252
10
0.94
Model
EtherCAT Communications
AC Servo Drive
• R88L-EC-GW-0503/-0506/-0509
950 min.
L1
L2
12
N-φ4.5
28
5
φ5.8
13
24
EtherCAT Communications
Linear Motor Type
AC Servo Drive
φ4.9
* The weight of 950-mm cables is included.
L3 [mm]
L4 [mm]
Number of holes [N]
Mass [kg]
R88L-EC-GM-05126-A
Model
126
84
3
Approx. 1.49
R88L-EC-GM-05168-A
168
126
4
Approx. 1.98
R88L-EC-GM-05210-A
210
168
5
Approx. 2.47
R88L-EC-GM-05546-A
546
504
13
Approx. 6.43
General-purpose Inputs
AC Servo Drive
• Magnet Trac
L3
(φ5.5)
9
28.4
N-φ5.5
42
21
L4
• Combination diagram
ML-II Type
AC Servo Drive
φ9.2
(Depth6)
80
8.2
AC Servomotors
8.2
105
Linear Motor
28.4
0.1
0.05
A
A
8.2±0.1
Motor Coil Unit mounting surface
Magnet Track mounting surface
87
AC Servomotor/Drive
G5-series
• Motor Coil Unit
• R88L-EC-GW-0703/-0706/-0709
Model
Mass [kg] *
L1 [mm]
L2 [mm]
Number of holes [N]
R88L-EC-GW-0703
134
114
4
0.9
R88L-EC-GW-0706
248
228
7
1.32
R88L-EC-GW-0709
362
342
10
1.74
950 min.
L1
L2
15
38
φ6.4
N-φ4.5
5
11.5
23.8
φ4.3
* The weight of 950-mm cables is included.
• Magnet Trac
L3 [mm]
L4 [mm]
Number of holes [N]
Mass [kg]
R88L-EC-GM-07114-A
Model
114
57
2
Approx. 2.88
R88L-EC-GM-07171-A
171
114
3
Approx. 4.31
R88L-EC-GM-07456-A
456
399
8
Approx. 11.5
L3
(φ6.5)
100
φ11
(Depth10)
11
48
N-φ6.5
57
28.5
L4
• Combination diagram
16.5
16.5
124.8
48
0.1
0.05
A
A
16.5±0.1
Motor Coil Unit mounting surface
88
Magnet Track mounting surface
AC Servomotor/Drive
I571
SBCE-357
R88D-KT/R88M-K
I572
SBCE-358
R88D-KN@-ML2/R88M-K
G5-SERIES
MECHATROLINK-II Communications
AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
I573
SBCE-360
R88D-KN@-ECT-R/R88M-K
G5-SERIES
EtherCAT Communications for Position Control
AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
I576
SBCE-365
R88D-KN@-ECT/R88M-K
G5-SERIES
EtherCAT Communications
AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
I577
SBCE-366
E88D-KN@-ECT-L/R88L-EC
G5-SERIES EtherCAT Communications Linear Motor Type
LINEARMOTOR AND DRIVE USER'S MANUAL
W487
SBCE-359
[email protected][email protected]
CJ-series Position Control Unit Operation Manual
W446
SBCA-337
CXONE-AL@@C-V@/-AL@@D-V@
CX-Programmer Operation Manual
W453
SBCE-375
CXONE-@@@@C-V@/@@@@D-V@
CX-Drive OPERATION MANUAL
W504
SBCA-362
SYSMAC-SE2@@@
Sysmac Studio Version 1 Operation Manual
EtherCAT Communications
AC Servo Drive
Name
G5-SERIES
AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
EtherCAT Communications
Linear Motor Type
AC Servo Drive
Type
General-purpose Inputs
AC Servo Drive
Japanese Cat. No.
ML-II Type
AC Servo Drive
English Cat. No.
AC Servomotors
Please read the relevant manuals of G5-Series
Linear Motor
Related Manuals
G5-Series
System Configuration
G5-series
89
MEMO
90
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 products in
the customer's application or use of the products.
At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use
that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in
combination with the end product, machine, system, or other application or use.
The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive
list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products:
• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses not described in this
catalog.
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment, amusement
machines, vehicles, safety equipment, and installations subject to separate industry or government regulations.
• Systems, machines, and equipment that could present a risk to life or property.
Please know and observe all prohibitions of use applicable to the products.
NEVER USE THE PRODUCTS 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 PRODUCTS ARE
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
Industrial Automation Company
Authorized Distributor:
Tokyo, JAPAN
Contact: www.ia.omron.com
Regional Headquarters
OMRON EUROPE B.V.
Wegalaan 67-69-2132 JD Hoofddorp
The Netherlands
Tel: (31)2356-81-300/Fax: (31)2356-81-388
OMRON ELECTRONICS LLC
One Commerce Drive Schaumburg,
IL 60173-5302 U.S.A.
Tel: (1) 847-843-7900/Fax: (1) 847-843-7787
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
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 Corporation 2009 All Rights Reserved.
In the interest of product improvement,
specifications are subject to change without notice.
CSM_9_3_1115
Printed in Japan
Cat. No. I816-E1-06
1012 (1109) (IT)
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